In this paper, we design high-order Runge-Kutta discontinuous Galerkin (RKDG) methods with multi-resolution weighted essentially non-oscillatory (multi-resolution WENO) limiters to compute compressible steady-state pr...In this paper, we design high-order Runge-Kutta discontinuous Galerkin (RKDG) methods with multi-resolution weighted essentially non-oscillatory (multi-resolution WENO) limiters to compute compressible steady-state problems on triangular meshes. A troubled cell indicator extended from structured meshes to unstructured meshes is constructed to identify triangular cells in which the application of the limiting procedures is required. In such troubled cells, the multi-resolution WENO limiting methods are used to the hierarchical L^(2) projection polynomial sequence of the DG solution. Through using the RKDG methods with multi-resolution WENO limiters, the optimal high-order accuracy can be gradually reduced to first-order in the triangular troubled cells, so that the shock wave oscillations can be well suppressed. In steady-state simulations on triangular meshes, the numerical residual converges to near machine zero. The proposed spatial reconstruction methods enhance the robustness of classical DG methods on triangular meshes. The good results of these RKDG methods with multi-resolution WENO limiters are verified by a series of two-dimensional steady-state problems.展开更多
This paper proposes a steady-state errors correction(SSEC)method for eliminating measurement errors.This method is based on the detections of error signal E(s)and output C(s)which generate an expected output R(s).In c...This paper proposes a steady-state errors correction(SSEC)method for eliminating measurement errors.This method is based on the detections of error signal E(s)and output C(s)which generate an expected output R(s).In comparison with the conventional solutions which are based on detecting the expected output R(s)and output C(s)to obtain error signal E(s),the measurement errors are eliminated even the error might be at a significant level.Moreover,it is possible that the individual debugging by regulating the coefficient K for every member of the multiple objectives achieves the optimization of the open loop gain.Therefore,this simple method can be applied to the weak coupling and multiple objectives system,which is usually controlled by complex controller.The principle of eliminating measurement errors is derived analytically,and the advantages comparing with the conventional solutions are depicted.Based on the SSEC method analysis,an application of this method for an active power filter(APF)is investigated and the effectiveness and viability of the scheme are demonstrated through the simulation and experimental verifications.展开更多
To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design...To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.展开更多
Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase erro...Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase error controller makes the overall system's frequencyresponse exhibit zero phase shift for all frequencies and a very small gain error at low frequencyrange can be achieved. A new algorithm to design the feed forward controller is presented, in orderto reduce the phase error, the design of proposed feed forward controller uses a modified plantmodel, which is a closed loop transfer function, through which the system tracking precisionperformance can be improved greatly. Real-time control results show the effectiveness of theproposed approach in flight simulator servo system.展开更多
Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this ...Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.展开更多
In this paper, the effect of channel estimation errors upon the Zero Forcing (ZF) precoding Multiple Input Multiple Output Broadcast (MIMO BC) systems was studied. Based on the two kinds of Gaussian estimation error m...In this paper, the effect of channel estimation errors upon the Zero Forcing (ZF) precoding Multiple Input Multiple Output Broadcast (MIMO BC) systems was studied. Based on the two kinds of Gaussian estimation error models, the performance analysis is conducted under different power allocation strategies. Analysis and simulation show that if the covariance of channel estimation errors is independent of the received Signal to Noise Ratio (SNR), imperfect channel knowledge deteriorates the sum capacity and the Bit Error Rate (BER) performance severely. However, under the situation of orthogonal training and the Minimum Mean Square Error (MMSE) channel estimation, the sum ca- pacity and BER performance are consistent with those of the perfect Channel State Information (CSI) with only a performance degradation.展开更多
Krawtchouk polynomials are frequently applied in modern physics. Based on the results which were educed by Li and Wong, the asymptotic expansions of Krawtchouk polynomials are improved by using Airy function, and unif...Krawtchouk polynomials are frequently applied in modern physics. Based on the results which were educed by Li and Wong, the asymptotic expansions of Krawtchouk polynomials are improved by using Airy function, and uniform asymptotic expansions are got. Furthermore, the asymptotic expansions of the zeros for Krawtchouk polynomials are again deduced by using the property of the zeros of Airy function, and their corresponding error bounds axe discussed. The obtained results give the asymptotic property of Krawtchouk polynomials with their zeros, which are better than the results educed by Li and Wong.展开更多
Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based ...Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based on this, a new algorithm is presented to design the feedforward controller. However, zero phase error controller is only suitable for certain linear system. To reduce the tracking error and improve robustness, the design of the proposed feedforward controller uses a neural compensation based on diagonal recurrent neural network. Simulation and real-time control results for flight simulator servo system show the effectiveness of the proposed approach.展开更多
Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, ...Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, have been used to control this kind of system, but there are some deficiencie s in those methods: some need accurate and some need complicated operation and e tc. In recent years, in need of controlling the industrial robots, aiming at com pletely tracking the ideal input for the controlled subject with repetitive character, a new research area, ILC (iterative learning control), has been devel oped in the control technology and theory. The iterative learning control method can make the controlled subject operate as desired in a definite time span, merely making use of the prior control experie nce of the system and searching for the desired control signal according to the practical and desired output signal. The process of searching is equal to that o f learning, during which we only need to measure the output signal to amend the control signal, not like the adaptive control strategy, which on line assesses t he complex parameters of the system. Besides, since the iterative learning contr ol relies little on the prior message of the subject, it has been well used in a lot of areas, especially the dynamic systems with strong non-linear coupling a nd high repetitive position precision and the control system with batch producti on. Since robot manipulator has the above-mentioned character, ILC can be very well used in robot manipulator. In the ILC, since the operation always begins with a certain initial state, init ial condition has been required in almost all convergence verification. Therefor e, in designing the controller, the initial state has to be restricted with some condition to guarantee the convergence of the algorithm. The settle of initial condition problem has long been pursued in the ILC. There are commonly two kinds of initial condition problems: one is zero initial error problem, another is non-zero initial error problem. In practice, the repe titive operation will invariably produce excursion of the iterative initial stat e from the desired initial state. As a result, the research on the second in itial problem has more practical meaning. In this paper, for the non-zero initial error problem, one novel robust ILC alg orithms, respectively combining PD type iterative learning control algorithm wit h the robust feedback control algorithm, has been presented. This novel robust ILC algorithm contain two parts: feedforward ILC algorithm and robust feedback algorithm, which can be used to restrain disturbance from param eter variation, mechanical nonlinearities and unmodeled dynamics and to achieve good performance as well. The feedforward ILC algorithm can be used to improve the tracking error and perf ormance of the system through iteratively learning from the previous operation, thus performing the tracking task very fast. The robust feedback algorithm could mainly be applied to make the real output of the system not deviate too much fr om the desired tracking trajectory, and guarantee the system’s robustness w hen there are exterior noises and variations of the system parameter. In this paper, in order to analyze the convergence of the algorithm, Lyapunov st ability theory has been used through properly selecting the Lyapunov function. T he result of the verification shows the feasibility of the novel robust iterativ e learning control in theory. Finally, aiming at the two-freedom rate robot, simulation has been made with th e MATLAB software. Furthermore, two groups of parameters are selected to validat e the robustness of the algorithm.展开更多
In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial rob...In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial robot,which has six degree of freedom(6-DOF).The whole adaptive force control algorithm is implemented on TMS320C30 micro-processor whose instruction cycle is 60ns.The results of the force control experiments prove that AZPEF force control makes robot have good robustness and quick response ability.展开更多
The reasons for inducing quadrature error and offset error are analyzed and the expressions of quadrature error and offset error are induced. The open-loop system analysis indicates that, in order to avoid the appeara...The reasons for inducing quadrature error and offset error are analyzed and the expressions of quadrature error and offset error are induced. The open-loop system analysis indicates that, in order to avoid the appearance of harmonic peaks, the frequency difference δf between drive mode and sense mode must be less than 1/（2Qy）. In order to eliminate the effects of the quadrature error and the offset error, as well as the inherent non- linearity in the capacitance-type sensors, a closed-loop feedback control circuit with quadrature correction is designed. The experimental results indicate that the quadrature error and offset error are corrected. By comparing with open-loop detection, the closed-loop feedback control circuit with quadrature correction decreases the non-linearity of the scale factor from 16. 02% to 0. 35 %, widens the maximum rate capability from ± 270 （°）/s to ± 370 （°）/s and increases the stability of zero bias from 155. 2 （°）/h to 60. 6 （°）/h.展开更多
基金supported by the NSFC Grant No.11872210 and Grant No.MCMS-I-0120G01Chi-Wang Shu:Research is supported by the AFOSR Grant FA9550-20-1-0055 and the NSF Grant DMS-2010107Jianxian Qiu:Research is supported by the NSFC Grant No.12071392.
文摘In this paper, we design high-order Runge-Kutta discontinuous Galerkin (RKDG) methods with multi-resolution weighted essentially non-oscillatory (multi-resolution WENO) limiters to compute compressible steady-state problems on triangular meshes. A troubled cell indicator extended from structured meshes to unstructured meshes is constructed to identify triangular cells in which the application of the limiting procedures is required. In such troubled cells, the multi-resolution WENO limiting methods are used to the hierarchical L^(2) projection polynomial sequence of the DG solution. Through using the RKDG methods with multi-resolution WENO limiters, the optimal high-order accuracy can be gradually reduced to first-order in the triangular troubled cells, so that the shock wave oscillations can be well suppressed. In steady-state simulations on triangular meshes, the numerical residual converges to near machine zero. The proposed spatial reconstruction methods enhance the robustness of classical DG methods on triangular meshes. The good results of these RKDG methods with multi-resolution WENO limiters are verified by a series of two-dimensional steady-state problems.
基金National Natural Science Foundation of China(No.61273172)
文摘This paper proposes a steady-state errors correction(SSEC)method for eliminating measurement errors.This method is based on the detections of error signal E(s)and output C(s)which generate an expected output R(s).In comparison with the conventional solutions which are based on detecting the expected output R(s)and output C(s)to obtain error signal E(s),the measurement errors are eliminated even the error might be at a significant level.Moreover,it is possible that the individual debugging by regulating the coefficient K for every member of the multiple objectives achieves the optimization of the open loop gain.Therefore,this simple method can be applied to the weak coupling and multiple objectives system,which is usually controlled by complex controller.The principle of eliminating measurement errors is derived analytically,and the advantages comparing with the conventional solutions are depicted.Based on the SSEC method analysis,an application of this method for an active power filter(APF)is investigated and the effectiveness and viability of the scheme are demonstrated through the simulation and experimental verifications.
基金This project was supported by the Aeronautics Foundation of China (00E51022).
文摘To improve the robustness of high-precision servo systems, quantitative feedback theory （QFT） which aims to achieve a desired robust design over a specified region of plant uncertainty is proposed. The robust design problem can be solved using QFT but it fails to guarantee a high precision tracking. This problem is solved by a robust digital QFT control scheme based on zero phase error （ZPE） feed forward compensation. This scheme consists of two parts： a QFT controller in the closed-loop system and a ZPE feed-forward compensator. Digital QFT controller is designed to overcome the uncertainties in the system. Digital ZPE feed forward controller is used to improve the tracking precision. Simulation and real-time examples for flight simulator servo system indicate that this control scheme can guarantee both high robust performance and high position tracking precision.
基金This project is supported by Aeronautics Foundation of China (No.00- E51022).
文摘Flight simulator is an important device and a typical high performanceposition servo system used in the hardware-in-the-loop simulation of flight control system. Withoutusing the future desired output, zero phase error controller makes the overall system's frequencyresponse exhibit zero phase shift for all frequencies and a very small gain error at low frequencyrange can be achieved. A new algorithm to design the feed forward controller is presented, in orderto reduce the phase error, the design of proposed feed forward controller uses a modified plantmodel, which is a closed loop transfer function, through which the system tracking precisionperformance can be improved greatly. Real-time control results show the effectiveness of theproposed approach in flight simulator servo system.
文摘Radar leveling system is the key equipment for improving the radar mobility and survival capability. A combined quantitative feedback theory (QFT) controller is designed for the radar truck leveling simulator in this paper, which suffers from strong nonlinearities and system parameter uncertainties. QFT can reduce the plant uncertainties and stabilize the system, but it fails to obtain high-precision tracking. This drawback can be solved by a robust QFT control scheme based on zero phase error tracking control (ZPETC) compensation. The combined controller not only possesses high robustness, but greatly improves the system performance. To verify the effiectiveness and the potential of the proposed controller, a series of experiments have been carried out. Experimental results have demonstrated its robustness against a large range of parameters variation and high tracking precision performance, as well as its capability of restraining the load coupling among channels. The combined QFT controller can drive the radar truck leveling platform accurately, quickly and stably.
基金by the National Natural Science Foundation of China (No.60496311).
文摘In this paper, the effect of channel estimation errors upon the Zero Forcing (ZF) precoding Multiple Input Multiple Output Broadcast (MIMO BC) systems was studied. Based on the two kinds of Gaussian estimation error models, the performance analysis is conducted under different power allocation strategies. Analysis and simulation show that if the covariance of channel estimation errors is independent of the received Signal to Noise Ratio (SNR), imperfect channel knowledge deteriorates the sum capacity and the Bit Error Rate (BER) performance severely. However, under the situation of orthogonal training and the Minimum Mean Square Error (MMSE) channel estimation, the sum ca- pacity and BER performance are consistent with those of the perfect Channel State Information (CSI) with only a performance degradation.
基金Project supported by Scientific Research Common Program of Beijing Municipal Commission of Education of China (No.KM200310015060)
文摘Krawtchouk polynomials are frequently applied in modern physics. Based on the results which were educed by Li and Wong, the asymptotic expansions of Krawtchouk polynomials are improved by using Airy function, and uniform asymptotic expansions are got. Furthermore, the asymptotic expansions of the zeros for Krawtchouk polynomials are again deduced by using the property of the zeros of Airy function, and their corresponding error bounds axe discussed. The obtained results give the asymptotic property of Krawtchouk polynomials with their zeros, which are better than the results educed by Li and Wong.
基金The project was supported by Aeronautics Foundation of China (00E51022).
文摘Using the future desired input value, zero phase error controller enables the overall system＇s frequency response exhibit zero phase shift for all frequencies and a small gain error at low frequency range, and based on this, a new algorithm is presented to design the feedforward controller. However, zero phase error controller is only suitable for certain linear system. To reduce the tracking error and improve robustness, the design of the proposed feedforward controller uses a neural compensation based on diagonal recurrent neural network. Simulation and real-time control results for flight simulator servo system show the effectiveness of the proposed approach.
文摘Industrial robot system is a kind of dynamic system w ith strong nonlinear coupling and high position precision. A lot of control ways , such as nonlinear feedbackdecomposition motion and adaptive control and so o n, have been used to control this kind of system, but there are some deficiencie s in those methods: some need accurate and some need complicated operation and e tc. In recent years, in need of controlling the industrial robots, aiming at com pletely tracking the ideal input for the controlled subject with repetitive character, a new research area, ILC (iterative learning control), has been devel oped in the control technology and theory. The iterative learning control method can make the controlled subject operate as desired in a definite time span, merely making use of the prior control experie nce of the system and searching for the desired control signal according to the practical and desired output signal. The process of searching is equal to that o f learning, during which we only need to measure the output signal to amend the control signal, not like the adaptive control strategy, which on line assesses t he complex parameters of the system. Besides, since the iterative learning contr ol relies little on the prior message of the subject, it has been well used in a lot of areas, especially the dynamic systems with strong non-linear coupling a nd high repetitive position precision and the control system with batch producti on. Since robot manipulator has the above-mentioned character, ILC can be very well used in robot manipulator. In the ILC, since the operation always begins with a certain initial state, init ial condition has been required in almost all convergence verification. Therefor e, in designing the controller, the initial state has to be restricted with some condition to guarantee the convergence of the algorithm. The settle of initial condition problem has long been pursued in the ILC. There are commonly two kinds of initial condition problems: one is zero initial error problem, another is non-zero initial error problem. In practice, the repe titive operation will invariably produce excursion of the iterative initial stat e from the desired initial state. As a result, the research on the second in itial problem has more practical meaning. In this paper, for the non-zero initial error problem, one novel robust ILC alg orithms, respectively combining PD type iterative learning control algorithm wit h the robust feedback control algorithm, has been presented. This novel robust ILC algorithm contain two parts: feedforward ILC algorithm and robust feedback algorithm, which can be used to restrain disturbance from param eter variation, mechanical nonlinearities and unmodeled dynamics and to achieve good performance as well. The feedforward ILC algorithm can be used to improve the tracking error and perf ormance of the system through iteratively learning from the previous operation, thus performing the tracking task very fast. The robust feedback algorithm could mainly be applied to make the real output of the system not deviate too much fr om the desired tracking trajectory, and guarantee the system’s robustness w hen there are exterior noises and variations of the system parameter. In this paper, in order to analyze the convergence of the algorithm, Lyapunov st ability theory has been used through properly selecting the Lyapunov function. T he result of the verification shows the feasibility of the novel robust iterativ e learning control in theory. Finally, aiming at the two-freedom rate robot, simulation has been made with th e MATLAB software. Furthermore, two groups of parameters are selected to validat e the robustness of the algorithm.
文摘In order to remove the time delay between the input and the output signals of a robot force control system,adaptive zero phase error feedforward(AZPEF)control method is presented and applied to PUMA 560 industrial robot,which has six degree of freedom(6-DOF).The whole adaptive force control algorithm is implemented on TMS320C30 micro-processor whose instruction cycle is 60ns.The results of the force control experiments prove that AZPEF force control makes robot have good robustness and quick response ability.
文摘The reasons for inducing quadrature error and offset error are analyzed and the expressions of quadrature error and offset error are induced. The open-loop system analysis indicates that, in order to avoid the appearance of harmonic peaks, the frequency difference δf between drive mode and sense mode must be less than 1/（2Qy）. In order to eliminate the effects of the quadrature error and the offset error, as well as the inherent non- linearity in the capacitance-type sensors, a closed-loop feedback control circuit with quadrature correction is designed. The experimental results indicate that the quadrature error and offset error are corrected. By comparing with open-loop detection, the closed-loop feedback control circuit with quadrature correction decreases the non-linearity of the scale factor from 16. 02% to 0. 35 %, widens the maximum rate capability from ± 270 （°）/s to ± 370 （°）/s and increases the stability of zero bias from 155. 2 （°）/h to 60. 6 （°）/h.
