行波超声波电机直接数字驱动源的设计研究

基于行波超声波电机驱动系统的工作原理,采用CPLD技术,设计一个高频直接数字信号源,试验结果表明该电源很好地满足行波超声波电机的工作要求。

Flow Control with Intermittent Disturbance for the Laminar Separation Bubble on a NACA633-421 Airfoil

This study investigates the aerodynamic performance of the NACA 633-421 airfoil and the effectiveness and feasibility of intermittent disturbance flow control methods on laminar separation bubbles(LSBs).It is found that the average velocity and influence range of the synthetic jet actuator increase with the increasing of driving frequency and driving amplitude.LSB occurs at Re=1.0×10^(5),and ruptures atα=6°.But with intermittent disturbance control,the stall angle of attack(AoA)increases while significantly reducing drag.Research shows that although certain disturbance cannot fully recover from LSB stall,decreasing driving amplitude partially restores wing aerodynamic performance,more effectively than increasing driving amplitude.

变体飞机智能结构技术进展

具有可变外形特征的变体飞机能始终保持最佳飞行状态,满足多种任务需求,是未来飞行器的重大技术方向。本文从变体飞机的背景出发,论述了变体飞机的结构组成和能力需求,阐述了变体飞机结构的关键技术(如柔性结构技术、驱动/控制技术和状态感知技术)的研究现状与发展方向,提出智能材料柔性结构、分布式驱动/控制系统与微小传感器一体化是未来变体结构的主方向。同时指出,4D打印技术在设计和制造智能材料柔性结构方面具有很大的应用潜力。本文的研究为变体飞机智能结构设计和关键技术研究提供了参考,对于未来变体飞机的发展具有指导意义。

New digital drive phase control for improving bias stability of silicon MEMS gyroscope

In order to improve the bias stability of the micro-electro mechanical system（MEMS） gyroscope and reduce the impact on the bias from environmental temperature,a digital signal processing method is described for improving the accuracy of the drive phase in the gyroscope drive mode.Through the principle of bias signal generation,it can be concluded that the deviation of the drive phase is the main factor affecting the bias stability.To fulfill the purpose of precise drive phase control,a digital signal processing circuit based on the field-programmable gate array（FPGA） with the phase-lock closed-loop control method is described and a demodulation method for phase error suppression is given.Compared with the analog circuit,the bias drift is largely reduced in the new digital circuit and the bias stability is improved from 60 to 19 °/h.The new digital control method can greatly increase the drive phase accuracy,and thus improve the bias stability.

TMS320lf2407A替代单片机在超声波电机中的应用

介绍一种基于DSP芯片的高性能超声波电机的驱动/控制电路,对系统的软硬件实现方面进行了分析,测试结果表明基于DSP的控制系统的性能稳定,控制方法优于基于单片机为中心的驱动/控制电路,且符合超声波电机驱动和控制电路的集成化和微型化发展趋势。

Joint torque-based Cartesian impedance control with friction compensations

In order to investigate the joint torque-based Cartesian impedance control strategies and the influence of compensations for friction, an experimental study on the identification of friction parameters, friction compensation and the Cartesian impedance control are developed for the harmonic drive robot, by using the sensors available in the joint itself. Different from the conventional Cartesian impedance control schemes which are mostly based on the robot end force/torque information, five joint torque-based Cartesian impedance control schemes are considered, including the force-based schemes in Cartesian/joint space, the position-based schemes in Cartesian/joint space and the stiffness control. Four of them are verified by corresponding experiments with/without friction compensations. By comparison, it is found that the force-based impedance control strategy is more suitable than the position-based one for the robot based on joint torque feedback and the friction has even a positive effect on Cartesian impedance control stability.

Characteristic of Intelligent Air Bag Venting Structure Actuating by Electrostrictive Stack Actuator

In this paper the conception of smart materials and structures is firstly combined with research of air bag,and the main theory of self adapting cushioning of intelligent air bag is expatiated.The intelligent venting structure is the main part affecting the cushioning result.Electrostrictive material was found having big force,high response speed and wide linearity,and it is fit to utilize in intelligent venting structure. The characteristic of the dynamic response and cushioning actuating of an electrostrictive stack actuator is analyzed,and the result of the computer simulation of the fuzzy control to intelligent venting structure is given.It is concluded that intelligent venting structure has good actuating characteristic and can satisfy the need of intelligent air bag.

DAMAGES AND FAILURES OF SMART STRUCTURES

According to some observed dama ge phenomena in the smart structure systems, the issues related to the damage and failures of smart structures are addressed in this paper. A few possible damage patterns and the definition of the failure of the smart structures are given. It is pointed out that more attentions should be paid to the functional failures o f smart structures. The effects on the control the static deformation due to par tial debonding of PZT actuators are analyzed by the finite element method. Preli minary numerical results show that partial debonding of PZT actuators may have a p preciate reduction on their actuating ability thus reducing the control ability and accuracy of the smart structures.

SINGULAR PERTURBATION APPROACH TO MOVING MASS CONTROL OF BUOYANCY-DRIVEN AIRSHIP IN 3-D SPACE

The attitude control problem and the guidance problem are solved in 3-D for a buoyancy-driven airship actuated by the combined effects of an internal air bladder which modulates the airshiprs net weight and of two moving masses which modulate its center of mass. A simple and clear modeling is introduced to derive the 8 degree of freedom （DOF） mathematical model. Nonlinear control loops are derived through maximal feedback linearization with internal stability for both dynamics in the longitudinal plane and in the lateral plane. Based on a singular perturbation approach, the superposition of these two control actions in the longitudinal plane and in the lateral plane is shown to achieve the control of the dynamics in 3-D space. The simulations of the airship tracking specified attitude, moving direction and speed in 3-D space are presented.

Multivariable fuzzy control of residential inverter-driven air conditionings

A model free intelligent muhivariable fuzzy controller （MFC） designed for modulating the vapor compression cycles in a residential inverter-driven air conditioning is proposed. The novel controller combines a traditional fuzzy controller （TFC） and an additional coupling fuzzy controller, the coupling fuzzy controller is introduced to compensate for the unknown cross-coupling effects of this muhivariable system. In order to evaluate the control performance of the MFC, it is digitally implemented in terms of regulating the desired evaporating temperature and superheat. The experimental results show the effectiveness of the MFC for improvement of system performance and energy efficiency.

Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties

The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.

Research on control technology of elderly-assistant & walking-assistant robot based on tactile-slip sensation

In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is investigated to control the elderly-assistant & walking-assistant robot. First,on the basis of the proposed driving control system program of tactile and slip,a detection system of tactile and slip senses are designed. Based on the tactile and slip feature representation and extraction,an improved classification and recognition method is proposed which combines K-nearest neighbor (KNN) algorithm and K-means algorithm. And then,a robot control system based on TMS320F2812 is designed in this paper,including its hardware and software design. Then,a moving control method including the fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last,by the experimental verification in the walking-assistant robot,the research results show that the tactile and slip senses detection and recognition method is effective,and the whole control system has good feasibility and adaptability.

Simulation on Driving System Used for Differential Steering of Electric Scooter

To investigate the feasibility and effectiveness of the designed control system used for driving and steering of an electric scooter, a model of differential steering was developed. The function of electronic differential steering was realized by controlling the speed of right or left wheel and the corresponding speed difference. The control system was simulated with MATLAB/SIMUL1NK and ADAMS. It is found that the motor load torque is proportional to the tire vertical force, so the adhesive capacity is met. The electric scooter can operate stably on the slope road at a speed of more than 1.5 m/s and turn stably at yawing velocities of 10° and 90°per second.

Combining Market-Based Control with Distribution Grid Constraints when Coordinating Electric Vehicle Charging

The charging of electric vehicles(EVs) impacts the distribution grid, and its cost depends on the price of electricity when charging. An aggregator that is responsible for a large fleet of EVs can use a market-based control algorithm to coordinate the charging of these vehicles, in order to minimize the costs. In such an optimization, the operational parameters of the distribution grid, to which the EVs are connected, are not considered. This can lead to violations of the technical constraints of the grid(e.g., undervoltage, phase unbalances); for example, because many vehicles start charging simultaneously when the price is low. An optimization that simultaneously takes the economic and technical aspects into account is complex, because it has to combine time-driven control at the market level with eventdriven control at the operational level. Diff erent case studies investigate under which circumstances the market-based control, which coordinates EV charging, conflicts with the operational constraints of the distribution grid. Especially in weak grids, phase unbalance and voltage issues arise with a high share of EVs. A low-level voltage droop controller at the charging point of the EV can be used to avoid many grid constraint violations, by reducing the charge power if the local voltage is too low. While this action implies a deviation from the cost-optimal operating point, it is shown that this has a very limited impact on the business case of an aggregator, and is able to comply with the technical distribution grid constraints, even in weak distribution grids with many EVs.

Prestiction friction compensation in direct-drive mechatronics systems

LuGre model has been widely used in friction modeling and compensation.However,the new friction regime,named prestiction regime,cannot be accurately characterized by LuGre model in the latest research.With the extensive experimental observations of friction behaviors in the prestiction,some variables were abstracted to depict the rules in the prestiction regime.Based upon the knowledge of friction modeling,a novel friction model including the presliding regime,the gross sliding regime and the prestiction regime was then presented to overcome the shortcomings of the LuGre model.The reason that LuGre model cannot estimate the prestiction friction was analyzed in theory.Feasibility analysis of the proposed model in modeling the prestiction friction was also addressed.A parameter identification method for the proposed model based on multilevel coordinate search algorithm was presented.The proposed friction compensation strategy was composed of a nonlinear friction observer and a feedforward mechanism.The friction observer was designed to estimate the friction force in the presliding and the gross sliding regimes.And the friction force was estimated based on the model in the prestiction regime.The comparative trajectory tracking experiments were conducted on a simulator of inertially stabilization platforms among three control schemes:the single proportional–derivative(PD)control,the PD with LuGre model-based compensation and the PD with compensator based on the presented model.The experimental results reveal that the control scheme based on the proposed model has the best tracking performance.It reduces the peak-to-peak value(PPV)of tracking error to 0.2 mrad,which is improved almost 50%compared with the PD with LuGre model-based compensation.Compared to the single PD control,it reduces the PPV of error by 66.7%.

Research and realization of PWM drive control digitalization for the full digital welding power supply

Pulse width modulation （ PWM） drive control digitalization is the key for the full digital invert power supply. New ideas are proposed, which are based on field programmable gate array （ FPGA ）. First, digital PWM principles are discussed. The primary and secondary current characteristics are analyzed when the transformer is in both normal and magnetic bias conditions. Second, two digitalization methods are put forward after the research on PWM adjustment principles, which are based on the primary current feedback. Though the two methods could restrain magnetic bias, their realization is difficult. A new method is researched on double close-loops to overcome the above shortcomings, which uses the secondary current as the feedback signal and the primary current as the protection signal. Finally, the secondary current control made is discussed and realized. Welding experimental results show that the method has strong flexibility and adaptability, which can be used to realize the full digital welding power supply.

Diving control of underactuated unmanned undersea vehicle using integral-fast terminal sliding mode control

The problem of diving control for an underactuated unmanned undersea vehicle(UUV) considering the presence of parameters perturbations and wave disturbances was addressesed.The vertical motion of an UUV was divided into two noninteracting subsystems for surge velocity control and diving.To stabilize the vertical motion system,the surge velocity and the depth control controllers were proposed using backstepping technology and an integral-fast terminal sliding mode control(IFTSMC).It is proven that the proposed control scheme can guarantee that all the error signals in the whole closed-loop system globally converge to the sliding surface in finite time and asymptotically converge to the origin along the sliding surface.With a unified control parameters for different motion states,a series of numerical simulation results illustrate the effectiveness of the above designed control scheme,which also shows strong robustness against parameters perturbations and wave disturbances.

Genetic algorithm and particle swarm optimization tuned fuzzy PID controller on direct torque control of dual star induction motor

This study presents analysis, control and comparison of three hybrid approaches for the direct torque control (DTC) of the dual star induction motor (DSIM) drive. Its objective consists of combining three different heuristic optimization techniques including PID-PSO, Fuzzy-PSO and GA-PSO to improve the DSIM speed controlled loop behavior. The GA and PSO algorithms are developed and implemented into MATLAB. As a result, fuzzy-PSO is the most appropriate scheme. The main performance of fuzzy-PSO is reducing high torque ripples, improving rise time and avoiding disturbances that affect the drive performance.

Error Analysis of Three Degree-of-Freedom Changeable Parallel Measuring Mechanism

A three degree-of-freedom (DOF) planar changeable parallel mechanism is designed by means of control of different drive parameters. This mechanism possesses the characteristics of two kinds of parallel mechanism. Based on its topologic structure, a coordinate system for position analysis is set-up and the forward kinematic solutions are analyzed. It was found that the parallel mechanism is partially decoupled. The relationship between original errors and position-stance error of moving platform is built according to the complete differential-coefficient theory. Then we present a special example with theory values and errors to evaluate the error model, and numerical error solutions are gained. The investigations concentrating on mechanism errors and actuator errors show that the mechanism errors have more influences on the position-stance of the moving platform. It is demonstrated that improving manufacturing and assembly techniques can greatly reduce the moving platform error. The small change in position-stance error in different kinematic positions proves that the error-compensation of software can improve considerably the precision of parallel mechanism.

Trajectory planning and tracking control for underactuated unmanned surface vessels

The trajectory planning and tracking control for an underactuated unmanned surface vessel(USV) were addressed.The reference trajectory was generated by a virtual USV,and the error equation of trajectory tracking for underactuated USV was obtained,which transformed the tracking and stabilization problem of underactuated USV into the stabilization problem of the trajectory tracking error equation.A nonlinear state feedback controller was proposed based on backstepping technique and Lyapunov's direct method.By means of Lyapunov analysis,it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property.Numerical simulation results are presented to validate the effectiveness and robustness of the proposed controller.