A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precisio...A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.展开更多
We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device...We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device. The hybrid step motor is used as the actuator, which enables the finger to keep enough high contact torque on the grasped object with less energy consumption provided by the holding torque. The grasping force of the finger is estimated from the base joint torque, and the adoption of impedance control has provided compliance in the grasping. Also a parallel observer is used to switch over between the impedance control and the torque holding mode. The experimental results show the effectiveness of the design and control strategy.展开更多
Ultra WideBand (UWB) radio is a new wireless technology that transmits extremely short duration radio impulses. In this paper, a new synchronization scheme is proposed in Direct Sequence (DS) UWB system using Perfect ...Ultra WideBand (UWB) radio is a new wireless technology that transmits extremely short duration radio impulses. In this paper, a new synchronization scheme is proposed in Direct Sequence (DS) UWB system using Perfect Punctured Binary Sequence Pairs (PPBSP) as the preamble. It can acquire both Pseudo-Noise (PN) sequence and frame synchronization at the same time. The properties and the combinatorial admis sibility conditions of PPBSP are presented. The simulation results show that PPBSP is good for synchronization by their good cross-correlation properties both under Additive White Gaussian Noise (AWGN) channel and modified Saleh-Valenzuela channel.展开更多
The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics m...The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics modeling of multi-cylinder thrust system and synchronous control design were accomplished. The simulation of the synchronization motion control system was completed in AMESim and Matlab/Simulink software environments. The experiment was conducted by means of master/slave PID with dead band compensating flow and conventional PID regulating pressure. The experimental results show that the proposed thrust hydraulic system and its control strategy can meet the requirements of tunneling in motion and posture control for the shield machine, keeping the non-synchronous error within ±3 mm.展开更多
文摘A robust adaptive control approach is presented to improve the performance of the control scheme proposed in the authors＇ previous work, aiming at producing a low ripple hybrid stepping motor servo drive for precision profile tracking at a low speed. In order to construct a completely integrated control design philosophy to reduce torque ripple and at the same time to enhance tracking performance, the properties of nonlinear uncertainties in the system dynamics are uncovered, and then incorporated into the design of the controller. The system uncertainties concerned with ripple dynamics and other external disturbances are composed of two categories. The first category of uncertainties with linear parameterization arising from the detention effect is dealt with by the wellknown adaptive control method. A robust adaptive method is used to deal with the second category of uncertainties resulting from the non-sinusoidal flux distribution. The μ-modification scheme is used to cease parameter adaptation by the robust adaptive control law, thus ensuring that the trajectory tracking error asymptotically converges to a pre-specified boundary. Experiments are performed with a typical hybrid stepping motor to test its profile tracking accuracy. Results confirm the proposed control scheme.
基金Supported by t he National Natural Science Foundation of China （ No. 50435040） and the High Technology Research and Development Programme of China（ No. 2003AA420010）.
文摘We present the development of a novel prosthetic hand based on the underactuated mechanism. The aim is focused on increasing its dexterity while keeping the same dimension and weight of a traditional prosthetic device. The hybrid step motor is used as the actuator, which enables the finger to keep enough high contact torque on the grasped object with less energy consumption provided by the holding torque. The grasping force of the finger is estimated from the base joint torque, and the adoption of impedance control has provided compliance in the grasping. Also a parallel observer is used to switch over between the impedance control and the torque holding mode. The experimental results show the effectiveness of the design and control strategy.
基金Supported by the Key Project of Chinese Ministry of Education(No.03035)the National High Technology Research and Development Program of China (863 Program) (No.2003AA 123240)the National Natural Science Foundation of China(No.60372097).
文摘Ultra WideBand (UWB) radio is a new wireless technology that transmits extremely short duration radio impulses. In this paper, a new synchronization scheme is proposed in Direct Sequence (DS) UWB system using Perfect Punctured Binary Sequence Pairs (PPBSP) as the preamble. It can acquire both Pseudo-Noise (PN) sequence and frame synchronization at the same time. The properties and the combinatorial admis sibility conditions of PPBSP are presented. The simulation results show that PPBSP is good for synchronization by their good cross-correlation properties both under Additive White Gaussian Noise (AWGN) channel and modified Saleh-Valenzuela channel.
基金Project(50425518) supported by National Outstanding Youth Foundation of China Project(2007CB714004) supported by National Basic Research Program of China
文摘The thrust hydraulic system of the prototype shield machine with pressure and flow compound control scheme was introduced. The experimental system integrated with proportional valves for study was designed. Dynamics modeling of multi-cylinder thrust system and synchronous control design were accomplished. The simulation of the synchronization motion control system was completed in AMESim and Matlab/Simulink software environments. The experiment was conducted by means of master/slave PID with dead band compensating flow and conventional PID regulating pressure. The experimental results show that the proposed thrust hydraulic system and its control strategy can meet the requirements of tunneling in motion and posture control for the shield machine, keeping the non-synchronous error within ±3 mm.
