To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） co...To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.展开更多
The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order ...The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.展开更多
A novel non-smooth controller of the second order double integrator system with a bounded disturbance is proposed,which stability is proved and which disturbance rejection capability is analyzed by MATLAB simulation e...A novel non-smooth controller of the second order double integrator system with a bounded disturbance is proposed,which stability is proved and which disturbance rejection capability is analyzed by MATLAB simulation experiments. The novel non-smooth output feedback controller and tracking differentiator are applied to control the azimuth servo systemof the small floating satellite antenna. The MATLAB simulation and hardware in the loop simulation experiments are conducted. The experiment results validate that the non-smooth output feedback controller with stronger surge and sudden disturbance rejection capability can realize the stable azimuth servo control of the small floating antenna to ensure the communication between the target satellite and the antenna with high quality.展开更多
In this paper, a pure digital control method for the outer axis of a three-axis flight simulation table is worked out and a state observer is used to obtain the acceleration signal. The method is simple and easy to be...In this paper, a pure digital control method for the outer axis of a three-axis flight simulation table is worked out and a state observer is used to obtain the acceleration signal. The method is simple and easy to be emplayed, and especially suitable for the electrohydraulic (?)ervo-system with fast response. The simulation results show that the system given in this paper has optimal three-order system performance.展开更多
文摘To achieve fast, smooth and accurate set point tracking in servo positioning systems, a parameterized design of nonlinear feedback controllers is presented, based on a so-called composite nonlinear feedback （CNF） control technique. The controller designed here consists of a linear feedback part and a nonlinear part. The linear part is responsible for stability and fast response of the closed-loop system. The nonlinear part serves to increase the damping ratio of closed-loop poles as the controlled output approaches the target reference. The CNF control brings together the good points of both the small and the large damping ratio cases, by continuously scheduling the damping ratio of the dominant closed-loop poles and thus has the capability for superior transient performance, i.e. a fast output response with low overshoot. In the presence of constant disturbances, an integral action is included so as to remove the static bias. An explicitly parameterized controller is derived for servo positioning systems characterized by second-order model. Practical application in a micro hard disk drive servo system is then presented, together with some discussion of the rationale and characteristics of such design. Simulation and experimental results demonstrate the effectiveness of this control design methodology.
基金supported by National Natural Science Foundation of China(No.50475011).
文摘The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.
基金Supported by Academic Innovation Project of Beijing(201106149)
文摘A novel non-smooth controller of the second order double integrator system with a bounded disturbance is proposed,which stability is proved and which disturbance rejection capability is analyzed by MATLAB simulation experiments. The novel non-smooth output feedback controller and tracking differentiator are applied to control the azimuth servo systemof the small floating satellite antenna. The MATLAB simulation and hardware in the loop simulation experiments are conducted. The experiment results validate that the non-smooth output feedback controller with stronger surge and sudden disturbance rejection capability can realize the stable azimuth servo control of the small floating antenna to ensure the communication between the target satellite and the antenna with high quality.
文摘In this paper, a pure digital control method for the outer axis of a three-axis flight simulation table is worked out and a state observer is used to obtain the acceleration signal. The method is simple and easy to be emplayed, and especially suitable for the electrohydraulic (?)ervo-system with fast response. The simulation results show that the system given in this paper has optimal three-order system performance.
