神经网络离散变结构控制的算法及其应用

本文首次将自适应线性神经元（Ａｄａｌｉｎｅ）用于离散变结构控制。以滑模面Ｓ（ｋ）＝０作为Ａｄａｌｉｎｅ元的希望输出，作为Ａｄａｌｉｎｅ元的实际输出，通过ＬＭＳ算法在线调整权值可保证滑态可达条件的满足。应用所提出的控制策略对泵控马达速度伺服系统进行控制，仿真表明控制效果是令人满意的。     

BOSCH伺服控制系统在ZJ19B卷接机组中的应用

介绍BOSCH伺服控制系统成功应用于ZJ19B卷接机组传动系统中,使机器供丝、供纸、刀头、嘴机部分各个电机的运行更加稳定,控制精度显著提高;减少因控制精度不够而引起的非正常停机次数,提高机器的有效作业率,节约原料;同时使烟支的重量、圆周、紧头等各项指标合格率显著提高。     

贝加莱ACOPOSmulti在奇瑞6关节机器人控制系统中的应用

本文关于贝加莱ACOPOSmulti伺服系统和机器人软件库在奇瑞6关节机器人研发中的应用。介绍了机器人机械系统的组成和性能参数,重点描述了以APC820工控机和ACOPOSmuhi伺服驱动器为核心。基于EthernetPOWERLINK工业实时以太网和AutomationStudio集成软件开发平台的机器人控制系统,并讨论了通过MATLAB／Simulink的代码自动生成技术、ACOPOSmuhi驱动系统的负载惯量前馈技术等关键技术环节。     

冲压式舵机动态特性测试系统的研制

为了在实验室条件下模拟冲压式舵机的舵面在空中所受的气动载荷,实现舵机系统动态性能指标的综合检测,设计了基于PXI总线的舵机动态测试系统,工作过程中对舵偏角信号、工作电流信号、扭矩信号进行实时采集、显示,并配合测试流程完成对舵机动态性能的测试。设计中重点考虑了定刚度加载系统的小扭矩加载精度、小转动惯量以及同轴度问题。实验结果表明,该测试系统测试精度高、使用维护方便,满足要求。     

FAULT DIAGNOSIS OF HYDRAULIC SERVO SYSTEM USING THE UNSCENTED KALMAN FILTER

Fault occurrence can be embodied by the physical parameter variations of the hydraulic servo system. Faults can, therefore, be diagnosed according to the model coefficient variations of the hydraulic servo system. This paper proposes an approach for fault diagnosis based on the unscented Kalman filter (UKF) with a mathematical model of the hydraulic servo system. The mathematical model is established using the dynamic equations of the hydraulic servo system. Based on the fault mechanism analysis results, several important system model parameters that can separately represent different faults in different components of the hydraulic servo system are chosen. Discrete state space equations are derived from the dynamic equations. The UKF algorithm is used to estimate the important system model parameters of the hydraulic servo system by utilizing the discretized state space model. According to the variations of these model parameters, the fault modes and locations of the hydraulic servo system can be diagnosed and isolated. Two types of faults, namely, abrupt fault in servovalve gain and slow wear fault in hydraulic cylinder piston, which cannot be directly detected from the system output, are introduced individually to the hydraulic servo system in this work. By comparing with the extended Kalman Filter, three different experimental cases are used to validate the effectiveness of the UKF for hydraulic servo system fault diagnosis.     

微小型工业汽轮机智能交流伺服调节系统研究

为了解决微小型工业汽轮机组调节控制系统设备简陋,动态响应和稳态精确度差的问题,提出了一种采用交流伺服电机和模糊PID控制的自动调节系统．在对调节系统部件特性数据进行分析的基础上,应用机理分析法建立了工业汽轮机交流伺服调节系统的数学模型,建立了以模糊PID控制和常规PID为主的控制器仿真模型,并利用MATLAB（SIMULINK）进行了动态仿真．结果表明,采用交流伺服电机作为执行器比传统的机械式调节系统具有更优良的动态和稳态性;采用模糊PID控制策略的调节系统在减少调节时间、改善动态品质方面均好于常规PID调节器．为工业汽轮机交流伺服调节系统的进一步研究提供了理论基础．     

Observer‐based compensation control of servo systems with backlash

For compensating backlash phenomenon in servo systems, the authors propose an observer method in this paper to estimate both system states and vibration torque before controller design. First, a systematic scheme is given to obtain plant parameters, which is very important in observing system states. This is a parameter estimation principle that gives a crude estimation and computes the differences between the crude and true values. As a result, the precise value of the parameters is obtained by adding together the crude value and the difference. Then, based on the precise estimated parameters, an extended state observer (ESO) is designed to obtain feedback and feedforward signals. Consequently, robust compensation control is achieved by designing an output feedback controller, consisting of a feedback term and a feedforward term. Finally, in order to validate the proposed approach, extensive experiments are performed on a practical servo system with backlash nonlinearity.     

数控机床位置伺服在线调试与动态性能分析研究

介绍一种在数控机床位置伺服系统在线调试中应用系统动态性能分析方法的基本原理，给出了一种位置伺服系统动态响应曲线、动态性能分析及其主要技术指标的实例。     

基于遗传算法的六自由度并联平台的控制

由于单通道电液位置伺服系统是一种非线性时变系统,而且有阻尼比小、参数变化大、非线性程度高的特点,传统的PID控制已经很难满足六自由度并联平台的控制精度的要求。针对六自由度并联平台单通道的数学模型,采用遗传算法对其PID控制器的参数进行优化控制,以满足系统的控制精度的要求。仿真结果表明该控制系统的性能指标有了很大改善,证明了该遗传算法的可行性和有效性,克服了传统PID整定参数费时的缺点,对解决实际控制问题提供了有效的方法,并且具有良好的抗干扰能力,其适应性(鲁棒性)也有了很大的提高。     

某减速机构刚度分析及测试

研究某减速机构的刚度分析、优化及试验验证问题,分析滚珠丝杠预紧力和各传动副之间的间隙等对机构刚度的影响,并提出控制影响刚度因素的方法;利用ANSYS进行减速机构的结构静力分析;设计、生产专用测试装备测试该减速机构的刚度.结果表明：减速机构的设计满足刚度需求,同时提供测试减速机构刚度的方法.