The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its...The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its design model is verified on the state-space model of EHSAS by using simulation program SIMULINK. Real data used to test the system. Simulation results give a good agreement for the controller and also for the state-space model.展开更多
Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in...Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in the flight simulator servo system, especially in a low-speed state. Based on the description of dynamic and static models of a nonlinear Stribeck friction model, this paper puts forward sliding mode controller to overcome the friction, whose stability is展开更多
In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensat...In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensation controller with a dual-observer structure is designed,while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque.Considering the influence of the periodic disturbance torque and parametric uncertainties,fuzzy systems and a robust term are employed.In this way,the whole system can be treated as a simple linear model after being compensated,then the proportional-derivative (PD) control law is applied to enhancing the control performance.On the basis of Lyapunov stability theory,the global stability and the asymptotic convergence of the tracking error are proved.Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.展开更多
机器人和数控机床等高端机械用位置伺服系统的定位性能易受摩擦力矩等干扰的影响,对此提出了一种基于改进粒子群算法(particle swarm optimization algorithm with improved particle velocity and position update formula,IPSO-VP)的...机器人和数控机床等高端机械用位置伺服系统的定位性能易受摩擦力矩等干扰的影响,对此提出了一种基于改进粒子群算法(particle swarm optimization algorithm with improved particle velocity and position update formula,IPSO-VP)的伺服系统摩擦参数辨识及前馈补偿方法。首先,分析并建立基于Stribeck的摩擦模型,在传统粒子群算法(PSO)的基础上,提出了一种基于改进粒子群算法(IPSO-VP)的摩擦参数辨识方法,该方法采用一种新的基于粒子维度信息的位置和速度自适应更新策略,以及一种新的基于Logistic混沌非线性变化惯性权重对模型参数进行辨识;其次,基于辨识获得的摩擦力矩值,将其前馈补偿到伺服系统交轴电流上以补偿摩擦力矩。为了验证算法的有效性,搭建系统进行了测试,结果表明相较于基于传统粒子群算法(PSO)的参数辨识方法,采用基于改进粒子群算法(IPSO-VP)的系统,其参数的辨识精度和迭代收敛速度更高,从而提高了机器人和数控机床等用伺服系统的跟踪控制性能和鲁棒性。展开更多
为了解决智能汽车线控制动系统结构复杂、仿真困难等问题,提出了一种新型的集成式线控制动系统(Integrated Braking Control System,IBC),基于IBC的整体结构和工作原理,建立IBC的数学模型。首先建立表贴式永磁同步电机模型,然后建立传...为了解决智能汽车线控制动系统结构复杂、仿真困难等问题,提出了一种新型的集成式线控制动系统(Integrated Braking Control System,IBC),基于IBC的整体结构和工作原理,建立IBC的数学模型。首先建立表贴式永磁同步电机模型,然后建立传动机构模型和伺服缸模型,传动机构选用行星齿轮和滚珠丝杠,其位于电机和伺服缸之间。首先通过行星齿轮进行减速增扭,再由滚珠丝杠推动伺服缸活塞运动,把制动液推动到四个轮缸以实现制动。搭建制动系统动态模型,对建立的数学模型进行验证。搭建伺服系统三闭环仿真模型,设计了位置环PID控制器、基于线性自抗扰控制(LADRC)的转速环控制器以及基于电压前馈解耦和PI反馈的电流环控制器,同时电流环控制器还结合id=0的矢量控制策略,由电流传感器采集电机的三相电流,经过Clack&Park变换将ABC三相坐标系转化为d-q两相同步旋转的平面直角坐标系,得到d、q轴实际电流。将d、q轴实际电流与期望电流的差值输入到电流环控制器得到d、q轴电压,经Park逆变换得到两相静止坐标系下的电压uα、uβ,然后经过SVPWM将uα、uβ转换为6路脉宽调制(PWM)信号,经逆变器计算出三相电流,驱动电机工作。最后对控制电机的输出进行仿真分析。研究结果表明,建立的数学模型有较高的准确性,误差控制在5%以下。基于伺服三闭环控制的电机中的位置环、转速环、电流环实际值能够很好地跟随期望值,误差低,电机响应速度快。提出的集成式线控制动系统可以提供较好的制动效果,其在能量回收、制动性能的提升和安全智能化拓展方面有着显著的提升。展开更多
Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple c...Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation（RLSE） to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.展开更多
文摘The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its design model is verified on the state-space model of EHSAS by using simulation program SIMULINK. Real data used to test the system. Simulation results give a good agreement for the controller and also for the state-space model.
基金This project was supported by the Aeronautics Foundation of China (00E21022).
文摘Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in the flight simulator servo system, especially in a low-speed state. Based on the description of dynamic and static models of a nonlinear Stribeck friction model, this paper puts forward sliding mode controller to overcome the friction, whose stability is
基金Supported by Aeronautical Science Foundation of China(No.20080651016)
文摘In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensation controller with a dual-observer structure is designed,while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque.Considering the influence of the periodic disturbance torque and parametric uncertainties,fuzzy systems and a robust term are employed.In this way,the whole system can be treated as a simple linear model after being compensated,then the proportional-derivative (PD) control law is applied to enhancing the control performance.On the basis of Lyapunov stability theory,the global stability and the asymptotic convergence of the tracking error are proved.Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.
文摘机器人和数控机床等高端机械用位置伺服系统的定位性能易受摩擦力矩等干扰的影响,对此提出了一种基于改进粒子群算法(particle swarm optimization algorithm with improved particle velocity and position update formula,IPSO-VP)的伺服系统摩擦参数辨识及前馈补偿方法。首先,分析并建立基于Stribeck的摩擦模型,在传统粒子群算法(PSO)的基础上,提出了一种基于改进粒子群算法(IPSO-VP)的摩擦参数辨识方法,该方法采用一种新的基于粒子维度信息的位置和速度自适应更新策略,以及一种新的基于Logistic混沌非线性变化惯性权重对模型参数进行辨识;其次,基于辨识获得的摩擦力矩值,将其前馈补偿到伺服系统交轴电流上以补偿摩擦力矩。为了验证算法的有效性,搭建系统进行了测试,结果表明相较于基于传统粒子群算法(PSO)的参数辨识方法,采用基于改进粒子群算法(IPSO-VP)的系统,其参数的辨识精度和迭代收敛速度更高,从而提高了机器人和数控机床等用伺服系统的跟踪控制性能和鲁棒性。
文摘为了解决智能汽车线控制动系统结构复杂、仿真困难等问题,提出了一种新型的集成式线控制动系统(Integrated Braking Control System,IBC),基于IBC的整体结构和工作原理,建立IBC的数学模型。首先建立表贴式永磁同步电机模型,然后建立传动机构模型和伺服缸模型,传动机构选用行星齿轮和滚珠丝杠,其位于电机和伺服缸之间。首先通过行星齿轮进行减速增扭,再由滚珠丝杠推动伺服缸活塞运动,把制动液推动到四个轮缸以实现制动。搭建制动系统动态模型,对建立的数学模型进行验证。搭建伺服系统三闭环仿真模型,设计了位置环PID控制器、基于线性自抗扰控制(LADRC)的转速环控制器以及基于电压前馈解耦和PI反馈的电流环控制器,同时电流环控制器还结合id=0的矢量控制策略,由电流传感器采集电机的三相电流,经过Clack&Park变换将ABC三相坐标系转化为d-q两相同步旋转的平面直角坐标系,得到d、q轴实际电流。将d、q轴实际电流与期望电流的差值输入到电流环控制器得到d、q轴电压,经Park逆变换得到两相静止坐标系下的电压uα、uβ,然后经过SVPWM将uα、uβ转换为6路脉宽调制(PWM)信号,经逆变器计算出三相电流,驱动电机工作。最后对控制电机的输出进行仿真分析。研究结果表明,建立的数学模型有较高的准确性,误差控制在5%以下。基于伺服三闭环控制的电机中的位置环、转速环、电流环实际值能够很好地跟随期望值,误差低,电机响应速度快。提出的集成式线控制动系统可以提供较好的制动效果,其在能量回收、制动性能的提升和安全智能化拓展方面有着显著的提升。
基金Supported by National Natural Science Foundation of China(Grant Nos.50775200,50905156)
文摘Friction compensation is particularly important for motion trajectory tracking control of pneumatic cylinders at low speed movement. However, most of the existing model-based friction compensation schemes use simple classical models, which are not enough to address applications with high-accuracy position requirements. Furthermore, the friction force in the cylinder is time-varying, and there exist rather severe unmodelled dynamics and unknown disturbances in the pneumatic system. To deal with these problems effectively, an adaptive robust controller with LuGre model-based dynamic friction compensation is constructed. The proposed controller employs on-line recursive least squares estimation（RLSE） to reduce the extent of parametric uncertainties, and utilizes the sliding mode control method to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. In addition, in order to realize LuGre model-based friction compensation, the modified dual-observer structure for estimating immeasurable friction internal state is developed. Therefore, a prescribed motion tracking transient performance and final tracking accuracy can be guaranteed. Since the system model uncertainties are unmatched, the recursive backstepping design technology is applied. In order to solve the conflicts between the sliding mode control design and the adaptive control design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Finally, the proposed controller is tested for tracking sinusoidal trajectories and smooth square trajectory under different loads and sudden disturbance. The testing results demonstrate that the achievable performance of the proposed controller is excellent and is much better than most other studies in literature. Especially when a 0.5 Hz sinusoidal trajectory is tracked, the maximum tracking error is 0.96 mm and the average tracking error is 0.45 mm. This paper constructs an adaptive robust controller which can compensate the friction force in the cylinder.
