全球领先的工业自动化解决方案供应商罗克韦尔自动化公司(Rockwell Automation)日前在北京和上海相继举办了”智能马达控制器(Intelligent Motor Control)研讨会”，并创先在业界提出了”智能马达控制一真正的智能化电机管理”的理念。...全球领先的工业自动化解决方案供应商罗克韦尔自动化公司(Rockwell Automation)日前在北京和上海相继举办了”智能马达控制器(Intelligent Motor Control)研讨会”，并创先在业界提出了”智能马达控制一真正的智能化电机管理”的理念。同时承诺，罗克韦尔自动化致力于将最前沿的马达控制器和保护装置与先进的网络和可视化技术结合起来，为广大用户优化马达控制系统结构，展开更多
Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to aut...Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.展开更多
文摘全球领先的工业自动化解决方案供应商罗克韦尔自动化公司(Rockwell Automation)日前在北京和上海相继举办了”智能马达控制器(Intelligent Motor Control)研讨会”，并创先在业界提出了”智能马达控制一真正的智能化电机管理”的理念。同时承诺，罗克韦尔自动化致力于将最前沿的马达控制器和保护装置与先进的网络和可视化技术结合起来，为广大用户优化马达控制系统结构，
基金Project(K5117827)supported by Scientific Research Foundation for the Returned Overseas Chinese ScholarsProject(08KJB510021)supported by the Natural Science Research Council of Jiangsu Province,China+1 种基金Project(Q3117918)supported by Scientific Research Foundation for Young Teachers of Soochow University,ChinaProject(60910001)supported by National Natural Science Foundation of China
文摘Consider the design and implementation of an electro-hydraulic control system for a robotic excavator, namely the Lancaster University computerized and intelligent excavator (LUCIE). The excavator was developed to autonomously dig trenches without human intervention. One stumbling block is the achievement of adequate, accurate, quick and smooth movement under automatic control, which is difficult for traditional control algorithm, e.g. PI/PID. A gain scheduling design, based on the true digital proportional-integral-plus (PIP) control methodology, was utilized to regulate the nonlinear joint dynamics. Simulation and initial field tests both demonstrated the feasibility and robustness of proposed technique to the uncertainties of parameters, time delay and load disturbances, with the excavator arm directed along specified trajectories in a smooth, fast and accurate manner. The tracking error magnitudes for oblique straight line and horizontal straight line are less than 20 mm and 50 mm, respectively, while the velocity reaches 9 m/min.
