为提高直流位置伺服系统的控制性能,提出了一种2自由度(two degree-offreedom,2DOF)分数阶控制方法.通过设计一种2DOF控制结构,实现了系统的跟随和抗扰特性的解耦控制;将内模控制(internal model control,IMC)与分数阶控制相结合,选用...为提高直流位置伺服系统的控制性能,提出了一种2自由度(two degree-offreedom,2DOF)分数阶控制方法.通过设计一种2DOF控制结构,实现了系统的跟随和抗扰特性的解耦控制;将内模控制(internal model control,IMC)与分数阶控制相结合,选用分数阶滤波器,推导出了跟随控制器和抗扰控制器设计方法;根据控制性能的要求,利用系统截止频率和最大灵敏度指标,实现了2DOF控制器参数的解析整定.仿真实验结果表明,2DOF分数阶控制方法具有良好的位置跟随特性和抗干扰能力.展开更多
The key word for the design process of the photovoltaic tracking systems is the energetic efficiency. Using the tracking system, the photovoltaic panel follows the sun and increases the collected energy, but the drivi...The key word for the design process of the photovoltaic tracking systems is the energetic efficiency. Using the tracking system, the photovoltaic panel follows the sun and increases the collected energy, but the driving motors consume a part of this energy. In these terms, the optimization of the tracking systems became an important challenge in the modem research and technology. In this paper, a strategy for the dynamic optimization of the photovoltaic tracking systems is presented. The main task in optimization is to maximize the energetic gain by increasing the incoming solar radiation and minimizing the energy consumption for tracking. This strategy is possible by developing the virtual prototype of the tracking system, which is a control loop composed by the multi-body mechanical model connected with the dynamic model of the actuators and with the controller model. In this way, it is possible to optimize the tracking mechanism, choose the appropriate actuators, and design the optimal controller.展开更多
In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular sta...In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.展开更多
文摘为提高直流位置伺服系统的控制性能,提出了一种2自由度(two degree-offreedom,2DOF)分数阶控制方法.通过设计一种2DOF控制结构,实现了系统的跟随和抗扰特性的解耦控制;将内模控制(internal model control,IMC)与分数阶控制相结合,选用分数阶滤波器,推导出了跟随控制器和抗扰控制器设计方法;根据控制性能的要求,利用系统截止频率和最大灵敏度指标,实现了2DOF控制器参数的解析整定.仿真实验结果表明,2DOF分数阶控制方法具有良好的位置跟随特性和抗干扰能力.
文摘The key word for the design process of the photovoltaic tracking systems is the energetic efficiency. Using the tracking system, the photovoltaic panel follows the sun and increases the collected energy, but the driving motors consume a part of this energy. In these terms, the optimization of the tracking systems became an important challenge in the modem research and technology. In this paper, a strategy for the dynamic optimization of the photovoltaic tracking systems is presented. The main task in optimization is to maximize the energetic gain by increasing the incoming solar radiation and minimizing the energy consumption for tracking. This strategy is possible by developing the virtual prototype of the tracking system, which is a control loop composed by the multi-body mechanical model connected with the dynamic model of the actuators and with the controller model. In this way, it is possible to optimize the tracking mechanism, choose the appropriate actuators, and design the optimal controller.
基金Project(51107111)supported by the National Natural Science Foundation of China
文摘In order to promote the tolerance and controllability of the multi-degree-of-freedom(M-DOF) ultrasonic motor, a novel two-degree-of-freedom(2-DOF) spherical ultrasonic motor using three traveling-wave type annular stators was put forward. Firstly,the structure and working principle of this motor were introduced, especially a spiral spring as the preload applied component was designed for adaptive adjustment. Then, the friction drive model of 2-DOF spherical motor was built up from spatial geometric relation between three annular stators and the spherical rotor which was used to analyze the mechanical characteristics of the motor.The optimal control strategy for minimum norm solution of three stators' angular velocity was proposed, using Moore-Penrose generalized inverse matrix. Finally, a 2-DOF prototype was fabricated and tested, which ran stably and controllably. The maximum no-load velocity and stall torque are 92 r/min and 90 m N·m, respectively. The 2-DOF spherical ultrasonic motor has compact structure, easy assembly, good performance and stable operation.
