An automatic torque ripple compensation system for direct drive motors

A serious problem in motion control is the occurrence of torque ripple. Since a direct drive (DD) motor with a magnet rotor uses a rare-earth magnet, the torque ripple is more serious than that of conventional servomotors. This paper presents an auto-compensation of torque ripple using a software-implemented torque observer. The frequency and amplitude of torque ripple can be obtained in the controller by using the estimated torque from an observer, and the autonomous generation of a compensating current component for a torque ripple is possible. The proposed algorithm has been verified by experiments.     

一种新的机器人手臂控制方法

从机器人手臂的关节电机力学出发，本文提出了一种独立于现行机器人关节控制器的离线补偿方法，通过对－２自由度机器人的数值研究，证明该法不仅能有效地克服由于惯性负载，关节间耦合与重力效应给控制系统带来的动态精度问题，而且还可以消除由于控制系统本身的固有特性所决定的系统的跟踪误差。     

激光扫描共焦荧光显微镜的电子控制系统研究

介绍了激光扫描共焦荧光显微镜的电子控制系统，为了提高激光扫描器的定位精度，在系统中提出采用基于闭环象素时钟发生器的检流计振镜所固有的扫描非线性失真补偿方案，减少输出图象的枕形畸变，实现行扫描空间位置的均匀性。在以细分梯形波电流驱动反应式步进电机情况下，根据实测θｉ曲线，用反插法求得与步进电机运行非均匀性相补偿的相电流波，从而获得在小电流情况下高角度均匀的步进电机细分运行特性。     

Passive least-squares-type estimation algorithm for direct adaptive control

The standard least squares (LS) estimation algorithm is modified in such a way that it becomes passive. Therefore the scope of application of the LS algorithm is extended to those adaptive schemes whose convergence proof is based on passivity. The passive version of LS is presented in both continuous and discrete time.     

对洪水分级的浅见

洪水的等级划分应考虑流量、水位、防洪能力及灾害等因素,综合这些因素把洪水分成5个等级。1、2级洪水,洪水流量小,水位低,基本无灾;3级洪水,洪水流量较大或水位较高,有一定灾害;4级洪水,为大洪水或高水位,有较大灾害;5级洪水,为特大洪水或高水位,灾情严重。     

A sensorless brushless dc motor system

This paper describes a brushless dc motor system without position or speed sensor. The brushless motor consists of a permanent magnet synchronous motor and a voltage-source inverter capable of controlling the amplitude and frequency of voltage. The rectangular-shaped stator current with a conducting interval of 120° (electrical) is controlled to be in phase with the trapezoidal back electromotive force. This results in producing maximum torque. Variable speed is achieved by adjusting the average motor voltage similarly to chopper control of dc motors. In this paper, two sensorless position detecting methods, i.e., an “indirect method” suited for the lower-speed range and a “direct method” suited for the higher-speed range are proposed. The combination of the two makes it possible to detect the rotor position over a wide-speed range. Furthermore, a speed-sen-sorless PLL control is proposed in applying the principle of the direct method. Experimental results obtained from a prototype brushless dc motor are shown to confirm the validity of the sensorless drive. The starting procedure of the motor also is discussed because it is impossible to detect the rotor position at a standstill.     

微米级冷轧带钢厚度控制系统

分析、讨论了冷轧应用的各种厚度控制的优缺点，介绍质量流量厚度控制原理和控制精度极高的微米级带钢厚控（μＡＧＣ）系统及其可能产生的经济效益。     

The rank one mixed μ problem and ‘kharitonov-type’ analysis

The general mixed μ problem has been shown to be NP hard, so that the exact solution of the general problem is computationally intractable, except for small problems. In this paper we consider not the general problem, but a particular special case of this problem, the rank one mixed μ problem. We show that for this case the mixed μ problem is equivalent to its upper bound (which is convex), and it can in fact be computed easily (and exactly). This special case is shown to be equivalent to the so-called ‘affine parameter variation’ problem (for a polynomial with perturbed coefficients) which has been examined in detail in the literature, and for which several celebrated ‘Kharitonov-type’ results have been proven.