Dynamic output feedback control of saturated switched delay systems under the PDT switching

This paper is devoted to saturated control of switched delay systems. The main focus is to find a suitable switching law and saturated output feedback controllers such that the closed‐loop systems are asymptotically stable and have the disturbance tolerance/rejection capacity. A mixed slow/arbitrary switching approach, so‐called persistent dwell time (PDT) switching, is used to design the switching law. Compared with the slow switching, it is more general and leads to more flexibility in the process of constructing switching signals. More importantly, the proposed PDT is dependent on state delay, which includes the previous delay‐independent PDT. Next, time‐varying ellipsoids and a prescribe l₂‐gain are introduced to characterize the disturbance tolerance and rejection capacities of systems, respectively. Based on the proposed results, the relation between delay‐dependent PDT and level of disturbance tolerance/rejection is shown. Finally, saturated controllers working in time‐varying hull controllable regions are designed. Thus, the considered problem is solved. An example is exploited to illustrate the effectiveness of the proposed results. Copyright © 2016 John Wiley & Sons, Ltd.     

气动人工肌肉关节的自抗扰控制

气动人工肌肉关节系统是一个强非线性时变自平衡2阶系统,鉴于传统控制方法难以克服控制精度、调节速度和稳定性之间的矛盾,设计了一种2阶自抗扰控制器.采用3阶扩张状态观测器实时估计未建模型部分及外界扰动,对系统进行线性补偿,并利用非线性反馈机制提高控制效率,在保证稳定性的前提下,提高调节速度和控制精度,使得系统的稳态精度小于...     

二维完整配置下刚性航天器姿态角速度的渐近镇定

讨论了以非完整配置的单向推力器系统为执行机构时,刚性航天器姿态角速度的镇 定问题.针对一类特殊的有扰量非完整配置的情况--共面扰量二维完整配置,基于滑动控 制律实现了姿态角速度的镇定.仿真结果证实了所述方法的有效性.     

单向执行器系统配置的完整性

提出了配置完整性的概念,用来表征单向执行器系统控制作用的生成能力.并且将 配置完整性归结为线性方程组正解的存在性问题,给出了配置矩阵完整性的若干性质和判 别条件及其相应的判别步骤.     

线性系统的容错控制

在这篇文章里 ,我们考虑一类线性系统的鲁棒跟踪控制器设计问题 .对执行器故障和控制面故障情况 ,提出了容错的鲁棒控制器的设计方法 .此设计方法能够保证闭环系统是稳定的     

Casting traceability with direct part marking using reconfigurable pin-type tooling based on paraffin–graphite actuators

Green sand moulding machines for cast iron foundries are presently unable to uniquely identify individual castings. An insert tool concept is developed and tested via incremental mock-up development. The tool is part of the pattern plate and changes shape between each moulding, thus giving each mould a unique ID by embossing a Data Matrix symbol into the sand. In the process of producing the mould, each casting can be given a unique (DPM), enabling part tracking throughout the casting's life cycle. Sand embossing is achieved with paraffin-actuated reconfigurable pin-type tooling under simulated processing conditions. The marker geometry limitations have been tested using static symbol patterns, both for sand embossing and actual casting marking. The marked castings have successfully been identified with decoding software. The study shows that the function of each element of this technology can be successfully applied within the foundry industry.     

Analysis and Control of Novel Deflection-Type PM Multi-DOF Actuator

This paper mainly presents a PM multi-DOF actuator for robot in-wheels drive applications and its control method. The torque model is established based on the finite-element model of the single pair poles in 3D finite element method software. Due to the special structure of the actuator, the Euler angles are adopted for deriving the kinematics and dynamic model. To reduce the effects of uncertainties of modeling error, nonlinear friction and external disturbances in the system, an approximation of neural network adaptive control method is applied to the actuator. The computation and simulation results show that the proposed analysis and control method can effectively derive the characteristics and improve the motion performance, which provides the primary theoretical guide for the configuration design, optimization and control research of multi-DOF deflection type actuators.     

电子机械制动执行器数学建模与精细控制

根据EMB执行器的结构特点和力学特性,分别建立EMB执行器的电机模型、刚度模型、摩擦力模型和运动微分方程,并设计EMB执行器的控制器,最后将各个部分结合起来建立EMB执行器的数学模型并进行仿真分析。用软件编程实现设计好的控制器,并进行硬件在环实验,实验结果与仿真结果十分接近。     

高微重力振动隔离系统激励器分配优化设计

为了满足高微重力振动隔离系统实时变化的控制器输出要求,同时也为了降低隔振系统激励器的功耗,对激励器分配组合进行了分配优化设计.介绍了激励器分配电流的计算方法,给定浮子质心作用力计算各种组合的激励器分配电流,对结果进行比较分析后确定出最优组合.通过给定相对位置、变化的质心作用力进行地面测试,结果表明了设计结果的合理性.