A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevaryin...A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.展开更多
为实现多轴伺服驱动压力机的同步控制,文章基于传统偏差耦合控制提出一种虚拟轴改进型偏差耦合同步控制方法,并搭建同步控制实验平台进行现场验证。基于压力机结构和控制模型实现模糊比例积分微分(proportional integral derivative,PID...为实现多轴伺服驱动压力机的同步控制,文章基于传统偏差耦合控制提出一种虚拟轴改进型偏差耦合同步控制方法,并搭建同步控制实验平台进行现场验证。基于压力机结构和控制模型实现模糊比例积分微分(proportional integral derivative,PID)位置跟踪控制;在传统偏差耦合控制结构中添加评价误差模块,搭建一种改进型偏差耦合同步控制方法,提高同步系统的抗扰动能力和同步精度;将虚拟轴引入改进型偏差耦合控制结构中,从而解除多轴间的直接耦合关系,简化改进型同步位移补偿结构。实验结果表明,该方法有效提高了压力机同步抗扰动能力和稳态同步精度。展开更多
基金supported in part by the Nation Natural Science Foundation of China under Grant No.52175099China Postdoctoral Science Foundation under Grant No.2020M671494Jiangsu Planned Projects for Postdoctoral Research Funds under Grant No.2020Z179。
文摘A tracking stability control problem for the vertical electric stabilization system of moving tank based on adaptive robust servo control is addressed.This paper mainly focuses on two types of possibly fast timevarying but bounded uncertainty within the vertical electric stabilization system:model parameter uncertainty and uncertain nonlinearity.First,the vertical electric stabilization system is constructed as an uncertain nonlinear dynamic system that can reflect the practical mechanics transfer process of the system.Second,the dynamical equation in the form of state space is established by designing the angular tracking error.Third,the comprehensive parameter of system uncertainty is designed to estimate the most conservative effects of uncertainty.Finally,an adaptive robust servo control which can effectively handle the combined effects of complex nonlinearity and uncertainty is proposed.The feasibility of the proposed control strategy under the practical physical condition is validated through the tests on the experimental platform.This paper pioneers the introduction of the internal nonlinearity and uncertainty of the vertical electric stabilization system into the settlement of the tracking stability control problem,and validates the advanced servo control strategy through experiment for the first time.
文摘为实现多轴伺服驱动压力机的同步控制,文章基于传统偏差耦合控制提出一种虚拟轴改进型偏差耦合同步控制方法,并搭建同步控制实验平台进行现场验证。基于压力机结构和控制模型实现模糊比例积分微分(proportional integral derivative,PID)位置跟踪控制;在传统偏差耦合控制结构中添加评价误差模块,搭建一种改进型偏差耦合同步控制方法,提高同步系统的抗扰动能力和同步精度;将虚拟轴引入改进型偏差耦合控制结构中,从而解除多轴间的直接耦合关系,简化改进型同步位移补偿结构。实验结果表明,该方法有效提高了压力机同步抗扰动能力和稳态同步精度。
