Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity ...Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity loop and current loop, which is standard in industrial motion controllers, is described in literature by using parametric models. Several tuning rules in the time domain are applicable on the basis of these parametric descriptions. In order to benefit from the variety of tuning rules an identification method in the time domain is required. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto relay feedback experiment by ?str?m/ H?gglund and a modified technique of gradual pole compensation. The paper presents the theoretical description as well as the implementtation as an automatic application in the motion control system SIMOTION. The identification results as well as the achievable performance on a test rig with a PI velocity controller will be presented.展开更多
Introducing basic design methodology for developing backstepping nonlinear controller for vibration control system. With a simplified second-order system model of nonlinear vibration system （Duffing＇s equation）, wh...Introducing basic design methodology for developing backstepping nonlinear controller for vibration control system. With a simplified second-order system model of nonlinear vibration system （Duffing＇s equation）, where, the process has illustrated the backstepping design step-by-step. Backstepping is a novel nonlinear design tool, which is based on constructing the Lyapunov function for the closed-loop systems and guarantees the stability and tracking performance through energy dissipation. In general, this nonlinear control design approach generates aggressive control effort to reduce the tracking error presented in this control system and significantly improve the system bandwidth. The effectiveness of the design scheme is shown through the computer simulation.展开更多
针对复杂算法在PLC运动控制系统中难以工程实现的问题,该文提出了一种基于MBD(model based design)的系统设计和应用方法。首先,利用MATLAB/Simulink建立控制模型并仿真验证,预留变量接口,正确匹配参数定义和数据类型;然后,基于Simulink...针对复杂算法在PLC运动控制系统中难以工程实现的问题,该文提出了一种基于MBD(model based design)的系统设计和应用方法。首先,利用MATLAB/Simulink建立控制模型并仿真验证,预留变量接口,正确匹配参数定义和数据类型;然后,基于Simulink PLC Coder将模型转换为符合IEC 61131-3标准的结构化文本ST(structure text)代码,根据集成开发环境CoDeSys定制文件格式;最后,将生成代码以功能块FB(function block)的形式导入CoDeSys,实现算法与应用程序的集成。某型起重机回转控制系统的应用证明了MBD方法可有效解决复杂算法工程实现难的问题。展开更多
本文描述了一种具有AI深度学习功能的PLC设计。该PLC采用瑞芯微的RK3588和中控微电子的CMC(Control Module on Chip)作为双核心,不仅支持IEC 61131-3标准的逻辑控制编程语言,也支持PLCopen标准的运动控制功能,同时还具有强大的AI算力,...本文描述了一种具有AI深度学习功能的PLC设计。该PLC采用瑞芯微的RK3588和中控微电子的CMC(Control Module on Chip)作为双核心,不仅支持IEC 61131-3标准的逻辑控制编程语言,也支持PLCopen标准的运动控制功能,同时还具有强大的AI算力,可广泛应用于自动化流水线、机器人控制等场景。展开更多
文摘Today the controller commissioning of industrial used servo drives is usually realized in the frequency domain with the open-loop frequency response. In contrast to that the cascaded system of position loop, velocity loop and current loop, which is standard in industrial motion controllers, is described in literature by using parametric models. Several tuning rules in the time domain are applicable on the basis of these parametric descriptions. In order to benefit from the variety of tuning rules an identification method in the time domain is required. The paper presents a method for the identification of plant parameters in the time domain. The approach is based on the auto relay feedback experiment by ?str?m/ H?gglund and a modified technique of gradual pole compensation. The paper presents the theoretical description as well as the implementtation as an automatic application in the motion control system SIMOTION. The identification results as well as the achievable performance on a test rig with a PI velocity controller will be presented.
文摘Introducing basic design methodology for developing backstepping nonlinear controller for vibration control system. With a simplified second-order system model of nonlinear vibration system （Duffing＇s equation）, where, the process has illustrated the backstepping design step-by-step. Backstepping is a novel nonlinear design tool, which is based on constructing the Lyapunov function for the closed-loop systems and guarantees the stability and tracking performance through energy dissipation. In general, this nonlinear control design approach generates aggressive control effort to reduce the tracking error presented in this control system and significantly improve the system bandwidth. The effectiveness of the design scheme is shown through the computer simulation.
文摘本文描述了一种具有AI深度学习功能的PLC设计。该PLC采用瑞芯微的RK3588和中控微电子的CMC(Control Module on Chip)作为双核心,不仅支持IEC 61131-3标准的逻辑控制编程语言,也支持PLCopen标准的运动控制功能,同时还具有强大的AI算力,可广泛应用于自动化流水线、机器人控制等场景。
