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Adaptive Robust Servo Control for Vertical Electric Stabilization System of Tank and Experimental Validation
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作者 Darui Lin Xiuye Wang +1 位作者 Yimin Wang Guolai Yang 《Defence Technology(防务技术)》 SCIE EI CAS CSCD 2024年第1期326-342,共17页
A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevaryin... A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time. 展开更多
关键词 Adaptive robust servo control Experimental validation Nonlinearity compensation System uncertainty Vertical electric stabilization system
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Backstepping Sliding Mode Control Based on Extended State Observer for Hydraulic Servo System 被引量:1
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作者 Zhenshuai Wan Yu Fu +1 位作者 Chong Liu Longwang Yue 《Intelligent Automation & Soft Computing》 SCIE 2023年第6期3565-3581,共17页
Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertaint... Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme. 展开更多
关键词 Hydraulic servo system nonlinear behaviors modeling uncertainties backstepping control sliding mode control extended state observer
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Review of Field Weakening Control Strategies of Permanent Magnet Synchronous Motors
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作者 Runze Jing Gaolin Wang +1 位作者 Guoqiang Zhang Dianguo Xu 《CES Transactions on Electrical Machines and Systems》 EI CSCD 2024年第3期319-331,共13页
Due to high power density,high efficiency,and accurate control performance,permanent magnet synchronous motors(PMSMs)have been widely adopted in equipment manufacturing and energy transformation fields.To expand the s... Due to high power density,high efficiency,and accurate control performance,permanent magnet synchronous motors(PMSMs)have been widely adopted in equipment manufacturing and energy transformation fields.To expand the speed range under finite DC-bus voltage,extensive research on field weakening(FW)control strategies has been conducted.This paper summarizes the major FW control strategies of PMSMs,which are categorized into calculation-based methods,voltage closed-loop control methods,and model predictive control related methods.The existing strategies are analyzed and compared according to performance,robustness,and execution difficulty,which can facilitate the implementation of FW control. 展开更多
关键词 Calculation-based methods Field weakening control Model predictive control Permanent magnet synchronous motor OVERMODULATION Voltage closed-loop control
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A Kind of PWM Pneumatic Servo Control System——Modulation Methods and Dynamic Responses 被引量:2
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作者 姚晓先 陈汉超 《Journal of Beijing Institute of Technology》 EI CAS 1992年第1期50-58,共9页
Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varietie... Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented. 展开更多
关键词 pulse width modulation pneumatic piston actuating mechanisms servo control servo valves FRICTION vibration effect
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Design of No-Steady-Error and Anti-Disturbance Controller for Vehicular Servo Systems
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作者 孙常胜 梁钰 +2 位作者 陈杰 窦丽华 马岩峰 《Journal of Beijing Institute of Technology》 EI CAS 2002年第4期337-341,共5页
A modified method of design of no-steady-error and anti-disturbance controller is proposed for the design of tank stabilizers. Using a reduced-order observer to estimate its mode, disturbance can be compensated. This ... A modified method of design of no-steady-error and anti-disturbance controller is proposed for the design of tank stabilizers. Using a reduced-order observer to estimate its mode, disturbance can be compensated. This enables the system to resist sinusoidal disturbance with any magnitude. Estimate of angular velocity is used as the state feedback to replace the expensive gyro and tachometer generator. The modified method excels the traditional, and provides a new way for the design of tank fire control system. It can also be applied for the design of other servo systems in vehicle and aircraft. 展开更多
关键词 ANTI-DISTURBANCE fire control system servo system reduced-order observer ROBUST
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PID Controller Optimization by GA and Its Performances on the Electro-hydraulic Servo Control System 被引量:22
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作者 Karam M. Elbayomy 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2008年第4期378-384,共7页
A proportional integral derivative (PID) controller is designed and attached to electro-hydraulic servo actuator system (EHSAS) to control the angular position of the rotary actuator which control the movable surf... A proportional integral derivative (PID) controller is designed and attached to electro-hydraulic servo actuator system (EHSAS) to control the angular position of the rotary actuator which control the movable surface of space vehicles. The PID gain parameters are optimized by the genetic algorithm (GA). The controller is verified on the new state-space model of servo-valves attached to the physical rotary actuator by SIMULINK program. The controller and the state-space model are verified experimentally. Simulation and experimental results verify the effectiveness of the PID controller adaptive by GA to control the angular position of the rotary actuator as compared with the classical PID controller and the compensator controller. 展开更多
关键词 PID controller electro-hydraulic servo control system genetic controller GA
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Sliding Mode Controller Design for Position and Speed Control of Flight Simulator Servo System with Large Friction 被引量:21
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作者 Liu Jinkun & Er LianjieAutomatic Control Department, Beijing University of Aeronautics and Astronautics, Beijing 100083, P. R. China 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2003年第3期59-62,共4页
Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in... Flight simulator is an important device and a typical high-performance position and speed servo system used in the hardware-in-the-loop simulation of flight control system. Friction is the main nonlinear resistance in the flight simulator servo system, especially in a low-speed state. Based on the description of dynamic and static models of a nonlinear Stribeck friction model, this paper puts forward sliding mode controller to overcome the friction, whose stability is 展开更多
关键词 Sliding mode control Flight simulator servo system Friction model.
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Adaptive Backstepping Slide Mode Control of Pneumatic Position Servo System 被引量:12
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作者 REN Haipeng FAN Juntao 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2016年第5期1003-1009,共7页
With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potentia... With the price decreasing of the pneumatic proportional valve and the high performance micro controller, the simple structure and high tracking performance pneumatic servo system demonstrates more application potential in many fields. However, most existing control methods with high tracking performance need to know the model information and to use pressure sensor. This limits the application of the pneumatic servo system. An adaptive backstepping slide mode control method is proposed for pneumatic position servo system. The proposed method designs adaptive slide mode controller using backstepping design technique. The controller parameter adaptive law is derived from Lyapunov analysis to guarantee the stability of the system. A theorem is testified to show that the state of closed-loop system is uniformly bounded, and the closed-loop system is stable. The advantages of the proposed method include that system dynamic model parameters are not required for the controller design, uncertain parameters bounds are not need, and the bulk and expensive pressure sensor is not needed as well. Experimental performance, as compared with some existing methods. results show that the designed controller can achieve better tracking 展开更多
关键词 pneumatic position servo system adaptive backstepping design slide mode control uncertain parameter tracking accuracy
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Fuzzy iterative learning control of electro-hydraulic servo system for SRM direct-drive volume control hydraulic press 被引量:18
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作者 郑建明 赵升吨 魏树国 《Journal of Central South University》 SCIE EI CAS 2010年第2期316-322,共7页
A new kind of volume control hydraulic press that combines the advantages of both hydraulic and SRM(switched reluctance motor) driving technology is developed.Considering that the serious dead zone and time-variant no... A new kind of volume control hydraulic press that combines the advantages of both hydraulic and SRM(switched reluctance motor) driving technology is developed.Considering that the serious dead zone and time-variant nonlinearity exist in the volume control electro-hydraulic servo system,the ILC(iterative learning control) method is applied to tracking the displacement curve of the hydraulic press slider.In order to improve the convergence speed and precision of ILC,a fuzzy ILC algorithm that utilizes the fuzzy strategy to adaptively adjust the iterative learning gains is put forward.The simulation and experimental researches are carried out to investigate the convergence speed and precision of the fuzzy ILC for hydraulic press slider position tracking.The results show that the fuzzy ILC can raise the iterative learning speed enormously,and realize the tracking control of slider displacement curve with rapid response speed and high control precision.In experiment,the maximum tracking error 0.02 V is achieved through 12 iterations only. 展开更多
关键词 hydraulic press volume control electro-hydraulic servo iterative learning control fuzzy control
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Application of Simple Adaptive Control to Water Hydraulic Servo Cylinder System 被引量:4
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作者 ITO Kazuhisa YAMADA Tsuyoshi +1 位作者 IKEO Shigeru TAKAHASHI Koji 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2012年第5期882-888,共7页
Although conventional model reference adaptive control (MRAC) achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real... Although conventional model reference adaptive control (MRAC) achieves good tracking performance for cylinder control, the controller structure is much more complicated and has less robustness to disturbance in real applications. This paper discusses the use of simple adaptive control (SAC) for positioning a water hydraulic servo cylinder system. Compared with MRAC, SAC has a simpler and lower order structure, i.e., higher feasibility. The control performance of SAC is examined and evaluated on a water hydraulic servo cylinder system. With the recent increased concerns over global environmental problems, the water hydraulic technique using pure tap water as a pressure medium has become a new drive source comparable to electric, oil hydraulic, and pneumatic drive systems. This technique is also preferred because of its high power density, high safety against fire hazards in production plants, and easy availability. However, the main problems for precise control in a water hydraulic system are steady state errors and overshoot due to its large friction torque and considerable leakage flow. MRAC has been already applied to compensate for these effects, and better control performances have been obtained. However, there have been no reports on the application of SAC for water hydraulics. To make clear the merits of SAC, the tracking control performance and robustness are discussed based on experimental results. SAC is confirmed to give better tracking performance compared with PI control, and a control precision comparable to MRAC (within 10 μm of the reference position) and higher robustness to parameter change, despite the simple controller. The research results ensure a wider application of simple adaptive control in real mechanical systems. 展开更多
关键词 water hydraulics servo cylinder system positioning control simple adaptive control
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Sliding Mode Variable Structure Control for Visual Servoing System 被引量:5
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作者 Fei Li Hua-Long Xie 《International Journal of Automation and computing》 EI 2010年第3期317-323,共7页
A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay ... A visual servoing tracking controller is proposed based on the sliding mode control theory in order to achieve strong robustness against parameter variations and external disturbances. A sliding plane with time delay compensation is presented by the pre-estimate of states. To reduce the chattering of the sliding mode controller, a modified exponential reaching law and hyperbolic tangent function are applied to the design of visual controller and robot joint controller. Simulation results show that the visual servoing control scheme is robust and has good tracking performance. 展开更多
关键词 Visual servoing sliding mode control variable structure control reaching law time delay.
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Nonlinear control for a class of hydraulic servo system 被引量:13
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作者 余宏 冯正进 王旭永 《Journal of Zhejiang University Science》 EI CSCD 2004年第11期1413-1417,共5页
The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear... The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation. 展开更多
关键词 Nonlinear system Electro hydraulic servo system Robust control BACKSTEPPING Lyapunov function
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Dynamics and adaptive control of a dual-arm space robot with closed-loop constraints and uncertain inertial parameters 被引量:20
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作者 Ying-Hong Jia Quan Hu Shi-Jie Xu 《Acta Mechanica Sinica》 SCIE EI CAS CSCD 2014年第1期112-124,共13页
A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro... A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane's equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov's method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach. 展开更多
关键词 Space robot Dynamics. Adaptive control closed-loop constraint Parameter uncertainty - Kane's equation
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Design of Robotic Visual Servo Control Based on Neural Network and Genetic Algorithm 被引量:9
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作者 Hong-Bin Wang Mian Liu 《International Journal of Automation and computing》 EI 2012年第1期24-29,共6页
A new visual servo control scheme for a robotic manipulator is presented in this paper, where a back propagation (BP) neural network is used to make a direct transition from image feature to joint angles without req... A new visual servo control scheme for a robotic manipulator is presented in this paper, where a back propagation (BP) neural network is used to make a direct transition from image feature to joint angles without requiring robot kinematics and camera calibration. To speed up the convergence and avoid local minimum of the neural network, this paper uses a genetic algorithm to find the optimal initial weights and thresholds and then uses the BP Mgorithm to train the neural network according to the data given. The proposed method can effectively combine the good global searching ability of genetic algorithms with the accurate local searching feature of BP neural network. The Simulink model for PUMA560 robot visual servo system based on the improved BP neural network is built with the Robotics Toolbox of Matlab. The simulation results indicate that the proposed method can accelerate convergence of the image errors and provide a simple and effective way of robot control. 展开更多
关键词 Visual servo image Jacobian back propagation (BP) neural network genetic algorithm robot control
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Application of Ultrasonic Motor to Control of Moment Gyroscope Gimbal Servo System 被引量:2
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作者 Wu Jintao Pan Song +2 位作者 Zhao Lei Wu Dengyun Zhang Jiyang 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2017年第1期15-21,共7页
Attitude control system is one of the most important subsystems in a spacecraft.As a key actuator,the control moment gyroscope(CMG)mainly determines the performance of attitude control system.Whereas,the control accur... Attitude control system is one of the most important subsystems in a spacecraft.As a key actuator,the control moment gyroscope(CMG)mainly determines the performance of attitude control system.Whereas,the control accuracy and output torque smoothness of the CMG depends more on its gimbal servo system.Considering the constraints of size,mass and power consumption for a small satellite,here,a mini-CMG is designed,in which the gimbal servo system is driven by an ultrasonic motor.The good performances of the CMG are obtained by both the ultrasonic motor and the rotary inductosyn.The direct drive of gimbal improves its dynamic performance,with the output bandwidth above 20 Hz.The angular and speed closed-loop control obtains the 0.02°/s gimbal rate,and the output torque resolution better than 2×10^(-3) N·m.The ultrasonic motor provides 1.0N·m self-lock torque during power-off,with 12arc-second position accuracy. 展开更多
关键词 control MOMENT GYROSCOPE gimbal servo system ULTRASONIC MOTOR
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Visual Object Tracking and Servoing Control of a Nano-Scale Quadrotor:System,Algorithms,and Experiments 被引量:7
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作者 Yuzhen Liu Ziyang Meng +1 位作者 Yao Zou Ming Cao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2021年第2期344-360,共17页
There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most ... There are two main trends in the development of unmanned aerial vehicle(UAV)technologies:miniaturization and intellectualization,in which realizing object tracking capabilities for a nano-scale UAV is one of the most challenging problems.In this paper,we present a visual object tracking and servoing control system utilizing a tailor-made 38 g nano-scale quadrotor.A lightweight visual module is integrated to enable object tracking capabilities,and a micro positioning deck is mounted to provide accurate pose estimation.In order to be robust against object appearance variations,a novel object tracking algorithm,denoted by RMCTer,is proposed,which integrates a powerful short-term tracking module and an efficient long-term processing module.In particular,the long-term processing module can provide additional object information and modify the short-term tracking model in a timely manner.Furthermore,a positionbased visual servoing control method is proposed for the quadrotor,where an adaptive tracking controller is designed by leveraging backstepping and adaptive techniques.Stable and accurate object tracking is achieved even under disturbances.Experimental results are presented to demonstrate the high accuracy and stability of the whole tracking system. 展开更多
关键词 Nano-scale quadrotor nonlinear control positionbased visual servoing visual object tracking
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Neural-network adaptive controller for nonlinear systems and its application in pneumatic servo systems 被引量:2
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作者 Lu LU Fagui LIU Weixiang SHI 《控制理论与应用(英文版)》 EI 2008年第1期97-103,共7页
In this paper, a novel control law is presented, which uses neural-network techniques to approximate the affine class nonlinear system having unknown or uncertain dynamics and noise disturbances. It adopts an adaptive... In this paper, a novel control law is presented, which uses neural-network techniques to approximate the affine class nonlinear system having unknown or uncertain dynamics and noise disturbances. It adopts an adaptive control law to adjust the network parameters online and adds another control component according to H-infinity control theory to attenuate the disturbance. This control law is applied to the position tracking control of pneumatic servo systems. Simulation and experimental results show that the tracking precision and convergence speed is obviously superior to the results by using the basic BP-network controller and self-tuning adaptive controller. 展开更多
关键词 Nonlinear control CONVERGENCE Adaptive control H-infinity control Neural networks Pneumatic servo system
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Learning-based force servoing control of a robot with vision in an unknown environment 被引量:2
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作者 XiaoNanfeng 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2004年第2期171-178,共8页
A learning-based control approach is presented for force servoing of a robot with vision in an unknown environment. Firstly, mapping relationships between image features of the servoing object and the joint angles of ... A learning-based control approach is presented for force servoing of a robot with vision in an unknown environment. Firstly, mapping relationships between image features of the servoing object and the joint angles of the robot are derived and learned by a neural network. Secondly, a learning controller based on the neural network is designed for the robot to trace the object. Thirdly, a discrete time impedance control law is obtained for the force servoing of the robot, the on-line learning algorithms for three neural networks are developed to adjust the impedance parameters of the robot in the unknown environment. Lastly, wiping experiments are carried out by using a 6 DOF industrial robot with a CCD camera and a force/torque sensor in its end effector, and the experimental results confirm the effecti veness of the approach. 展开更多
关键词 ROBOTICS force servoing vision control learning algorithm neural network.
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Data⁃Based Feedback Relearning Algorithm for Robust Control of SGCMG Gimbal Servo System with Multi⁃source Disturbance 被引量:3
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作者 ZHANG Yong MU Chaoxu LU Ming 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI CSCD 2021年第2期225-236,共12页
Single gimbal control moment gyroscope(SGCMG)with high precision and fast response is an important attitude control system for high precision docking,rapid maneuvering navigation and guidance system in the aerospace f... Single gimbal control moment gyroscope(SGCMG)with high precision and fast response is an important attitude control system for high precision docking,rapid maneuvering navigation and guidance system in the aerospace field.In this paper,considering the influence of multi-source disturbance,a data-based feedback relearning(FR)algorithm is designed for the robust control of SGCMG gimbal servo system.Based on adaptive dynamic programming and least-square principle,the FR algorithm is used to obtain the servo control strategy by collecting the online operation data of SGCMG system.This is a model-free learning strategy in which no prior knowledge of the SGCMG model is required.Then,combining the reinforcement learning mechanism,the servo control strategy is interacted with system dynamic of SGCMG.The adaptive evaluation and improvement of servo control strategy against the multi-source disturbance are realized.Meanwhile,a data redistribution method based on experience replay is designed to reduce data correlation to improve algorithm stability and data utilization efficiency.Finally,by comparing with other methods on the simulation model of SGCMG,the effectiveness of the proposed servo control strategy is verified. 展开更多
关键词 control moment gyroscope feedback relearning algorithm servo control reinforcement learning multisource disturbance adaptive dynamic programming
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Study of Dynamic Robustness of Servo Control System on a Water Press 被引量:1
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作者 KONG Xiangdong1,YAO Jing1,GAO Yingjie1,ZHANG Qin2 (1.Yanshan University,Qinhuangdao 066004,China 2.University Illinois of Urbana-Champaign,Urbana,IL,USA) 《武汉理工大学学报》 CAS CSCD 北大核心 2006年第S1期126-131,共6页
The reliability and robustness of the electro-hydraulic servo control system for heavy-duty forging machine play an important role in forging processes. A mathematic model of 50 MN water press for free forging was cre... The reliability and robustness of the electro-hydraulic servo control system for heavy-duty forging machine play an important role in forging processes. A mathematic model of 50 MN water press for free forging was created in this research. The dynamic robust compensator integrating with PID control method is designed and applied to the mathematical model simulation. The simulated results approved that the dynamic robust compensator application restrains interference from extra load and improves the electro-hydraulic position servo control system accuracy and stability. 展开更多
关键词 ELECTRO-HYDRAULIC servo control system water PRESS free FORGING ROBUST COMPENSATOR
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