Continuous rotary motor electro-hydraulic servo system based on the improved repetitive controller

In order to suppress the periodic interference of the continuous rotary electro-hydraulic servo motor,this paper makes the motor tracking the periodic signals with high accuracy,and improves the influence of friction interference to the performance of continuous rotary electro-hydraulic servo motor.The mathematic model of the electro-hydraulic position servo system of the continuous rotary motor was established,and the compound control method was adopted based on the repetitive control,feed forward and PID to suppress the friction interference.Through the simulation,the result confirms that the compound control method decreases the tracking error of the system,increases the robust performance of the system and improves the performance of the continuous rotary electro-hydraulic servo motor.

The adaptive control using BP neural networks for a nonlinear servo-motor

The servo-motor possesses a strongly nonlinear property due to the effect of the stimulating input voltage, load-torque and environmental operating conditions. So it is rather difficult to derive a traditional mathematical model which is capable of expressing both its dynamics and steady-state characteristics. A neural network-based adaptive control strategy is proposed in this paper. In this method, two neural networks have been adopted for system identification （NNI） and control （NNC）, respectively. Then, the commonly-used specialized learning has been modified, by taking the NNI output as the approximation output of the servo-motor during the weights training to get sensitivity information. Moreover, the rule for choosing the learning rate is given on the basis of the analysis of Lyapunov stability. Finally, an example of applying the proposed control strategy on a servo-motor is presented to show its effectiveness.

Application of Ultrasonic Motor to Control of Moment Gyroscope Gimbal Servo System

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.

Blank Holder Force Control System Driven by Servo-Motor

Blank holder force (BHF) control is used to prevent wrinkles of sheet metal in deep drawing process. Based on a novel conception of BHF control technique driven by servo-motor, a new BHF device with six-bar linkage mechanism has been designed and manufactured. Whole control system of the new BHF technique was developed, and the basic structure of the hardware configuration of the system was given. Software analysis, implementation and division of the functional modules have been done. Also, the control software in data acquisition and processing module has been developed in the relevant technology of the BHF control system for the requirements of real-time, stability and accuracy. By the new BHF device combined with the hardware and the software system, the BHF can be regulated accurately variation with the predefined BHF profile in deep drawing process.

LMI Approach to Robust H_∞/H_2 Controller Design with Regional Poles Constraint of a Pump-Motor System

The time domain guideposts requirements of a pump-motor system is transfered into a series of constraints which express the robust performance upper bound and regional poles limits of the closed loop system. Then the servo system control problem is transferred into the problem of robust performance optimizing under regional poles constrains described by linear matrix inequality （LMI）. These LMIs are easy to solve through the Matlab LMI-toolbox. Simulations indicate that the controller has excellent dynamic, static and disturbance rejection performance, and the control system is robust and has perfect H2 performance to the bounded external torque disturbance.

A Parameter Varying PD Control for Fuzzy Servo Mechanism

This paper presents the formulation of novel implementation method based on parameter varying PD controller for fuzzy servo controllers. This formulation uses the approximation of fuzzy nonlinear function including error and error derivation in operation point. Obtained fuzzy control law has been employed to control angular position of servo using digital control technique applied to a typical microcontroller like AVR. The performance and robustness of modified fuzzy controller in comparison with PID controller evaluated in no load, applied external disturbance with different magnitude conditions has been studied. The simulation results showed that the proposed fuzzy controller has a considerable advantage in rise time, settling time and overshoot respect to PID controller when the servo system encounters with nonlinear features like saturation and friction.

基于级联惯性负载转矩观测器的永磁伺服电机复合抗扰控制

针对永磁伺服电机在运行时位置跟踪精度差和抗干扰性能弱等问题,提出一种模型预测位置控制与非奇异快速终端滑模速度控制相结合的复合模型预测控制策略。该控制策略采用非奇异快速终端滑模设计速度控制器,以有效提高响应速度及系统鲁棒性;采用模型预测位置控制提高位置跟踪精度;同时,采用基于转动惯量观测和负载转矩观测器相结合的级联惯性负载转矩观测器观测负载转矩并进行前馈补偿,进一步提高系统的抗干扰性能。通过仿真和实验结果可得,所提复合模型预测控制可有效提高永磁伺服电机的动态响应速度和抗负载扰动能力。

基于VersaMax Micro Motion Controller的物料搬运系统的设计

设计了基于VersaMax运动控制模块的物料搬运系统,着重对运动控制模块的参数进行了计算和配置,给出了系统的程序设计。实践表明,该系统定位准确,运行可靠,使用效果良好。

Development of PLC-based Tension Control System

Fiber winding tension is an important factor in the molding techniques of composite material which influences the quality of winding product directly, and the tension control is a key technique in fiber winding techniques. This paper introduces a closed-loop tension control system with the programmable logic controller （PLC） with function modules as its control kernel, the alternating current （AC） servo motor as execute element and the radius-following device to accomplish the real-time radius compensation. The mechanism of the tension control system is analyzed and the numerical model is set up. The compensation technique of the radius of the scroll is analyzed. Experimental results show that the system is well qualified with high control precision and high reaction speed.

Novel AC Servo Rotating and Linear Composite Driving Device for Plastic Forming Equipment

The existing plastic forming equipment are mostly driven by traditional AC motors with long trans- mission chains, low efficiency, large size, low precision and poor dynamic response are the common disadvantages. In order to realize high performance forming processes, the driving device should be improved, especially for com- plicated processing motions. Based on electric servo direct drive technology, a novel AC servo rotating and linear composite driving device is proposed, which features implementing both spindle rotation and feed motion with- out transmission, so that compact structure and precise control can be achieved. Flux switching topology is employed in the rotating drive component for strong robustness, and fractional slot is employed in the linear direct drive component for large force capability. Then the mechanical structure for compositing rotation and linear motion is designed. A device prototype is manufactured, machining of each component and the whole assembly are presented respectively. Commercial servo amplifiers are utilized to construct the control system of the proposed device. To validate the effectiveness of the proposed composite driving device, experimental study on thedynamic test benches are conducted. The results indicate that the output torque can attain to 420 N-m and the dynamic tracking errors are less than about 0.3 rad in the rotating drive, the dynamic tracking errors are less than about 1.6 mm in the linear feed. The proposed research provides a method to construct high efficiency and accu- racy direct driving device in plastic forming equipment.

工业机器人伺服电机控制方法研究

针对工业机器人中的伺服电机控制方法展开研究,旨在提高工业机器人的运动控制精度和稳定性。首先,分析了工业机器人中的伺服电机控制问题,指出传统PID控制方法存在的局限性;其次,提出了一种基于自适应PID算法的控制方法,并详细介绍了其数学原理和调整规则;最后,采用MATLAB/Simulink对所提方法进行了仿真实验,比较了标准PID方法和自适应PID方法在位置精度和速度响应时间上的表现。结果表明,自适应PID方法具有更高的控制精度和更快的响应速度。

基于MCGS组态软件的板材雕刻机控制系统设计

板材雕刻机是一种用于在板材上进行雕刻、切割、剪裁的机器。为提高雕刻机的速度和精度,并研究其在控制方面的应用,通常采用PLC控制伺服电机带动刀头进行精确的雕刻操作。板材雕刻机可以根据预先设计好的图案或模型进行雕刻,广泛应用于家具制造、建筑装饰、艺术品制作等领域。在板材雕刻机的控制系统中,通过MCGS组态软件,可以直观地反映雕刻过程,并精确地控制雕刻机进行预设图案的雕刻。通过优化控制、调整运动路径和采用高精度的传感器和编码器,可以大大提高雕刻机的速度和精度,实现更精细的雕刻效果。控制系统还能实时监测刀头位置和状态,及时调整雕刻参数,保证雕刻结果的准确性。

考虑电压电流限制的伺服电机无纹波转矩控制

针对伺服系统无刷电机正弦电流转矩控制纹波较大的问题,提出了一种无刷伺服电机在任意反电动势波形下的无纹波转矩控制,实现了电机驱动器在有限电压、电流范围内的功率损耗最小。首先,建立了有限电压、电流范围内的电机模型,推导了电压、电流范围边界的不等约束条件;其次,利用拉格朗日乘数法求解等效二次规划问题,提出了最优转矩控制策略;最后,在三相18极同步电机的实验平台上进行了3种情况的实验验证。结果表明,所提控制策略在相电压、电流饱和时,仍能实现转矩的精确控制,输出期望转矩;在发生单相故障时,可以隔离故障相,同时通过优化励磁电流使非故障相达到预期的转矩输出,减小了转矩纹波。

智能型弯箍机控制系统开发

针对传统弯箍机存在的加工精度低、用户定制响应能力弱、远程运维功能缺失等问题,提出利用伺服控制、PLC、人机交互以及云平台等技术设计并开发了一种智能型弯箍机电气控制系统。系统以PLC作为核心控制器,利用三相交流异步电动机完成剪切任务,伺服电机驱动完成送丝和折弯任务;同时,借助4G通信模块,实现了远程加工状态监控、设备远程预测性运维与实时报警等管控功能。系统中通过引入弯曲长度、角度的补偿系数,结合全闭环伺服控制,保证了箍筋成品的加工精度。

含有柔性负载的电驱动系统建模与控制策略

为了抑制伺服电机启动和运行过程中产生的转速波动和振动,提出了一种基于极点配置的PI控制策略.首先,根据基尔霍夫电压定律和拉格朗日原理建立了伺服电机与柔性负载的整体动力学模型,并通过拉普拉斯变换计算系统的传递函数.其次,通过设计控制器的参数,分析了采用相同幅值的极点配置方法对控制效果的影响.最后,通过与传统的Z-N方法和无控制方法进行对比,验证了该极点配置方法的优势.通过数值仿真和实验研究,实现了对伺服电机启动和运行过程中产生的角度误差的控制,有效抑制了电机转速的波动,保证了系统的稳定性.

直流电机位置伺服系统新型控制策略研究

针对伺服系统控制器参数设计的复杂性和系统抗干扰性低的问题,设计了内模PID速度控制器和基于指数趋近律的滑模变结构位置控制器,并通过李雅普诺夫理论对系统的稳定性进行分析。速度控制器采用内模PID控制,只调节滤波器参数λ,避免了因调参困难而影响伺服系统的控制精度;位置控制器采用滑模控制方式,对参数变化以及外界影响等因素具有强鲁棒性。仿真和实验结果表明,所提控制系统能够满足对直流伺服电机位置控制的快速性和准确性要求。

直驱型真空机械手运动规划与柔顺控制方法

半导体智能制造涉及的学科技术较多,其中运动规划和柔顺控制是半导体智能机器人技术研究的基础和重点。针对新松公司自主研发的MAG8真空机械手的特殊工作环境、晶圆易脱落等问题,完成了机械手的运动规划与柔顺控制研究。首先对其机械结构和运动方式进行了简要的介绍,可实现双臂的升降、旋转、伸缩动作,其次提出了Modify Denavit Hartenber法分析运动规划,建立了直驱型真空机械手上升轴和伸缩轴各连杆运动关系描述模型。再此,分析了直驱型真空机械手机械传动结构关系,采用牛顿-欧拉法计算各个关节力矩值解决了机械手柔顺控制问题,建立了用于分析各个关节力矩传递关系方程。经过对真空机械手进行仿真结果分析实验,验证了正、逆运动学过程的有效性。齐次变换矩阵可以实现MAG8运动部件以及大多数工业机器人的坐标变换,可用于MAG8的轨迹规划。对理论力矩值和这里所提出方法的实际力矩值进行对比,为进一步为柔顺控制的物理平台作业奠定了基础。

SINUMRINK84OD-SL系统在轧辊磨床升级改造中的应用

2015年开始,西门子公司将SIEMENS 840D-PL系列产品列为淘汰产品,西门子工厂停止生产,大部分企业开始采用机械部件利旧,电气设备升级成新一代SINUMRINK 84OD-SL系统,改造老旧磨床设备,实现产品升级换代,满足生产使用要求。

光电经纬仪自抗扰控制方法

为提升光电经纬仪在跟踪时的响应速度和抗干扰能力,提出一种基于观测器的自抗扰控制(active disturbance rejection control,ADRC)方法。对所有已知或未知的影响直流电机工作的干扰输入进行在线估计,并通过适当的反馈控制法来补偿这些干扰;通过选取合适的观测器和控制器带宽参数,来实现良好的抗扰控制效果。仿真结果表明:基于观测器的自抗扰控制方法能有效地提高直流电机对外部干扰和内部未知参数变化的鲁棒性,具有工程应用前景。

基于动态理论模型的电液伺服加载前馈补偿复合控制系统

针对一般电液伺服系统存在的非预期负载扰动和非线性干扰等问题,为了提高系统的自适应能力和动态响应的品质,减小系统跟踪和输出响应的误差,提出了一种基于动态理论模型的电液伺服加载前馈补偿复合控制方法。首先,阐释了电液伺服试验台的结构组成及其数学模型,分析了系统力矩控制和位置控制的结构关系;然后,论证了自适应前馈补偿复合控制的伺服原理,阐述了以调速理论模型和实际模型的误差函数作为调速依据的前馈补偿和复合控制的原理和方法;最后,进行了系统仿真,同时为了验证基于动态理论模型的自适应前馈补偿复合控制策略的合理性和有效性,对伺服系统进行了加载试验。研究结果表明:采用该复合控制策略可以精确算出对伺服马达进行转速补偿的基准值和调整参数,系统动态响应速度比采用传统闭环控制算法提高了8%以上;系统控制器自适应能力和抗扰动性能也明显优于采用传统PI闭环控制及模糊PI闭环控制算法的系统;通过对比分析0.2 Hz和0.5 Hz的正弦响应曲线可知,该系统的位置跟踪曲线性能最优,控制精度最高,实际输出值的误差也最小。