Force‐based disturbance observer for dynamic force control and a position/force hybrid controller

In this paper, a force‐based disturbance observer (DOB) and a force control system using the DOB are proposed to obtain dynamic force control under disturbances. A DOB can reduce the effect of disturbances and modeling errors on robots. In a conventional DOB, an acceleration response is fed back to a reference, enabling highly precise position control. In other words, the effect of disturbances is decreased by emphasizing the effect of inertial forces. When a force controller is implemented, however, inertial forces are regarded as disturbances respect to a force response. Because inertial forces increase according to the acceleration, conventional DOBs are not suitable for dynamic force control. In the proposed DOB, a force response is fed back instead of an acceleration response. The effect of inertial forces is thus eliminated, thereby improving the tracking performance of force controllers. The proposed method's validity is verified analytically and experimentally. A position/force hybrid controller and a DOB for the controller are proposed as an extension of the proposed DOB. A bilateral controller is given as an example of the proposed hybrid controller, and its tracking performance is demonstrated experimentally. © 2013 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

Sensorless controls of salient‐pole permanent magnet synchronous motors using extended electromotive force models

In this paper, we propose a new mathematical model for synchronous motors and a sensorless control method based on it. To control permanent magnet synchronous motors, knowledge of rotor position and velocity are necessary. Heretofore, expensive sensors have been used to detect rotor position information. Although many sensorless control methods based on the electromotive force (EMF) have been developed for non‐salient‐pole permanent magnet motors, they cannot be applied for salient‐pole motors without approximation because of complications in the mathematical model; this is turn may lead to problems of instability. To solve this problem, we propose an extended electromotive force model for synchronous motors. The proposed model has a simple structure, making position estimation possible without approximation. Experimental results show that the proposed model and method are valid. © 2003 Wiley Periodicals, Inc. Electr Eng Jpn, 146(3): 55–64, 2004; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10257     

基于摩擦模型的机器人力/位安全控制方法研究

针对机器人力/位控制应用的安全问题,提出一种基于动力学模型的快速实用机器人碰撞检测算法.首先,设计机器人力/位安全控制方案,建立基于动力学的碰撞检测数学模型;然后,基于静态LuGre摩擦模型辨识和补偿机器人关节摩擦力,设计简化的机器人力/位控制碰撞检测模型;最后,以轻型工业机械臂为实验平台,让机器人执行力/位控制与人类发生碰撞以验证算法的有效性.实验结果表明,提出方法可检测机器人各连杆发生4N·m以上的异常碰撞,能够有效地实现机器人力/位安全控制,具有一定的工程参考价值.     

高精度定位系统的摩擦力自适应前馈补偿

为了有效抑制机电系统摩擦力等外部扰动对系统动态性能的影响,针对直驱伺服系统中往复定位存在的摩擦力,提出了一种基于自适应前馈控制器的摩擦力补偿策略,此方法能够有效利用参考模型与被控对象的位置跟踪误差等信息,在线实时确定自适应控制率,在保证系统稳定的条件下,能够有效克服系统摩擦力及模型慢时变等引起的系统动态性能异常.针对直...     

基于DSP的直线电机位置伺服控制策略研究

在综合分析直线电机位置伺服控制系统的动静态性能及抗干扰能力的基础上,对其位置伺服控制策略进行了研究,开发了一套基于DSP的直线电机位置伺服控制系统。该伺服系统提出了用模糊自适应PID控制方法和干扰观测器补偿技术来提高系统的动静态性能,且可以补偿因外力等对系统造成的干扰。重点分析了位置角对系统的影响,进而提出了模型参考自适应算法对位置角进行校正以消除直线电机定位时出现的振荡。实验结果表明,所提出的位置伺服控制系统具有高的动、静态性能。     

Decoupled Bilateral Control Based on Modal Space Observer in Master‐Slave Systems with Different Masses

This paper proposes a method of decoupled bilateral control based on a modal space observer. In a conventional bilateral control system, the structures of master‐slave systems are not considered. This paper shows that a force controller and a position controller in a bilateral control system interfere with each other when the structures of the master‐slave systems are different. In order to solve this problem, a bilateral control system based on a hybrid matrix has been proposed. However, the computational process for calculating the hybrid matrix becomes complicated as the numbers of degrees of freedom in the master‐slave systems increase. In the proposed method, a nominal equivalent mass matrix with respect to the modal space is used, and the interfering terms are estimated and compensated using a modal space observer. Therefore, a simple control structure is realized using the proposed method. The performance of the proposed method is compared to that of the conventional methods through simulations and experiments, and the validity of the proposed method is confirmed.     

基于MPC的永磁同步直线电机位置控制

文章提出了一种基于连续集模型预测控制的永磁同步直线电机位置控制的方法,以提高永磁同步直线电机位置控制的动态响应性能和稳态精度。传统的级联型三闭环位置控制系统使用PI控制器,虽具有应用简单、适用性强的优点,但是动态响应和稳态精度却受到制约。本文详细阐述了MPC的控制原理和设计方法,在Matlab/Simulink下搭建了相应模型进行仿真验证。仿真表明,模型预测控制具有良好的动态性能和稳态精度。     

基于图像雅可比矩阵的机器人视觉/力控制

在实际的接触型作业任务中,需要在控制位置的同时,控制末端执行器与环境之间的接触力。针对这一问题,首先通过力反馈信息对未知环境中的法线方向进行估计,然后设计了一种基于模糊自适应Kalman滤波的动态图像雅可比矩阵辨识方法,并将其应用于机器人视觉反馈控制任务中。最后提出视觉/力混合控制算法,在该算法中给出了视觉/力混合控制的约束条件,对视觉采用变结构控制器,力控制采用PI控制器。仿真结果表明,该策略具有较高的力控制精度和曲线跟踪能力。     

感应电机并联运行矢量控制系统仿真研究

针对两台并联电机参数和负载不平衡的情况,在单台电机矢量控制数学模型的基础上,建立了两台并联感应电机在d-q坐标系下的数学模型,给出了基于平均转子磁通进行定向的矢量控制策略,利用定子电流的q轴分量控制两台电机的平均转矩,d轴分量兼顾控制平均转子磁通和偏差转矩。仿真结果表明,系统具有较好的动态、稳态性能。     

基于动态矩阵的时滞系统控制与仿真研究

利用动态矩阵控制这种基于对象阶跃响应的预测控制算法,针时控制系统复杂、数学模型难以精确建立的时滞系统进行了仿真研究.结果表明,动态矩阵预测控制算法控制效果明显.     

基于模型关联性的动态解耦算法及其在协调控制中的应用

大型火电机组协调控制系统具有多变量、非线性、强耦合的特性,目前协调控制存在的问题是燃烧的滞后性影响了负荷响应速度,对象的耦合性影响了负荷和压力的动态品质。针对上述问题,设计了一种新颖的动态解耦算法,采用超前预测控制量来克服燃烧的滞后性。根据模型关联性设计的动态解耦算法成功解决了负荷和压力之间的相互影响,保证了机组的动态和稳态品质,仿真和实际应用证明了该算法的有效性。     

Short-Span seeking control of hard disk drives with multirate vibration suppression perfect tracking control

In this paper, a novel vibration suppression perfect tracking control (PTC) method is proposed for short-span seeking mode of hard disk drives (HDDs) based on multirate feedforward control. In the proposed method, it is assumed that plant is modeled as the rigid-body and primary vibration modes. By using this model, a feedforward PTC is designed with a modified controllable canonical realization in order to control the transient response of position, velocity, acceleration, and jerk of the proposed virtual plant. Simulations and experiments are carried out to show that the proposed system can suppress the primary vibration mode in short-span seeking control. Finally, the proposed method is applied to a benchmark problem of HDD control which is made by a technical committee of IEE of Japan. The robustness of the proposed feedforward method is examined against the variation of primary vibration frequency. Copyright © 2009 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.     

基于FOA-RBF的管状开关磁阻直线电机直接瞬时出力控制

以车辆主动悬架系统为应用背景,针对径向磁通的管状开关磁阻直线电机提出了一种基于果蝇算法优化径向基神经网络模型(FOA-RBF)的直接瞬时出力控制方法。利用台架测量得到的电机出力样本对FOA-RBF进行离线训练,完成电流、动子位置到出力的非线性映射,构造出基于FOA-RBF的出力观测器对电机出力进行实时在线估算,并与出力分配函数相结合,实现相邻两相出力目标值的动态调整,有效地抑制了出力波动并降低了各相电流峰值。该控制方法利用了FOA-RBF神经网络泛化和逼近能力强的优点,出力计算速度快、精度高,满足实时控制要求。基于台架实际测量的电机出力和电磁特性,结合运动方程在MATLAB/Simulink环境中构建了系统仿真模型,并对提出的控制策略进行了仿真验证。最后搭建实验平台对电机动态性能进行了测试,进一步验证了FOA-RBF出力估算和控制算法的有效性。     

灰色预测法PMSM无传感器控制系统

为了满足永磁电机无位置传感器运行对转子位置和速度估算的需要,在分析永磁同步电机(PMSM)数学模型的基础上,提出基于灰色理论的估算新方法,建立了永磁同步电机无位置传感器矢量控制系统,并在DSP芯片TMS320LF2407A上得到实现.实验结果表明,所提出的控制方法很好地解决了控制过程中转子速度、位置的估计问题,提高了系统的参数鲁棒性,具有很好的静态和动态性能.     

Quaternion-based adaptive control for trajectory tracking of quadrotor unmanned aerial vehicles

The problem of trajectory tracking of aerial vehicles with four rotors and dynamic parameter uncertainties is addressed in this article. By exploiting the cascade structure of the translational and attitude dynamics of the quadrotor, a nonlinear hierarchical adaptive control is proposed. The attitude control law is designed based on the unit quaternion, therefore, the singularities of the Euler angles and angle-axis representation are avoided. Instead of relying on the stability properties of time-varying cascade systems, the stability of the whole closed-loop system is proven by an appropriate Lyapunov function. In addition, a novel method to compute the desired orientation based on the desired Cartesian trajectories and position control inputs is proposed. A set of simulations results are presented to assess the performance of the proposed adaptive controller.     

DFIG网侧变换器反馈线性化与滑模控制

为了提高双馈风力发电机(DFIG)网侧变换器(GSC)的动态性能,在建立GSC仿射非线性模型基础上,提出一种非线性复合控制策略。该控制策略在静止坐标系下对电流进行反馈线性化解耦,无需电网电压定向,同时电压外环采用含饱和函数的滑模控制,从而达到直流母线电压快速恒定以及电流跟踪控制的目的。仿真结果表明,该控制实现了GSC的稳定以及功率因数控制,验证了理论的正确性。上述控制策略相较于传统的控制方式,减少计算变量,能够保证系统快速收敛。     

基于扰动观测器的无刷直流电机无位置传感器控制

讨论了无刷直流电机无位置传感器控制 ,提出一种基于扰动观测器的无位置传感器控制方案。无刷直流电机电势平衡方程的非线性由反电势所引起 ,如果假设反电势为常值扰动 ,就可根据线性理论设计常值扰动观测器对反电势过零点进行观测。观测结果中包含反电势过零点信息和干扰脉冲 ,后者由假设误差引起并且会影响转子位置信号。如果能够消除干扰脉冲的影响 ,就可以将反电势过零点信息分离出来 ,从而实现无位置传感器控制 ,因此本文也介绍了消除干扰脉冲的原理和方法。最后 ,就本文提出的方法进行了实验研究     

System Voltage Control Based on Potential Game Theory Considering PV Output Prediction Error

Recently, in Japan, large‐scale introduction of photovoltaics (PVs) has been under way. This development increases the likelihood of system voltage increase and fluctuations, which can be prevented by employing PV output prediction. In this study, we focus our attention on applying PV output prediction to system operation with the objective of system voltage control. In this paper, 30‐min ahead prediction is assumed according to prior research with prediction error consideration. System voltages of 30 min ahead are estimated and are controlled in advance by using transformer taps and static capacitors. In this paper, voltage control is proposed for coordinating control, which is based on one of the games in the game theory, potential game. The validity of the proposed method is confirmed by running simulations using a modified IEEE 30 bus system. By applying the proposed method, both the voltage deviations and control counts improved considerably compared to a conventional method.     

基于MRAS的多相永磁直驱型风力发电系统无速度 传感器控制策略研究

对采用多相永磁同步发电机的大功率直驱型变速恒频风力发电系统进行了研究。系统采用六相永磁同步发电机和多重化的AC-DC-AC变换器,以减少每个电机绕组中的电流和每个电力电子变换器中的电流。研究了一种基于模型参考自适应(Model Reference Adaptive System,MRAS)的六相永磁同步发电机无速度传感器控制策略。该策略将永磁同步发电机本身作为参考模型,将发电机的电流模型作为可调模型,设计了自适应律同时辨识永磁同步发电机的转速和转子位置。还研究了基于变步长爬山法的最大功率跟踪(Maximum Power Point Tracking,MPPT)控制策略,该策略具有动态功率跟踪速度快和稳态时速度平稳的优点。实验结果表明,上述控制策略在负载突变和转速突变时均能准确地检测到发电机的转速和转子位置;在风速变化时能准确地跟踪最大功率。     

Adaptive fault tolerant control against actuator faults

This paper investigates the problem of adaptive fault tolerant control for a class of dynamic systems with unknown un‐modeled actuator faults. The fault model is assumed to be an unknown nonlinear function of control input, not in the traditional form in which the faults can be described as gain and/or bias faults. Using the property of the basic function of neural networks and the implicit function theorem, a novel neural networks‐based fault tolerant controller is designed. Finally, the lateral dynamics of a front‐wheeled steered vehicle is used to demonstrate the efficiency of the proposed design techniques. Copyright © 2016 John Wiley & Sons, Ltd.