This paper deals with the modelling and simulation of aircraft systems, in particular for power transmission and control. It is intended to review, propose and disseminate best practices for making model-based/simulat...This paper deals with the modelling and simulation of aircraft systems, in particular for power transmission and control. It is intended to review, propose and disseminate best practices for making model-based/simulation-aided engineering more efficient at any phase of the system life cycle. The proposals are aimed at creating value, not only by increasing the performance of the product under study but also by shortening the time to market, capitalizing knowledge, mitigating risks and facilitating concurrent engineering. The needs associated with the engineering activities are firstly identified to define a set of requirements for the models. Then, these requirements are used to drive the considerations leading to model development, focusing in particular on the process,modelled physical effects, modelling level, model architecting and concurrent engineering. The third part deals with the model implementation, giving special consideration to the different types of models, causalities, parameterization, implementation and verification. Each part is illustrated by examples related to safety critical actuators.展开更多
A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by t...A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.展开更多
This paper presents a new asymmetric hysteresis model and its application in the tracking control of piezoelectric actuators. The proposed model is based on a coupled-play operator which can avoid the conventional Pra...This paper presents a new asymmetric hysteresis model and its application in the tracking control of piezoelectric actuators. The proposed model is based on a coupled-play operator which can avoid the conventional Prandtl-Ishlinskii(CPI)model's defects, i.e., the symmetric property. The high accuracy for modeling asymmetric hysteresis is validated by comparing simulation results with experimental measurements. In order to further evaluate the performance of the proposed model in closed-loop tracking application, two different hybrid control methods which experimentally demonstrate their performance under the same operating conditions, are compared to validate that the hybrid control strategy with proposed hysteresis model can mitigate the hysteresis more effectively and achieve better tracking precision. The experimental results demonstrate that the proposed modeling and tracking control strategy can realize efficient control of piezoelectric actuator.展开更多
The bucket wheel reclaimer(BWR) is a key piece of equipment which has been widely used for stacking and reclaiming bulk materials(i.e.iron ore and coal) in places such as ports,iron-steel plants,coal storage areas,and...The bucket wheel reclaimer(BWR) is a key piece of equipment which has been widely used for stacking and reclaiming bulk materials(i.e.iron ore and coal) in places such as ports,iron-steel plants,coal storage areas,and power stations from stockpiles.BWRs are very large in size,heavy in weight,expensive in price,and slow in motion.There are many challenges in attempting to automatically control their motion to accurately follow the required trajectories involving uncertain parameters from factors such as friction,turbulent wind,its own dynamics,and encoder limitations.As BWRs are always heavily engaged in production and cannot be spared very long for motion control studies and associated developments,a BWR model and simulation environment closely resembling real life conditions would be beneficial.The following research focused mainly on the implementation of fuzzy logic to a BWR motion control from an engineer's perspective.First,the modeling of a BWR including partially known parameters such as friction force and turbulence to the system was presented.This was then followed by the design of a fuzzy logic-based control built on a model-based control loop.The investigation provides engineers with an example of applying fuzzy logic in a model based approach to properly control the motion of a large BWR following defined trajectories,as well as to show possible ways of further improving the controller performance.The result indicates that fuzzy logic can be applied easily by engineers to overcome most motion control issues involving a large BWR.展开更多
Nowadays, high-precision motion controls are needed in modern manufacturing industry. A data-driven nonparametric model adaptive control(NMAC) method is proposed in this paper to control the position of a linear servo...Nowadays, high-precision motion controls are needed in modern manufacturing industry. A data-driven nonparametric model adaptive control(NMAC) method is proposed in this paper to control the position of a linear servo system. The controller design requires no information about the structure of linear servo system, and it is based on the estimation and forecasting of the pseudo-partial derivatives(PPD) which are estimated according to the voltage input and position output of the linear motor. The characteristics and operational mechanism of the permanent magnet synchronous linear motor(PMSLM) are introduced, and the proposed nonparametric model control strategy has been compared with the classic proportional-integral-derivative(PID) control algorithm. Several real-time experiments on the motion control system incorporating a permanent magnet synchronous linear motor showed that the nonparametric model adaptive control method improved the system s response to disturbances and its position-tracking precision, even for a nonlinear system with incompletely known dynamic characteristics.展开更多
Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity ...Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity loop and current loop, which is standard in industrial motion controllers, is described in literature by using parametric models. Several tuning rules in the time domain are applicable on the basis of these parametric descriptions. In order to benefit from the variety of tuning rules an identification method in the time domain is required. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto relay feedback experiment by ?str?m/ H?gglund and a modified technique of gradual pole compensation. The paper presents the theoretical description as well as the implementtation as an automatic application in the motion control system SIMOTION. The identification results as well as the achievable performance on a test rig with a PI velocity controller will be presented.展开更多
A novel type of control law was adopted to reduce the vertical acceleration of a fast ferry as well as the motion sickness incidence suffered by the passengers onboard by means of a submerged T-foil.Considering the sy...A novel type of control law was adopted to reduce the vertical acceleration of a fast ferry as well as the motion sickness incidence suffered by the passengers onboard by means of a submerged T-foil.Considering the system changing characteristics under high disturbances,a model-free approach was adopted.In addition,an upgraded proportional-derivative(PD)controller with correction terms resulting from a fast-online estimation of the system dynamics was designed.The overall controller,known as intelligent PD(i-PD)controller,was tested,and the obtained results were compared with those of a classic PD controller.The controllers were also tested in a changing environment and at different operating velocities.The results confirmed the effectiveness of the i-PD controller to smooth the motions with low computational cost control schemes.Furthermore,thanks to ability of the i-PD controller to continually update the estimated dynamics of the system,it showed a better reduction in both vertical motions and the seasickness level of the passengers with the needed robustness under external disturbances and system changing parameters.展开更多
圆周合成孔径声呐通过对成像场景作360°圆周运动获得目标全方位观测信息,以实现水下目标三维高精度成像,其成像效果受无人搭载平台的圆周运动误差影响较大.针对这一问题,根据圆周路径推导设计了基于向心加速度的圆周运动非线性制...圆周合成孔径声呐通过对成像场景作360°圆周运动获得目标全方位观测信息,以实现水下目标三维高精度成像,其成像效果受无人搭载平台的圆周运动误差影响较大.针对这一问题,根据圆周路径推导设计了基于向心加速度的圆周运动非线性制导算法(centripetal acceleration based nonlinear guidance for circular,CANGC),对圆周轨迹贴合度高,具有较高的控制精度.此外,还设计了基于模型预测控制算法的圆周运动控制律,具有较快的控制响应和较强的自适应能力.将两种算法较好地融合,可实现精准圆周轨迹跟踪.其中制导律的控制输出为偏航角速度,因此控制过程中不依赖于无人船磁力计测得的偏航角数据,可以在具有较强磁场影响的条件下使用.通过仿真实验验证了算法的优越性,本文所设计的算法跟踪精度比文献中的算法的跟踪精度高80.1%.湖上实验进一步验证该算法对于圆周运动有较高的控制精度.研究成果为圆周合成孔径声呐成像无人船平台研究提供了算法基础.展开更多
The primary sensor of astronomy observation satellite （AOS） is mounted on a gimbal base which connects directly with the satellite platform and has two degrees of freedom. Attitude control for AOS with a swinging se...The primary sensor of astronomy observation satellite （AOS） is mounted on a gimbal base which connects directly with the satellite platform and has two degrees of freedom. Attitude control for AOS with a swinging sensor will be highlighted in this paper. Due to the non-negligible mass and length of the sensor, the internal motion between the satellite and the sensor will change the attitude, the position of center of mass and moment of inertia of the SYSTEM （consists of the satellite and the sen- sor）. According to moment of momentum theorem, a rigid two-body dynamic model is derived, which can he used to determine the inertial tensor of the SYSTEM. Modulating the satellite＇s present and desired quaternions results in quasi-Euler angles and normalizing these resultant parameters can ensure that the channel corresponding to each quasi-Euler angle is in the charge of each component of the control torque. Based on the normalized quasi-Euler angles, a switching attitude control law is proposed. With the control law, the corresponding phase trajectory will slide along the switching surface to the origin （corresponding to the desired states）. Simulation results show that the satellite can be controlled perfectly by thrusters with the proposed control law, even in the case of structural asymmetry and serious coupling between the control channels.展开更多
文摘This paper deals with the modelling and simulation of aircraft systems, in particular for power transmission and control. It is intended to review, propose and disseminate best practices for making model-based/simulation-aided engineering more efficient at any phase of the system life cycle. The proposals are aimed at creating value, not only by increasing the performance of the product under study but also by shortening the time to market, capitalizing knowledge, mitigating risks and facilitating concurrent engineering. The needs associated with the engineering activities are firstly identified to define a set of requirements for the models. Then, these requirements are used to drive the considerations leading to model development, focusing in particular on the process,modelled physical effects, modelling level, model architecting and concurrent engineering. The third part deals with the model implementation, giving special consideration to the different types of models, causalities, parameterization, implementation and verification. Each part is illustrated by examples related to safety critical actuators.
基金Project(51005086)supported by the National Natural Science Foundation of ChinaProject(2010MS085)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(DMETKF2013008)supported by the Open Project of the State Key Laboratory of Digital Manufacturing Equipment and Technology,China
文摘A layered modeling method is proposed to resolve the problems resulting from the complexity of the error model of a multi-axis motion control system. In this model, a low level layer can be used as a virtual axis by the high level layer. The first advantage of this model is that the complex error model of a four-axis motion control system can be divided into several simple layers and each layer has different coupling strength to match the real control system. The second advantage lies in the fact that the controller in each layer can be designed specifically for a certain purpose. In this research, a three-layered cross coupling scheme in a four-axis motion control system is proposed to compensate the contouring error of the motion control system. Simulation results show that the maximum contouring error is reduced from 0.208 mm to 0.022 mm and the integration of absolute error is reduced from 0.108 mm to 0.015 mm, which are respectively better than 0.027 mm and 0.037 mm by the traditional method. And in the bottom layer the proposed method also has remarkable ability to achieve high contouring accuracy.
基金supported by the National Natural Science Foundation of China(51505133,61108038)the Doctoral Science Foundation of Henan Polytechnic University(60407/010)Chunhui Program of Ministry of Education of China(Z2011069)
文摘This paper presents a new asymmetric hysteresis model and its application in the tracking control of piezoelectric actuators. The proposed model is based on a coupled-play operator which can avoid the conventional Prandtl-Ishlinskii(CPI)model's defects, i.e., the symmetric property. The high accuracy for modeling asymmetric hysteresis is validated by comparing simulation results with experimental measurements. In order to further evaluate the performance of the proposed model in closed-loop tracking application, two different hybrid control methods which experimentally demonstrate their performance under the same operating conditions, are compared to validate that the hybrid control strategy with proposed hysteresis model can mitigate the hysteresis more effectively and achieve better tracking precision. The experimental results demonstrate that the proposed modeling and tracking control strategy can realize efficient control of piezoelectric actuator.
基金support through the ARC Linkage LP0989780 grant titled "The study anddevelopment of a 3-D real-time stockpile management system"the support in part from Institute for Mineral and Energy Resources,University of Adelaide 2009-2010,as well as Faculty of Engineering,Computer and Mathematical Sciences strategic research funding,2010
文摘The bucket wheel reclaimer(BWR) is a key piece of equipment which has been widely used for stacking and reclaiming bulk materials(i.e.iron ore and coal) in places such as ports,iron-steel plants,coal storage areas,and power stations from stockpiles.BWRs are very large in size,heavy in weight,expensive in price,and slow in motion.There are many challenges in attempting to automatically control their motion to accurately follow the required trajectories involving uncertain parameters from factors such as friction,turbulent wind,its own dynamics,and encoder limitations.As BWRs are always heavily engaged in production and cannot be spared very long for motion control studies and associated developments,a BWR model and simulation environment closely resembling real life conditions would be beneficial.The following research focused mainly on the implementation of fuzzy logic to a BWR motion control from an engineer's perspective.First,the modeling of a BWR including partially known parameters such as friction force and turbulence to the system was presented.This was then followed by the design of a fuzzy logic-based control built on a model-based control loop.The investigation provides engineers with an example of applying fuzzy logic in a model based approach to properly control the motion of a large BWR following defined trajectories,as well as to show possible ways of further improving the controller performance.The result indicates that fuzzy logic can be applied easily by engineers to overcome most motion control issues involving a large BWR.
基金supported by Beijing Natural Science Foundation(No.4142017)International Cooperation Project of National Natural Science Foundation of China(No.61120106009)Beijing Science and Technology Commission Precision Machinery Projects(No.Z121100001612007)
文摘Nowadays, high-precision motion controls are needed in modern manufacturing industry. A data-driven nonparametric model adaptive control(NMAC) method is proposed in this paper to control the position of a linear servo system. The controller design requires no information about the structure of linear servo system, and it is based on the estimation and forecasting of the pseudo-partial derivatives(PPD) which are estimated according to the voltage input and position output of the linear motor. The characteristics and operational mechanism of the permanent magnet synchronous linear motor(PMSLM) are introduced, and the proposed nonparametric model control strategy has been compared with the classic proportional-integral-derivative(PID) control algorithm. Several real-time experiments on the motion control system incorporating a permanent magnet synchronous linear motor showed that the nonparametric model adaptive control method improved the system s response to disturbances and its position-tracking precision, even for a nonlinear system with incompletely known dynamic characteristics.
文摘Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity loop and current loop, which is standard in industrial motion controllers, is described in literature by using parametric models. Several tuning rules in the time domain are applicable on the basis of these parametric descriptions. In order to benefit from the variety of tuning rules an identification method in the time domain is required. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto relay feedback experiment by ?str?m/ H?gglund and a modified technique of gradual pole compensation. The paper presents the theoretical description as well as the implementtation as an automatic application in the motion control system SIMOTION. The identification results as well as the achievable performance on a test rig with a PI velocity controller will be presented.
文摘A novel type of control law was adopted to reduce the vertical acceleration of a fast ferry as well as the motion sickness incidence suffered by the passengers onboard by means of a submerged T-foil.Considering the system changing characteristics under high disturbances,a model-free approach was adopted.In addition,an upgraded proportional-derivative(PD)controller with correction terms resulting from a fast-online estimation of the system dynamics was designed.The overall controller,known as intelligent PD(i-PD)controller,was tested,and the obtained results were compared with those of a classic PD controller.The controllers were also tested in a changing environment and at different operating velocities.The results confirmed the effectiveness of the i-PD controller to smooth the motions with low computational cost control schemes.Furthermore,thanks to ability of the i-PD controller to continually update the estimated dynamics of the system,it showed a better reduction in both vertical motions and the seasickness level of the passengers with the needed robustness under external disturbances and system changing parameters.
文摘圆周合成孔径声呐通过对成像场景作360°圆周运动获得目标全方位观测信息,以实现水下目标三维高精度成像,其成像效果受无人搭载平台的圆周运动误差影响较大.针对这一问题,根据圆周路径推导设计了基于向心加速度的圆周运动非线性制导算法(centripetal acceleration based nonlinear guidance for circular,CANGC),对圆周轨迹贴合度高,具有较高的控制精度.此外,还设计了基于模型预测控制算法的圆周运动控制律,具有较快的控制响应和较强的自适应能力.将两种算法较好地融合,可实现精准圆周轨迹跟踪.其中制导律的控制输出为偏航角速度,因此控制过程中不依赖于无人船磁力计测得的偏航角数据,可以在具有较强磁场影响的条件下使用.通过仿真实验验证了算法的优越性,本文所设计的算法跟踪精度比文献中的算法的跟踪精度高80.1%.湖上实验进一步验证该算法对于圆周运动有较高的控制精度.研究成果为圆周合成孔径声呐成像无人船平台研究提供了算法基础.
文摘The primary sensor of astronomy observation satellite （AOS） is mounted on a gimbal base which connects directly with the satellite platform and has two degrees of freedom. Attitude control for AOS with a swinging sensor will be highlighted in this paper. Due to the non-negligible mass and length of the sensor, the internal motion between the satellite and the sensor will change the attitude, the position of center of mass and moment of inertia of the SYSTEM （consists of the satellite and the sen- sor）. According to moment of momentum theorem, a rigid two-body dynamic model is derived, which can he used to determine the inertial tensor of the SYSTEM. Modulating the satellite＇s present and desired quaternions results in quasi-Euler angles and normalizing these resultant parameters can ensure that the channel corresponding to each quasi-Euler angle is in the charge of each component of the control torque. Based on the normalized quasi-Euler angles, a switching attitude control law is proposed. With the control law, the corresponding phase trajectory will slide along the switching surface to the origin （corresponding to the desired states）. Simulation results show that the satellite can be controlled perfectly by thrusters with the proposed control law, even in the case of structural asymmetry and serious coupling between the control channels.
