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针对四轮驱动的重载平台,提出了交叉耦合控制和主从转矩同步相结合的同步控制策略的同步控制策略。以DSP F2812为控制平台设计了重载平台四轮驱动同步控制系统。本重载平台控制系统通过前左右轮的交叉耦合控制和前后轮主从转矩跟随控制,具备更高的同步控制精度和更稳定的动态性能。 相似文献
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《现代电子技术》2019,(10):151-155
针对多路舵机速度和位置同步控制问题,提出一种多路舵机控制信号产生及控制方法,仅采用STM32芯片的一个通用定时器实现24路舵机PWM控制信号的精确独立输出控制。基于分时复用的方法,实现一个比较寄存器控制6路舵机,故利用一个定时器的4个比较寄存器及其比较中断和1个更新中断,最终实现24路舵机位置和速度的同步控制。基于该方法进行了硬件系统设计,主要包括电源模块、舵机接口模块、存储模块、低压报警模块、键盘模块及通信模块。最后,实现了24路舵机控制系统的设计,并成功应用在17自由度的人形机器人中,且在华北五省(市、自治区)大学生机器人大赛中获得一等奖,验证了控制系统的稳定性、可靠性及有效性。 相似文献
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针对一种火炮群在强随机未知干扰的影响下的运动同步问题,运用交叉耦合的同步控制方法,以两门火炮的同步控制为例,设计了火炮的随动运动控制器.这种控制器算法简单,功能稳定,可扩展到多门火炮的同步控制.计算机仿真结果表明,运用这种控制方法,火炮之间的运动误差最大幅值将从O.2降至0.08,减小了近60%,效果显著,可以较好地实... 相似文献
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针对圆网印花系统中导带驱动辊与圆网驱动对速度同步的要求,提出了基于IRMCK201和ZigBee技术的圆网印花同步控制系统,给出了同步控制系统结构。选用IRMCK201专用电机伺服控制芯片作为各驱动电机的伺服控制器,选用基于ZigBee技术的无线芯片CC2430作为系统主控制器和数据通信网络。设计了伺服控制电路、主控制器和无线通信节点电路以及相应的程序流程,实现了圆网印花系统各单元的速度同步控制。运行结果表明,该系统稳定可靠、抗干扰、能耗低、体积小、成本低,为纺织生产中圆网印花各驱动单元的同步控制提供了一种新技术。 相似文献
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针对不同结构的馄饨系统,需要使用自适应控制方法实现系统的同步和反同步控制。因此,基于这种认识,本文在对自适应控制方法和Lyapunov理论展开分析的基础上,得到了自适应控制器,从而实现了不同结构混沌系统的自适应同步和反同步控制。 相似文献
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介绍了利用单片机、旋转编码器和电液比例阀对工程运输车四轮转向系统进行同步控制的基本原理和实现方法.本系统针对三种行车方式,分别给出了其车轮转向的实现和控制方法,重点描述了如何实现轮位同步控制的实现方案. 相似文献
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This paper presents a nonlinear control algorithm to address the motion synchronization problem for a dual-cylinder electrohydraulic (EH) lift system. A two-step design approach is applied that utilized linear multiple input-multiple output (MIMO) robust control technique to design an outer-loop motion synchronization controller. A nonlinear single input-single output (SISO) perturbation observer-based pressure-force controller is designed for each of the lift cylinders as the inner-loop controller to handle the nonlinearities associated with the EH actuators. Experimental results on a 2-cylinder lift system verified the effectiveness of the proposed approach 相似文献
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Optimal Synchronization Control of High-Precision Motion Systems 总被引:4,自引:0,他引:4
《Industrial Electronics, IEEE Transactions on》2006,53(4):1160-1169
Recently, in the motion control area, one of the most challenging problems has been synchronization control of multiple motion axes or drivers. Unfortunately, the majority of the previous approaches have not fully addressed the synchronization problem when the system performs a complex motion. In this paper, a novel synchronized design of the high-precision motion control system is presented. The basic idea is to introduce the coupling and synchronization factors into the definition of the synchronization error. Then, a new quadratic performance index incorporating the synchronization errors of the multiple motion axes is introduced so that the resulting control law generates the cross-coupling control action, and as a consequence, improved tracking and synchronization performance can be obtained. The key to the success of the new design is to ensure that each motor tracks its desired trajectory while synchronizing motion with others. Computer simulations and real-time experiments on a servo system with two permanent-magnet linear motors demonstrate the effectiveness of the method. 相似文献
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Performance tuning of robust motion controllers for high-accuracy positioning systems 总被引:2,自引:0,他引:2
Bong Keun Kim Wan Kyun Chung 《Mechatronics, IEEE/ASME Transactions on》2002,7(4):500-514
This paper presents a structural design method of robust motion controllers for high-accuracy positioning systems, which makes it possible to tune the performance of the whole closed-loop system systematically. First, a stabilizing control input is designed based on Lyapunov redesign for the system in the presence of uncertainty and disturbance. And adopting the internal model following control, robust internal-loop compensator (RIC) is proposed. By using the structural characteristics of the RIC, disturbance attenuation properties and the performance of the closed-loop system determined by the variation of controller gains are analyzed. Next, in order to design a robust motion controller for a high performance positioning system, dual RIC structure is proposed and it is shown that if the synthesis of the robust motion control law is performed in the RIC framework, the robust property of RIC can be naturally implanted in the feedback controller. The proposed structural design of robust motion controller provides a systematic approach to the problem of robust stability and performance requirement in the face of uncertainty. Furthermore, by allowing the tradeoffs between robust stability and performance to be quantified in a simple fashion, it can illuminate systematic design procedure of the robust motion controllers. Finally, the proposed method is verified through simulation and the performance is evaluated by experiments using a high-accuracy positioning system. 相似文献
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介绍一种多电动机网络控制系统的设计方法.将Profibus-DP总线控制技术应用于多电机控制的数控横剪生产线,采用网络运动控制器代替传统的以机械轴同步的运动系统,通过同一给定电压的并联运行方法解决拖动系统中的多电机同步问题,减少系统维护成本,增加系统的柔性,提高系统的精度. 相似文献
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基于模糊逻辑方法在心理语言学研究领域的有效性,该文提出基于模糊感知强度和韦伯定律的一类新的无规则模糊逻辑系统及其自适应控制应用的方法。首先,应用心理物理学中的概念,模糊逻辑系统的知识库是利用模糊感觉强度来描述专家经验感受;模糊推理后应用广义韦伯定律进行解模糊得到系统输出。然后,针对一类非线性系统,利用构造的新的无规则模糊逻辑系统进行自适应控制设计,得到相应的控制器和参数自适应律。最后,通过Duffing混沌系统仿真算例验证了该文方法的可行性和有效性。 相似文献
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A synchronization scheme for R?ssler system based on Dynamic Surface Control (DSC) is proposed in this paper. The DSC method is a recursive design procedure like conventional backstepping methods. Different from the backstepping design, a first-order filter is introduced in every DSC design step. For this introduced filter, the derivative of the selected virtual control is avoided and then the drawback of "explosion of complexity" existing in backstepping design is overcome. Moreover, adaptive method is used for controller design when the system parameters are unknown. Finally, a numerical example is given to illustrate the effectiveness and performance of the proposed method. 相似文献
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