Increase of elevator speed brings about amplified vibrations of high-speed elevator. In order to reduce the horizontal vibrations of high-speed elevator, a new type of hydraulic active guide roller system based on fuz...Increase of elevator speed brings about amplified vibrations of high-speed elevator. In order to reduce the horizontal vibrations of high-speed elevator, a new type of hydraulic active guide roller system based on fuzzy logic controller is developed. First the working principle of the hydraulic guide system is introduced, then the dynamic model of the horizontal vibrations for elevator cage with active guide roller system and the mathematical model of the hydraulic system are given. A fuzzy logic controller for the hydraulic system is designed to control the hydraulic actuator. To improve the control performance, preview compensation for the controller is provided. Finally, simulation and experiments are executed to verify the hydraulic active guide roller system and the control strategy. Both the simulation and experimental results indicate that the hydraulic active guide roller system can reduce the horizontal vibrations of the elevator effectively and has better effects than the passive one, and the fuzzy logic controller with preview compensation can give superior control performance.展开更多
A robust control algorithm is proposed to focus on the non-linearity and parameters' uncertainties of an electro-hydraulic proportional speed control system (EHPSCS) with a single-rod hydraulic actuator. The robust...A robust control algorithm is proposed to focus on the non-linearity and parameters' uncertainties of an electro-hydraulic proportional speed control system (EHPSCS) with a single-rod hydraulic actuator. The robust controller proposed does not need to design stable compensator in advance, is simple in design and has large scope of uncertainty applications. The feedback gains of the robust controller proposed are small, so it is easily implemented in engineering applications. Experimental research on the speed control under the different conditions is carried out for an EHPSCS. Experimental results show that the robust controller proposed has better robustness subject to parametric uncertainties, and adaptability of parameters' variation of control system itself and plant parameter variation.展开更多
Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound co...Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound control method is proposed. This compound controller consists of two components: one is a traditional PID for the feedback control to guarantee stability of the system; the other is the CMAC control algorithm to form a feed-forward control for achieving high control precision and short response time of the controlled plant. Then the CMAC-PID compound control method is used in the digital valve control servo system to improve its control performance. Through simulation and experiment,the proposed CMAC-PID compound control method is superior to the traditional PID control for enhancing stability and robustness,and thus this compound control can be used as a new control strategy for the digital valve control servo system.展开更多
The work-class remotely-operated-underwater-vehicles(ROVs) are mainly driven by hydraulic propulsion system,and the effeciency of hydraulic propulsion system is an important performance index of ROVs.However,the eff...The work-class remotely-operated-underwater-vehicles(ROVs) are mainly driven by hydraulic propulsion system,and the effeciency of hydraulic propulsion system is an important performance index of ROVs.However,the efficiency of traditional hydraulic propulsion system controlled by throttle valves is too low.Therefore,in this paper,for small and medium ROVs,a novel propulsion system with higher efficiency based on high speed on/off valve control hydraulic propeller is proposed.To solve the conflict between large flow rate and high frequency response performance,a two-stage high speed on/off valve-motor unit with large flow rate and high response speed simultaneously is developed.Through theoretical analysis,an effective fluctuation control method and a novel pulse-width-pulse-frequency-modulation(PWPFM) are introduced to solve the conflict among inherently fluctuation,valve dynamic performance and system efficiency.A simulation model is established to evaluate the system performance.To prove the advantage of system in energy saving,and test the dynamic control performance of high speed on/off valve control propeller,a test setup is developed and a series of comparative experiments is completed.The smimulation and experiment results show that the two-stage high speed on/off valve has an excellent dynamic response performance,and can be used to realize high accuracy speed control.The experiment results prove that the new propulsion system has much more advantages than the traditional throttle speed regulation system in energy saving.The lowest efficiency is more than 40%.The application results on a ROV indicate that the high speed on/off valve control propeller system has good dynamic and steady-state control performances.Its transient time is only about 1 s-1.5 s,and steady-state error is less than 5%.Meanwhile,the speed fluctuation is small,and the smooth propeller speed control effect is obtained.On the premise of good propeller speed control performance,the proposed high speed on/off valve control propeller can improve the effeciency of ROV propulsion system significantly,and provides another attractive ROV propulsion system choice for engineers.展开更多
文摘Increase of elevator speed brings about amplified vibrations of high-speed elevator. In order to reduce the horizontal vibrations of high-speed elevator, a new type of hydraulic active guide roller system based on fuzzy logic controller is developed. First the working principle of the hydraulic guide system is introduced, then the dynamic model of the horizontal vibrations for elevator cage with active guide roller system and the mathematical model of the hydraulic system are given. A fuzzy logic controller for the hydraulic system is designed to control the hydraulic actuator. To improve the control performance, preview compensation for the controller is provided. Finally, simulation and experiments are executed to verify the hydraulic active guide roller system and the control strategy. Both the simulation and experimental results indicate that the hydraulic active guide roller system can reduce the horizontal vibrations of the elevator effectively and has better effects than the passive one, and the fuzzy logic controller with preview compensation can give superior control performance.
基金This project is supported by Provincial Natural Science Foundation of Zhejiang(No.502088).
文摘A robust control algorithm is proposed to focus on the non-linearity and parameters' uncertainties of an electro-hydraulic proportional speed control system (EHPSCS) with a single-rod hydraulic actuator. The robust controller proposed does not need to design stable compensator in advance, is simple in design and has large scope of uncertainty applications. The feedback gains of the robust controller proposed are small, so it is easily implemented in engineering applications. Experimental research on the speed control under the different conditions is carried out for an EHPSCS. Experimental results show that the robust controller proposed has better robustness subject to parametric uncertainties, and adaptability of parameters' variation of control system itself and plant parameter variation.
基金Supported by the National Natural Science Foundation of China(No.51505412)the Independent Study Program for Young Teachers in Yanshan University(No.14LGB004)
文摘Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound control method is proposed. This compound controller consists of two components: one is a traditional PID for the feedback control to guarantee stability of the system; the other is the CMAC control algorithm to form a feed-forward control for achieving high control precision and short response time of the controlled plant. Then the CMAC-PID compound control method is used in the digital valve control servo system to improve its control performance. Through simulation and experiment,the proposed CMAC-PID compound control method is superior to the traditional PID control for enhancing stability and robustness,and thus this compound control can be used as a new control strategy for the digital valve control servo system.
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No.2006AA09Z215)
文摘The work-class remotely-operated-underwater-vehicles(ROVs) are mainly driven by hydraulic propulsion system,and the effeciency of hydraulic propulsion system is an important performance index of ROVs.However,the efficiency of traditional hydraulic propulsion system controlled by throttle valves is too low.Therefore,in this paper,for small and medium ROVs,a novel propulsion system with higher efficiency based on high speed on/off valve control hydraulic propeller is proposed.To solve the conflict between large flow rate and high frequency response performance,a two-stage high speed on/off valve-motor unit with large flow rate and high response speed simultaneously is developed.Through theoretical analysis,an effective fluctuation control method and a novel pulse-width-pulse-frequency-modulation(PWPFM) are introduced to solve the conflict among inherently fluctuation,valve dynamic performance and system efficiency.A simulation model is established to evaluate the system performance.To prove the advantage of system in energy saving,and test the dynamic control performance of high speed on/off valve control propeller,a test setup is developed and a series of comparative experiments is completed.The smimulation and experiment results show that the two-stage high speed on/off valve has an excellent dynamic response performance,and can be used to realize high accuracy speed control.The experiment results prove that the new propulsion system has much more advantages than the traditional throttle speed regulation system in energy saving.The lowest efficiency is more than 40%.The application results on a ROV indicate that the high speed on/off valve control propeller system has good dynamic and steady-state control performances.Its transient time is only about 1 s-1.5 s,and steady-state error is less than 5%.Meanwhile,the speed fluctuation is small,and the smooth propeller speed control effect is obtained.On the premise of good propeller speed control performance,the proposed high speed on/off valve control propeller can improve the effeciency of ROV propulsion system significantly,and provides another attractive ROV propulsion system choice for engineers.