Nominal Model-Based Sliding Mode Control with Backstepping for 3-Axis Flight Table

Based on nominal model, a novel global sliding mode controller （GSMC） with a new control scheme is proposed for a practical uncertain servo system. This control scheme consists of two combined controllers, One is the global sliding mode controller for practical plant, the other is the integral backstepping controller for nominal model. Modeling error between practical plant and nominal model is used to design GSMC. The steady-state control accuracy can be guaranteed by the integral backstepping control law, and the global robustness can be obtained by GSMC. The stability of the proposed controller is proved according to the Lyapunov approach. The simulation results both of sine signal and step signal tracking for 3-axis flight table are investigated to show good position tracking performance and high robustness with respect to large and parameter changes over all the response time.

QFT Robust Control Design for 3-Axis Flight Table Servo System with Large Friction

The 3-axis flight table is an important device and a typical high performanceposition and speed servo system used in the hardware-in-the-loop simulation of flight controlsystem. Friction force and uncertainty are the main characteristics in the 3-axis flight table servosystem. Based on the description of dynamic and static model of a nonlinear Stribeck frictionmodel, and taking account of the practical uncertainties of 3-axis flight table servo system, theQFT controller is designed. Simulation and realtime results are presented.

3-D Simulation Study on Seismic Response of Bridge Piles in Landslide

The anti-slide support structure is widely used in the anti-seismic reinforcement of bridge foundations,but related experimental research was processing slowly. Based on the prototype of the Jiuzhaigou bridge at the Chengdu-Lanzhou Railway,a 3-D simulation model was established on the basis of the shaking table model test,and the rationality of the dynamic analysis model was verified by indicators such as the bending moment of the bridge piles,peak soil pressure,and PGA amplification factors. The results show that the inertia force of the bridge pier has an important influence on the deformation of the pile foundation. The bending moment and shearing force are larger in lateral bridge piles,and the maximum value is near the pile top. The PGA amplification factor is stronger in the back of the rear anti-slide piles and so is it in front of the bridge pier,and the soil is prone to slip and damage. The bedrock is rigid and the dynamic response is maintained at a low level. The anti-slide piles in the rear row play a major role in the anti-seismic reinforcement design,and the anti-slide piles in the front row can be used as an auxiliary support structure.

模拟复杂地形的喷雾靶标激光检测与三维重构

喷雾靶标的检测是精密变量喷雾的重要环节,激光传感器以其精度高、速度快、不受光照干扰等特点被广泛应用于精密变量喷雾研究中。为了消除激光传感器姿态角的偏移对喷雾靶标检测的影响,获取精确的喷雾靶标外形尺寸信息以及三维重构图像,进行了室内模拟复杂地形激光检测矫正研究。该文基于UTM-30LX型激光传感器搭建了室内靶标检测试验平台,模拟复杂路况设计了滚转角、俯仰角和偏航角等姿态角偏移检测试验,提出了采用极坐标值与三角函数重新匹配、检测帧与检测点重新组合和深度值系数矫正等3种姿态角偏移矫正方法。首先对树形雕花板进行单一姿态角偏移检测试验,选取适合的检测距离与行进速度,对每种姿态角的多个偏移角度进行多次重复试验,然后矫正所获取的数据信息,对矫正后的目标尺寸进行误差分析并重构目标三维图像。再以仿真树为试验对象,验证在3种姿态角度同时改变时矫正方法的有效性。试验结果显示树形雕花板高度、宽度、树冠高度等尺寸相对误差均小于5%,仿真树相应参数尺寸相对误差均小于10%,满足变量喷雾检测的精度要求。

基于虚拟仪器与PCI-1711U的三轴滑台控制系统设计

介绍了一种基于虚拟仪器技术和PCI-1711U控制卡的三轴滑台控制系统设计方案,利用控制卡的数字量输出功能,产生控制步进电机的脉冲信号,控制转动角度和速度。使用虚拟仪器LabVIEW作为开发工具,利用多线程并行运行机制和数据采集DAQ函数,分别为各自由度上的电机控制分配线程,实现控制矢量的输出,克服了传统步进电机控制系统编程复杂不易修改的困难。结果表明,基于虚拟仪器和PCI-1711U控制卡的滑台控制系统能实现三维空间中,点到点的定位。此系统可应用于3D打印、智能数控机床等领域,为三维空间中运动的控制提供了一种设计方法,相比于传统控制方法具有优势。