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An Intelligent non-collocated control Strategy for Ball-Screw Feed Drives with Dynamic Variations

Engineering 2017年第5期3卷 641-647页

作者： Hui Liu Jun Zhang Wanhua Zhao State Key Laboratory for Manufacturing Systems Engineering Xi'an fiaotung University. Xi'an 710054 China Collaborative Innovation Center of High-End Manufacturing Equipment Xi'an fiaotong University Xi'an 710054 China

The ball-screw feed drive has varying high-order dynamic characteristics due to flexibilities of the slender screw spindle and joints between components, and an obvious feature of non-collocated control when a direct position measurement using a linear＇scale is employed. The dynamic characteristics and non- collocated situation have long been the source of difficulties in motion and vibration control, and deterio- rate the achieved accuracy of the axis motion. In this study, a dynamic model using a frequency-based sub- structure approach is established, considering the flexibilities and their variation. The position-dependent variation of the dynamic characteristics is then fully investigated. A corresponding control strategy, which is composed of a modal characteristic modifier （MCM） and an intelligent adaptive tuning algorithm （ATA）, is then developed. The MCM utilizes a combination of peak filters and notch filters, thereby shaping the plant dynamics into a virtual collocated system and avoiding control spillover. An ATA using an artificial neural network （ANN） as a smooth parameter interpolator updates the parameters of the filters in real time in order to cope with the feed drive＇s dynamic variation. Numerical verification of the effectiveness and robustness of the orooosed strategy is shown for a real feed drive.

关键词： Ball-screw feed drives Varying high-order dynamics non-collocated control Modal characteristic modifier Intelligent adaptive tuning algorithm

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Stability Analysis of Cooperation System of Two Robot Arms

Stability Analysis of Cooperation System of Two Robot Arms

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第二十九届中国控制会议

作者： CHEN Yunlan1,2,XU Genqi1 1.Department of Mathematics,Tianjin University,Tianjin 300072,P.R.China2.Department of Automation,Tianjin University,Tianjin 300072,P.R.China

In this paper we study the stability problem of a hybrid system composed of two robots,where the appropriate cooperation of robots are expected to work *** performance of system depends directly upon one main factor:the coordination movement of the *** stability analysis of the system results in a model of uniform Euler-Bernoulli beams with linear and non-collocated boundary feedback *** prove that the system is exponentially stable with suitable choice of parameters of the *** particular,we show that the system satisfies the spectrum determine growth condition.

关键词： Robot Arms cooperative System Euler-Bernoulli Beam non-collocated control Riesz Basis Exponential Stabil-ity

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Stabilization of wave equations with boundary delays and non-collocated feedback controls

Stabilization of wave equations with boundary delays and non...

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第24届中国控制与决策会议

作者： Yanni Guo 1 ,Genqi Xu 2 1. College of Science, Civil Aviation University of China, Tianjin, 300300, China2. Department of Mathematics, Tianjin University, Tianjin 300072, China

This paper deals with the non-collocated, time-delayed actively point controls of a star-shaped network modeled by wave equations which has a rigid body attached on the common vertex. A closed-loop control is provided. It is shown that the closed-loop system is exponential stable if and only if it is asymptotically stable and there are at most finite eigenvalues on the imaginary axis under certain conditions. Furthermore, the exponential stability of the closed-loop system can always be obtained by choosing suitable feedback gain constants.

关键词： wave equations variable coefficient time delay non-collocated control exponential stabilization.

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