LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensi...LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction regime.Based upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model.The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory.Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented.The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism.The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes.And the friction force was estimated based on the model in the prestiction regime.The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented model.The experimental results reveal that the control scheme based on the proposed model has the best tracking performance.It reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based compensation.Compared to the single PD control,it reduces the PPV of error by 66.7%.展开更多
In paper it introduced a review of modem traction vehicle drive system with induction motor drive system （PMSM with single or dual rotor drive system） or BLDC motor with different configuration of magnetic circuits....In paper it introduced a review of modem traction vehicle drive system with induction motor drive system （PMSM with single or dual rotor drive system） or BLDC motor with different configuration of magnetic circuits. For particular part of drive system proposed a quasi intelligent control system version smart control enables multi criteria predictive control of vehicle work. In the paper presented also a selected diagnostic procedure, enables monitoring exploitation parameters, and prediction of probable failure state. For different vehicle work state realized a simulation models and crash test of exploitations failure models.展开更多
This paper presents the design and implementation of the embedded microcontrollers within a telescope control system. The design objectives of the overall system are to automatically find light emitting objects at nig...This paper presents the design and implementation of the embedded microcontrollers within a telescope control system. The design objectives of the overall system are to automatically find light emitting objects at night within a user specified area, to track a light emitting object for a user specified time given the initial position of the object, and to allow the user access to these functions through a graphical user interface. The embedded system is used to provide a communication link between the graphical user interface and system hardware, to provide angle data processing for a dual axis accelerometer, to provide data processing for an electronic compass, and to provide pulse outputs for the step and direction inputs of three stepper motor drives. This paper will describe the design, implementation, and results of each of these objectives.展开更多
Induction motor is used in many applications to drive an electromechanical system. Transients of the motor torque and speed are outlined by the inertia of rotating rotor. The paper deals with influence of rotor inerti...Induction motor is used in many applications to drive an electromechanical system. Transients of the motor torque and speed are outlined by the inertia of rotating rotor. The paper deals with influence of rotor inertia to transients of motor speed. The method of speed control measurement and experimental equipment is discussed. Simulation and experimental results are compared.展开更多
This paper presents a sliding mode observer for sensorless operation of SRM （switched reluctance motor） drive. Design of such an observer depends mainly on the nonlinear model of SRM. In this technique, neither extr...This paper presents a sliding mode observer for sensorless operation of SRM （switched reluctance motor） drive. Design of such an observer depends mainly on the nonlinear model of SRM. In this technique, neither extra hardware nor huge memory space are not required but it only requires active phase measurements. Furthermore, PI （proportional integral） and adaptive FLPI （fuzzy logic PI） controllers are suggested to operate individually along with the SMO （sliding mode observer） to cover a full speed range of sensorless controller. Both controller schemes operate in PWM （pulse width modulation） control mode. The proposed observer is implemented and tested using a digital signal processor. All results obtained with both simulation and experimental investigations corroborate the superior performance of the adaptive fuzzy logic controller （FLPI） when compared with those of PI controller.展开更多
基金Projects(51135009,51105371) supported by the National Natural Science Foundation of China
文摘LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction regime.Based upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model.The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory.Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented.The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism.The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes.And the friction force was estimated based on the model in the prestiction regime.The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented model.The experimental results reveal that the control scheme based on the proposed model has the best tracking performance.It reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based compensation.Compared to the single PD control,it reduces the PPV of error by 66.7%.
文摘In paper it introduced a review of modem traction vehicle drive system with induction motor drive system （PMSM with single or dual rotor drive system） or BLDC motor with different configuration of magnetic circuits. For particular part of drive system proposed a quasi intelligent control system version smart control enables multi criteria predictive control of vehicle work. In the paper presented also a selected diagnostic procedure, enables monitoring exploitation parameters, and prediction of probable failure state. For different vehicle work state realized a simulation models and crash test of exploitations failure models.
文摘This paper presents the design and implementation of the embedded microcontrollers within a telescope control system. The design objectives of the overall system are to automatically find light emitting objects at night within a user specified area, to track a light emitting object for a user specified time given the initial position of the object, and to allow the user access to these functions through a graphical user interface. The embedded system is used to provide a communication link between the graphical user interface and system hardware, to provide angle data processing for a dual axis accelerometer, to provide data processing for an electronic compass, and to provide pulse outputs for the step and direction inputs of three stepper motor drives. This paper will describe the design, implementation, and results of each of these objectives.
文摘Induction motor is used in many applications to drive an electromechanical system. Transients of the motor torque and speed are outlined by the inertia of rotating rotor. The paper deals with influence of rotor inertia to transients of motor speed. The method of speed control measurement and experimental equipment is discussed. Simulation and experimental results are compared.
文摘This paper presents a sliding mode observer for sensorless operation of SRM （switched reluctance motor） drive. Design of such an observer depends mainly on the nonlinear model of SRM. In this technique, neither extra hardware nor huge memory space are not required but it only requires active phase measurements. Furthermore, PI （proportional integral） and adaptive FLPI （fuzzy logic PI） controllers are suggested to operate individually along with the SMO （sliding mode observer） to cover a full speed range of sensorless controller. Both controller schemes operate in PWM （pulse width modulation） control mode. The proposed observer is implemented and tested using a digital signal processor. All results obtained with both simulation and experimental investigations corroborate the superior performance of the adaptive fuzzy logic controller （FLPI） when compared with those of PI controller.
