The classic multi-mode input shapers(MMISs)are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously.But these input shapers cannot suppress more residual vibration with a quick resp...The classic multi-mode input shapers(MMISs)are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously.But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different.The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper.Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established.The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation.The response time of the zero vibration-zero vibration and derivative(ZV-ZVD)input shaper is the fastest,but the robustness is the least.The robustness of the zero vibration and derivative-extra insensitive(ZVD-EI)input shaper is the best,while the response time is the longest.According to the frequency bandwidth at each mode and required system response time,the most appropriate multi-mode hybrid input shaper(MMHIS)can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.展开更多
In order to improve the ability of harmonic suppression,and reduce the loss of switching devices,this paper proposes an active harmonic suppression method at dc side of multi-pulse rectifier(MPR) . The circulating cur...In order to improve the ability of harmonic suppression,and reduce the loss of switching devices,this paper proposes an active harmonic suppression method at dc side of multi-pulse rectifier(MPR) . The circulating current through secondary winding of active inter-phase reactor(AIPR) is derived from the current relation between the ac and dc sides of MPR when the threephase input currents are sinusoidal simultaneously,and an applicable circulating current is presented. According to the relation between voltage across secondary winding of AIPR and the applicable current,it is confirmed that harmonic energy of input line current can be consumed by the resistor in series with the secondary winding. A half-bridge PWM rectifier is designed to abstract the harmonic power and to feed the load,which can realize the recycling of harmonic energy. Experimental results show that the power factor of the proposed system is approximately equal to one when the PWM rectifier operates normally,and that the proposed system has the ability of anti-variation of load and input voltage.展开更多
The capability of ADRC is studied for linear time-invariant SISO minimum-phase systems with unknown orders, uncertain relative degrees, and unknown input disturbances. It is proved that ADRC can reject the unknown inp...The capability of ADRC is studied for linear time-invariant SISO minimum-phase systems with unknown orders, uncertain relative degrees, and unknown input disturbances. It is proved that ADRC can reject the unknown input disturbance and guarantee the close-loop stability for the plants with unknown but bounded relative degrees. Meanwhile, some close-loop performances can be achieved. The influence of the sensor noise is also discussed. And it is demonstrated by numerical examples that one ADRC with fixed parameters can be applied to a group of plants of different orders, relative degrees, and parameters.展开更多
基金Project(LQ12E05008)supported by Natural Science Foundation of Zhejiang Province,ChinaProject(201708330107)supported by China Scholarship Council
文摘The classic multi-mode input shapers(MMISs)are valid to decrease multi-mode residual vibration of manipulators or robots simultaneously.But these input shapers cannot suppress more residual vibration with a quick response time when the frequency bandwidth of each mode vibration is very different.The methodologies and various types of multi-mode classic and hybrid input shaping control schemes with positive impulses were introduced in this paper.Six types of two-mode hybrid input shapers with positive impulses of a 3 degree of freedom robot were established.The ability and robustness of these two-mode hybrid input shapers to suppress residual vibration were analyzed by vibration response curve and sensitivity curve via numerical simulation.The response time of the zero vibration-zero vibration and derivative(ZV-ZVD)input shaper is the fastest,but the robustness is the least.The robustness of the zero vibration and derivative-extra insensitive(ZVD-EI)input shaper is the best,while the response time is the longest.According to the frequency bandwidth at each mode and required system response time,the most appropriate multi-mode hybrid input shaper(MMHIS)can be selected in order to improve response time as much as possible under the condition of suppressing more residual vibration.
基金supported by the National Natural Science Foundation of China (Grant Nos.50977018,51107019)the Fundamental Research Funds for the Central Universities (Grant No.HIT.NSRIF.2010101)
文摘In order to improve the ability of harmonic suppression,and reduce the loss of switching devices,this paper proposes an active harmonic suppression method at dc side of multi-pulse rectifier(MPR) . The circulating current through secondary winding of active inter-phase reactor(AIPR) is derived from the current relation between the ac and dc sides of MPR when the threephase input currents are sinusoidal simultaneously,and an applicable circulating current is presented. According to the relation between voltage across secondary winding of AIPR and the applicable current,it is confirmed that harmonic energy of input line current can be consumed by the resistor in series with the secondary winding. A half-bridge PWM rectifier is designed to abstract the harmonic power and to feed the load,which can realize the recycling of harmonic energy. Experimental results show that the power factor of the proposed system is approximately equal to one when the PWM rectifier operates normally,and that the proposed system has the ability of anti-variation of load and input voltage.
基金supported by Natural Science Foundation of China under Grant Nos.60821091 and 60736022
文摘The capability of ADRC is studied for linear time-invariant SISO minimum-phase systems with unknown orders, uncertain relative degrees, and unknown input disturbances. It is proved that ADRC can reject the unknown input disturbance and guarantee the close-loop stability for the plants with unknown but bounded relative degrees. Meanwhile, some close-loop performances can be achieved. The influence of the sensor noise is also discussed. And it is demonstrated by numerical examples that one ADRC with fixed parameters can be applied to a group of plants of different orders, relative degrees, and parameters.
