An angle trajectory tracking of a 3-DOF （Degree Of Freedom） pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension o...An angle trajectory tracking of a 3-DOF （Degree Of Freedom） pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension or shortening of the three pneumatic cylinders. The response of pneumatic cylinder is relatively slow for motor actuator and can get a good single-axis trajectory control by traditional P controller, but the trajectory tracking of platform has a delay phenomenon for angle instantly larger change. To improve this situation in this study, Fuzzy system is used in the trajectory pre-compensation. By the angle changes and the angle rates of change in Fuzzy systems, the value of a pre-compensation output and each axis value are calculated using the Jacobian matrix after compensation in each axis. Through experiments, this Fuzzy pre-compensation method is proved to be able to improve the delay situation of angle trajectory tracking.展开更多
This paper presents the fundamental technique of phase generated carrier （PGC） and its realization on compact reconfigurable input and output （RIO） which adopts real-time and field programmable grate array （FPGA...This paper presents the fundamental technique of phase generated carrier （PGC） and its realization on compact reconfigurable input and output （RIO） which adopts real-time and field programmable grate array （FPGA） techniques. Improvement of the PGC technique is also introduced by using peak-to-peak value detection method to reduce the influence of variation of the light intensity. A four-element fibre Bragg gratings （FBG） laser sensor system is conducted in the experiment and the demodulated results demonstrate correlation coefficient as high as 0.995 with the reference signal and the dynamic range to be 120dB@63Hz.展开更多
振动主动控制中次级通道的存在会对控制效果造成影响,为了减小影响,采用Fx LMS(Filter-x Least Mean Square)自适应滤波算法,通过调整步长更新滤波器参数进行自适应控制。平台使用Compact-RIO控制器并采用Lab VIEW对其进行编程,通过设...振动主动控制中次级通道的存在会对控制效果造成影响,为了减小影响,采用Fx LMS(Filter-x Least Mean Square)自适应滤波算法,通过调整步长更新滤波器参数进行自适应控制。平台使用Compact-RIO控制器并采用Lab VIEW对其进行编程,通过设置参数对不同系统进行主动控制。控制分为三部分:参数设置、次级通道辨识、误差信号的控制。在自适应算法的理论和仿真分析基础上,进一步在c RIO实时控制平台上进行实验研究,对双层隔振平台采用自适应算法实现主动控制,取得理想的控制效果。展开更多
文摘An angle trajectory tracking of a 3-DOF （Degree Of Freedom） pneumatic motion platform by the NI Compact RIO control system was investigated. In this study, the positions of moving platform are changed by extension or shortening of the three pneumatic cylinders. The response of pneumatic cylinder is relatively slow for motor actuator and can get a good single-axis trajectory control by traditional P controller, but the trajectory tracking of platform has a delay phenomenon for angle instantly larger change. To improve this situation in this study, Fuzzy system is used in the trajectory pre-compensation. By the angle changes and the angle rates of change in Fuzzy systems, the value of a pre-compensation output and each axis value are calculated using the Jacobian matrix after compensation in each axis. Through experiments, this Fuzzy pre-compensation method is proved to be able to improve the delay situation of angle trajectory tracking.
基金supported by the National 863 Program under Grant No 2007AA03Z415.
文摘This paper presents the fundamental technique of phase generated carrier （PGC） and its realization on compact reconfigurable input and output （RIO） which adopts real-time and field programmable grate array （FPGA） techniques. Improvement of the PGC technique is also introduced by using peak-to-peak value detection method to reduce the influence of variation of the light intensity. A four-element fibre Bragg gratings （FBG） laser sensor system is conducted in the experiment and the demodulated results demonstrate correlation coefficient as high as 0.995 with the reference signal and the dynamic range to be 120dB@63Hz.
文摘振动主动控制中次级通道的存在会对控制效果造成影响,为了减小影响,采用Fx LMS(Filter-x Least Mean Square)自适应滤波算法,通过调整步长更新滤波器参数进行自适应控制。平台使用Compact-RIO控制器并采用Lab VIEW对其进行编程,通过设置参数对不同系统进行主动控制。控制分为三部分:参数设置、次级通道辨识、误差信号的控制。在自适应算法的理论和仿真分析基础上,进一步在c RIO实时控制平台上进行实验研究,对双层隔振平台采用自适应算法实现主动控制,取得理想的控制效果。
