共查询到18条相似文献,搜索用时 125 毫秒
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本文介绍了一种克服多余力的新方法,给出了位置同步补偿克服负载模型器多余力的工作原理,并对多余力进行了实验研究。 相似文献
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负载模拟器可以模拟飞行器飞行过程中受到的空气力矩,是重要的半实物仿真设备之一。论述了系统的基本组成结构,并建立电动负载模拟器的数学模型,详细分析了多余力矩的产生原因与消除方法以及提高电动负载模拟器的动态性能策略。通过仿真可以看出,提出的复合控制抑制多余力矩的方法,在一定程度上消除了多余力矩,保持了跟踪给定。对现实的研究有一定的参考作用,对电动加载系统的进一步研究有借鉴作用。 相似文献
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为提高某型航天用电动直线负载模拟器(Electric Linear Load Simulator, ELLS)的加载精度与动态性能,提出一种基于Backstepping设计思想的ELLS控制器设计方案。通过推导建立了ELLS的状态空间方程,接着采用Backstepping方法设计了反步控制器,并采用Lyapunov定理来保证了系统的全局渐进稳定性。最终,采用SIMULINK仿真软件搭建了ELLS仿真模型并引入所提出的控制器,仿真实验结果表明:采用了反步控制器的ELLS的系统响应性能较快,系统输出精度较高,满足系统性能要求;且与仅采用力闭环控制相比,所提出控制器多余力抑制效果明显提升,系统的抗扰能力进一步增强。 相似文献
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通过分析电动负载模拟器的基本结构和工作原理,建立数学模型并且分析了多余力矩产生的机理,提出一种重复控制和PID控制相结合的复合控制策略,利用重复控制改善系统的稳态特性,利用PID控制改善系统的动态特性.仿真结果表明,所采用的方控制方法能够有效地抑制多余力矩,提高了系统的稳态精度和动态性能. 相似文献
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服务器负载均衡的应用与实现 总被引:5,自引:0,他引:5
讨论了服务器的性能问题,介绍了多台服务器负载均衡的概念和重要性,并详细阐述了多台服务器负载均衡的原理。以一个呼叫中心案例为例描述了多台服务器实现负载均衡的方法。通过多台服务器的负载均衡,提高了应用系统的性能及容错能力,增强了应用系统的稳定性和可靠性。 相似文献
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针对电液伺服系统在水井钻机推进工况下存在的参数不确定以及未知负载扰动突变等非线性因素,提出了基于径向基(RBF)神经网络扰动观测器的无模型自适应控制方法.首先,通过改进的无模型自适应控制动态线性化方法,将被控系统线性化为与输入输出相关的增量形式,并将未知负载扰动合并到一个非线性项中;然后,设计了径向基神经网络扰动观测器对含有未知负载扰动的非线性项进行估计,作为对未知扰动的补偿;最后,设计了时变参数估计律,通过在线调整伪偏导数,给出了电液伺服系统的控制更新律.仿真结果表明,所设计的控制器能够对未知负载扰动突变进行补偿,并能确保跟踪误差有界收敛. 相似文献
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The In this paper, a simulator of a one‐wheel Electric Vehicle system is designed for testing an anti‐slip controller using the Motor‐Generator system. The drive motor of the M‐G system is used to simulate the drive wheel of the Electric Vehicle, and the load motor is used to simulate the load force of the chassis. In the driving process, the torque of the load motor is changed according to the drive force of the chassis that is calculated by the program. So it can simulate the dynamic process of the tire‐road system. Based on this simulator system, an anti‐slip controller based on an Adhesion Status Analyzer is proposed. Information about the wheel speed is acquired by using a Back EMF Observer. A load torque disturbance observer is designed to stabilize the acceleration of the wheels. The Adhesion Status Analyzer is used to generate safe acceleration commands for the anti‐slip controller. When a slip occurs, the anti‐slip controller will decrease the torque quickly, and at the same time, by estimating the dynamic status of adhesion, the Adhesion Status Analyzer will restrain the acceleration command within a safe area. The effectiveness of the proposed approach is verified by using the EV slip simulator. 相似文献
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This paper presents the design of a robust force control system for an electrohydraulic load emulator utilized as part of a hardware-in-the-loop flight simulation experiment. In this application, the force controlled hydraulic actuator is used to artificially recreate in-service loads upon a second hydraulic flight actuator operated in closed-loop position control. Electrohydraulic force control is more difficult than electrohydraulic position tracking because the load dynamics influence the force transfer function in a way that makes it challenging to develop an accurate force tracking system using simple feedback control. Nonlinear quantitative feedback theory (QFT) is applied in this paper to address this issue. First, an effective and robust feedback controller is designed by nonlinear QFT to desensitize the force control loop to nonlinear servovalve flow/pressure effects and typical system uncertainties. A secondary compensator is also designed within the QFT framework to extend the force tracking bandwidth with respect to the load motion. Experiments demonstrate acceptable force tracking performance within the scope of a representative flight-simulation experiment. 相似文献
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针对多机器人共同吊运同一个物体形成闭运动链的协调系统,利用用牛顿-欧拉法建立了系统的广义动力学方程.研究了多机器人协调吊运系统动态载荷的一种实时性分配方法.根据各机器人的承载力,用线性加权方法使被吊运物质心处的内力有限并获得了系统的载荷分配原则.随后根据被吊运物的期望运动,给出了系统动态载荷分配的解析表达式,并进而可计算得到各机器人的期望工作载荷.最后,采用ABB工业机器人搭建吊运平台,实验验证所获得的载荷分配方法.研究结果为进一步研究多移动机器人协调吊运系统的载荷分配问题打下基础. 相似文献
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《Advanced Robotics》2013,27(12-13):1617-1640
This paper presents the dynamic formulation and performance evaluation of the 6-d.o.f. parallel structure seismic simulator. By means of the principle of virtual work and the concept of link Jacobian matrices, the inverse dynamic model of the seismic simulator is set up. Then, a series of new dynamic performance indices with obvious physical meanings have been proposed. The dynamic performance index combining the acceleration, velocity and gravity terms of the dynamic equations has been achieved by decoupling the inverse dynamics in an exhaustive way. By using the index, it is possible for us to evaluate the performance in different directions. The index has been applied to the dynamic characteristic evaluation of the 6-d.o.f. parallel structure seismic simulator in the numerical simulation. Conclusions and results are provided at the end of the paper. 相似文献
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移动自组网中Anycast路由协议的研究 总被引:2,自引:0,他引:2
讨论了Anycast通信协议模型和研究现状,提出一种基于AODV的Anycast路由协议用于移动自组网IP流通信.同时,在NS2模拟器中扩充了Anycast协议模块,并采用不同的网络参数测试了协议的性能.模拟结果显示,Anycast协议能有效平衡网络负载,减少包传输延时,增大网络吞吐能力.在节点移动性高且链路断裂频繁的情况下,Anycast服务也能提高移动自组网的性能. 相似文献