This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such ...This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.展开更多
In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardwar...In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.展开更多
Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON an...Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.展开更多
Aiming at realizing monitoring of tyre bladder vulcanizer operating process, a master-slave control system was composed of configuration software and Mitsubishi FX2N series PLC. PLC was taken as slave machine to opera...Aiming at realizing monitoring of tyre bladder vulcanizer operating process, a master-slave control system was composed of configuration software and Mitsubishi FX2N series PLC. PLC was taken as slave machine to operating process of tyre bladder vulcanizer. Configuration software monitored the running state of the tyre bladder vulcanizer realtimely, showed data in real time and recorded data in upper machine. The test results indicate that the system with friendly interface can be operated conveniently for automation management. The system can increase the tyre bladder quality successfully for production requirement.展开更多
Taking a new type of full-fiber crankshaft forging hydraulic press as the research object,an upsetting-bending stroke coordination control is studied to improve crankshaft forming accuracy.A master-slave proportion in...Taking a new type of full-fiber crankshaft forging hydraulic press as the research object,an upsetting-bending stroke coordination control is studied to improve crankshaft forming accuracy.A master-slave proportion integration differentiation(PID)coordination control strategy based on velocity feed-forward is proposed to improve the coordination control accuracy.The structure and working process of the full-fiber crankshaft forging hydraulic press are introduced,and a mathematical model of the upsetting and bending control system are established.The coordination control strategy is verified experimentally.The experimental results show that the maximum tracking error of the coordination control strategy is reduced by 66%compared with the traditional PID controller,and the coordination motion accuracy is improved effectively.展开更多
基金supported by the Key Project of Chinese Ministry of Education(108037)the National Natural Science Foundation of China(10402008 and 50535010)
文摘This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.
文摘In this paper, a successfully studied and developed master - slave muld - microcomputers control system based on PC - BUS for hollow spindle fancy yarn spinning machine, mainly Its overall scheme, software and hardware construction, is introduced. Spinning experiments show that the system achieves satisfactory result. This system can solve the diftkultles of mechatronical fusion between domestic hollow splndk fancy yarn spuming muchine and its microcomputer control technology.
文摘Aiming at the weaknesses of LON bus, combining the coexistence of fieldbus and DCS (Distribu ted Control Systems) in control networks, the authors introduce a hierarchical hybrid control network design based on LON and master slave RS 422/485 protocol. This design adopts LON as the trunk, master slave RS 422/485 control networks are connected to LON as special subnets by dedicated gateways. It is an implementation method for isomerous control network integration. Data management is ranked according to real time requirements for different network data. The core components, such as control network nodes, router and gateway, are detailed in the paper. The design utilizes both communication advantage of LonWorks technology and the more powerful control ability of universal MCUs or PLCs, thus it greatly increases system response speed and performance cost ratio.
文摘Aiming at realizing monitoring of tyre bladder vulcanizer operating process, a master-slave control system was composed of configuration software and Mitsubishi FX2N series PLC. PLC was taken as slave machine to operating process of tyre bladder vulcanizer. Configuration software monitored the running state of the tyre bladder vulcanizer realtimely, showed data in real time and recorded data in upper machine. The test results indicate that the system with friendly interface can be operated conveniently for automation management. The system can increase the tyre bladder quality successfully for production requirement.
基金Supported by the National Natural Science Foundation of China(No.51575471)Natural Science Foundation of Hebei Province(No.E2018203028)+2 种基金Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems(No.GZKF-201716)the Key Project of Science and Technology Plan of Higher Education of Hebei Education Department(No.ZD2017077)National Basic Research Program of China(No.2014CB046405)
文摘Taking a new type of full-fiber crankshaft forging hydraulic press as the research object,an upsetting-bending stroke coordination control is studied to improve crankshaft forming accuracy.A master-slave proportion integration differentiation(PID)coordination control strategy based on velocity feed-forward is proposed to improve the coordination control accuracy.The structure and working process of the full-fiber crankshaft forging hydraulic press are introduced,and a mathematical model of the upsetting and bending control system are established.The coordination control strategy is verified experimentally.The experimental results show that the maximum tracking error of the coordination control strategy is reduced by 66%compared with the traditional PID controller,and the coordination motion accuracy is improved effectively.
