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
A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelit...A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.展开更多
架空输电线路断股修复机器人的作业过程包括线上行走、爬坡、越障等阶段,对机器人动力驱动的同步控制有较高要求。为此本文提出一种基于模型预测控制(model predictive control,MPC)–扩张状态观测器(extended state observer,ESO)的断...架空输电线路断股修复机器人的作业过程包括线上行走、爬坡、越障等阶段,对机器人动力驱动的同步控制有较高要求。为此本文提出一种基于模型预测控制(model predictive control,MPC)–扩张状态观测器(extended state observer,ESO)的断股修复机器人双轮行走同步控制方法。首先,对断股修复机器人挂线行走作业工况进行力学分析,设计挂线行走机械结构,增加作业稳定性与安全性;其次,针对双驱动轮因磨损、轮径不一致导致的线速度同步误差问题,提出一种基于MPC-ESO的主从融合偏差耦合线速度同步控制策略。仿真与实物验证表明,所提出的机器人双驱动轮同步控制方法可有效解决双驱动轮线速度不同步及机器人高空作业受扰问题。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.
文摘A 3 DOF master-slave telerobot system is established for study on force telepresence technology. A force feedback and position control scheme is adopted in the bilateral force response control system,and force fidelity and controllability experiments demonstrate feasibility of the con-trol system.
文摘架空输电线路断股修复机器人的作业过程包括线上行走、爬坡、越障等阶段,对机器人动力驱动的同步控制有较高要求。为此本文提出一种基于模型预测控制(model predictive control,MPC)–扩张状态观测器(extended state observer,ESO)的断股修复机器人双轮行走同步控制方法。首先,对断股修复机器人挂线行走作业工况进行力学分析,设计挂线行走机械结构,增加作业稳定性与安全性;其次,针对双驱动轮因磨损、轮径不一致导致的线速度同步误差问题,提出一种基于MPC-ESO的主从融合偏差耦合线速度同步控制策略。仿真与实物验证表明,所提出的机器人双驱动轮同步控制方法可有效解决双驱动轮线速度不同步及机器人高空作业受扰问题。
