Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced cont...Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modem industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear con- trol, latest developments hydraulic servo systems are and brief perspectives of presented： Modelling uncer- tainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying distur- bance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics （measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.） in nonlinear hydraulic servo control are briefly explored and discussed.展开更多
The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint s...The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.展开更多
为解决YB95A条外透明纸包装机在透明纸展开切割和传送过程中出现透明纸偏移、长度变化等问题，借鉴YB917条外透明纸包装机的透明纸传送原理，通过增加伺服电机、传感器、编码器和电控程序等，将YB95A条外透明纸传送由主传动驱动改为伺...为解决YB95A条外透明纸包装机在透明纸展开切割和传送过程中出现透明纸偏移、长度变化等问题，借鉴YB917条外透明纸包装机的透明纸传送原理，通过增加伺服电机、传感器、编码器和电控程序等，将YB95A条外透明纸传送由主传动驱动改为伺服控制的独立传送，将独立传送装置的电控部分融于MICROⅡ控制系统，控制程序加入到MICROⅡ控制软件中，通过调整IPC（Industrial Personal Computer）的相关参数对透明纸长度和搭口位置进行调整。结果表明，透明纸传送误差由±2mm降低到±0．5mm，实现了透明纸切割长度、传送位置的自动调整；条烟废品率由20～25条／d减少到0～2条／d，有效提高了卷烟包装品质。改进后YB95A条外透明纸包装机适用于彩膜包装，满足了现代卷烟企业对包装材料多样化的需求。展开更多
On the basis of singular perturbation theory, a composite control approach is proposed for constrained flexible manipulators in this paper. The dynamics equation of a constrained two link flexible manipulator is divid...On the basis of singular perturbation theory, a composite control approach is proposed for constrained flexible manipulators in this paper. The dynamics equation of a constrained two link flexible manipulator is divided into slow subsystem and fast subsystem. Based on the adaptive theory, the slow controller is designed. For the fast subsystem, a robust optimal controller is presented. Under the slow time scale and the fast time scale, a composite control strategy is constructed. Some results of numerical simulations are presented to show the effectiveness of this design procedure.展开更多
基金Acknowledgements This work was supported in part by the National Natural Science Foundation of China （Grant No. 51675279）, the China Postdoctoral Science Foundation funded project （Grant Nos. 2014M551593 and 2015T80553）, and the Natural Science Foundation of Jiangsu Province in China （Grant No. BK20141402）. The author also wants to express his appreciation to Prof. B. Yao for hosting his visit at Purdue University from October 2010 to October 2011, and the guidance in adaptive and robust design.
文摘Hydraulic servo system plays a significant role in industries, and usually acts as a core point in control and power transmission. Although linear theory-based control methods have been well established, advanced controller design methods for hydraulic servo system to achieve high performance is still an unending pursuit along with the development of modem industry. Essential nonlinearity is a unique feature and makes model-based nonlinear control more attractive, due to benefit from prior knowledge of the servo valve controlled hydraulic system. In this paper, a discussion for challenges in model-based nonlinear con- trol, latest developments hydraulic servo systems are and brief perspectives of presented： Modelling uncer- tainty in hydraulic system is a major challenge, which includes parametric uncertainty and time-varying distur- bance; some specific requirements also arise ad hoc difficulties such as nonlinear friction during low velocity tracking, severe disturbance, periodic disturbance, etc.; to handle various challenges, nonlinear solutions including parameter adaptation, nonlinear robust control, state and disturbance observation, backstepping design and so on, are proposed and integrated, theoretical analysis and lots of applications reveal their powerful capability to solve pertinent problems; and at the end, some perspectives and associated research topics （measurement noise, constraints, inner valve dynamics, input nonlinearity, etc.） in nonlinear hydraulic servo control are briefly explored and discussed.
文摘The differential equations of motion of a comtlaint system with parameters and variable mass, of a system with variable mass and servo constraints and those for the control problem on the forced motion of constraint systems with variable mass are given respectively. Finally, an example is presented.
文摘为解决YB95A条外透明纸包装机在透明纸展开切割和传送过程中出现透明纸偏移、长度变化等问题，借鉴YB917条外透明纸包装机的透明纸传送原理，通过增加伺服电机、传感器、编码器和电控程序等，将YB95A条外透明纸传送由主传动驱动改为伺服控制的独立传送，将独立传送装置的电控部分融于MICROⅡ控制系统，控制程序加入到MICROⅡ控制软件中，通过调整IPC（Industrial Personal Computer）的相关参数对透明纸长度和搭口位置进行调整。结果表明，透明纸传送误差由±2mm降低到±0．5mm，实现了透明纸切割长度、传送位置的自动调整；条烟废品率由20～25条／d减少到0～2条／d，有效提高了卷烟包装品质。改进后YB95A条外透明纸包装机适用于彩膜包装，满足了现代卷烟企业对包装材料多样化的需求。
文摘On the basis of singular perturbation theory, a composite control approach is proposed for constrained flexible manipulators in this paper. The dynamics equation of a constrained two link flexible manipulator is divided into slow subsystem and fast subsystem. Based on the adaptive theory, the slow controller is designed. For the fast subsystem, a robust optimal controller is presented. Under the slow time scale and the fast time scale, a composite control strategy is constructed. Some results of numerical simulations are presented to show the effectiveness of this design procedure.
