针对电喷柴油机控制单元的测试要求,设计一套硬件在环(Hardware In the Loop,HIL)测试系统。采用PXI总线控制器、各类板卡、普通PC及电压-电流转换模块等建立HIL测试硬件;使用Veristand,Labview等软件环境开发HIL测试软件。针对不同的板...针对电喷柴油机控制单元的测试要求,设计一套硬件在环(Hardware In the Loop,HIL)测试系统。采用PXI总线控制器、各类板卡、普通PC及电压-电流转换模块等建立HIL测试硬件;使用Veristand,Labview等软件环境开发HIL测试软件。针对不同的板卡,分别介绍其设置方式。对气缸控制单元(Cylinder Control Unit,CCU)进行实际测试,结果表明,该测试系统工作可靠,能满足气缸控制模块测试的各项需求。展开更多
The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the...The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.展开更多
文摘针对电喷柴油机控制单元的测试要求,设计一套硬件在环(Hardware In the Loop,HIL)测试系统。采用PXI总线控制器、各类板卡、普通PC及电压-电流转换模块等建立HIL测试硬件;使用Veristand,Labview等软件环境开发HIL测试软件。针对不同的板卡,分别介绍其设置方式。对气缸控制单元(Cylinder Control Unit,CCU)进行实际测试,结果表明,该测试系统工作可靠,能满足气缸控制模块测试的各项需求。
基金Projects(50775200,50905156)supported by the National Natural Science Foundation of China
文摘The system considered in this work consists of a cylinder which is controlled by a pair of three-way servo valves rather than a four-way one.Therefore,the cylinder output stiffness is independently controllable of the output force.A discontinuous projection based adaptive robust controller (ARC) was constructed to achieve high-accuracy output force trajectory tracking for the system.In ARC,on-line parameter adaptation method was adopted to reduce the extent of parametric uncertainties due to the variation of friction parameters,and sliding mode control method was utilized to attenuate the effects of parameter estimation errors,unmodelled dynamics and disturbance.Furthermore,output stiffness maximization/minimization was introduced to fulfill the requirement of many robotic applications.Extensive experimental results were presented to illustrate the effectiveness and the achievable performance of the proposed scheme.For tracking a 0.5 Hz sinusoidal trajectory,maximum tracking error is 4.1 N and average tracking error is 2.2 N.Meanwhile,the output stiffness can be made and maintained near its maximum/minimum.
