A point to? point positioning control of systems with highly nonlinear frictions is studied. In view of variable frictions caused by the changes of load torque, an experimental comparison was made between the valve?...A point to? point positioning control of systems with highly nonlinear frictions is studied. In view of variable frictions caused by the changes of load torque, an experimental comparison was made between the valve? controlled hydraulic motor servo system with PID control and that with friction compensation control. Experimental results show that the gross steady errors are caused by frictions when the system is controlled by the conventional proportional control algorithm. Although the errors can be reduced by introducing the integral control, the limit cycle oscillation and the long setting time are caused. The positioning error for a constant load torque can be eliminated by using fixed friction compensation, but poor positioning accuracy is caused by the same fixed friction compensation when the load torques varies greatly. The dynamic friction compensation based on the error and change in error measurements can significantly improve the position precision in a broad range of the changes of load torque.展开更多
An adaptive load torque observer is presented to compensate the torque ripple in PMSM servo system. A simple adaptive scheme is derived using Popov ＇ s hyperstability theory. The torque ripple detected by the observe...An adaptive load torque observer is presented to compensate the torque ripple in PMSM servo system. A simple adaptive scheme is derived using Popov ＇ s hyperstability theory. The torque ripple detected by the observer is compensated by a feed forwarding equivalent current which gives fast response. The noisy current information is exempt from the observer to avoid its deterioration to the quality of the observer. The speed measurement delay is considered by using observed speed sinee the instantaneous velocity can＇t be estimated precisely at low speed because of too few position pulses from the absolute encoder during one time interval. Simulation and experimental results demonstrate that the proposed method can improve the dynamic performance of PMSM servo system satisfyingly.展开更多
Biodiesel derived from indigenous feed stocks such as Tylosema esculentum kernel oil is deemed a feasible alternative to petroleum diesel for the diesel engine. This paper presents results of investigation of performa...Biodiesel derived from indigenous feed stocks such as Tylosema esculentum kernel oil is deemed a feasible alternative to petroleum diesel for the diesel engine. This paper presents results of investigation of performance and emissions characteristics of diesel engine using Tylosema biodiesel. In this investigation, Tylosema biodiesel was prepared, analyzed and compared with the performance of petroleum diesel fuel using a single cylinder compression ignition diesel engine. The specific fuel consumption, engine torque, engine brake power, hydrocarbons, carbon monoxide and carbon dioxide were analyzed. The tests showed a decrease in engine brake power and torque with increase in engine load, while specific fuel consumption showed an increasing trend with maximum variation of 33% between the two fuels at engine load of 90%. Emission levels of hydrocarbons, carbon monoxide and carbon dioxide showed an increasing trend with increase in load for both fuels. Tylosema biodiesel produced significantly lower concentrations of hydrocarbons than petroleum diesel, while levels of carbon dioxide and carbon monoxide were largely comparable to those of petroleum diesel. Soot production from combustion ofTylosema biodiesel was found to be approximately 98% lower than that from combustion of petroleum biodiesel, demonstrating insignificant contribution to environmental pollution.展开更多
文摘A point to? point positioning control of systems with highly nonlinear frictions is studied. In view of variable frictions caused by the changes of load torque, an experimental comparison was made between the valve? controlled hydraulic motor servo system with PID control and that with friction compensation control. Experimental results show that the gross steady errors are caused by frictions when the system is controlled by the conventional proportional control algorithm. Although the errors can be reduced by introducing the integral control, the limit cycle oscillation and the long setting time are caused. The positioning error for a constant load torque can be eliminated by using fixed friction compensation, but poor positioning accuracy is caused by the same fixed friction compensation when the load torques varies greatly. The dynamic friction compensation based on the error and change in error measurements can significantly improve the position precision in a broad range of the changes of load torque.
文摘An adaptive load torque observer is presented to compensate the torque ripple in PMSM servo system. A simple adaptive scheme is derived using Popov ＇ s hyperstability theory. The torque ripple detected by the observer is compensated by a feed forwarding equivalent current which gives fast response. The noisy current information is exempt from the observer to avoid its deterioration to the quality of the observer. The speed measurement delay is considered by using observed speed sinee the instantaneous velocity can＇t be estimated precisely at low speed because of too few position pulses from the absolute encoder during one time interval. Simulation and experimental results demonstrate that the proposed method can improve the dynamic performance of PMSM servo system satisfyingly.
文摘Biodiesel derived from indigenous feed stocks such as Tylosema esculentum kernel oil is deemed a feasible alternative to petroleum diesel for the diesel engine. This paper presents results of investigation of performance and emissions characteristics of diesel engine using Tylosema biodiesel. In this investigation, Tylosema biodiesel was prepared, analyzed and compared with the performance of petroleum diesel fuel using a single cylinder compression ignition diesel engine. The specific fuel consumption, engine torque, engine brake power, hydrocarbons, carbon monoxide and carbon dioxide were analyzed. The tests showed a decrease in engine brake power and torque with increase in engine load, while specific fuel consumption showed an increasing trend with maximum variation of 33% between the two fuels at engine load of 90%. Emission levels of hydrocarbons, carbon monoxide and carbon dioxide showed an increasing trend with increase in load for both fuels. Tylosema biodiesel produced significantly lower concentrations of hydrocarbons than petroleum diesel, while levels of carbon dioxide and carbon monoxide were largely comparable to those of petroleum diesel. Soot production from combustion ofTylosema biodiesel was found to be approximately 98% lower than that from combustion of petroleum biodiesel, demonstrating insignificant contribution to environmental pollution.
