为了检测飞机防滑刹车控制器的工作性能和工作寿命,以提高现有测试工具和测试方法的自动化程度,利用LabVIEW作为软件开发平台,设计了一种通用测试系统。测试系统采用数据采集卡+DSP的硬件结构,软件上采用的是上位机LabVIEW监控程序+下位...为了检测飞机防滑刹车控制器的工作性能和工作寿命,以提高现有测试工具和测试方法的自动化程度,利用LabVIEW作为软件开发平台,设计了一种通用测试系统。测试系统采用数据采集卡+DSP的硬件结构,软件上采用的是上位机LabVIEW监控程序+下位机DSP程序的结构。系统采用UPS和市电联合供电,通过实验验证,即使在断电的情况下也可以利用4组12 V 100 Ah的蓄电池实现全程无人值守完成规定的实验次数。展开更多
In this paper,an active fault-tolerant control(FTC)strategy of aerial manipulators based on non-singular terminal sliding mode(NTSM)and extended state observer(ESO)is proposed.Firstly,back-stepping technology is adopt...In this paper,an active fault-tolerant control(FTC)strategy of aerial manipulators based on non-singular terminal sliding mode(NTSM)and extended state observer(ESO)is proposed.Firstly,back-stepping technology is adopted as the control framework to ensure the global asymptotic stability of the closed-loop system.Next,the NTSM with estimated parameters of actuator faults is used as main robustness controller to deal with actuator faults.Then,the ESO is utilized to estimate and compensate the complex coupling effects and external disturbances.The Lyapunov stability theory can guarantee the asymptotic stability of aerial manipulators system with actuator faults and external disturbances.The proposed FTC scheme considers both actuator fault and modelling errors,combined with the adaptive law of actuator fault,which has better performance than traditional FTC scheme,such as NTSM.Finally,several comparative simulations are conducted to illustrate the effectiveness of the proposed FTC scheme.展开更多
文摘为了检测飞机防滑刹车控制器的工作性能和工作寿命,以提高现有测试工具和测试方法的自动化程度,利用LabVIEW作为软件开发平台,设计了一种通用测试系统。测试系统采用数据采集卡+DSP的硬件结构,软件上采用的是上位机LabVIEW监控程序+下位机DSP程序的结构。系统采用UPS和市电联合供电,通过实验验证,即使在断电的情况下也可以利用4组12 V 100 Ah的蓄电池实现全程无人值守完成规定的实验次数。
基金Project(51705243)supported by National Natural Science Foundation of ChinaProject(NS2020052)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(GZKF-201915)supported by the Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems,China。
文摘In this paper,an active fault-tolerant control(FTC)strategy of aerial manipulators based on non-singular terminal sliding mode(NTSM)and extended state observer(ESO)is proposed.Firstly,back-stepping technology is adopted as the control framework to ensure the global asymptotic stability of the closed-loop system.Next,the NTSM with estimated parameters of actuator faults is used as main robustness controller to deal with actuator faults.Then,the ESO is utilized to estimate and compensate the complex coupling effects and external disturbances.The Lyapunov stability theory can guarantee the asymptotic stability of aerial manipulators system with actuator faults and external disturbances.The proposed FTC scheme considers both actuator fault and modelling errors,combined with the adaptive law of actuator fault,which has better performance than traditional FTC scheme,such as NTSM.Finally,several comparative simulations are conducted to illustrate the effectiveness of the proposed FTC scheme.
