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Cross-coupling integral adaptive robust posture control of a pneumatic parallel platform 被引量:1
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作者 左赫 陶国良 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第8期2036-2047,共12页
A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-... A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller. 展开更多
关键词 servo-pneumatic system pneumatic muscle parallel platform cross coupling adaptive robust control parameter estimation
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Decoupling control and zero dynamics stabilization for shunt hybrid active power filter
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作者 鲁伟 李春文 《Journal of Central South University》 SCIE EI CAS 2014年第5期1946-1955,共10页
An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter (SHAPF) to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis a... An inverse system method based optimal control strategy was proposed for the shunt hybrid active power filter (SHAPF) to enhance its harmonic elimination performance. Based on the inverse system method, the d-axis and q-axis current dynamics of the SHAPF system were decoupled and linearized into two pseudolinear subsystems. Then, an optimal feedback controUer was designed for the pseudolinear system, and the stability condition of the resulting zero dynamics was presented. Under the control strategy, the current dynamics can asymptotically converge to their reference states and the zero dynamics can be bounded. Simulation results show that the proposed control strategy is robust against load variations and system parameter mismatches, its steady-state performance is better than that of the traditional linear control strategy. 展开更多
关键词 HARMONICS hybrid active power filter inverse system method optimal control zero dynamics
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广州某大型办公大楼能源管理改造方案分享
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作者 许洁纯 《绿色建造与智能建筑》 2023年第10期72-76,共5页
实现碳达峰、碳中和,是贯彻新发展的理念,办公建筑作为碳排放的重点场所,在能源管理上也是面临多种挑战,如能耗消耗巨大、室内热工环境干扰因素复杂、机电设施繁多复杂等。本文分享了广州某大型办公大楼能源管理改造方案,整体建设内容... 实现碳达峰、碳中和,是贯彻新发展的理念,办公建筑作为碳排放的重点场所,在能源管理上也是面临多种挑战,如能耗消耗巨大、室内热工环境干扰因素复杂、机电设施繁多复杂等。本文分享了广州某大型办公大楼能源管理改造方案,整体建设内容包括中央空调动态联控系统、基于物联网与管理平台建设的分体空调进行集中监控管理系统、建筑能源管理系统、智慧生活热水节能控制系统,通过多层次的信息化系统实现从网络到机电设施的通讯畅通、监控畅通、运维畅通、管理畅通及维保畅通,并且降低了能耗以及运营成本,增加设备运行效率。 展开更多
关键词 能源管理 节能减排 动态联控 物联网 生活热水负荷模型
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