Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation

In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.

Output-feedback Dynamic Surface Control for a Class of Nonlinear Non-minimum Phase Systems

In this paper, an output-feedback tracking controller is proposed for a class of nonlinear non-minimum phase systems.To keep the unstable internal dynamics bounded, the method of output redefinition is applied to let the stability of the internal dynamics depend on that of redefined output, thus we only need to consider the new external dynamics rather than internal dynamics in the process of designing control law. To overcome the explosion of complexity problem in traditional backstepping design, the dynamic surface control(DSC) method is firstly used to deal with the problem of tracking control for the nonlinear non-minimum phase systems. The proposed outputfeedback DSC controller not only forces the system output to asymptotically track the desired trajectory, but also drives the unstable internal dynamics to follow its corresponding bounded and causal ideal internal dynamics, which is solved via stable system center method. Simulation results illustrate the validity of the proposed output-feedback DSC controller.

Dynamic Surface Control with Nonlinear Disturbance Observer for Uncertain Flight Dynamic System

A new robust control method of a nonlinear flight dynamic system with aerodynamic coefficients and external disturbance has been proposed.The proposed control system is a combination of the dynamic surface control(DSC)and the nonlinear disturbance observer(NDO).DSC technique provides the ability to overcome the″explosion of complexity″problem in backstepping control.NDO is adopted to observe the uncertainties in nonlinear flight dynamic system.It has been proved that the proposed design method can guarantee uniformly ultimately boundedness of all the signals in the closed-loop system by Lyapunov stability theorem.Finally,simulation results show that the proposed controller provides better performance than the traditional nonlinear controller.

Adaptive Robust Control for a Class of Uncertain MIMO Non-affine Nonlinear Systems

In this paper, the adaptive robust tracking control scheme is proposed for a class of multi-input and multi-output (MIMO) non-affine systems with uncertain structure and parameters, unknown control direction and unknown external disturbance based on backstepping technique. The MIMO non-affine system is first transformed into a time-varying system with strict feedback structure using the mean value theorem, and then the bounded time-varying parameters are estimated by adaptive algorithms with projection. To handle the possible 'controller singularity' problem caused by unknown control direction, a Nussbaum function is employed, and the dynamic surface control (DSC) method is applied to solve the problem of 'explosion of complexity' in backstepping control. It is proved that the proposed control scheme can guarantee that all signals of the closed-loop system are bounded through Lyapunov stability theorem and decoupled backstepping method. Simulation results are presented to illustrate the effectiveness of the proposed control scheme. © 2014 Chinese Association of Automation.

Robust missile autopilot design based on dynamic surface control

Since the dynamical system and control system of the missile are typically nonlinear, an effective acceleration tracking autopilot is designed using the dynamic surface control(DSC)technique in order to make the missile control system more robust despite the uncertainty of the dynamical parameters and the presence of disturbances. Firstly, the nonlinear mathematical model of the tail-controlled missile is decomposed into slow acceleration dynamics and fast pitch rate dynamics based on the naturally existing time scale separation. Secondly, the controller based on DSC is designed after obtaining the linear dynamics characteristics of the slow and fast subsystems. An extended state observer is used to detect the uncertainty of the system state variables and aerodynamic parameters to achieve the compensation of the control law. The closed-loop stability of the controller is derived and rigorously analyzed. Finally, the effectiveness and robustness of the design is verified by Monte Carlo simulation considering different initial conditions and parameter uptake. Simulation results illustrate that the missile autopilot based DSC controller achieves better performance and robustness than the other two well-known autopilots.The method proposed in this paper is applied to the design of a missile autopilot, and the results show that the acceleration tracking autopilot based on the DSC controller can ensure accurate tracking of the required commands and has better performance.

基于DCS控制技术的造纸定量监测系统设计和实现

为实现对制浆造纸定量环节的自动化监测,提高造纸企业的自动化管理水平,基于抄纸工艺的一般流程和PID控制技术制订了一项水分定量解耦控制策略,并通过对角阵解耦法明确纸张定量控制策略的基本思路。在此基础上,基于纸机车速、上浆流量和上浆浓度3项指标来实现对纸张生产的定量管理,通过带有初始化功能的PSO算法对PID控制器进行参数整定。为实现上述算法的实地应用,基于SIMATIC S7-200 SMART可编程控制器建立了一套造纸定量监测DCS控制系统,并通过WinCC项目中的OPC驱动程序输入PID参数,最后运用Simulink完成数据交换。为验证该系统的有效性,在某造纸企业的造纸定量工序中随机提取了250个扫描点并输出相应的定量偏差曲线。经实际测量发现,该系统控制下的纸张定量波动处于±1g/m2的可接受范围内,实现了较为精准的定量检测。

基于LabVIEW及DSC模块的变电站远程数据监控系统

变电站远程数据监控系统是基于计算机技术、网络技术和虚拟仪器技术的系统,系统软件采用LabVIEW,DSC模块及OPC技术实现远程数据的采集与监控。使用网络对电力参数进行远程监测和数据分析,能实时地显示电压和电流波形,测试和分析电压有效值、电流有效值、功率因数等电力参数,并能远程存取数据,是具有较高性价比的监控软件实现方案。文中给出了监控软件主要功能的实现方法。系统大大优化地区变电站的数据管理模式,具有较好的推广价值。

LabVIEW DSC在测控系统中的通信实现

针对测控系统中常用的OPC、Modbus及第三方自定义协议通信,介绍了基于LabVIEW以上通信协议的实现方法,提出并实现了把原本分散的各种通信方式集成到NI LabVIEW的DSC(Datalogging and Supervisory Control Module)平台,统一运行于后台的方案。实践表明,此方案不但简化测控系统软件的架构,而且提高了系统通信的效率和稳定性。

基于DSC的多参量检测与传输系统设计与实现

多参量检测与传输作为数字测控系统的主要任务,适合采用高性能数字信号控制器(DSC)的解决方案。设计基于TMS320F2407DSC的测控系统,检测多路工作电压、多点温度参数,进行多参量高速AD转换、数据处理,设计RS-485接口与上位机数据传输,实现多参量实时检测、控制功能。该系统具有电路结构简单、数据传输可靠等优点,可用于实时多任务高精度测量与数字化控制。

基于DSC后推法的非线性系统的鲁棒自适应NN控制

针对一类具有不确定系统函数和方向未知的不确定增益函数的非线性系统,提出了一种鲁棒自适应神经网络控制算法.本算法采用RBF神经网络(Radial based function neural network,RBFNN)逼近模型不确定性,外界干扰和建模误差采用非线性阻尼项进行补偿,将动态面控制(Dynamic surface control,DSC)与后推方法结合,消除了反推法的计算膨胀问题,降低了控制器的复杂性;尤其是采用Nussbaum函数处理系统中方向未知的不确定虚拟控制增益函数,不仅可以避免可能存在的控制器奇异值问题,而且还能使得整个系统的在线学习参数显著减少,与DSC方法优点结合,使得控制算法的计算量大为减少,便于计算机实现.稳定性分析证明了所得闭环系统是半全局一致最终有界(Semi-global uniformly ultimately bounded,SGUUB)的,并且跟踪误差可以收敛到原点的一个较小邻域.最后,计算机仿真结果表明了本文所提出控制器的有效性.

一类非线性MIMO系统鲁棒自适应神经网络DSC设计

为了研究一类多输入多输出强非线性系统的自适应跟踪问题,采用RBF神经网络逼近模型不确定性,外界干扰和建模误差采用非线性阻尼项进行补偿,并将动态面控制与Nussbaum增益技术结合,提出了一种鲁棒自适应神经网络跟踪控制算法.该算法不仅能够解决系统中控制方向完全未知问题和可能存在的控制器奇异值问题,而且能够避免传统后推方法的计算膨胀问题,从而大大降低了控制器的复杂性,使之易于工程实现.同时,该算法保证了闭环系统的稳定性,并具有良好的鲁棒性.仿真结果验证了控制器的有效性.

基于DSC的高速电子储纬器控制系统

介绍了目前常见的高速电子储纬器控制系统结构和特点,针对现代喷气织机的高速引纬对电子储纬器提出的要求,在国内外先进技术的基础上,运用美国微芯公司的新型数字控制器DSC提出了控制系统的硬件设计方案,分别介绍了控制系统各个模块所实现的功能和设计方法,对其中的关键电路的设计还给出了硬件电路图。最后,对控制系统进行了软件设计,给出了主程序的简要设计流程图。研究结果表明,所设计的控制系统具有新颖、可靠和低成本等优点。

基于DSC的数字直流调速系统设计

模拟直流调整系统具有线路复杂、通用性差、易受器件性能及环境温度影响等缺点。为克服以上不足,设计了一种基于数字信号控制器(DSC)的数字直流调速系统。系统采用了Microchip公司的电机控制DSC芯片dsPIC30F4011为控制核心,采用了电流内环、速度外环的双闭环控制策略,环路的数字PI校正及脉宽调制(PWM)控制信号的产生全部由DSC软件完成。工程实践结果表明,该系统具有精度高、超调小、抗扰能力强、可靠性高等优点。

基于DSC的数字脉冲MIG弧焊逆变电源设计

介绍了以DSC为控制核心的逆变交流脉冲MIG弧焊电源的构成及工作原理;讨论了应用DSC MC56F8523控制的焊接电源控制系统的硬件设计和软件设计。介绍了模糊控制与专家系统在电源控制系统中的应用。试验证明,该电源工作稳定可靠,能较好地满足焊接工艺性能的要求。

异步电动机转矩直接自控(DSC)系统

DSC系统是继矢量控制之后交流调速控制理论的又一重大突破。本文就DSC系统的基本原理、磁链和转矩的Bang—Bang控制、系统的结构框图和数学模型等几个方面进行了系统而又扼要的分析和介绍。

基于LabVIEW DSC监控软件开发

探讨了如何利用LabVIEW数据记录和监控模块(DSC)开发监控软件。DSC为LabVIEW集成开发环境增加了许多新的功能,用于监控程序和数据记录程序的开发。DSC使用LabVIEW图形化编程方法,为分布式系统的构建提供高效的解决方案。

具有确定逼近域的自适应模糊DSC控制

针对一类不确定非线性时滞系统,提出了一种具有确定逼近域的自适应模糊控制器的设计方案。在动态面控制(DSC)的基础上,通过时滞代换技巧,使得自适应模糊逼近器的输入为参考信号,从而可以明确定义逼近域,同时可以处理系统中完全未知的时滞信号。基于Lyapunov-Krasovskii范函,证明闭环系统所有信号为半全局一致有界的,并且跟踪误差可以收敛到原点附件的一个小邻域内。仿真结果进一步说明了该方法的有效性。

基于DSC的供暖锅炉节能自控系统设计

为了提高供暖锅炉节能自动控制能力,进行控制系统的优化设计,构建基于DSC的供暖锅炉节能自控系统。构建供暖锅炉节能自控系统的总体结构模型,系统由供暖锅炉节能AD采样模块、传感信息融合模块、分散指令控制模块、信息输出模块和人机交互模块等构成,采用APLC21160逻辑处理器芯片作为供暖锅炉节能自动控制的数字处理芯片,进行供暖锅炉节能自控系统的温度传感设计,采用嵌入式的交叉编译方法,进行供暖锅炉节能自控系统的上位机通信协议设计,构造供暖锅炉自动节能控制的总线编译控制器,在总线交叉编译控制过程中实现供暖锅炉自动节能控制和人机交互。仿真结果表明,设计的供暖锅炉节能自控系统的人工智能性较好,自动化控制水平较强。

智能传感教学平台能源管理系统设计

智能传感教学平台以能源管理分散控制系统为核心,阐述了智能传感教学平台能源管理系统结构组成,针对软硬件需求对系统的采集和数据传输进行设计,利用智能传感器把生产过程中的相关数据采集并传输到组态软件,通过建立数据系统,通过NT6000能源管理系统可以实时监控、分析设备运行状态,实现能源集中管理,降低企业能源消耗成本。

柔性机器人基于自适应模糊动态面的实用稳定控制

针对单连杆柔性机器人系统,提出了一种基于自适应模糊动态面的实用稳定控制方法。对于未知或时变函数,采用自适应模糊逼近,进而予以补偿。通过动态面控制避免了Backstepping设计带来的计算膨胀问题,简化了控制器的结构。所设计的控制器保证了闭环系统的实用稳定性。仿真结果验证了所提出控制器的有效性。