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XY平台伺服系统交叉耦合自适应控制 被引量:3
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作者 孙军 田龙 +2 位作者 刘伟 汤海伦 朱伟 《沈阳建筑大学学报(自然科学版)》 CAS 北大核心 2013年第4期733-738,共6页
目的研究设计XY双轴伺服进给系统交叉耦合自适应控制器,探讨在改善位置误差和轮廓误差的同时,具有良好的鲁棒性.方法先对直流伺服进给系统进行建模,再设计一种简而有效的轮廓误差算法并以此为基础设计交叉耦合自适应控制器,利用LabVIEW... 目的研究设计XY双轴伺服进给系统交叉耦合自适应控制器,探讨在改善位置误差和轮廓误差的同时,具有良好的鲁棒性.方法先对直流伺服进给系统进行建模,再设计一种简而有效的轮廓误差算法并以此为基础设计交叉耦合自适应控制器,利用LabVIEW软件中的运动控制与仿真模块对其进行模拟仿真.结果在外力干扰的条件下,CCAC在直线路径下对位置和轮廓误差的改善效果均优于PI控制器和CCC,为PI的31.49%~53.31%,为CCC的32.81%~56.07%;在圆形路径下,CCAC对位置和轮廓误差的改善效果同样优于PI控制器和CCC,为PI的31.48%~53.34%,为CCC的31.34%~55.58%.结论交叉耦合自适应控制器对位置误差与轮廓误差具有明显的改善效果,并且可增强系统的鲁棒性,提高系统的快速性. 展开更多
关键词 伺服进给系统 位置误差 轮廓误差 交叉耦合自适应控制
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端框移动平台双驱同步控制系统设计 被引量:4
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作者 费少华 刘丹 +2 位作者 乔明杰 章明 方强 《浙江大学学报(工学版)》 EI CAS CSCD 北大核心 2016年第1期85-92,共8页
在某型飞机数字化装配系统中,为了解决大尺寸、大负载端框移动平台两轴驱动位置不同步问题,将交叉耦合技术引入自适应控制,提出自适应耦合同步控制策略.建立端框移动平台双驱机构的非线性数学模型;设计端框移动平台的自适应耦合同步控... 在某型飞机数字化装配系统中,为了解决大尺寸、大负载端框移动平台两轴驱动位置不同步问题,将交叉耦合技术引入自适应控制,提出自适应耦合同步控制策略.建立端框移动平台双驱机构的非线性数学模型;设计端框移动平台的自适应耦合同步控制算法以及自适应律,根据李雅普诺夫稳定性定理、Barbalat引理及LaSalle引理证明系统的稳定性和收敛性;完成基于自适应耦合同步控制的双轴闭环控制系统设计,在保证单轴跟踪精度的同时实现双轴同步控制.实验结果表明,基于自适应耦合同步控制的端框移动平台位置跟踪误差小于0.040mm,位置同步误差最大值为0.011mm. 展开更多
关键词 端框 端框移动平台 自适应耦合控制 同步控制 位置同步误差
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Suppression of Spiral Waves and Spatiotemporal Chaos Under Local Self-adaptive Coupling Interactions
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作者 MA Jun WU Ning-Jie +1 位作者 YING He-Ping YUAN Li-Hua 《Communications in Theoretical Physics》 SCIE CAS CSCD 2006年第1期121-126,共6页
In this paper, a close-loop feedback control is imposed locally on the Fitzhugh-Nagumo (FHN) system to suppress the stable spirals and spatiotemporal chaos according to the principle of self-adaptive coupling intera... In this paper, a close-loop feedback control is imposed locally on the Fitzhugh-Nagumo (FHN) system to suppress the stable spirals and spatiotemporal chaos according to the principle of self-adaptive coupling interaction. The simulation results show that an expanding target wave is stimulated by the spiral waves under dynamic control period when a local area. of 5 × 5 grids is controlled, or the spiral tip is driven to the board of the system, It is also found that the spatiotemporal chaos can be suppressed to get a stable homogeneous state within 50 time units as two local grids are controlled mutually. The mechanism of the scheme is briefly discussed. 展开更多
关键词 spiral waves spatiotemporal chaos close-loop feedback Fitzhugh-Nagumo (FHN) equation
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Robust adaptive cross-coupling position control of biaxial motion system 被引量:14
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作者 CHEN Wei WANG DianDian +1 位作者 GENG Qiang XIA ChangLiang 《Science China(Technological Sciences)》 SCIE EI CAS CSCD 2016年第4期680-688,1-3,共9页
The stability and synchronous performance are usually hard to be improved simultaneously in the biaxial cross-coupling position motion control system.Based on analyzing the characteristics of the cross-coupling contro... The stability and synchronous performance are usually hard to be improved simultaneously in the biaxial cross-coupling position motion control system.Based on analyzing the characteristics of the cross-coupling control system,a robust adaptive cross-coupling control strategy is proposed.To restrict influences of destabilizing factors and improve both of stability and synchronous performance,the strategy forces dual axes to track the same reference model using Narendra adaptive control theory.And then,a robust parameters adaptive law is proposed.The stability analysis of the proposed strategy is conducted by applying Lyapunov stability theory.Related simulations and experiments indicate that the proposed strategy can improve synchronous performance and stability simultaneously. 展开更多
关键词 biaxial motion motor control system position tracking robust adaptive control CROSS-COUPLING synchronous error
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Lag Synchronization Between Two Coupled Networks via Open-Plus-Closed-Loop and Adaptive Controls
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作者 胡桐春 吴永庆 李时兴 《Communications in Theoretical Physics》 SCIE CAS CSCD 2016年第1期33-38,共6页
In this paper,we study lag synchronization between two coupled networks and apply two types of control schemes,including the open-plus-closed-loop(OPCL) and adaptive controls.We then design the corresponding control a... In this paper,we study lag synchronization between two coupled networks and apply two types of control schemes,including the open-plus-closed-loop(OPCL) and adaptive controls.We then design the corresponding control algorithms according to the OPCL and adaptive feedback schemes.With the designed controllers,we obtain two theorems on the lag synchronization based on Lyapunov stability theory and Barbalat's lemma.Finally we provide numerical examples to show the effectiveness of the obtained controllers and see that the adaptive control is stronger than the OPCL control when realizing the lag synchronization between two coupled networks with different coupling structures. 展开更多
关键词 lag synchronization open-plus--closed-loop control adaptive control
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