This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such ...This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.展开更多
In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardwar...In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.展开更多
Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON an...Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.展开更多
The timing and master control logic （MCL） units are the most important function units of the diagnostic neutral beam （DNB） power supply control system. The units control the operation of nine power supply subsyste...The timing and master control logic （MCL） units are the most important function units of the diagnostic neutral beam （DNB） power supply control system. The units control the operation of nine power supply subsystems of the DNB system, and provide protection for the DNB system from faults such as beam source arc down. Based on the characteristics of the DNB power supply system, the timing and MCL units have been designed, fabricated and tested. Experiments prove that the timing unit is convenient, flexible and reliable, and the MCL is functional.展开更多
在受端交流侧发生故障时,现有依赖耗能装置的基于模块化多电平换流器的多端柔性直流(modular multilevel converter based multi-terminal direct current,MMC-MTDC)输电系统,其盈余功率处理方案存在经济性差和能量浪费等问题。为充分发...在受端交流侧发生故障时,现有依赖耗能装置的基于模块化多电平换流器的多端柔性直流(modular multilevel converter based multi-terminal direct current,MMC-MTDC)输电系统,其盈余功率处理方案存在经济性差和能量浪费等问题。为充分发挥MMC-MTDC系统自有盈余功率消纳能力,减少对耗能装置的依赖,文中提出一种基于主从能量控制的多站极间交互消纳策略。首先,建立相应的MMC-MTDC控制模型,并对其通过能量控制实现盈余功率消纳的可行性进行分析。随后,引入MMC三维度模型,实现换流站各极能量解耦控制,并通过构建的MMC-MTDC系统简化模型,对各类型换流站开展主动能量控制设计。在此基础上,类比主从控制思想,构建适用于不同受端站极交流故障及两类盈余功率情况的主从能量时序控制逻辑,以实现各站极之间的能量裕度协调利用。最后,在PSCAD/EMTDC平台搭建MMC-MTDC系统仿真模型进行实验验证。仿真结果表明,所提控制策略能够在不依赖耗能装置的前提下,有效协调多站极之间的能量控制,适应多种盈余功率故障情况,成功实现故障穿越。展开更多
基金supported by the Key Project of Chinese Ministry of Education(108037)the National Natural Science Foundation of China(10402008 and 50535010)
文摘This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.
文摘In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.
文摘Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.
基金Meg-science Engineering Project of the Chinese Academy of Sciences
文摘The timing and master control logic （MCL） units are the most important function units of the diagnostic neutral beam （DNB） power supply control system. The units control the operation of nine power supply subsystems of the DNB system, and provide protection for the DNB system from faults such as beam source arc down. Based on the characteristics of the DNB power supply system, the timing and MCL units have been designed, fabricated and tested. Experiments prove that the timing unit is convenient, flexible and reliable, and the MCL is functional.
文摘在受端交流侧发生故障时,现有依赖耗能装置的基于模块化多电平换流器的多端柔性直流(modular multilevel converter based multi-terminal direct current,MMC-MTDC)输电系统,其盈余功率处理方案存在经济性差和能量浪费等问题。为充分发挥MMC-MTDC系统自有盈余功率消纳能力,减少对耗能装置的依赖,文中提出一种基于主从能量控制的多站极间交互消纳策略。首先,建立相应的MMC-MTDC控制模型,并对其通过能量控制实现盈余功率消纳的可行性进行分析。随后,引入MMC三维度模型,实现换流站各极能量解耦控制,并通过构建的MMC-MTDC系统简化模型,对各类型换流站开展主动能量控制设计。在此基础上,类比主从控制思想,构建适用于不同受端站极交流故障及两类盈余功率情况的主从能量时序控制逻辑,以实现各站极之间的能量裕度协调利用。最后,在PSCAD/EMTDC平台搭建MMC-MTDC系统仿真模型进行实验验证。仿真结果表明,所提控制策略能够在不依赖耗能装置的前提下,有效协调多站极之间的能量控制,适应多种盈余功率故障情况,成功实现故障穿越。
