工业机器人的柔性传动部件导致机器人末端产生振动,严重降低笛卡尔运动精度,为此提出自适应输入整形抑振控制策略。以"双惯量模型+PD控制"建立关节伺服系统模型,分析振动特性。由于运动中的振动信号存在较大噪声,无法准确辨...工业机器人的柔性传动部件导致机器人末端产生振动,严重降低笛卡尔运动精度,为此提出自适应输入整形抑振控制策略。以"双惯量模型+PD控制"建立关节伺服系统模型,分析振动特性。由于运动中的振动信号存在较大噪声,无法准确辨识振动频率和阻尼比,故采用基于递推最小二乘法(Recursive Least Squares,RLS)的任意时延输入整形器自适应设计方法。通过对笛卡尔轨迹规划的归一化插补函数输入整形,提出笛卡尔轨迹输入整形方法,实际表现为重新规划笛卡尔速度大小而不改变运动方向。输入整形抑振实验中直线轨迹振动信号能量最大降低77.08%,圆弧轨迹振动信号能量最大降低31.07%,残余振动信号能量降低80%以上,验证了所述抑振控制策略能有效抑制机器人笛卡尔运动启停时的振动。展开更多
In this paper, the problem of adaptive tracking control for a class of nonlinear large scale systems with unknown parameters entering linearly is discussed. Based on the theory of input output linearization of nonli...In this paper, the problem of adaptive tracking control for a class of nonlinear large scale systems with unknown parameters entering linearly is discussed. Based on the theory of input output linearization of nonlinear systems, direct adaptive control schemes are presented to achieve bounded tracking. The proposed control schemes are robust with respect to the uncertainties in interconnection structure as well as subsystem dynamics. A numerical example is given to illustrate the efficiency of this method.展开更多
In the intensity modulation and direct detection （IM/DD） multiple-input multiple-output （MIMO） optical wireless communication systems, a direct-current-biased adaptive modulation scheme is proposed to guarantee th...In the intensity modulation and direct detection （IM/DD） multiple-input multiple-output （MIMO） optical wireless communication systems, a direct-current-biased adaptive modulation scheme is proposed to guarantee the nonnegative property of transmitted signals, and the MIMO channel is converted to a parallel channel by using a singular value decomposition. Besides, a QR decomposition and successive interference cancellation based adaptive modulation scheme is proposed, and the MIMO channel can be simplified to a parallel channel under the bit error ratio （BER） target constraint. The power is optimally allocated to each sub-channel to maximize the data rate. Simulation results show that the proposed adaptive modulation schemes can effectively improve the transmission rate of the systems under the BER target and constant optical power constraints. The proposed adaptive modulation schemes make use of the multiplexing gain of the MIMO techniques, and can further improve the spectrum efficiency of optical wireless systems.展开更多
An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation.A command filtered approach is used to prevent input saturation from destroying the adaptive c...An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation.A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks (NNs).The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function,so the stability can be guaranteed even under the input saturation.The proposed control law is robust against the disturbance,and it can also eliminate the impact of input saturation.Simulation results indicate that the proposed controller has a good performance.展开更多
The problem of blind adaptive equalization of underwater single-input multiple-output (SIMO) acoustic channels was analyzed by using the linear prediction method.Minimum mean square error (MMSE) blind equalizers with ...The problem of blind adaptive equalization of underwater single-input multiple-output (SIMO) acoustic channels was analyzed by using the linear prediction method.Minimum mean square error (MMSE) blind equalizers with arbitrary delay were described on a basis of channel identification.Two methods for calculating linear MMSE equalizers were proposed.One was based on full channel identification and realized using RLS adaptive algorithms,and the other was based on the zero-delay MMSE equalizer and realized using LMS and RLS adaptive algorithms,respectively.Performance of the three proposed algorithms and comparison with two existing zero-forcing (ZF) equalization algorithms were investigated by simulations utilizing two underwater acoustic channels.The results show that the proposed algorithms are robust enough to channel order mismatch.They have almost the same performance as the corresponding ZF algorithms under a high signal-to-noise (SNR) ratio and better performance under a low SNR.展开更多
An input-output signal selection based on Phillips-Heffron model of a parallel high voltage alternative current/high voltage direct current(HVAC/HVDC) power system is presented to study power system stability. It is w...An input-output signal selection based on Phillips-Heffron model of a parallel high voltage alternative current/high voltage direct current(HVAC/HVDC) power system is presented to study power system stability. It is well known that appropriate coupling of inputs-outputs signals in the multivariable HVDC-HVAC system can improve the performance of designed supplemetary controller. In this work, different analysis techniques are used to measure controllability and observability of electromechanical oscillation mode. Also inputs–outputs interactions are considered and suggestions are drawn to select the best signal pair through the system inputs-outputs. In addition, a supplementary online adaptive controller for nonlinear HVDC to damp low frequency oscillations in a weakly connected system is proposed. The results obtained using MATLAB software show that the best output-input for damping controller design is rotor speed deviation as out put and phase angle of rectifier as in put. Also response of system equipped with adaptive damping controller based on HVDC system has appropriate performance when it is faced with faults and disturbance.展开更多
文摘工业机器人的柔性传动部件导致机器人末端产生振动,严重降低笛卡尔运动精度,为此提出自适应输入整形抑振控制策略。以"双惯量模型+PD控制"建立关节伺服系统模型,分析振动特性。由于运动中的振动信号存在较大噪声,无法准确辨识振动频率和阻尼比,故采用基于递推最小二乘法(Recursive Least Squares,RLS)的任意时延输入整形器自适应设计方法。通过对笛卡尔轨迹规划的归一化插补函数输入整形,提出笛卡尔轨迹输入整形方法,实际表现为重新规划笛卡尔速度大小而不改变运动方向。输入整形抑振实验中直线轨迹振动信号能量最大降低77.08%,圆弧轨迹振动信号能量最大降低31.07%,残余振动信号能量降低80%以上,验证了所述抑振控制策略能有效抑制机器人笛卡尔运动启停时的振动。
文摘In this paper, the problem of adaptive tracking control for a class of nonlinear large scale systems with unknown parameters entering linearly is discussed. Based on the theory of input output linearization of nonlinear systems, direct adaptive control schemes are presented to achieve bounded tracking. The proposed control schemes are robust with respect to the uncertainties in interconnection structure as well as subsystem dynamics. A numerical example is given to illustrate the efficiency of this method.
基金The National High Technology Research and Development Program of China(863 Program)(No.2013AA013601)the National Science and Technology M ajor Project of China(No.2015ZX03004009)
文摘In the intensity modulation and direct detection （IM/DD） multiple-input multiple-output （MIMO） optical wireless communication systems, a direct-current-biased adaptive modulation scheme is proposed to guarantee the nonnegative property of transmitted signals, and the MIMO channel is converted to a parallel channel by using a singular value decomposition. Besides, a QR decomposition and successive interference cancellation based adaptive modulation scheme is proposed, and the MIMO channel can be simplified to a parallel channel under the bit error ratio （BER） target constraint. The power is optimally allocated to each sub-channel to maximize the data rate. Simulation results show that the proposed adaptive modulation schemes can effectively improve the transmission rate of the systems under the BER target and constant optical power constraints. The proposed adaptive modulation schemes make use of the multiplexing gain of the MIMO techniques, and can further improve the spectrum efficiency of optical wireless systems.
基金Supported by National Natural Science Foundation of China(No. 60674019,No. 61074088)
文摘An adaptive backstepping sliding mode control is proposed for a class of uncertain nonlinear systems with input saturation.A command filtered approach is used to prevent input saturation from destroying the adaptive capabilities of neural networks (NNs).The control law and adaptive updating laws of NNs are derived in the sense of Lyapunov function,so the stability can be guaranteed even under the input saturation.The proposed control law is robust against the disturbance,and it can also eliminate the impact of input saturation.Simulation results indicate that the proposed controller has a good performance.
基金Supported by the National Natural Science Foundation of China under Grant No.60372086the Foundation for the Author of National Excellent Doctoral Dissertation of China under Grant No.200753
文摘The problem of blind adaptive equalization of underwater single-input multiple-output (SIMO) acoustic channels was analyzed by using the linear prediction method.Minimum mean square error (MMSE) blind equalizers with arbitrary delay were described on a basis of channel identification.Two methods for calculating linear MMSE equalizers were proposed.One was based on full channel identification and realized using RLS adaptive algorithms,and the other was based on the zero-delay MMSE equalizer and realized using LMS and RLS adaptive algorithms,respectively.Performance of the three proposed algorithms and comparison with two existing zero-forcing (ZF) equalization algorithms were investigated by simulations utilizing two underwater acoustic channels.The results show that the proposed algorithms are robust enough to channel order mismatch.They have almost the same performance as the corresponding ZF algorithms under a high signal-to-noise (SNR) ratio and better performance under a low SNR.
文摘An input-output signal selection based on Phillips-Heffron model of a parallel high voltage alternative current/high voltage direct current(HVAC/HVDC) power system is presented to study power system stability. It is well known that appropriate coupling of inputs-outputs signals in the multivariable HVDC-HVAC system can improve the performance of designed supplemetary controller. In this work, different analysis techniques are used to measure controllability and observability of electromechanical oscillation mode. Also inputs–outputs interactions are considered and suggestions are drawn to select the best signal pair through the system inputs-outputs. In addition, a supplementary online adaptive controller for nonlinear HVDC to damp low frequency oscillations in a weakly connected system is proposed. The results obtained using MATLAB software show that the best output-input for damping controller design is rotor speed deviation as out put and phase angle of rectifier as in put. Also response of system equipped with adaptive damping controller based on HVDC system has appropriate performance when it is faced with faults and disturbance.
