APPROACH TO IMPROVEMENT OF ROBOT TRAJECTORY ACCURACY BY DYNAMIC COMPENSATION

Some dynamic factors, such as inertial forces and friction, may affect therobot trajectory accuracy. But these effects are not taken into account in robot motion controlschemes. Dynamic control methods, on the other hand, require the dynamic model of robot and theimplementation of new type controller. A method to improve robot trajectory accuracy by dynamiccompensation in robot motion control system is proposed. The dynamic compensation is applied as anadditional velocity feedforward and a multilayer neural network is employed to realize the robotinverse dynamics. The complicated dynamic parameter identification problem becomes a learningprocess of neural network connecting weights under supervision. The finite Fourier series is used toactivate each actuator of robot joints for obtaining training samples. Robot control system,consisting of an industrial computer and a digital motion controller, is implemented. The system isof open architecture with velocity feedforward function. The proposed method is not model-based andcombines the advantages of close-loop position control and computed torque control. Experimentalresults have shown that the method is validatities to improve the robot trajectory accuracy.

Symmetrical dynamics of peak current-mode and valley current-mode controlled switching dc-dc converters with ramp compensation

The discrete iterative map models of peak current-mode （PCM） and valley current-mode （VCM） controlled buck converters, boost converters, and buck-boost converters with ramp compensation are established and their dynamical behaviours are investigated by using the operation region, parameter space map, bifurcation diagram, and Lyapunov exponent spectrum. The research results indicate that ramp compensation extends the stable operation range of the PCM controlled switching dc-dc converter to D 〉 0.5 and that of the VCM controlled switching dc-dc converter to D 〈 0.5. Compared with PCM controlled switching dc-dc converters with ramp compensation, VCM controlled switching dc-dc converters with ramp compensation exhibit interesting symmetrical dynamics. Experimental results are given to verify the analysis results in this paper.

A Power Reduction Method for Pilot Channel of LEO Satellite Based on Dynamic Compensation

Since the lower power requirement of code division multiple access(CDMA) than that of other multiple access, the CDMA technology is suitable to be used in low earth orbit(LEO) satellite communication system whose space power is limited due to the small size of satellite. The pilot channel of CDMA technology is very important for earth mobile station(EMS) in LEO system to recover carrier and code, but the power requirement of pilot channel is very higher than that of other channels. In this paper, a power reduction method for pilot channel is proposed. By the new method, the power of pilot channel transmitted from LEO satellite is reduced to a lower level. For improving the signal to noise ratio(SNR) of pilot channel with lower power, coherent integration is employed in EMS at the pre-processing stage. Considering the high dynamic situation of LEO satellite, the long period of time for integration will deteriorate the receiving performance of EMS, therefore, a dynamic compensation module is added to carrier tracking loop against the high dynamic. Meanwhile, the transfer function of the new tracking loop and the condition for steadystate zero error are deduced. Numerical examples are provided to demonstrate effectiveness of the proposed approach.

The dynamic compensation temperature in a kinetic spin-5/2 Ising model on a hexagonal lattice

We present a study of the dynamic behavior of a two-sublattice spin-5/2 Ising model with bilinear and crystal-field interactions in the presence of a time-dependent oscillating external magnetic field on alternating layers of a hexagonal lattice by using the Glauber-type stochastic dynamics.The lattice is formed by alternate layers of spins σ=5/2 and S=5/2.We employ the Glauber transition rates to construct the mean-field dynamic equations.First,we investigate the time variations of the average sublattice magnetizations to find the phases in the system and then the thermal behavior of the dynamic sublattice magnetizations to characterize the nature（first-or second-order） of the phase transitions and to obtain the dynamic phase transition（DPT） points.We also study the thermal behavior of the dynamic total magnetization to find the dynamic compensation temperature and to determine the type of the dynamic compensation behavior.We present the dynamic phase diagrams,including the dynamic compensation temperatures,in nine different planes.The phase diagrams contain seven different fundamental phases,thirteen different mixed phases,in which the binary and ternary combination of fundamental phases and the compensation temperature or the L-type behavior strongly depend on the interaction parameters.

Dynamic requisition, compensation and reclamation of subsided land induced underground coal mining

Following the description of the subsided land treatment methods and the characteristics of the related land reclamation, the necessity and emergency of the land reclamation work is stressed. To cope with the related problems, dynamic prediction of the ground subsidence in different time periods and areas is made based on the laws governing the rock and ground movements and line with a mine’s future mining plan. It is proposed to carry out dynamic management of subsided land reclamation work in mining area, in order to tackle the previous and current issues confronted in the processes of land requisition, compensation and land reclamation. It is intended to provide, through the above-mentioned efforts, the technical and decision-making basis for the mining authorities concerned to better solve the problems relating to land requisition and reclamation in the future, and relocation of villages for facilitating the mining of the underground coal depositing and realizing the sustainable development of mining enterprises.

Adaptive current compensation with nonlinear disturbance observer for single-sided linear induction motor considering dynamic eddy-effect

An adaptive current compensation control for a single-sided linear induction motor(SLIM) with nonlinear disturbance observer was developed. First, to maintain t-axis secondary component flux constant with consideration of the specially dynamic eddy-effect(DEE) of the SLIM, a instantaneously tracing compensation of m-axis current component was analyzed. Second,adaptive current compensation based on Taylor-discretization algorithm was proposed. Third, an effective kind of nonlinear disturbance observer(NDOB) was employed to estimate and compensate the undesired load vibrations, then the robustness of the control system could be guaranteed. Experimental verification of the feasibility of the proposed method for an SLIM control system was performed, and it showed that the proposed adaptive compensation scheme with NDOB could significantly promote speed dynamical response and minimize speed ripple under the conditions of external load coupled vibrations and unavoidable feedback control variables measured errors, i.e., current and speed.

Dynamic Velocity Feed-Forward Compensation Control with RBF-NN System Identification for Industrial Robots

A dynamic velocity feed-forward compensation control (DVFCC) approach with RBF neural network (RBF-NN) dynamic model identification was presented for the adaptive trajectory tracking of industrial robots.The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model.The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accuracy.The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can convert torque signal into velocity in the standard industrial controller.Then,the need for a torque control interface was avoided in the real-time dynamic control of industrial robot.The simulations and experiments were carried out on a gas cutting manipulator.The results show that the proposed control approach can reduce steady-state error,suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space,especially under highspeed condition.

Compensation：A Synchronic Dynamic Mechanism in Language

In this paper, compensation mechanism—a synchronic dynamic rule in language is postulated and theorized. The rule raises the acceptability of clauses by effecting the positive side of some variations with exceptional expression and offsetting their negative side. This mechanism is determined by the instrumentality and systematicality of language so that its basic principle should be applicable to all exceptional expressions for particular positive effects and thus universal synchronically.

Design to conditioning circuits of dynamic compensation of reactive power in the intelligence voltage controller

The paper introduces one design idea that making use of SCM to control Real-timely the dynamic compensation of reactive power.Firstly,design one Circuit to Sample the voltage and current,and by these datas we can easily calculate the power factor,and Voltage controller in the microcontroller to determine whether input the compensation capacitance according to the size of power factor,the paper also analyzes the principle of capacitance compensation and calculation method. Dynamic compensation for the entire process is quick and accurate.

Eigenstructure assignment of lower-order dynamical compensatorsfor linear systems with unknown inputs

Presents a systematic design method of reduced order dynamical compensator via the parametric representations of eigenstructure assignment for linear system, which provides maximum degree of freedom, and can be easily used for the design of a linear system with unknown inputs under some conditions. Even when these conditions are not satisfied, the lower order dynamical compensator can also be designed under some relaxed conditions. Some examples illustrate that the method is neat, simple and effective.

A New Study to Compensate Dynamic Measuring Error of Serial Multiple Degree of Freedom（DOF） Strain Gauge Force Sensor

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New Method to Improve Dynamic Stiffness of Electro-hydraulic Servo Systems

Most current researches working on improving stiffness focus on the application of control theories.But controller in closed-loop hydraulic control system takes effect only after the controlled position is deviated,so the control action is lagged.Thus dynamic performance against force disturbance and dynamic load stiffness can’t be improved evidently by advanced control algorithms.In this paper,the elementary principle of maintaining piston position unchanged under sudden external force load change by charging additional oil is analyzed.On this basis,the conception of raising dynamic stiffness of electro hydraulic position servo system by flow feedforward compensation is put forward.And a scheme using double servo valves to realize flow feedforward compensation is presented,in which another fast response servo valve is added to the regular electro hydraulic servo system and specially utilized to compensate the compressed oil volume caused by load impact in time.The two valves are arranged in parallel to control the cylinder jointly.Furthermore,the model of flow compensation is derived,by which the product of the amplitude and width of the valve’s pulse command signal can be calculated.And determination rules of the amplitude and width of pulse signal are concluded by analysis and simulations.Using the proposed scheme,simulations and experiments at different positions with different force changes are conducted.The simulation and experimental results show that the system dynamic performance against load force impact is largely improved with decreased maximal dynamic position deviation and shortened settling time.That is,system dynamic load stiffness is evidently raised.This paper proposes a new method which can effectively improve the dynamic stiffness of electro-hydraulic servo systems.

Battlefield dynamic scanning and staring imaging system based on fast steering mirror

This paper presents the design of an experimental battlefield dynamic scanning and staring imaging system based on a fast steering mirror(FSM), which is capable of real-time monitoring of hot targets and wide-area reconnaissance of hot regions. First,the working principle and working sequence of the FSM are briefly analyzed. The mathematical model of the FSM system is built by modeling its dynamic and electrical properties, and the rationality of the model is validated by means of model identification. Second,the influence of external sources of disturbance such as the carrier and moment on the control precision of the FSM is effectively suppressed by the jointly controlling of proportional integral(PI)and disturbance observer(DOB), thus realizing a high precision and strong robustness control of the FSM system. Then, this paper designs an experimental prototype and introduces a special optical structure to enable the infrared camera to share the FSM with the visible light camera. Finally, the influence of the velocity difference between the mirror of the FSM and the rotating platform on the imaging quality of the system is experimentally analyzed by using the image sharpness evaluation method based on point sharpness. A good dynamic scanning and staring imaging result is achieved when the velocity of these two components correspond.

Consensus Control of Multi-Agent Systems Using Fault-Estimation-in-the-Loop:Dynamic Event-Triggered Case

The paper develops a novel framework of consensus control with fault-estimation-in-the-loop for multi-agent systems(MASs)in the presence of faults.A dynamic event-triggered protocol(DETP)by adding an auxiliary variable is utilized to improve the utilization of communication resources.First,a novel estimator with a noise bias is put forward to estimate the existed fault and then a consensus controller with fault compensation(FC)is adopted to realize the demand of reliability and safety of addressed MASs.Subsequently,a novel consensus control framework with fault-estimation-in-the-loop is developed to achieve the predetermined consensus performance with the l_(2)-l_(∞)constraint by employing the variance analysis and the Lyapunov stability approaches.Furthermore,the desired estimator and controller gains are obtained in light of the solution to an algebraic matrix equation and a linear matrix inequality in a recursive way,respectively.Finally,a simulation result is employed to verify the usefulness of the proposed design framework.

GLOBAL L~∞ SOLUTIONS TO SYSTEM OF ISENTROPIC GAS DYNAMICS IN A DIVERGENT NOZZLE WITH FRICTION

In this article, we study the global L^∞ entropy solutions for the Cauchy problem of system of isentropic gas dynamics in a divergent nozzle with a friction. Especially when the adiabatic exponent γ=3, we apply for the maximum principle to obtain the L^∞ estimates w(ρ^δ,ε, u^δ,ε)≤ B(t) and z(ρ^δ,ε, u^δ,ε)≤ B(t) for the viscosity solutions (ρ^δ,ε, u^δ,ε), where B(t) is a nonnegative bounded function for any finite time t. This work, in the special case γ≥ 3, extends the previous works, which provided the global entropy solutions for the same Cauchy problem with the restriction w(ρ^δ,ε, u^δ,ε)≤ 0 or z(ρ^δ,ε, u^δ,ε)≤ 0.

Study of evaluation method for the overseas oil and gas investment based on risk compensation

The overseas oil and gas investment evaluation is one of the core tasks in overseas investment of oil and gas companies,among which risk evaluation and benefit evaluation are the most important.This paper sets forth transmission paths of risk factors to the investment benefit by identifying 14 overseas oil and gas investment risks in four categories.On the basis of the concept of risk compensation,different compensation mechanisms specific to each risk are designed.The risk and benefit are integrated objectively to develop a comprehensive evaluation model by correcting the recoverable reserve,adjusting benefit evaluation parameters such as investments on exploration and development,and compensating for the changes in risk factors with time through dynamic discount rate.Moreover,two cases studies,namely the evaluations of Project A in Sudan and comparison among Blocks A–G,are used to describe usage method and applicable scope of such evaluation model,respectively.According to the results,oil price is a key influencing factor for enterprise internal risk and industrial risk.Risk compensation reduces comprehensive benefit of overseas oil and gas investment and undermines the investment feasibility and priority of blocks.The research findings of this paper are free from the effects of some subject factors and avoid multi-objective decision making,and also avoid the undesired repeated calculation of risk factors.

An Equivalent Fundamental and Odd Harmonic Resonators Controller for a Single-phase Dynamic Voltage Restorer

为提高单相动态电压恢复器（dynamic voltage restorer,DVR）的补偿性能,提出一种基于等效基波及奇次谐波谐振器组的数字控制方法。采用可等效为一组谐振器的延时模块,能够有效抑制电网基波和谐波扰动。给出一种包含两个控制参数和一组零相移陷波滤波器的结构及其设计方法,使系统在保证稳定性的同时,获得较大的谐振增益。其中,延时环节衰减系数可增加谐振器组鲁棒性;控制器比例增益可解决零相移陷波器中使用延时带来的问题;零相移陷波器组既能对消LC谐振峰,也能解决等效谐振器组高增益在高频处的稳定性问题。同时,引入电源电压和负载电流双前馈来保证响应速度,增加了对扰动的抑制能力。所提控制策略结构简单,谐波补偿能力强,动态响应快,易于实现。在2kW单相DVR实验装置上的实验结果验证了该控制方法的正确性。