A model predictive control（ MPC） based active damping controller for automotive driveline oscillations with time-delay consideration is proposed. A simplified driveline model considering time delay is modeled and co...A model predictive control（ MPC） based active damping controller for automotive driveline oscillations with time-delay consideration is proposed. A simplified driveline model considering time delay is modeled and converted to a linear parameter varying state space equation. Based on the model and model predictive control theory,an active damping controller is designed for drivability and comfortability improvement. In order to verify the designed controller,a driveline with engine is modeled to simulate the tip-in/out driving operation. An MPC active damping controller without considering time delay is simulated together with the proposed controller. The simulation results show that,by adopting the new MPC active damping controller,the vibration of the vehicle is reduced and the drivability and comfortability are improved.展开更多
Active vibration control is an effective way of increasing robustness of the design to meet the stringent accuracy requirements for space structures. This paper presents the results of active damping realized by a pie...Active vibration control is an effective way of increasing robustness of the design to meet the stringent accuracy requirements for space structures. This paper presents the results of active damping realized by a piezoelectric active member to control the vibration of a four-bay four-longern aluminum truss structure with cantilever boundary. The active member, which utilizes a piezoelectric actuating unit and an integrated load cell, is designed for vibration control of the space truss structures. Active damping control is realized using direct velocity feedback around the active member. The placement of the active member as one of the most important factor of affecting the control system performance, is also investigated by modal dissipation energy ratio as indicator. The active damping effectiveness is evaluated by comparing the closed-loop response with the open loop response.展开更多
When the space robot captures a floating target, contact impact occurs inevitably and frequently between the manipulator hand and the target, which seriously impacts the position and attitude of the robot and grasping...When the space robot captures a floating target, contact impact occurs inevitably and frequently between the manipulator hand and the target, which seriously impacts the position and attitude of the robot and grasping security. ＂Dynamic grasping area＂ is introduced to describe the collision process of manipulator grasping target, and grasping area control equation is established. By analyzing the impact of grasping control parameters, base and target mass on the grasping process and combining the life experience, it is found that if the product of speed control parameter and dB adjustment parameter is close to but smaller than the minimum grasping speed, collision impact in the grasping process could be reduced greatly, and then an ideal grasping strategy is proposed. Simulation results indicate that during the same period, the strategy grasping is superior to the accelerating grasping, in that the amplitude of impact force is reduced to 20%, and the attitude control torque is reduced to 15%, and the impact on the robot is eliminated significantly. The results would have important academic value and engineering significance.展开更多
基金Supported by the National Natural Science Foundation of China(51475043)
文摘A model predictive control（ MPC） based active damping controller for automotive driveline oscillations with time-delay consideration is proposed. A simplified driveline model considering time delay is modeled and converted to a linear parameter varying state space equation. Based on the model and model predictive control theory,an active damping controller is designed for drivability and comfortability improvement. In order to verify the designed controller,a driveline with engine is modeled to simulate the tip-in/out driving operation. An MPC active damping controller without considering time delay is simulated together with the proposed controller. The simulation results show that,by adopting the new MPC active damping controller,the vibration of the vehicle is reduced and the drivability and comfortability are improved.
文摘Active vibration control is an effective way of increasing robustness of the design to meet the stringent accuracy requirements for space structures. This paper presents the results of active damping realized by a piezoelectric active member to control the vibration of a four-bay four-longern aluminum truss structure with cantilever boundary. The active member, which utilizes a piezoelectric actuating unit and an integrated load cell, is designed for vibration control of the space truss structures. Active damping control is realized using direct velocity feedback around the active member. The placement of the active member as one of the most important factor of affecting the control system performance, is also investigated by modal dissipation energy ratio as indicator. The active damping effectiveness is evaluated by comparing the closed-loop response with the open loop response.
基金Program for Innovative Research Team in University(IRT520)CAST of China (20090703)
文摘When the space robot captures a floating target, contact impact occurs inevitably and frequently between the manipulator hand and the target, which seriously impacts the position and attitude of the robot and grasping security. ＂Dynamic grasping area＂ is introduced to describe the collision process of manipulator grasping target, and grasping area control equation is established. By analyzing the impact of grasping control parameters, base and target mass on the grasping process and combining the life experience, it is found that if the product of speed control parameter and dB adjustment parameter is close to but smaller than the minimum grasping speed, collision impact in the grasping process could be reduced greatly, and then an ideal grasping strategy is proposed. Simulation results indicate that during the same period, the strategy grasping is superior to the accelerating grasping, in that the amplitude of impact force is reduced to 20%, and the attitude control torque is reduced to 15%, and the impact on the robot is eliminated significantly. The results would have important academic value and engineering significance.
