This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is des...This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is designed in this paper which regulates the contact force between a robot and a workpiece to reach any given set-point exponentially fast, and enables the robot to follow a chosen trajectory simultaneously without requiring prior knowledge of the system parameters. The stability of the closed-loop system is analyzed by Lyapunov techniques. To test the validity of the force/position control method, some simulation results are first collected for the closed-loop system. Furthermore, some experiments are implemented on a 5DOF （degree of freedom） industrial robot for the constructed adaptive force controller. Both simulation and experiment results demonstrate the superior performance of the designed adaptive force/position control strategy.展开更多
The calculation of accurate unsteady aerodynamic forces is critical in the analysis of aeroelastic problems,however the efficiency is low because of high computational costs of the computational fluid dynamics(CFD)por...The calculation of accurate unsteady aerodynamic forces is critical in the analysis of aeroelastic problems,however the efficiency is low because of high computational costs of the computational fluid dynamics(CFD)portion.Additionally,direct integrated CFD and computational structural dynamics(CSD)technique is unsuitable for the analysis of ASE and the flutter active suppression in state-space form.A reduced-order model(ROM)based on Volterra series was developed using CFD calculation and used to predict the flutter coupled with the structure.The closed-loop control systems designed by the sliding mode control(SMC)and linear quadratic Gaussian(LQG)control were constructed with ROM/CSD to suppress the AGARD 445.6wing flutter.The detailed implementation of the two control approaches is presented,and the flutter suppression effectiveness is discussed and compared.The results indicate that SMC method can make the controlled object response decay to the stable equilibrium more rapidly and has better control effects than the LQG control.展开更多
This paper considers the problem of optimal multi-objective trajectory design for autonomous rendezvous. Total velocity cost and relative state robustness of close-looped control are selected as the objective function...This paper considers the problem of optimal multi-objective trajectory design for autonomous rendezvous. Total velocity cost and relative state robustness of close-looped control are selected as the objective functions. Based on relative dynamics equations, the state equations and measurement equations for angles-only relative navigation between spacecraffs are set forth. According to the method of linear covariance analysis, the close-looped control covariance of the true relative state from the reference relative state is analyzed, and the objective functions of relative state robustness are formulated. Considering the total velocity cost and the relative state robustness, the multi-objective optimization algorithm of NSGA-II is employed to solve this multi-impulsive rendezvous problem. Lastly, the validity of the objective functions and the covariance results are demonstrated through 1 00 times Monte Carlo simulation.展开更多
基金Supported by the National Natural Science Foundation of China （60875055）, the Program for New Century Excellent Talents in University （NCET-06- 0210） and the Natural Science Foundation of Tianjin （08JCZDJC21800）.
文摘This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is designed in this paper which regulates the contact force between a robot and a workpiece to reach any given set-point exponentially fast, and enables the robot to follow a chosen trajectory simultaneously without requiring prior knowledge of the system parameters. The stability of the closed-loop system is analyzed by Lyapunov techniques. To test the validity of the force/position control method, some simulation results are first collected for the closed-loop system. Furthermore, some experiments are implemented on a 5DOF （degree of freedom） industrial robot for the constructed adaptive force controller. Both simulation and experiment results demonstrate the superior performance of the designed adaptive force/position control strategy.
文摘The calculation of accurate unsteady aerodynamic forces is critical in the analysis of aeroelastic problems,however the efficiency is low because of high computational costs of the computational fluid dynamics(CFD)portion.Additionally,direct integrated CFD and computational structural dynamics(CSD)technique is unsuitable for the analysis of ASE and the flutter active suppression in state-space form.A reduced-order model(ROM)based on Volterra series was developed using CFD calculation and used to predict the flutter coupled with the structure.The closed-loop control systems designed by the sliding mode control(SMC)and linear quadratic Gaussian(LQG)control were constructed with ROM/CSD to suppress the AGARD 445.6wing flutter.The detailed implementation of the two control approaches is presented,and the flutter suppression effectiveness is discussed and compared.The results indicate that SMC method can make the controlled object response decay to the stable equilibrium more rapidly and has better control effects than the LQG control.
基金supported by the National Natural Science Foundation of China (Grant No. 10902101)
文摘This paper considers the problem of optimal multi-objective trajectory design for autonomous rendezvous. Total velocity cost and relative state robustness of close-looped control are selected as the objective functions. Based on relative dynamics equations, the state equations and measurement equations for angles-only relative navigation between spacecraffs are set forth. According to the method of linear covariance analysis, the close-looped control covariance of the true relative state from the reference relative state is analyzed, and the objective functions of relative state robustness are formulated. Considering the total velocity cost and the relative state robustness, the multi-objective optimization algorithm of NSGA-II is employed to solve this multi-impulsive rendezvous problem. Lastly, the validity of the objective functions and the covariance results are demonstrated through 1 00 times Monte Carlo simulation.
