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Visual servo control system for Narrow Butt Seam

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Visual Servo Control system for Narrow Butt Seam

第25届中国控制与决策会议

作者： Haiyong Chen Fengxiang Lei Guansheng Xing Weipeng Liu Hexu Sun School of control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781467355339

In this paper a visual servo control system is designed to realize the accurate tracking of the narrow butt seam of the thin plate. An effective "and" operation and statics method is proposed to reduce the image noises caused by various disturbances in the welding process. And the ROI of the image is determined to improve the efficiency of the image processing. The feature line of the thinned seam is extracted by using combination of hough transform and least square line fitting technique. Moreover the method used in this study ensured the safety and reliability. In terms of controller, to guarantee the reliability, image error filtering and output pulse verification is added to the controller. Finally, a series of experiments were conducted to verify the good performance of the proposed seam tracking system.

关键词： servo control Vision control Seam tracking Industrial robot laser welding

AN IMPROVED servo control SYSTEM FOR HIGH SPEED FLAT INDUSTRIAL SEWING MACHINE

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AN IMPROVED SERVO CONTROL SYSTEM FOR HIGH SPEED FLAT INDUSTR...

2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会

作者： XIAO Xi, ZHANG Meng, LI Min, LI Yongdong The Department of Electrical Engineering Tsinghua University, Beijing, 100084, P.R.China

This paper presents a permanent magnet synchronous motor (PMSM) servo drive system for high speed flat industrial sewing machine. In order to satisfy the special function of sewing machine, several ap

关键词： Permanent magnet synchronous machine servo control flat industrial sewing machine.

Study on Real-Time Processing Algorithm of Embedded servo control System Based on DSP

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Study on Real-Time Processing Algorithm of Embedded Servo Co...

ICEMI'2005第七届国际电子测量与仪器学术会议

作者： Fang Ying1 Mao Jia2 Wu Xijun 3 1(Test Center for Examination Science of Jilin University Changchun 130025 China) 2(Communication Engineering Institute of Jilin University Changchun 130025 China) 3(Training Center of Jilin Provincial Power Co. Ltd. Changchun 130021 China)

The PWM model of DC motor is presented based on the state-space averaging model, and the transfer functions between the output angular velocity and the duty cycle and the applied voltages are proposed

关键词： Embedded system servo control model response.

Flight Simulator Table servo control Based on ADRC Strategy

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Flight Simulator Table Servo Control Based on ADRC Strategy

第二十九届中国控制会议

作者： LONG Man-Lin 1,2,FUYong-Ling 1,CHEN Shuang-Qiao 2,GUO Dong 1,3 1.School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,P.R.China2.College of Naval Architecture and Power,Naval University of Engineering,Wuhan 430033,P.R.China 3.Liaoning University of Technology,Jinzhou,Liaoning Province 121000,P.R.China

For servo control of flight simulator table by electric-motor-drive,it would be hard to achieve high precise track by conventional algorithms or compensating means through accurate modeling due to several nonlinear or random factors,which are periodic ripple torque of motor,load fluctuation,errors of feedback sensors,friction,etc.,hence ADRC（Active-Disturbance-Rejection-controller）is adopted to estimate and compensate above-mentioned factors on-line aiming at a better servo precision for the ***,ESO（Extended State Observer）of ADRC was designed by analyzing characteristics of flight simulator table inner-axis,thus the comprehensive disturbance instead of above-mentioned factors was observed and compensated simultaneously by ESO;secondly,Simulation study was done by establishing system model with extreme disturbance condition,and the parameters for ADRC were tuned through comparison of different simulation results;lastly,real experiment with well tuned controller was carried out to verify the validity of the algorithm on flight simulator table *** results from tracking a sine wave with amplitude of 2°show that the tracking error is great at the very moment of motor jump-starting and then is less than 0.0017°for the rest of the time,thus a high dynamic tracking performance is ***,simulation and experiment reveal that robustness of ADRC is strong and to tune its parameters on nominal model is feasible for actual control plant.

关键词： Flight Simulator Table ADRC servo control Disturbance Compensation

A Kind of PWM Pneumatic servo control System——Modulation Methods and Dynamic Responses

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Journal of Beijing Institute of Technology 1992年第1期1卷 50-58页

作者：姚晓先陈汉超北京理工大学飞行器工程系

Vibrations or dither's are features of the PWM servo control system in their steady outputs. On the grounds of analyses and experiments of a PWM pneumatic servo control system, the paper puts forward four varieties of PWM modulation methods, and concludes on the relationship between dithers and the different methods, and then discusses the influence of friction to the dithers. Results from experiments regarding the dynamic and static responses on the given system support the theories presented.

关键词： pulse width modulation pneumatic piston actuating mechanisms servo control servo valves friction vibration effect

Research on Stepper Motor servo controller Based on Pan-Boolean PID control

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Research on Stepper Motor Servo Controller Based on Pan-Bool...

第三十九届中国控制会议

作者： Jiashun Shi Jin Chen Wen Qi School of Engineering Shanghai Second Polytechnic University

This paper applies the pan-Boolean PID control algorithm to the stepper motor servo control *** mathematical simulation control model of the step-motor servo control system [1]is established in the MATALB/SIMULINK *** the output effect in the stepper motor servo *** of simulation model results shows that compared with traditional PID control,pan-Boolean PID control has good control effects such as fast response speed,small overshoot,short adjustment time,and strong *** order to verify the general practicability of the stepper motor servo controller based on the pan-Boolean PID control algorithm,a stepper motor servo controller based on a dedicated control and control chip is designed in this *** stepping servo controller designed in this paper has basic *** stepping servo controller can meet the development needs of modern industry,and has certain practical significance for the theoretical research and production practice of the servo controller.

关键词： Robustness pan-Boolean PID servo control

Data⁃Based Feedback Relearning Algorithm for Robust control of SGCMG Gimbal servo System with Multi⁃source Disturbance

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Transactions of Nanjing University of Aeronautics and Astronautics 2021年第2期38卷 225-236页

作者： ZHANG Yong MU Chaoxu LU Ming School of Electrical and Information Engineering Tianjin UniversityTianjin 300072P.R.China Beijing Institute of control Engineering Beijing 100190P.R.China

Single gimbal control moment gyroscope(SGCMG)with high precision and fast response is an important attitude control system for high precision docking,rapid maneuvering navigation and guidance system in the aerospace *** this paper,considering the influence of multi-source disturbance,a data-based feedback relearning(FR)algorithm is designed for the robust control of SGCMG gimbal servo *** on adaptive dynamic programming and least-square principle,the FR algorithm is used to obtain the servo control strategy by collecting the online operation data of SGCMG *** is a model-free learning strategy in which no prior knowledge of the SGCMG model is ***,combining the reinforcement learning mechanism,the servo control strategy is interacted with system dynamic of *** adaptive evaluation and improvement of servo control strategy against the multi-source disturbance are ***,a data redistribution method based on experience replay is designed to reduce data correlation to improve algorithm stability and data utilization ***,by comparing with other methods on the simulation model of SGCMG,the effectiveness of the proposed servo control strategy is verified.

关键词： control moment gyroscope feedback relearning algorithm servo control reinforcement learning multisource disturbance adaptive dynamic programming

Research on Linear servo Motor Actuator and Its control Technique of High-voltage Circuit Breaker

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Research on Linear Servo Motor Actuator and Its Control Tech...

第11届国际电机与系统学术会议

作者： Lin Xin Li Yongxiang Wang Xiaoyu Wang Deshun School of Electrical Engineering Shenyang University of Technology Shenyang 110023 China

＜正＞The linear servo motor actuator of high-voltage circuit breaker is presented and the control of new actuator is analyzed according to the d-q axis mathematics modal and the thrust characteristics of the permanent magnetic synchronous *** three closed-loop control scheme of location,speed and current of the moving contact are designed based on ***,the control and regulation on the moving contact movement during the opening and closing of the high-voltage circuit breaker are realized which make the movement curve being *** opening and closing abilities and running reliability of circuit breaker are enhanced.

关键词： High-voltage circuit breaker linear-servo motor operating mechanism servo control DSP

Matching design of hydraulic load simulator with aerocraft actuator

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Chinese Journal of Aeronautics 2013年第2期26卷 470-480页

作者： Shang Yaoxing Yuan Hang Jiao Zongxia Yao Nan Science and Technology on Aerocraft control Laboratory School of Automation Science and Electrical Engineering Beihang University

This paper intends to provide theoretical basis for matching design of hydraulic load simulator （HLS） with aerocraft actuator in hardware-in-loop test, which is expected to help actuator designers overcome the obstacles in putting forward appropriate requirements of HLS. Traditional research overemphasizes the optimization of parameters and methods for HLS controllers. It lacks deliberation because experimental results and project experiences indicate different ultimate performance of a specific HLS. When the actuator paired with this HLS is replaced, the dynamic response and tracing precision of this HLS also change, and sometimes the whole system goes so far as to lose control. Based on the influence analysis of the preceding phenomena, a theory about matching design of aerocraft actuator with HLS is presented, together with two paired new concepts of ＂Standard Actuator＂ and ＂Standard HLS＂. Further research leads to seven important conclusions of matching design, which suggest that appropriate stiffness and output torque of HLS should be carefully designed and chosen for an actuator. Simulation results strongly support that the proposed principle of matching design can be anticipated to be one of the design criteria for HLS, and successfully used to explain experimental phenomena and project experiences.

关键词： Aerocraft actuator Design Flight simulation Hydraulic drive and control Hydraulic load simulator (HLS) Matching servo control Stiffness