The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this p...The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.展开更多
The dynamic model experiment of the rock filling embankment was carried out to investigate the vibration compaction mechanism. The rock filling materials were compacted by the plate-vibrated compactor, and the charact...The dynamic model experiment of the rock filling embankment was carried out to investigate the vibration compaction mechanism. The rock filling materials were compacted by the plate-vibrated compactor, and the characteristics of the rock filling materials, such as settlement, pressure change and response waveform, were measured by the dynamic earth pressure gauge and aceelerometer. Moreover, a new method for detecting the compactness of the rock filling embankment was proposed based on the maximum dry density and modulus of deformation. The results show that the process of vibration compaction includes compact, elastic deformation and loose stages, and the vibratory pressure transfers to the surroundings from the vibration center in non-linear rule. Furthermore, the test results obtained by the present method are basically in agreement with those obtained by the traditional method, and the maximum relative error between them is about 0.5%.展开更多
基金Project(50375139) supported by the National Natural Science Foundation of ChinaProject(NCET-04-0545) supported by the New Century Excellent Talent Plan of the Ministry of Education of China
文摘The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.
基金Project (50708033) supported by the National Natural Science Foundation of ChinaProject (20070532067) supported by Doctoral Foundation of Ministry of Education of China
文摘The dynamic model experiment of the rock filling embankment was carried out to investigate the vibration compaction mechanism. The rock filling materials were compacted by the plate-vibrated compactor, and the characteristics of the rock filling materials, such as settlement, pressure change and response waveform, were measured by the dynamic earth pressure gauge and aceelerometer. Moreover, a new method for detecting the compactness of the rock filling embankment was proposed based on the maximum dry density and modulus of deformation. The results show that the process of vibration compaction includes compact, elastic deformation and loose stages, and the vibratory pressure transfers to the surroundings from the vibration center in non-linear rule. Furthermore, the test results obtained by the present method are basically in agreement with those obtained by the traditional method, and the maximum relative error between them is about 0.5%.
