Robots positioning control revisited

Positioning control systems for robot arms are presented within a general framework in view of unification and classification. Treating coupling torques from other links as an external disturbance reduces the design of the control system to that of SISO servomechanisms driving each of the robot axes individually. A short survey of many control strategies proposed in the literature presents them as different methods aiming at attenuation of this disturbance. The use of disturbance observers is shown to provide a nice and simple way for that purpose. This could be applied to the improvement of actual industrial robots at the cost of slight software modifications.     

Consistency retention method for CNC machine tool digital twin model

Computer Numerical Control Machine Tool (CNCMT) Digital Twin (DT) model is a carrier for complex, time-varying, coupled data of CNCMT, which can theoretically provide a time-varying high-fidelity model. However, there are still many difficulties in its implementation process. And the key issue is how to realize the updated DT model with performance attenuation and validate it. In order to solve this problem, a model consistency retention method for CNCMT DT model is studied and proposed in this paper. Firstly, the framework of consistency retention method for DT model is designed including both digital space and physical space. The principles of data management and performance attenuation update in digital space are elaborated. Then, the implementation method for consistency retention of CNCMT DT model is studied in terms of performance attenuation update workflow for wear and other damage separately. Finally, a case study for the establishment and application of high-fidelity test bench DT model that focusing on rolling guide-rail is carried out to show the implementation flow of the proposed method and verify its operability and effectiveness.     

多时滞线性连续系统的最优H∞容错控制

针对状态具有多个时滞的线性连续系统,基于Lyapunov稳定性理论和线性矩阵不等式方法(LMI),采用无时滞记忆的状态反馈控制律,研究了在执行器发生故障的情况下,连续多时滞系统的最优H∞容错控制问题.首先,给出了系统没有干扰输入时存在无记忆状态反馈容错控制器的一个充分条件;进一步,给出了在H∞扰动衰减指标约束下,系统存在无记忆状态反馈H∞容错控制器的一个充分条件;最后,给出了最优无时滞记忆状态反馈H∞容错控制器的设计方法.仿真实例证明了所得最优H∞容错控制嚣设计方法的正确性和有效性.     

Optimal Performance in Tracking Stochastic Signal Under Disturbance Rejection

The analysis method of optimal tracking performance is proposed for multiple‐input multiple‐output (MIMO) linear time‐invariant (LTI) systems under disturbance rejection. An H₂ criterion of the error signal between the output of the plant and the reference signal is used as a measure for the tracking performance. Spectral factorization is applied to obtain the optimal solution of the system tracking error. The explicit expressions are derived for this minimal tracking error with respect to random reference signals under disturbance rejection. It is shown that the nonminimum phase zeros, the zero direction, the unstable poles, the pole direction of a given plant, statistical characteristics of the reference input signal, and disturbance signal have a negative effect on a feedback system's ability to reduce the system error with disturbance rejection. The results show that the optimal tracking performance will further be damaged because of disturbance rejection. Some typical examples are given to illustrate the theoretical results.     

GemstoneFire: adaptive dispersive ray tracing of polyhedrons

Synthesizing realistic images of gemstones requires techniques beyond the scope of normal ray tracing. The fire of such highly refractive objects is what makes gemstones attractive, and also imposes very high computational overhead to perform time consuming dispersive ray tracing. Gemstones are usually cut in polyhdrons as for example, a brillant cut. After a detailed analysis of the nature of dispersive ray tracing of polyhedral objects, we propose here a new method of using three simple rays adaptively to model the ray spreading caused by dispersive refraction. It is shown that the proposed method reduces the computational complexity to an order close to that of normal ray tracing.     

带式输送机永磁驱动系统自抗扰同步控制策略

针对带式输送机永磁驱动系统采用PID控制器进行控制时电机的控制性能差和采用多电机驱动时电机间转速不同步、稳定性差等问题,提出了带式输送机多永磁电机驱动系统自抗扰同步控制策略。基于自抗扰控制(ADRC)技术设计了2种调速控制策略,并搭建仿真模型进行了对比试验;随后结合模糊PID控制技术对传统偏差耦合控制进行结构改进,并以矿用带式输送机多永磁电机驱动系统为控制对象,开展基于主从、传统偏差耦合和改进型偏差耦合同步控制结构的仿真。结果表明,基于二阶ADRC和改进型偏差耦合控制结构的带式输送机多永磁电机驱动系统同步控制策略具有更好的抗干扰能力、控制精度和同步性,有利于带式输送机平稳高效的安全运行。     

一类具有Beddington - DeAngelis功能反应的离散竞争系统的概周期解

针对一类具有Beddington - DeAngelis功能反应的离散竞争系统,运用差分不等式和通过构造适当的Lyapunov函数,证明了该系统具有持久性和全局吸引性.利用差分概周期方程的壳理论,得到了保证该系统存在唯一的概周期解的充分条件.所得结果补充了文献[3]和文献[4]的工作.     

基于模糊控制-扰动观察法的光伏MPPT跟踪技术

本文提出了基于模糊控制-扰动观察法的光伏MPPT跟踪技术。通过分析光伏电池的工作特性,建立光伏电池输出功率的数学模型,进一步建立了模糊控制-扰动观察法的实施步骤,并搭建了Matlab/Simulink仿真模型,对扰动观察法的光伏MPPT跟踪技术与提出的跟踪技术进行了仿真,并对两种跟踪技术仿真数据进行了对比。仿真表明,所提的方法功率波动范围小,跟踪精度高,能以很快的速度达到最大功率点等优点。     

基于扰动观察法的光伏电池最大功率跟踪控制

本研究提出了基于扰动观察法的最大功率点跟踪方法。该控制方法以光伏电池的数学模型为基础,检测太阳能发电输出功率的变化,根据检测结果,调整光伏电池的相关参数,以达到最大功率点跟踪的目的。通过Matlab/Simulink仿真,结果表明提出的改进算法能有效提高光伏发电系统的发电效率。     

基于事件触发的电力系统H∞优化控制

针对大规模集中用电导致电力系统负荷端激增从而影响电力系统稳定性的问题,提出一种基于事件触发的H_∞优化控制方式。本文采用扇区法对单机无穷大电力系统进行线性化处理,之后通过模糊逻辑建立电力系统的T-S模糊模型。通过事件触发理论和模糊逻辑利用并行分布补偿(parallel distribution compensation,PDC)的方法设计系统控制器。H∞优化控制相比于传统的控制方法提高了系统的稳定性及抗干扰能力,因此本文根据李雅普诺夫稳定性理论和H∞优化控制理论,基于线性矩阵不等式(linear Matrix Inequality,LMI),给出了保证单机无穷大电力系统闭环渐进稳定的充分条件,并采用MATLAB仿真软件对系统进行仿真,从而证明稳定条件的存在。