The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its...The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its design model is verified on the state-space model of EHSAS by using simulation program SIMULINK. Real data used to test the system. Simulation results give a good agreement for the controller and also for the state-space model.展开更多
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
In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensat...In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensation controller with a dual-observer structure is designed,while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque.Considering the influence of the periodic disturbance torque and parametric uncertainties,fuzzy systems and a robust term are employed.In this way,the whole system can be treated as a simple linear model after being compensated,then the proportional-derivative (PD) control law is applied to enhancing the control performance.On the basis of Lyapunov stability theory,the global stability and the asymptotic convergence of the tracking error are proved.Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.展开更多
针对并联柔索驱动机器人力场模拟应用场景下驱动单元的力伺服控制系统设计,基于Links半物理仿真环境,运用Matlab System Identification工具箱,对柔索驱动单元系统数学模型进行模型辨识,并对系统的不确定性进行辨识。结果表明,考虑柔索...针对并联柔索驱动机器人力场模拟应用场景下驱动单元的力伺服控制系统设计,基于Links半物理仿真环境,运用Matlab System Identification工具箱,对柔索驱动单元系统数学模型进行模型辨识,并对系统的不确定性进行辨识。结果表明,考虑柔索驱动单元的不确定性因素后实际系统模型与理论模型相吻合,且系统理论模型具有较高的可靠性。在可靠的理论模型基础上,对柔索驱动单元进行控制器设计,并验证了模型辨识方法的有效性。基于模型辨识的控制器设计方法可以推广到其他类型系统的模型辨识。展开更多
文摘The angular position controller is system （EHSAS） to control the output of the rotary applied to electro-hydraulic servo actuator actuator. It works as a compensator based on the frequency response of the EHSAS. Its design model is verified on the state-space model of EHSAS by using simulation program SIMULINK. Real data used to test the system. Simulation results give a good agreement for the controller and also for the state-space model.
基金This project was supported by the Aeronautics Foundation of China (00E21022).
文摘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
基金Supported by Aeronautical Science Foundation of China(No.20080651016)
文摘In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensation controller with a dual-observer structure is designed,while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque.Considering the influence of the periodic disturbance torque and parametric uncertainties,fuzzy systems and a robust term are employed.In this way,the whole system can be treated as a simple linear model after being compensated,then the proportional-derivative (PD) control law is applied to enhancing the control performance.On the basis of Lyapunov stability theory,the global stability and the asymptotic convergence of the tracking error are proved.Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.
文摘针对并联柔索驱动机器人力场模拟应用场景下驱动单元的力伺服控制系统设计,基于Links半物理仿真环境,运用Matlab System Identification工具箱,对柔索驱动单元系统数学模型进行模型辨识,并对系统的不确定性进行辨识。结果表明,考虑柔索驱动单元的不确定性因素后实际系统模型与理论模型相吻合,且系统理论模型具有较高的可靠性。在可靠的理论模型基础上,对柔索驱动单元进行控制器设计,并验证了模型辨识方法的有效性。基于模型辨识的控制器设计方法可以推广到其他类型系统的模型辨识。
