Adaptive Robust Servo Control for Vertical Electric Stabilization System of Tank and Experimental Validation

A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.

Research and Application of"Soft"Devices for Realizing Servo Amplification

This article analyzes and discusses the working principle and problems encountered by various servo amplification devices used in the on-site continuous adjustment system,analyzes and discusses the application of the servo mechanism,and analyzes the mechanism of the servo device's implementation of the"positioning"func-tion on the control device.Intended to guide the continuous adjustment process in controlling the function/accuracy of actuator equipment and application debugging,ensuring the safe and stable operation of production equipment and facilities.

基于OPCUA和ETL的伺服阀综合应用系统设计

针对伺服阀生产过程中存在的设备种类繁多、不同供应商设备之间无法交换数据、数据集成工作复杂困难的问题,提出基于OPC UA (Object Linking and Embedding for Process Control Unified Architecture)和ETL (Extract-Transform-Load)的综合解决方案。该方案使用OPC UA作为通信协议完成设备之间的高效通信,利用ETL技术设计并实现了伺服阀综合应用系统。样机试验验证了方案的有效性。该方案实现了产线信息化过程中的设备互操作能力,是确保伺服阀质量可靠性和性能一致性的关键基础技术。

PARAMETER IDENTIFICATION OF LUGRE FRICTION MODEL FOR FLIGHT SIMULATION SERVO SYSTEM BASED ON ANT COLONY ALGORITHM

In light of the high nonlinearity of LuGre friction model, a novel method based on ant colony algorithm(ACA) for identifying the friction parameters of flight simulation servo system is proposed. ACA is a parallelized bionic optimization algorithm inspired from the behavior of real ants, and a kind of positive feedback mechanism is adopted in ACA. On the basis of brief introduction of LuGre friction model, a method for identifying the static LuGre friction parameters and the dynamic LuGre friction parameters using ACA is derived. Finally, this new friction parameter identification scheme is applied to a electric-driven flight simulation servo system with high precision. Simulation and application results verify the feasibility and the effectiveness of the scheme. It provides a new way to identify the friction parameters of LuGre model.

路基路面试验装置伺服加载系统设计及分析

【目标】针对现有路基路面力学性能检测在加载时存在加载荷载单一、加载精度不足等问题,提出了采用电液伺服加载方法的加载系统,应用于路基路面试验装置。【方法】首先,根据实际工程情况,对电液伺服加载系统各组成进行设计,根据系统工作机理及系统元件工作特性建立系统传递函数数学模型。其次,采用比例积分微分控制作为系统控制方法,并对系统数学模型进行仿真。然后,搭建路基路面试验装置电液伺服加载系统,并进行动、静态加载试验。最后,为提高系统控制精度,提出自抗扰控制应用于加载系统,通过把系统3阶及以上阶数视为总扰动一部分,从而对系统进行了降阶处理,采用扩张状态观测器对系统状态及总扰动进行观测,并进行了仿真验证。【数据】所设计电液伺服加载系统满足动态加载最大频率15 Hz的加载要求,在动、静态加载时,输出最大误差和平均绝对误差均小于0.5 kN,且不存在超调现象,但输出最大误差接近0.5 kN情况较多;【结果】在采用自抗扰控制后,加载系统在准确性上有较大提升,系统控制性能得到优化。【应用】采用电液伺服加载系统作为路基路面力学性能检测荷载发生装置,可更全面、更精准地模拟路基路面实际受力状况,有利于路基路面力学性能检测的进一步研究。

A Kind of PWM Pneumatic Servo Control System——Modulation Methods and Dynamic Responses

Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.

Application of Maximum Probability Approach to the Fault Diagnosis of a Servo System

In an actual control system, it is often difficult to find out where the faults are if only based on the outside fault phenomena, acquired frequently from a fault system. So the fault diagnosis by outside fault phenomena is considered. Based on the theory of fuzzy recognition and fault diagnosis, this method only depends on experience and statistical data to set up fuzzy query relationship between the outside phenomena (fault characters) and the fault sources (fault patterns). From this relationship the most probable fault sources can be obtained, to attain the goal of quick diagnosis. Based on the above approach, the standard fuzzy relationship matrix is stored in the computer as a system database. And experiment data are given to show the fault diagnosis results. The important parameters can be on line sampled and analyzed, and when faults occur, faults can be found, the alarm is given and the controller output is regulated.

Backlash Nonlinear Compensation of Servo Systems Using Backpropagation Neural Networks

Aim To eliminate the influences of backlash nonlinear characteristics generally existing in servo systems, a nonlinear compensation method using backpropagation neural networks(BPNN) is presented. Methods Based on some weapon tracking servo system, a three layer BPNN was used to off line identify the backlash characteristics, then a nonlinear compensator was designed according to the identification results. Results The simulation results show that the method can effectively get rid of the sustained oscillation(limit cycle) of the system caused by the backlash characteristics, and can improve the system accuracy. Conclusion The method is effective on sloving the problems produced by the backlash characteristics in servo systems, and it can be easily accomplished in engineering.

基于VB6.0&ServoWorks SDK的全软型四轴联动数控系统研究与开发

ServoWorks是一种基于PC解决方案的全软件开放式CNC系统,它所有的功能均由软件实现。通过对ServoWorks CNC系统硬件结构和软件结构的分析,依据Soft Servo System公司提供的SDK开发包在VB6.0上进行软件的二次开发,开发出了全软型四轴联动数控系统,并在实验平台上进行了软件的调试运行试验,实现了预期的目标。

基于ServoWorks CNC的全软型PLC系统研究

ServoWorks CNC中采用了软PLC控制机床的运动。通过对ServoWorks CNC中软PLC系统功能的分析,结合编制的宏程序,开发出了旋转刀库的自动换刀系统,并在实验平台上进行了程序的调试运行试验,实现了预期的目标。

Maquet Servo-s呼吸机的自检及故障分析与探讨

目的:针对Maquet Servo-s型呼吸机的自检及对应故障进行分析,帮助操作人员掌握其临床检测方法。方法:通过Maquet Servo-s型呼吸机自身检测过程,结合呼吸机质量控制规范,针对常见功能及关键模块实施分析,评估呼吸机性能。结果:呼吸机的定期检测维护,降低了临床使用中的故障几率,保障了呼吸机使用的医疗质量和临床安全。结论:以临床上常见的Maquet Servo-s型呼吸机为例,概括介绍了该型呼吸机的自检内容,并对流程进行了详细说明,为其它型号呼吸机故障的诊断和维护提供借鉴。

数控伺服转塔冲床的最新发展——Servo V.R可变连杆伺服主传动技术

本文通过对最新研制的SPE系列数控伺服转塔冲床与其Servo V.R专利主传动技术的介绍,以及对其相关技术演变与对比的论述,使读者进一步了解当前国内外伺服电机驱动式数控转塔冲床的发展现状,也能从中管窥未来高性能板材冲压加工设备的发展趋向。

基于ROS的蔬菜移栽机器人控制系统设计

为实现温室蔬菜移栽无人智能化作业,设计了基于ROS架构的蔬菜移栽机器人控制系统,实现了蔬菜移栽机器人自主取苗部件、秧苗栽植部件和自主移动平台的自动控制。控制系统主要分为总线单元和导航单元,并基于EtherCAT总线和Realsense深度相机搭建硬件系统,利用分层模块化理念开发基于ROS架构的软件控制系统,搭建并实现了移栽作业中取苗、投苗、栽苗及移动平台协同一体化控制。实验结果表明:在大于2s/株的取栽苗周期运动条件下,可实现较高成功率的移栽作业。所设计控制系统保证了移栽作业成功率,提高了当前蔬菜移栽机的智能化水平。

单气源快速判断Maquet Servo-i呼吸机气路故障3例

0引言 呼吸机是一种应急场所常用的急救与生命支持设备,其广泛应用于急救、麻醉、术后恢复、呼吸治疗和呼吸维持等方面,在临床抢救和治疗过程中,可以有效地提高患者的通气量,迅速解除缺氧和二氧化碳的滞留问题,改善换气功能。

激光跟踪测量系统伺服跟踪控制方法

针对激光跟踪测量系统跟踪目标的运动轨迹不确定、加速度与速度不断变化的特点,为提升其稳态及动态性能,对伺服跟踪控制方法进行研究,提出一种基于模糊自适应的激光跟踪双闭环控制方法。电机定位控制环路采用模糊自适应微分先行PID,位置跟踪控制环路采用模糊自适应整定PI,设计不同模糊规则,实现控制参数实时整定,使其始终保持在最优区间。实验结果表明,该方法能够根据跟踪目标运动的不确定性产生的误差来实时调整控制参数,有效提升激光跟踪的稳态和动态性能,使跟踪系统的稳态误差降低至1.90′以内,跟随误差则降低至0.56′以内。

伺服作动系统性能测试平台的多余力抑制方法

为了解决结构不变性补偿方法抑制多余力的实时调参问题,建立了伺服作动系统性能测试平台的数学模型和仿真模型,提出了速度前馈补偿器的解耦控制方法,设计了模糊控制器以抑制多余力。对比了传统比例-积分(proportional-integral, PI)控制、传统PI前馈补偿控制和模糊PI前馈补偿控制三种控制方法对测试平台多余力的抑制效果。仿真结果表明,模糊PI前馈补偿控制方法可以提高测试平台的加载精度,对多余力的抑制效果最为显著。通过试验与仿真的对比,验证了该控制方法的有效性,为伺服作动系统测试平台实现大推力、高精度加载提供理论参考。

串联伺服阀液压位置伺服系统建模仿真与分析

针对压力冲击引起的串联伺服阀液压位置伺服系统振动和噪声问题,基于AMESim仿真模型对两级串联伺服阀液压位置伺服系统进行了压力冲击特性分析。其中考察了系统流量、伺服阀附加开启增益、外部负载以及系统溢流压力等因素对系统压力的影响。研究结果显示,在不同的系统流量或溢流压力的工况条件下,采用串联伺服阀方案可将液压缸进口冲击压力降低8%~11%;而在开启增益系数或外载荷变化的工况条件下,虽然抑制效果并不明显,但冲击压力超调量逐渐减小,系统对于变化的响应将更加平稳有助于减少系统中的冲击和振动,最后提出了一种具有更高可靠性和适应性的应用推广新思路。

基于自适应小波RBF神经网络的导引头陀螺误差校正方法

凝视成像红外导引导弹发射冲击和飞行过程中,导引头MEMS陀螺输出会产生较大误差,造成成像系统稳定性降低,误差过大时会丢失目标。针对这一工程问题,提出一种基于自适应小波RBF神经网络的导引头陀螺误差校正方法。首先运用Allan方差分析导弹飞行全过程中,导引头伺服系统MEMS陀螺主要误差源及误差量级。然后运用小波阈值去噪法滤除高频噪声,作为训练网络输入。最后运用自适应小波RBF神经网络算法进行误差校正。实验结果表明,与传统RBF网络和Kalman滤波算法相比,所提算法均方根误差RMSE要低两个数量级,Allan方差也比传统算法减小一半,数据复杂度低,具备工程应用价值。

基于伺服引导软件SERVO GUIDE的高速加工中心参数优化

介绍了借助于伺服引导软件SERVO GUIDE在高速加工中心参数调整中的实际应用方法,电流环参数设置。重点分析介绍了伺服轴去除机械共振与速度环增益优化协同调试的过程,同时介绍了通过动态实验进行参数调整的过程。对位置环增益、位置环前馈系数等其他重要参数的调整也作了必要的介绍,这一工作具有较强的参考意义。

基于PLC的掘进机主轴承缩比试验台控制系统设计

为了研究掘进机主轴承在载荷作用下的动力学特性,考虑到掘进机设备的复杂性,于是根据缩比模型试验理论搭建掘进机主轴承缩比试验台,并基于汇川PLC对试验台控制系统进行设计。试验台通过PLC建立EtherCAT总线通信网络,通过触摸屏操作界面执行操作,能对加载缸的载荷大小进行调节控制。经过测试,基于PLC的掘进机轴承缩比试验台控制系统稳定性好、可靠性高且人机交互友好,便于后续主轴承载作用下动力学特性研究的开展,也为相关轴承试验台的设计提供了一些思路和参考价值。