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Integrated Sliding Mode Velocity Control of Linear Permanent Magnet Synchronous Motor with Thrust Ripple Compensation
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作者 Cong Bai Zhonggang Yin +2 位作者 Jing Liu Yanqing Zhang Xiangdong Sun 《CES Transactions on Electrical Machines and Systems》 CSCD 2023年第1期100-109,共10页
In this paper,a compound sliding mode velocity control scheme with a new exponential reaching law(NERL)with thrust ripple observation strategy is proposed to obtain a high performance velocity loop of the linear perma... In this paper,a compound sliding mode velocity control scheme with a new exponential reaching law(NERL)with thrust ripple observation strategy is proposed to obtain a high performance velocity loop of the linear permanent magnet synchronous motor(LPMSM)control system.A sliding mode velocity controller based on NERL is firstly discussed to restrain chattering of the conventional exponential reaching law(CERL).Furthermore,the unavoidable thrust ripple caused by the special structure of linear motor will bring about velocity fluctuation and reduced control performance.Thus,a thrust ripple compensation strategy on the basis of extend Kalman filter(EKF)theory is proposed.The estimated thrust ripple will be introduced into the sliding mode velocity controller to optimize the control accuracy and robustness.The effectiveness of the proposal is validated with experimental results. 展开更多
关键词 Linear permanent magnet synchronous motor(LPMSM) Sliding mode velocity control New exponential reaching law Thrust ripple compensation
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GROUP VELOCITY CONTROL SCHEME WITH LOW DISSIPATION 被引量:3
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作者 程军波 傅德薰 马延文 《Chinese Journal of Aeronautics》 SCIE EI CSCD 2000年第3期138-145,共8页
In order to prevent smearing the discontinuity, a modified term is added to the third order Upwind Compact Difference scheme to lower the dissipation error. Moreover, the dispersion error is controled to hold back the... In order to prevent smearing the discontinuity, a modified term is added to the third order Upwind Compact Difference scheme to lower the dissipation error. Moreover, the dispersion error is controled to hold back the non physical oscillation by means of the group velocity control. The scheme is used to simulate the interactions of shock density stratified interface and the disturbed interface developing to vortex rollers. Numerical results are satisfactory. 展开更多
关键词 low dissipation error group velocity control upwind compact difference scheme interactions of shock density stratified interface
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STABILIZATION OF VIBRATING BEAM BY VELOCITY FEEDBACK CONTROL 被引量:2
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作者 王耀庭 李胜家 《Acta Mathematica Scientia》 SCIE CSCD 2000年第2期235-244,共10页
A flexible structure consisting of a Euler-Bernoulli beam with co-located sensors and actuators is considered. The control is a shear force in proportion to velocity. It is known that uniform exponential stability can... A flexible structure consisting of a Euler-Bernoulli beam with co-located sensors and actuators is considered. The control is a shear force in proportion to velocity. It is known that uniform exponential stability can be achieved with velocity feedback. A sensitivity asymptotic analysis of the system's eigenvalues and eigenfunctions is set up. The authors prove that, for K-1 epsilon (0, + infinity), all of the generalized eigenvectors of A form a Riesz basis of H. It is also proved that the optimal exponential decay rate can be obtained from the spectrum of the system for 0 < K-1 < + infinity. 展开更多
关键词 beam eqution velocity feedback control optimal exponential decay rate exponential stabilization
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MOTION VELOCITY SMOOTH LINK IN HIGH SPEED MACHINING 被引量:9
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作者 REN Kun FU Jianzhong CHEN Zichen 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2007年第2期17-20,共4页
To deal with over-shooting and gouging in high speed machining, a novel approach for velocity smooth link is proposed. Considering discrete tool path, cubic spline curve fitting is used to find dangerous points, and a... To deal with over-shooting and gouging in high speed machining, a novel approach for velocity smooth link is proposed. Considering discrete tool path, cubic spline curve fitting is used to find dangerous points, and according to spatial geometric properties of tool path and the kinematics theory, maximum optimal velocities at dangerous points are obtained. Based on method of velocity control characteristics stored in control system, a fast algorithm for velocity smooth link is analyzed and formulated. On-line implementation results show that the proposed approach makes velocity changing more smoothly compared with traditional velocity control methods and improves productivity greatly. 展开更多
关键词 High speed machining Motion velocity link S-type control equation
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A Novel Pre-control Method of Vehicle Dynamics Stability Based on Critical Stable Velocity during Transient Steering Maneuvering 被引量:9
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作者 CHEN Jie SONG Jian +3 位作者 LI Liang RAN Xu JIA Gang WU Kaihui 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2016年第3期475-485,共11页
The current research of direct yaw moment control(DYC) system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lat... The current research of direct yaw moment control(DYC) system focus on the design of target yaw moment and the distribution of wheel brake force. The differential braking intervention can effectively improve the lateral stability of the vehicle, however, the effect of DYC can be improved a step further by applying the control of vehicle longitudinal velocity. In this paper, the relationship between the vehicle longitudinal velocity and lateral stability is studied, and the simulation results show that a decrease of 5 km/h of longitudinal velocity at a particular situation can bring 100° increasing of stable steering upper limit. A critical stable velocity considering the effect of steering and yaw rate measurement is defined to evaluate the risk of losing steer-ability or stability. A novel velocity pre-control method is proposed by using a hierarchical pre-control logic and is integrated with the traditional DYC system. The control algorithm is verified through a hardware in-the-loop simulation system. Double lane change(DLC) test results on both high friction coefficient(μ) and low μ roads show that by using the pre-control method, the steering effort in DLC test can be reduced by 38% and 51% and the peak value of brake pressure control can be reduced by 20% and 12% respectively on high μ and low μ roads, the lateral stability is also improved. This research proposes a novel DYC system with lighter control effort and better control effect. 展开更多
关键词 vehicle dynamics direct yaw moment control critical stable velocity pre-control
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Dynamic Velocity Feed-Forward Compensation Control with RBF-NN System Identification for Industrial Robots 被引量:1
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作者 宋伟科 肖聚亮 +1 位作者 王刚 王国栋 《Transactions of Tianjin University》 EI CAS 2013年第2期118-126,共9页
A dynamic velocity feed-forward compensation (RBF-NN) dynamic model identification was presented for control (DVFCC) approach with RBF neural network the adaptive trajectory tracking of industrial robots. The prop... A dynamic velocity feed-forward compensation (RBF-NN) dynamic model identification was presented for control (DVFCC) approach with RBF neural network the adaptive trajectory tracking of industrial robots. The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model. The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accu- racy. The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can con- vert torque signal into velocity in the standard industrial controller. Then, the need for a torque control interface was avoided in the real-time dynamic control of industrial robot. The simulations and experiments were carried out on a gas cutting manipulator. The results show that the proposed control approach can reduce steady-state error, suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space, especially under high- speed condition. 展开更多
关键词 dynamic velocity feed-forward compensation control RBF-NN inverse velocity controller gas cutting manipulator
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Velocity plus displacement equivalent force control for real-time substructure testing 被引量:1
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作者 Zhou Huimeng D.Wagg Wang Tao 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2018年第1期87-102,共16页
This paper employs a velocity plus displacement(V+D)-based equivalent force control(EFC) method to solve the velocity/displacement difference equation in a real-time substructure test. This method uses type 2 fee... This paper employs a velocity plus displacement(V+D)-based equivalent force control(EFC) method to solve the velocity/displacement difference equation in a real-time substructure test. This method uses type 2 feedback control loops to replace mathematical iteration to solve the nonlinear dynamic equation. A spectral radius analysis of the amplification matrix shows that the type 2 EFC-explicit, Newmark-β method has beneficial numerical characteristics for this method. Its stability limit of Ω = 2 remains unchanged regardless of the system damping because the velocity is achieved with very high accuracy during simulation. In contrast, the stability limits of the central difference method using direct velocity prediction and the EFC-average acceleration method with linear interpolation are shown to decrease with an increase in system damping. In fact, the EFC-average acceleration method is shown to change from unconditionally stable to conditionally stable. We also show that if an over-damped system with a damping ratio of 1.05 is considered, the stability limit is reduced to Ω =1.45. Finally, the results from an experiment with a single-degree-of-freedom structure installed with a magneto-rheological(MR) damper are presented. The results demonstrate that the proposed method is able to follow both displacement and velocity commands with moderate accuracy, resulting in improved test performance and accuracy for structures that are sensitive to both velocity and displacement inputs. Although the findings of the study are promising, additional test data and several further improvements will be required to draw general conclusions. 展开更多
关键词 real-time substructure test EFC velocity/displacement control newmark-β method stability
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Underactuated spacecraft angular velocity stabilization and three-axis attitude stabilization using two single gimbal control moment gyros 被引量:6
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作者 Lei Jin Shijie Xu 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2010年第2期279-288,共10页
Angular velocity stabilization control and attitude stabilization control for an underactuated spacecraft using only two single gimbal control moment gyros (SGCMGs) as actuators is investigated. First of all, the dy... Angular velocity stabilization control and attitude stabilization control for an underactuated spacecraft using only two single gimbal control moment gyros (SGCMGs) as actuators is investigated. First of all, the dynamic model of the underactuated spacecraft is established and the singularity of different configurations with the two SGCMGs is analyzed. Under the assumption that the gimbal axes of the two SGCMGs are installed in any direction, and that the total system angular momentum is not zero, a state feedback control law via Lyapunov method is designed to globally asymptotically stabilize the angular velocity of spacecraft. Under the assumption that the gimbal axes of the two SGCMGs are coaxially installed along anyone of the three principal axes of spacecraft inertia, and that the total system angular momentum is zero, a discontinuous state feedback control law is designed to stabilize three-axis attitude of spacecraft with respect to the inertial frame. Furthermore, the singularity escape of SGCMGs for the above two control problems is also studied. Simulation results demonstrate the validity of the control laws. 展开更多
关键词 Single gimbal control moment gyro ·Undcractuated spacecraft · Angular velocity stabilization · Three-axis attitude stabilization·Singularity
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FORCE FEEDBACK MODEL OF ELECTRO-HYDRAULIC SERVO TELE-OPERATION ROBOT BASED ON VELOCITY CONTROL
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作者 GONG Mingde ZHAO Dingxuan ZHANG Hongyan JIA Cuiling 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2008年第6期1-5,共5页
The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order ... The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object. 展开更多
关键词 Construction robot Tele-operation Bilateral electro-hydraulic servo control velocity control Force feedback model
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Experimental and Simulation-based Investigation of a Velocity Controller Extension on a Ball Screw System
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作者 Rico MOnster Michael Walther Holger Schlegel Welf-Guntram Drossel 《Journal of Mechanics Engineering and Automation》 2015年第4期220-228,共9页
The background of this contribution is the enhancement of the achievable accuracy of servo-screw-presses. Therefore, the paper is concerned with the improvement of the dynamic precision for direct driven servo axes wh... The background of this contribution is the enhancement of the achievable accuracy of servo-screw-presses. Therefore, the paper is concerned with the improvement of the dynamic precision for direct driven servo axes which is still restricted by structural vibrations. For this purpose, a ball screw test rig was analyzed for which the standard cascade control structure was extended by an additional velocity feedback. This structural extension has the potential to improve the controller performance significantly due to a better damping of low frequent vibrations. Furthermore, a parametric dynamic model for the control structure was derived to investigate the effects of the controller extension. For this analysis, the influences of the used tuning factors and filters is discussed in the frequency domain based on bode plots. The results of these cognitions are transferred to the time domain and illustrated by step responses. In addition, an evaluation by the criterion of the IAE (integral of absolute error) and the Prony analysis is carried out. Finally, the results are experimentally verified at the ball screw test rig. The paper closes with the conclusions. 展开更多
关键词 velocity controller extension servo-screw-press advanced position control integral absolute error Prony analysis.
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Reduced Order H_∞/LTR Method for Aeroengine Control System 被引量:5
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作者 杨刚 孙健国 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2004年第3期129-135,共7页
This paper proposes a new loop recovery method to solve the reduced order problem of H∞/ LTR method. The resulted lower order controller shares almost the same performance and robustness as the original H ∞/LTR cont... This paper proposes a new loop recovery method to solve the reduced order problem of H∞/ LTR method. The resulted lower order controller shares almost the same performance and robustness as the original H ∞/LTR controller. Further more, this paper develops a new order reduction method: slow-fast mode order reduction (SFMOR) method. This order reduction method is particularly effective for those controllers whose modes can be divided into a slow part and a fast part according to their velocities. Application of these methods to a benchmark example and a certain turbofan engine is described. 展开更多
关键词 Control systems Mathematical models Problem solving Robustness (control systems) Transfer functions Turbofan engines velocity control velocity measurement
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Evaluation of human response to blasting vibration from excavation of a large scale rock slope:A case study 被引量:8
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作者 Yan Peng Lu Wenbo +2 位作者 Zhang Jing Zou Yujun Chen Ming 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2017年第2期435-446,共12页
Ground vibration, as the most critical public hazard of blasting, has received much attention from the community. Many countries established national standards to suppress vibration impact on structures, but a world-a... Ground vibration, as the most critical public hazard of blasting, has received much attention from the community. Many countries established national standards to suppress vibration impact on structures, but a world-accepted blasting vibration criterion on human safety is still missing. In order to evaluate human response to the vibration from blasting excavation of a large-scale rock slope in China, this study aims to suggest a revised criterion. The vibration frequency was introduced to improve the existing single-factor (peak particle velocity) standard recommended by the United States Bureau of Mines (USBM). The feasibility of the new criterion was checked based on field vibration monitoring and investigation of human reactions. Moreover, the air overpressure or blast effects on human beings have also been discussed. The result indicates that the entire zone of influence can be divided into three subzones: severe-annoyance, light-annoyance and perception zone according to the revised safety standard. Both the construction company and local residents have provided positive comments on this influence degree assessment, which indicates that the presented criterion is suitable for evaluating human response to nearby blasts. Nevertheless, this specific criterion needs more field tests and verifications before it can be 展开更多
关键词 Construction industry EXCAVATION velocity control
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Mobile Robot Control Based on Dynamic Potential
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作者 Tianmiao, Wang Bo, Zhang +1 位作者 Zengren, Yuan Kezhong, He 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 1992年第1期73-82,共10页
An efficient method is presented for implementing mobile robot perception-action behaviors, based on time varying environment potential field approach. First, in this paper, the concept of dynamic potential U(x,y,z,t)... An efficient method is presented for implementing mobile robot perception-action behaviors, based on time varying environment potential field approach. First, in this paper, the concept of dynamic potential U(x,y,z,t) is proposed for representing the environment of a mobile robot, and the form of U(x,y,z,t) is deduced, and then the velocity control of the vehicle with two wheel is directly calculated by transition function T of U(x,y,z,t). Finally, the perception-action layer is successfully implemented for avoiding collision, wandering, and integrating path planning and steering control on THMR-II (tsingHua university Mobile Robot system). Based on sonar array signals, the experimental results are given to show that THMR-II has better reflexive function, real-time obstacle avoidance, adaptability and robustness for complex environments. 展开更多
关键词 Control systems Sensory perception Time varying systems velocity control
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A Suitable Active Control for Suppression the Vibrations of a Cantilever Beam
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作者 Y.A.Amer A.T.EL-Sayed M.N.Abd EL-Salam 《Sound & Vibration》 EI 2022年第2期89-104,共16页
In our consideration,a comparison between four different types of controllers for suppression the vibrations of the cantilever beam excited by an external force is carried out.Those four types are the linear velocity ... In our consideration,a comparison between four different types of controllers for suppression the vibrations of the cantilever beam excited by an external force is carried out.Those four types are the linear velocity feedback control,the cubic velocity feedback control,the non-linear saturation controller(NSC)and the positive position feedback(PPF)controller.The suitable type is the PPF controller for suppression the vibrations of the cantilever beam.The approximate solution obtained up to the first approximation by using the multiple scale method.The PPF controller effectiveness is studied on the system.We used frequency-response equations to investigate the stability of a cantilever beam.We notified that,there is a good agreement between the analytical solution and the numerical solution. 展开更多
关键词 Cantilever beam cubic velocity feedback control linear velocity feedback control non-linear saturation controller(NSC) positive position feedback(PPF)controller
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Acquisition,Pointing and Tracking System for Shipborne Space Laser Communication without Prior Information
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作者 WANG Xiaokang SHANG Jianhua +1 位作者 LUO Yuan HE Yan 《Journal of Donghua University(English Edition)》 CAS 2022年第3期258-264,共7页
A space laser communication acquisition,pointing and tracking(APT)system based on the beacon laser is designed without prior information.And then,a new target scanning method and a pointing and tracking algorithm are ... A space laser communication acquisition,pointing and tracking(APT)system based on the beacon laser is designed without prior information.And then,a new target scanning method and a pointing and tracking algorithm are proposed.The target scanning mode is the round-trip triangular wave scanning,and it means that scanning track of the PAN-TILT platform follows the triangular wave repeatedly.For the pointing and tracking algorithm,the beacon laser is used as the auxiliary aiming light source.The position of the beacon laser in the viewfield of the complementary metal oxide semiconductor(CMOS)camera is calculated by the centroid algorithm.In order to realize the target tracking,the joint control method of the angle control and the angular velocity control is used.The simulation and experimental results show that the APT system can achieve full coverage scanning in the scanning area and capture the target in one scanning cycle successfully.After capturing the PAN-TILT platform,the pointing and tracking algorithm can track the PAN-TILT platform quickly and accurately,and the tracking accuracy is up to 0.22 mrad. 展开更多
关键词 space laser communication acquisition pointing and tracking(APT) triangular scanning method angle control angular velocity control
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Vibration harmonic suppression technology for electromagnetic vibrators based on an improved sensorless feedback control method
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作者 Wei LI Junning CUI +1 位作者 Xingyuan BIAN Limin ZOU 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2024年第3期472-483,共12页
To realize low harmonic distortion of the vibration waveform output from electromagnetic vibrators,we propose a vibration harmonic suppression technology based on an improved sensorless feedback control method.Without... To realize low harmonic distortion of the vibration waveform output from electromagnetic vibrators,we propose a vibration harmonic suppression technology based on an improved sensorless feedback control method.Without changing the original driving circuit,the alternating current(AC)equivalent resistance of the driving coil is used to obtain high-precision vibration velocity information,and then a simple and reliable velocity feedback control system is established.Through the study of the effect of different values of key parameters on the system,we have achieved an effective expansion of the velocity characteristic frequency band of low-frequency vibration,resulting in an enhanced harmonic suppression capability of velocity feedback control.We present extensive experiments to prove the effectiveness of the proposed method and make comparisons with conventional control methods.In the frequency range of 0.01-1.00 Hz,without using any sensors,the method proposed in this study can reduce the harmonic distortion of the vibration waveform by about 40%compared to open-loop control and by about 20%compared to a conventional sensorless feedback control method. 展开更多
关键词 Vibration calibration Electromagnetic vibrators Harmonic suppression Sensorless control method velocity feedback control
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Multiple UAVs/UGVs heterogeneous coordinated technique based on Receding Horizon Control (RHC) and velocity vector control 被引量:15
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作者 DUAN HaiBin ZHANG YunPeng LIU SenQi 《Science China(Technological Sciences)》 SCIE EI CAS 2011年第4期869-876,共8页
Multiple unmanned air vehicles(UAVs)/unmanned ground vehicles(UGVs) heterogeneous cooperation provides a new breakthrough for the effective application of UAV and UGV.On the basis of introduction of UAV/UGV mathematic... Multiple unmanned air vehicles(UAVs)/unmanned ground vehicles(UGVs) heterogeneous cooperation provides a new breakthrough for the effective application of UAV and UGV.On the basis of introduction of UAV/UGV mathematical model,the characteristics of heterogeneous flocking is analyzed in detail.Two key issues are considered in multi-UGV subgroups,which are Reynolds Rule and Virtual Leader(VL).Receding Horizon Control(RHC) with Particle Swarm Optimization(PSO) is proposed for multiple UGVs flocking,and velocity vector control approach is adopted for multiple UAVs flocking.Then,multiple UAVs and UGVs heterogeneous tracking can be achieved by these two approaches.The feasibility and effectiveness of our proposed method are verified by comparative experiments with artificial potential field method. 展开更多
关键词 unmanned air vehicle (UAV) unmanned ground vehicle (UGV) Receding Horizon Control (RHC) Particle Swarm Optimization (PSO) velocity vector control
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Fourth order accurate compact scheme with group velocity control (GVC) 被引量:10
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作者 马延文 傅德薰 《Science China Mathematics》 SCIE 2001年第9期1197-1204,共8页
For solving complex flow field with multi-scale structure higher order accurate schemes are preferred. Among high order schemes the compact schemes have higher resolving efficiency. When the compact and upwind compact... For solving complex flow field with multi-scale structure higher order accurate schemes are preferred. Among high order schemes the compact schemes have higher resolving efficiency. When the compact and upwind compact schemes are used to solve aerodynamic problems there are numerical oscillations near the shocks. The reason of oscillation production is because of non-uniform group velocity of wave packets in numerical solutions. For improvement of resolution of the shock a parameter function is introduced in compact scheme to control the group velocity. The newly developed method is simple. It has higher accuracy and less stencil of grid points. 展开更多
关键词 compact scheme high resolution of shock group velocity control
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An enhanced eco-driving strategy based on reinforcement learning for connected electric vehicles:cooperative velocity and lane-changing control 被引量:7
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作者 Haitao Ding Wei Li +1 位作者 Nan Xu Jianwei Zhang 《Journal of Intelligent and Connected Vehicles》 EI 2022年第3期316-332,共17页
Purpose–This study aims to propose an enhanced eco-driving strategy based on reinforcement learning(RL)to alleviate the mileage anxiety of electric vehicles(EVs)in the connected environment.Design/methodology/approac... Purpose–This study aims to propose an enhanced eco-driving strategy based on reinforcement learning(RL)to alleviate the mileage anxiety of electric vehicles(EVs)in the connected environment.Design/methodology/approach–In this paper,an enhanced eco-driving control strategy based on an advanced RL algorithm in hybrid action space(EEDC-HRL)is proposed for connected EVs.The EEDC-HRL simultaneously controls longitudinal velocity and lateral lane-changing maneuvers to achieve more potential eco-driving.Moreover,this study redesigns an all-purpose and efficient-training reward function with the aim to achieve energy-saving on the premise of ensuring other driving performance.Findings–To illustrate the performance for the EEDC-HRL,the controlled EV was trained and tested in various traffic flow states.The experimental results demonstrate that the proposed technique can effectively improve energy efficiency,without sacrificing travel efficiency,comfort,safety and lane-changing performance in different traffic flow states.Originality/value–In light of the aforementioned discussion,the contributions of this paper are two-fold.An enhanced eco-driving strategy based an advanced RL algorithm in hybrid action space(EEDC-HRL)is proposed to jointly optimize longitudinal velocity and lateral lane-changing for connected EVs.A full-scale reward function consisting of multiple sub-rewards with a safety control constraint is redesigned to achieve eco-driving while ensuring other driving performance. 展开更多
关键词 Ecological driving Electric vehicles Reinforcement learning in hybrid action space velocity and lane-changing control Reward function
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Study on Friction Torque Loading with an Electro-hydraulic Load Simulator 被引量:14
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作者 Shang Yaoxing Jiao Zongxia Wang Xiaodong Zhao Sijun 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2009年第6期691-699,共9页
This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of "torque-zero velocity" switching control with an electro-hydraul... This article, in order to precisely impose friction on aircraft and weapon actuation systems, presents a new friction loading method characteristic of "torque-zero velocity" switching control with an electro-hydraulic load simulator. As the general Stribeck friction model has little related to static friction, it proposes a "torque-zero velocity" switcher, in which a zero-velocity controller is developed to load the static friction and a torque controller the kinetic friction. With the help of mathematical modeling, this article designs a "torque-zero velocity" switching controller and, correspondingly, provides a "dual-threshold judgment" algorithm. Simulation results indicate that the proposed method can be successfully used to carry out the static and kinetic friction simulation with an electro-hydraulic load simulator. 展开更多
关键词 FRICTION electro-hydraulic load simulator friction torque loading torque-zero velocity switching control servo mechanism actuator
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