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连续热镀锌板机组的电控系统
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作者 吴鸿儒 《钢铁厂设计》 1994年第3期22-28,共7页
关键词 钢板 热镀锌机组 电挖系统
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Improved control of intelligent excavator using proportional-integral-plus gain scheduling 被引量:5
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作者 顾军 D. SEWARD 《Journal of Central South University》 SCIE EI CAS 2012年第2期384-392,共9页
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
关键词 robotic excavator gain scheduling control proportional-integral-plus ROBUSTNESS
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Distributed fault-tolerant strategy for electric swing system of hybrid excavators under communication errors 被引量:1
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作者 Da-hui GAO Qing-feng WANG Yong LEI 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2017年第7期941-954,共14页
A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensat... A distributed fault-tolerant strategy for the controller area network based electric swing system of hybrid excavators is proposed to achieve good performance under communication errors based on the adaptive compensation of the delays and packet dropouts. The adverse impacts of communication errors are effectively reduced by a novel delay compensation scheme, where the feedback signal and the control command are compensated in each control period in the central controller and the swing motor driver, respectively, without requiring additional network bandwidth. The recursive least-squares algorithm with forgetting factor algorithm is employed to identify the time-varying model parameters due to pose variation, and a reverse correction law is embedded into the feedback compensation in consecutive packet dropout scenarios to overcome the impacts of the model error. Simulations and practical experiments are conducted. The results show that the proposed fault-tolerant strategy can effectively reduce the communication-error-induced overshoot and response time variation. 展开更多
关键词 Fault tolerant Delay compensation Controller area network Communication errors Electric swing system ofhybrid excavator
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