An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both v...An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.展开更多
柔性直流输电技术迅速发展,但其所面对的问题也越来越多,一个典型的问题是直流输电线路出现故障时,其迅速变化的故障电流会对其可靠性产生影响,因此,如何在最短的时间内切断故障电流,保证电网的安全运行,研究符合要求的快速、可靠的柔...柔性直流输电技术迅速发展,但其所面对的问题也越来越多,一个典型的问题是直流输电线路出现故障时,其迅速变化的故障电流会对其可靠性产生影响,因此,如何在最短的时间内切断故障电流,保证电网的安全运行,研究符合要求的快速、可靠的柔性直流输电(FDC,flexible direct current)故障处理方法显得尤为重要;本文首先对FDC系统保护机理的研究现状进行了综述分析,对故障特点进行了探讨,针对直流输电线路的新原理、新的布线方式进行了创新,提出了一种既能满足各种需求又能保证其正常运行的高效的直流线路故障处理方法;仿真试验得出:在灵敏度系数K_(sen)=8.7的时候,不受过渡电阻的干扰,能够迅速地识别和隔离故障,判定时间最大为0.84 ms,判定准确率为100%,在工程应用中保证FDC系统的安全作用显著。展开更多
基金supported by the National Key R&D Program of China(No.2017YFB1300400)the National Natural Science Foundation of China(No. 51805107)
文摘An adaptive control scheme is presented,which can simultaneously realize vibration suppression and compliance control for flexible joint robot(FJR).The proposed control scheme provides a unified formulation for both vibration suppression mode,where FJR tracks the desired position with little vibration,and compliance mode,in which FJR presents passive.Instead of designing multiple controllers and switching between them,both modes are integrated into a single controller,and the transition between two modes is smooth and stable.The stability of the closed-loop system is theoretically proven via the Lyapunov method,with the considering the dynamics uncertainties in both link side and motor side.Simulation results are presented to illustrate good performances of the proposed control scheme.
文摘柔性直流输电技术迅速发展,但其所面对的问题也越来越多,一个典型的问题是直流输电线路出现故障时,其迅速变化的故障电流会对其可靠性产生影响,因此,如何在最短的时间内切断故障电流,保证电网的安全运行,研究符合要求的快速、可靠的柔性直流输电(FDC,flexible direct current)故障处理方法显得尤为重要;本文首先对FDC系统保护机理的研究现状进行了综述分析,对故障特点进行了探讨,针对直流输电线路的新原理、新的布线方式进行了创新,提出了一种既能满足各种需求又能保证其正常运行的高效的直流线路故障处理方法;仿真试验得出:在灵敏度系数K_(sen)=8.7的时候,不受过渡电阻的干扰,能够迅速地识别和隔离故障,判定时间最大为0.84 ms,判定准确率为100%,在工程应用中保证FDC系统的安全作用显著。
