Two adaptive friction compensation schemes are developed for a high precision turntable system with nonlinear dynamic friction to handle two types of parametric uncertainties in the friction. Both schemes utilize a no...Two adaptive friction compensation schemes are developed for a high precision turntable system with nonlinear dynamic friction to handle two types of parametric uncertainties in the friction. Both schemes utilize a nonlinear observer/filter structure to compensate for uncertainties in corresponding friction parameters associated with the turntable system. Moreover, in the second scheme, adjustable gains are introduced into the dual nonlin- ear filters and they can be tuned to improve the position tracking performance. In both cases, a Lyapunov-like argument is provided for the global asymptotic stability of the closed-loop system. Simulation results demonstrate the effectiveness of the proposed schemes.展开更多
A brand new method of automatic north seeking/sight stabilizing is introduced for usage in land fighting vehicles such as tank, etc. Some inertial devices are installed additionally on the platform along with relat...A brand new method of automatic north seeking/sight stabilizing is introduced for usage in land fighting vehicles such as tank, etc. Some inertial devices are installed additionally on the platform along with relative control circuits to make its function of North seeking possible. Double position calculation is adopted in this method, and by alignment at two sites the azimuth angle can be figured out. Also the orientation and the horizontal shifts of the gyro are simultaneously measured and compensated so as to improve the accuracy of north seeking. The system can automatically seek north when the vehicle is immobile. And the time consumption is no more than 5.5 min. Besides, the system can keep azimuth angle and provide tilt angle and pitch angle of the vehicle.展开更多
The key of speed sensorless vector control system lies in the accurate orientation of magnetic field. In some field-oriented algorithms, the integrator of observers and the dead-time effect bring in system errors duri...The key of speed sensorless vector control system lies in the accurate orientation of magnetic field. In some field-oriented algorithms, the integrator of observers and the dead-time effect bring in system errors during the estimation of field position. In this paper, a saturated feedback integrator is used, and the dead-time effect is compen- sated by current positive feedback. Experiments were carried out on the hardware platform of MCK2407, with chip TMS320LF2407 from TI Company. The results show that the prooosed method is simole and effective, and the accuracy of field position is improved.展开更多
To meet the requirement of high tracking angular accuracy for the acquisition, tracking, and pointing (ATP) subsystem of the free-space optical communication, and provide the basis for the further optical communicatio...To meet the requirement of high tracking angular accuracy for the acquisition, tracking, and pointing (ATP) subsystem of the free-space optical communication, and provide the basis for the further optical communication between maritime mobile platforms, the experimental system, which executing part for the fine tracking is voice coil motor with high frequency and good performance for error compensation, is established, and the whole system can be controlled by personal computer. A series of experiments has been done for the simulation target of different uniform speed, and the data of tracking error for fine tracking and coarse tracking are collected, analyzed and evaluateds separately, and the real-time optical power of communication laser is also collected. The result shows that standard deviation for ATP system tracking error increases with the increase of target speed, while the range of tracking error appears to be no order. Furthermore, communication link can be hold for a long time.展开更多
文摘Two adaptive friction compensation schemes are developed for a high precision turntable system with nonlinear dynamic friction to handle two types of parametric uncertainties in the friction. Both schemes utilize a nonlinear observer/filter structure to compensate for uncertainties in corresponding friction parameters associated with the turntable system. Moreover, in the second scheme, adjustable gains are introduced into the dual nonlin- ear filters and they can be tuned to improve the position tracking performance. In both cases, a Lyapunov-like argument is provided for the global asymptotic stability of the closed-loop system. Simulation results demonstrate the effectiveness of the proposed schemes.
文摘A brand new method of automatic north seeking/sight stabilizing is introduced for usage in land fighting vehicles such as tank, etc. Some inertial devices are installed additionally on the platform along with relative control circuits to make its function of North seeking possible. Double position calculation is adopted in this method, and by alignment at two sites the azimuth angle can be figured out. Also the orientation and the horizontal shifts of the gyro are simultaneously measured and compensated so as to improve the accuracy of north seeking. The system can automatically seek north when the vehicle is immobile. And the time consumption is no more than 5.5 min. Besides, the system can keep azimuth angle and provide tilt angle and pitch angle of the vehicle.
文摘The key of speed sensorless vector control system lies in the accurate orientation of magnetic field. In some field-oriented algorithms, the integrator of observers and the dead-time effect bring in system errors during the estimation of field position. In this paper, a saturated feedback integrator is used, and the dead-time effect is compen- sated by current positive feedback. Experiments were carried out on the hardware platform of MCK2407, with chip TMS320LF2407 from TI Company. The results show that the prooosed method is simole and effective, and the accuracy of field position is improved.
基金supported by the Natural Science foundation of Hubei Province (No.2010CDB08502)
文摘To meet the requirement of high tracking angular accuracy for the acquisition, tracking, and pointing (ATP) subsystem of the free-space optical communication, and provide the basis for the further optical communication between maritime mobile platforms, the experimental system, which executing part for the fine tracking is voice coil motor with high frequency and good performance for error compensation, is established, and the whole system can be controlled by personal computer. A series of experiments has been done for the simulation target of different uniform speed, and the data of tracking error for fine tracking and coarse tracking are collected, analyzed and evaluateds separately, and the real-time optical power of communication laser is also collected. The result shows that standard deviation for ATP system tracking error increases with the increase of target speed, while the range of tracking error appears to be no order. Furthermore, communication link can be hold for a long time.
