This paper presents the discrete adaptive sliding mode control of input-output non-minimum phase system in the presence of the stochastic disturbance. The non-minimum phase system can be transformed into a minimum pha...This paper presents the discrete adaptive sliding mode control of input-output non-minimum phase system in the presence of the stochastic disturbance. The non-minimum phase system can be transformed into a minimum phase system by a operator. According to the minimum phase system, the controller and the adaptive algorithm we designed ensures the stability of system and holds that the mean-square deviation from the sliding surface is minimized.展开更多
In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a...In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.展开更多
G01 code generated by a computer-aided manufacture （CAM） system is the most common form of tool trajeclory in computer numerical control （CNC） machining. A tool path composed of short line segments has discontinuo...G01 code generated by a computer-aided manufacture （CAM） system is the most common form of tool trajeclory in computer numerical control （CNC） machining. A tool path composed of short line segments has discontinuous tangenc t and curvature, generating large fluctuations of feedrate and acceleration, which in turn produces vibration in a machine tool. To obtain a smooth tool path, many methods on tool-path smoothing have been developed. However, the shortcomings i：1 these methods exist when they are employed in a CNC system. It is difficult to simultaneously to guarantee the following requirements of CNC machining： （1） chord error should be rigidly constrained; （2） G01 points should be interpolated; （3） cur,,ature should be continuous （G2）; （4） machining should be applicable to spatial cases; （5） real-time performance of computaEion is required.Based on these various requirements, this study proposes an interpolation scheme using CUDlC t^ezler curves anu mciuucb illl adjustment strategy to eliminate deficiencies in the tool path. The tool path generated is G2, chord-elror-constrained, G01-point-interpolated, loop-free, and optimized for both stretch and jerk energy. The method is applicable ：o 3D cases and involves only simple algebraic computations. Thus, the algorithm can be applied to real-time CNC machining. A simulation is conducted to validate the efficiency of the algorithm. In addition, an experiment reveals its advantage over Hermite interpola- tion in surface quality and machining efficiency.展开更多
文摘This paper presents the discrete adaptive sliding mode control of input-output non-minimum phase system in the presence of the stochastic disturbance. The non-minimum phase system can be transformed into a minimum phase system by a operator. According to the minimum phase system, the controller and the adaptive algorithm we designed ensures the stability of system and holds that the mean-square deviation from the sliding surface is minimized.
基金supported by the National Natural Science Foundation of China(No.52077100)the Aviation Science Foundation(No.201958052001)
文摘In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.
基金supported by the National Science and Technology Major Projects(Grant Nos.2013ZX04007041 and 2012ZX04001012)General Financial Grant from the China Postdoctoral Science Foundation(Grant No.2014M552032)
文摘G01 code generated by a computer-aided manufacture （CAM） system is the most common form of tool trajeclory in computer numerical control （CNC） machining. A tool path composed of short line segments has discontinuous tangenc t and curvature, generating large fluctuations of feedrate and acceleration, which in turn produces vibration in a machine tool. To obtain a smooth tool path, many methods on tool-path smoothing have been developed. However, the shortcomings i：1 these methods exist when they are employed in a CNC system. It is difficult to simultaneously to guarantee the following requirements of CNC machining： （1） chord error should be rigidly constrained; （2） G01 points should be interpolated; （3） cur,,ature should be continuous （G2）; （4） machining should be applicable to spatial cases; （5） real-time performance of computaEion is required.Based on these various requirements, this study proposes an interpolation scheme using CUDlC t^ezler curves anu mciuucb illl adjustment strategy to eliminate deficiencies in the tool path. The tool path generated is G2, chord-elror-constrained, G01-point-interpolated, loop-free, and optimized for both stretch and jerk energy. The method is applicable ：o 3D cases and involves only simple algebraic computations. Thus, the algorithm can be applied to real-time CNC machining. A simulation is conducted to validate the efficiency of the algorithm. In addition, an experiment reveals its advantage over Hermite interpola- tion in surface quality and machining efficiency.
