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 ...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.展开更多
In data stream management systems (DSMSs), how to maintain the quality of queries is a difficult problem because both the processing cost and data arrival rates are highly unpredictable. When the system is overloaded,...In data stream management systems (DSMSs), how to maintain the quality of queries is a difficult problem because both the processing cost and data arrival rates are highly unpredictable. When the system is overloaded, quality degrades significantly and thus load shedding becomes necessary. Unlike processing overloading in the general way which is only by a feedback control (FB) loop to obtain a good and stable performance over data streams, a feedback plus feed-forward control (FFC) strategy is introduced in DSMSs, which have a good quality of service (QoS) in the aspects of miss ratio and processing delay. In this paper, a quality adaptation framework is proposed, in which the control-theory-based techniques are leveraged to adjust the application behavior with the considerations of the current system status. Compared to previous solutions, the FFC strategy achieves a good quality with a waste of fewer resources.展开更多
There are two kinds of unbalance vibrations-force vibration and displacement vibration due to the existence of unbalance excitation in active magnetic bearings(AMB) system. And two unbalance compensation methods-close...There are two kinds of unbalance vibrations-force vibration and displacement vibration due to the existence of unbalance excitation in active magnetic bearings(AMB) system. And two unbalance compensation methods-closed-loop feedback and open loop feed-forward are presented to reduce the force vibration. The transfer function order of the control system directly influencing the system stability will be increased when the closed-loop method is adopted, which makes the real-time compensation not easily achieved. While the open loop method would not increase the primary transfer function order, it provides conditions for real-time compensation. But the real-time compensation signals are not easy to be obtained in the open loop method. To implement real-time force compensation, a new method is proposed to reduce the force vibration caused by the rotor unbalance on the basis of AMB active control. The method realizes real-time and on-line force auto-compensation based on H∞ controller and one novel feed-forward compensation controller, which makes the rotor rotate around its inertia axis. The time-variable feed-forward compensatory signal is provided by a modified adaptive variable step-size least mean square(VSLMS) algorithm. And the relevant least mean square(LMS) algorithm parameters are used to solve the H∞ controller weighting functions. The simulation of the new method to compensate some frequency-variable and sinusoidal signals is completed by MATLAB programming, and real-time compensation is implemented in the actual AMB experimental system. The simulation and experiment results show that the compensation scheme can improve the robust stability and the anti-interference ability of the whole AMB system by using H∞ controller to achieve close-loop control, and then real-time force unbalance compensation is implemented. The proposed research provides a new control strategy containing real-time algorithm and H∞ controller for the force compensation of AMB system. And the stability of the control system is finally improved.展开更多
The coagulation bath system of carbon fiber precursor is a complicated and multivariable coupling system. Based on the model of industrial production,the full dynamic decoupling control of the coagulation bath system ...The coagulation bath system of carbon fiber precursor is a complicated and multivariable coupling system. Based on the model of industrial production,the full dynamic decoupling control of the coagulation bath system of carbon fiber precursor is achieved in combination with multivariable feed-forward-like decoupling and proportional-integral-differential( PID) control. Compared with the conventional PID decoupling control,the experiment results show that the proposed method has a better control effect. The use of the controller can achieve complete decoupling of three parameters from coagulation bath system. The method should have great applications.展开更多
This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor(PMSM). It is to achieve accurate control peffommance m the presence of load torque and plant parameter variation. A ro...This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor(PMSM). It is to achieve accurate control peffommance m the presence of load torque and plant parameter variation. A robust disturbance cancellation feed forward controller is used to estimate the torque disturbance. The simple and practical control scheme is easily implemented on a PMSM driver using a TMS320LF2407 DSP. The effectiveness of the proposed robust speed control approach is demonstrated by simulation and experimental results.展开更多
文摘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.
基金Supported by the National Key R&D Program of China(2016YFC1401900)the National Science Foundation of China(61173029,61672144)
文摘In data stream management systems (DSMSs), how to maintain the quality of queries is a difficult problem because both the processing cost and data arrival rates are highly unpredictable. When the system is overloaded, quality degrades significantly and thus load shedding becomes necessary. Unlike processing overloading in the general way which is only by a feedback control (FB) loop to obtain a good and stable performance over data streams, a feedback plus feed-forward control (FFC) strategy is introduced in DSMSs, which have a good quality of service (QoS) in the aspects of miss ratio and processing delay. In this paper, a quality adaptation framework is proposed, in which the control-theory-based techniques are leveraged to adjust the application behavior with the considerations of the current system status. Compared to previous solutions, the FFC strategy achieves a good quality with a waste of fewer resources.
基金supported by National Natural Science Foundation of China(Grant No.50437010)National Hi-tech Research and Development Program of China(863Program,Grant No.2006AA05Z205)Project of Six Talented Peak of Jiangsu Province,China(Grant No.07-D-013)
文摘There are two kinds of unbalance vibrations-force vibration and displacement vibration due to the existence of unbalance excitation in active magnetic bearings(AMB) system. And two unbalance compensation methods-closed-loop feedback and open loop feed-forward are presented to reduce the force vibration. The transfer function order of the control system directly influencing the system stability will be increased when the closed-loop method is adopted, which makes the real-time compensation not easily achieved. While the open loop method would not increase the primary transfer function order, it provides conditions for real-time compensation. But the real-time compensation signals are not easy to be obtained in the open loop method. To implement real-time force compensation, a new method is proposed to reduce the force vibration caused by the rotor unbalance on the basis of AMB active control. The method realizes real-time and on-line force auto-compensation based on H∞ controller and one novel feed-forward compensation controller, which makes the rotor rotate around its inertia axis. The time-variable feed-forward compensatory signal is provided by a modified adaptive variable step-size least mean square(VSLMS) algorithm. And the relevant least mean square(LMS) algorithm parameters are used to solve the H∞ controller weighting functions. The simulation of the new method to compensate some frequency-variable and sinusoidal signals is completed by MATLAB programming, and real-time compensation is implemented in the actual AMB experimental system. The simulation and experiment results show that the compensation scheme can improve the robust stability and the anti-interference ability of the whole AMB system by using H∞ controller to achieve close-loop control, and then real-time force unbalance compensation is implemented. The proposed research provides a new control strategy containing real-time algorithm and H∞ controller for the force compensation of AMB system. And the stability of the control system is finally improved.
基金the Key Project of the National Nature Science Foundation of China(No.61134009)Program for Changjiang Scholars and Innovation Research Team in University from the Ministry of Education,China(No.IRT1220)+1 种基金Specialized Research Fund for Shanghai Leading Talents,Project of the Shanghai Committee of Science and Technology,China(No.13JC1407500)the Fundamental Research Funds for the Central Universities,China(No.2232012A3-04)
文摘The coagulation bath system of carbon fiber precursor is a complicated and multivariable coupling system. Based on the model of industrial production,the full dynamic decoupling control of the coagulation bath system of carbon fiber precursor is achieved in combination with multivariable feed-forward-like decoupling and proportional-integral-differential( PID) control. Compared with the conventional PID decoupling control,the experiment results show that the proposed method has a better control effect. The use of the controller can achieve complete decoupling of three parameters from coagulation bath system. The method should have great applications.
基金This work was supported High-Tech Research and Development Program of China (No. 2001AA423160)
文摘This paper presents a simple and robust speed control scheme of Permanent Magnet Synchronous Motor(PMSM). It is to achieve accurate control peffommance m the presence of load torque and plant parameter variation. A robust disturbance cancellation feed forward controller is used to estimate the torque disturbance. The simple and practical control scheme is easily implemented on a PMSM driver using a TMS320LF2407 DSP. The effectiveness of the proposed robust speed control approach is demonstrated by simulation and experimental results.
