A control area network （CAN） based multi-motor synchronized motion control system with an advanced synchronized control strategy is proposed. The strategy is to incorporate the adjacent cross-coupling control strate...A control area network （CAN） based multi-motor synchronized motion control system with an advanced synchronized control strategy is proposed. The strategy is to incorporate the adjacent cross-coupling control strategy into the sliding mode control architecture. As illustrated by the four-induction-motor-based experimental results, the multi-motor synchronized motion control system, via the CAN bus, has been successfully implemented. With the employment of the advanced synchronized motion control strategy, the synchronization performance can be significantly improved.展开更多
Continuous observation data from 24 GPS stations are selected in the area （33.0°N-41.0°N, 95.0°E-105.0°E） for this study （the period is from Jan. 1, 2015 to Jan. 20, 2016）. Three components, NS...Continuous observation data from 24 GPS stations are selected in the area （33.0°N-41.0°N, 95.0°E-105.0°E） for this study （the period is from Jan. 1, 2015 to Jan. 20, 2016）. Three components, NS, EW and UD, of the daily solutions are filtered by the Hilbert-Huang transform （HHT） with frequency band of 5.787×10^-7-7.716 ×10^-8 Hz （20-150 days in period）. And short-term dynamic characteristics of micro displacement before Menyuan M6.4 earthquake are studied by using the temporal dependencies and cross spectrum analysis. The results show that before the earthquake the horizontal undulatory motions are higher than the average level in the series data which indicate the disturbance feature of regional stress before the earthquake. Three GPS stations on Qinghai-Tibet Plateau with their setting perpendicular to the seismogenic fault have consistent movement. The increase of amplitude of the horizontal micro motion observed before the quake is conducive to the earthquake occurrence. However, we could not be sure if the undulatory motion triggered the earthquake. It is quite necessary to build more GPS continuous observation stations and optimize the monitoring network so as to improve the understanding of the shortterm dynamic crustal variation before earthquake.展开更多
We investigate motion synchronization of dual-cylinder pneumatic servo systems and develop an adaptive robust synchronization controller. The proposed controller incorporates the cross-coupling technology into the int...We investigate motion synchronization of dual-cylinder pneumatic servo systems and develop an adaptive robust synchronization controller. The proposed controller incorporates the cross-coupling technology into the integrated direct/indirect adaptive robust control(DIARC) architecture by feeding back the coupled position errors, which are formed by the trajectory tracking errors of two cylinders and the synchronization error between them. The controller employs an online recursive least squares estimation algorithm to obtain accurate estimates of model parameters for reducing the extent of parametric uncertainties, and uses a robust control law to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. Therefore, asymptotic convergence to zero of both trajectory tracking and synchronization errors can be guaranteed. Experimental results verify the effectiveness of the proposed controller.展开更多
基金supported by National Natural Science Foundation of China (No. 69774011)
文摘A control area network （CAN） based multi-motor synchronized motion control system with an advanced synchronized control strategy is proposed. The strategy is to incorporate the adjacent cross-coupling control strategy into the sliding mode control architecture. As illustrated by the four-induction-motor-based experimental results, the multi-motor synchronized motion control system, via the CAN bus, has been successfully implemented. With the employment of the advanced synchronized motion control strategy, the synchronization performance can be significantly improved.
基金funded by the Project of National Natural Science Foundation of China,based on GPS and leveling data simulation and study on the state of seismogenic deformation field and its mechanical characteristics(41274008)the Basic Research Project of Institute the Earthquake Science,China Earthquake Administration,crustal deformation observation experiment and dynamic process simulation research(2014IES010201)
文摘Continuous observation data from 24 GPS stations are selected in the area （33.0°N-41.0°N, 95.0°E-105.0°E） for this study （the period is from Jan. 1, 2015 to Jan. 20, 2016）. Three components, NS, EW and UD, of the daily solutions are filtered by the Hilbert-Huang transform （HHT） with frequency band of 5.787×10^-7-7.716 ×10^-8 Hz （20-150 days in period）. And short-term dynamic characteristics of micro displacement before Menyuan M6.4 earthquake are studied by using the temporal dependencies and cross spectrum analysis. The results show that before the earthquake the horizontal undulatory motions are higher than the average level in the series data which indicate the disturbance feature of regional stress before the earthquake. Three GPS stations on Qinghai-Tibet Plateau with their setting perpendicular to the seismogenic fault have consistent movement. The increase of amplitude of the horizontal micro motion observed before the quake is conducive to the earthquake occurrence. However, we could not be sure if the undulatory motion triggered the earthquake. It is quite necessary to build more GPS continuous observation stations and optimize the monitoring network so as to improve the understanding of the shortterm dynamic crustal variation before earthquake.
基金supported by the Fundamental Research Funds for the Central Universities,China(No.2014QNA40)the Natural Science Foundation of Jiangsu Province,China(No.BK20140188)
文摘We investigate motion synchronization of dual-cylinder pneumatic servo systems and develop an adaptive robust synchronization controller. The proposed controller incorporates the cross-coupling technology into the integrated direct/indirect adaptive robust control(DIARC) architecture by feeding back the coupled position errors, which are formed by the trajectory tracking errors of two cylinders and the synchronization error between them. The controller employs an online recursive least squares estimation algorithm to obtain accurate estimates of model parameters for reducing the extent of parametric uncertainties, and uses a robust control law to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. Therefore, asymptotic convergence to zero of both trajectory tracking and synchronization errors can be guaranteed. Experimental results verify the effectiveness of the proposed controller.
