The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
In order to improve the efficiency of field operations, such as pesticide spraying and pest control, the development of new agricultural machinery has become the main goal of agricultural modernization. At present, sm...In order to improve the efficiency of field operations, such as pesticide spraying and pest control, the development of new agricultural machinery has become the main goal of agricultural modernization. At present, small unmanned aerial vehicles(UAVs) have achieved good results in small area pesticide spraying, but they still do not meet the requirements of the big field operations. The rotation rotorcraft has the characteristics of low speed, good safety, super stol, strong endurance, strong wind resistance and simple mechanism, so it is very suitable for farmland operation. But at present, there are relatively few researches on the unmanned rotation rotorcraft at domestic and abroad, and there is no mature control theory system of unmanned rotation rotorcraft. Therefore, in order to solve the problem of navigation control system of unmanned rotation rotorcraft, the navigation control strategy of the rotation rotorcraft was studied in this paper, and the flight control strategy of the rotation rotorcraft was divided into two parts, the linear control and the turn control. The lateral correction strategy was used to control the rotorcraft, so as to complete the track guidance of the rotation rotorcraft. Using the matrix laboratory(MATLAB) modeling to simulate the circular trajectory and the serpentine trajectory, the maximum deviation of circular path offset was 1.1 m. The variance between the path angle and the given path angle was 6°. The maximum deviation of serpentine path offset was 0.6 m. The variance between the path angle and the given path angle was 8°. The simulation results showed that the rotorcraft could accomplish the scheduled trajectory task based on this control strategy.展开更多
微电网作为新能源消纳的有效方式受到了广泛关注。相比于传统电力系统,由电力电子装置主导的微电网系统,在外界扰动时更容易引起电网频率偏差和频率变化率RoCoF(rate of change of frequency)过大。为此,首先提出了一种基于LPF的RoCoF...微电网作为新能源消纳的有效方式受到了广泛关注。相比于传统电力系统,由电力电子装置主导的微电网系统,在外界扰动时更容易引起电网频率偏差和频率变化率RoCoF(rate of change of frequency)过大。为此,首先提出了一种基于LPF的RoCoF下垂控制策略,通过耦合RoCoF和母线电容电压,使得在扰动产生时快速释放电容能量来补偿系统不平衡功率,从而提高频率响应的执行速度,能够有效改善RoCoF暂态过程的稳定性。其次,类比传统同步机在机电时间尺度下的动态分析理论,建立了风电系统在直流电压时间尺度DVT(DC-voltage timescale)下的动态模型,基于经典的电气转矩分析方法,揭示了所提模型控制环节对风电系统惯性的影响规律。然后,在同等电容裕量下对不同控制策略进行了对比,结果表明:电容能量释放的快慢,能够直接影响RoCoF的抑制效果,且随着下垂系数Kh的增加和LPF截止频率ωc的减少,网侧逆变器的有功响应速度相应增加。最后,通过实验验证了所提控制方法的有效性和分析结论的正确性。展开更多
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
基金Supported by the National Key R&D Program of China(2016YFD0300610)
文摘In order to improve the efficiency of field operations, such as pesticide spraying and pest control, the development of new agricultural machinery has become the main goal of agricultural modernization. At present, small unmanned aerial vehicles(UAVs) have achieved good results in small area pesticide spraying, but they still do not meet the requirements of the big field operations. The rotation rotorcraft has the characteristics of low speed, good safety, super stol, strong endurance, strong wind resistance and simple mechanism, so it is very suitable for farmland operation. But at present, there are relatively few researches on the unmanned rotation rotorcraft at domestic and abroad, and there is no mature control theory system of unmanned rotation rotorcraft. Therefore, in order to solve the problem of navigation control system of unmanned rotation rotorcraft, the navigation control strategy of the rotation rotorcraft was studied in this paper, and the flight control strategy of the rotation rotorcraft was divided into two parts, the linear control and the turn control. The lateral correction strategy was used to control the rotorcraft, so as to complete the track guidance of the rotation rotorcraft. Using the matrix laboratory(MATLAB) modeling to simulate the circular trajectory and the serpentine trajectory, the maximum deviation of circular path offset was 1.1 m. The variance between the path angle and the given path angle was 6°. The maximum deviation of serpentine path offset was 0.6 m. The variance between the path angle and the given path angle was 8°. The simulation results showed that the rotorcraft could accomplish the scheduled trajectory task based on this control strategy.
文摘微电网作为新能源消纳的有效方式受到了广泛关注。相比于传统电力系统,由电力电子装置主导的微电网系统,在外界扰动时更容易引起电网频率偏差和频率变化率RoCoF(rate of change of frequency)过大。为此,首先提出了一种基于LPF的RoCoF下垂控制策略,通过耦合RoCoF和母线电容电压,使得在扰动产生时快速释放电容能量来补偿系统不平衡功率,从而提高频率响应的执行速度,能够有效改善RoCoF暂态过程的稳定性。其次,类比传统同步机在机电时间尺度下的动态分析理论,建立了风电系统在直流电压时间尺度DVT(DC-voltage timescale)下的动态模型,基于经典的电气转矩分析方法,揭示了所提模型控制环节对风电系统惯性的影响规律。然后,在同等电容裕量下对不同控制策略进行了对比,结果表明:电容能量释放的快慢,能够直接影响RoCoF的抑制效果,且随着下垂系数Kh的增加和LPF截止频率ωc的减少,网侧逆变器的有功响应速度相应增加。最后,通过实验验证了所提控制方法的有效性和分析结论的正确性。
