A complete modeling(including the actuator dynamics)of a robot manipulator that uses three-phase induction motors is presented in this paper.A control scheme is designed to synchronize robot manipulators actuated by i...A complete modeling(including the actuator dynamics)of a robot manipulator that uses three-phase induction motors is presented in this paper.A control scheme is designed to synchronize robot manipulators actuated by induction motors under a masterslave scheme in the case where the joint velocity of the slave robots is estimated.All of the research on the synchronization of robot manipulators assumes the use of ideal actuators to drive the joints;for that reason,in this work,a three-phase induction motor is considered to be a direct-drive actuator for each joint.An entire model of the mated system is obtained by a combination of the dynamics of the induction motor and robot manipulator.Thus,the synchronization control algorithm for a master-slave scheme in both the joint space and workspace of robot manipulators driven by induction motors is developed.An observer based on the entire model is proposed to estimate the joint velocity of the slave robot manipulators.Through the Lyapunov criterion,a stability analysis of the synchronization control with a velocity estimator is detailed.The analytical results show the synchronization and estimation errors are globally,uniformly,and ultimately bounded.Simulations with multiple robots demonstrate the performance of the proposed control algorithm.展开更多
以双馈风力发电系统(doubly-fed induction generator based wind energy conversion system,DFIG-based WECS)为例,利用小信号分析法推导出由风机、双质量块传动链构成的动力与传动系统通用传递函数方程。动力与传动系统传递函数的零...以双馈风力发电系统(doubly-fed induction generator based wind energy conversion system,DFIG-based WECS)为例,利用小信号分析法推导出由风机、双质量块传动链构成的动力与传动系统通用传递函数方程。动力与传动系统传递函数的零极点位置、稳定性与系统参数及系统运行工作点相关。该传递函数可进一步分解为扭转分量和非扭转分量。传动链参数仅对扭转分量造成影响。在此基础上,建立了考虑动力传动、电机、变流器、控制等环节的风力发电系统传递函数模型。模型综合了各环节参数,可直观反映系统参数对系统响应的影响,有助于深入了解系统动态行为。算例及时域仿真结果证明了所提出传递函数模型的准确性和高效性,可为系统参数设计研究提供理论依据。展开更多
文摘A complete modeling(including the actuator dynamics)of a robot manipulator that uses three-phase induction motors is presented in this paper.A control scheme is designed to synchronize robot manipulators actuated by induction motors under a masterslave scheme in the case where the joint velocity of the slave robots is estimated.All of the research on the synchronization of robot manipulators assumes the use of ideal actuators to drive the joints;for that reason,in this work,a three-phase induction motor is considered to be a direct-drive actuator for each joint.An entire model of the mated system is obtained by a combination of the dynamics of the induction motor and robot manipulator.Thus,the synchronization control algorithm for a master-slave scheme in both the joint space and workspace of robot manipulators driven by induction motors is developed.An observer based on the entire model is proposed to estimate the joint velocity of the slave robot manipulators.Through the Lyapunov criterion,a stability analysis of the synchronization control with a velocity estimator is detailed.The analytical results show the synchronization and estimation errors are globally,uniformly,and ultimately bounded.Simulations with multiple robots demonstrate the performance of the proposed control algorithm.
文摘以双馈风力发电系统(doubly-fed induction generator based wind energy conversion system,DFIG-based WECS)为例,利用小信号分析法推导出由风机、双质量块传动链构成的动力与传动系统通用传递函数方程。动力与传动系统传递函数的零极点位置、稳定性与系统参数及系统运行工作点相关。该传递函数可进一步分解为扭转分量和非扭转分量。传动链参数仅对扭转分量造成影响。在此基础上,建立了考虑动力传动、电机、变流器、控制等环节的风力发电系统传递函数模型。模型综合了各环节参数,可直观反映系统参数对系统响应的影响,有助于深入了解系统动态行为。算例及时域仿真结果证明了所提出传递函数模型的准确性和高效性,可为系统参数设计研究提供理论依据。
