电动轮椅运动控制系统故障检测方法研究

以自行研制的电动轮椅运动控制系统为对象,论述了电动轮椅运动控制系统各种常见电气元件故障和接线故障检测方法,主要有:操纵杆不在中心位置检测、电池故障、充电模式检测、MOS管故障以及刹车未连接故障等。提出了充电模式故障检测方法和基于电压信号的电刹车未连接故障等故障的检测方法,极大的提高电动轮椅运动控制系统的安全性和可靠性,具有一定的参考指导价值。     

ZigBee与航迹推算混合定位的电动轮椅导航控制系统

针对具有下肢行动障碍、上肢运动不灵活的老年人或残障人士,以电动轮椅为运动载体,提出了一种ZigBee定位与航迹推算相融合的电动轮椅智能导航控制系统的方案。系统采用ZigBee与航迹推算相融合的定位算法,选取STC系列单片机为中央处理器,对控制系统的硬件部分和软件部分进行了详细设计,并以电动轮椅为控制对象,进行控制系统运动导航的实验验证。结果表明,在运动状态下,混合定位融合了航迹推算和ZigBee定位的优点,与独立的ZigBee定位技术相比,提高了电动轮椅导航系统的位置目标定位精度。     

电动轮椅控制器的设计与实现

电动轮椅控制器以P87C552微控制器为核心,采用全桥PWMDC/DC变换器驱动直流电机,在数字化转速反馈控制系统中采用了基于电流检测的无速度传感器的测速技术。描述了电动轮椅控制器的设计思路与实现。     

电动轮椅运动控制系统设计

为实现高性能和低成本的电动轮椅,开发了全数字电动轮椅控制器;采用先进的无速度传感器测速技术,设计了带电流补偿的电压负反馈加负载不平衡补偿的双电机协调控制方案.给出了软硬件结构和单元电路的设计及参数选择方法;分析了操纵杆工作原理;给出了轮椅速度和运动方向信息合成计算公式和提高运行舒适度的S曲线生成策略.轮椅样机运行试验证明,系统运行实验性能良好,达到了预期设计目标.     

新型电动轮椅的直流无刷伺服系统

使用直流伺服技术解决直流无刷电机直接驱动及低速大转矩平稳运动问题,从而简化了传统电动轮椅结构,研制成功新型高度自动化的电动轮椅,并提高了运动性能。     

电动轮椅的双轮毂无刷直流电机协调控制方法

以双轮毂无刷直流电机驱动的电动轮椅驱动控制系统为研究对象,设计了一个低速低功率条件下切实可行的双电机协调控制方法。提出了一种联合制动模式,确保了速度闭环的有效性,采用数字信号处理器TMS320LF2406为主控芯片来构建控制系统,并实现了驱动控制器上车实验。实验效果稳定,为电动代步车等小功率驱动控制器提供了可行的方案。     

基于ATmega48的电动轮椅主从控制系统设计

提出了一种针对轮毂式两轮驱动电动轮椅的差速控制及驱动系统的实现方案。综合各项参数设计出合理的速度协调控制方法,通过串行通讯使两个独立的电机控制器构成的主从控制系统具有同步平滑起动、速度稳定安全的特性和过流、过压和过热保护功能。     

电动钻机绞车控制研究

研究了电动钻机绞车变频调速控制策略,讨论了电动钻机绞车位置控制及最佳速度控制、悬重限速保护控制和电网功率限速保护控制,给出了在位置控制模式下绞车最佳速度控制方案及相关设计程序,实现了电动钻机绞车系统的快速准确控制、安全可靠运行和有效节能的目的.     

电动轮椅控制器的设计与实现

从助老助残的需要出发,以降低成本和操控灵活为目标,采用AT89S51单片机研制了一款电动轮椅控制器.首先介绍了控制器的组成功能模块,然后详细分析了其控制及驱动电路的原理,包括H桥驱动电路构成及分类,功率MOSFET导通过程,关键元器件的参数选择.与硬件相结合,对方向控制的实现进行了算法设计并编程实现.实验结果表明该控制器满足较大功率直流电机的驱动需要,且操作轻便,控制灵活,满足老弱及下肢患者的操作需要.     

基于脑电波控制的智能轮椅系统

针对重度残疾病人四肢丧失活动能力而无法自由行动的问题,研究了一种基于脑电波控制轮椅的方法。脑电波传感器采集脑电波数据后通过蓝牙发送给核心控制模块,并采用改进后的小波变换法、共空间模式法、模糊支持向量机对脑电波信号进行去噪、特征处理以及模式识别处理。结合基于蚁群算法的路径规划,实现轮椅准确无碰撞地到达目的地的要求。     

Optimization of Markov jump linear system with controlled modes jump probabilities

The optimal control of a Markov jump linear quadratic model with controlled jump probabilities of modes is investigated. Two kinds of mode control policies, i.e., open-loop control policy and closed-loop control policy, are considered. Using the concepts of policy iteration and performance potential, the sufficient condition needed for the optimal closed-loop control policy to perform better than the optimal open-loop control policy is proposed. The condition is helpful for the design of an optimal controller. Furthermore, an efficient algorithm to construct a closed-loop control policy, which is better than the optimal open-loop control policy, is given with policy iteration. __________ Translated from Control and Decision, 2008, 23(3): 246–250 [译自:控制与决策]     

Comparison between closed-loop and partial open-loop feedbackcontrol policies in long term hydrothermal scheduling

Stochastic dynamic programming has been. extensively used in the optimization of long term hydrothermal scheduling problems due to its ability to cope with the nonlinear and stochastic characteristics of such problems, and the fact that it provides a closed-loop feedback control policy. Its computational requirements, however, tend to be heavy even for systems with a small number of hydroplants, requiring some sort of modeling manipulation in order to be able to handle real systems. An alternative to closed-loop optimization is an approach that combines a deterministic optimization model with an inflow forecasting model in a partial open-loop feedback control framework. At each stage in this control policy, a forecast of the inflows during the period of planning is made, and an operational decision for the following stage is obtained by a deterministic optimization model. The present paper compares such closed-loop and partial open-loop feedback control policies in long term hydrothermal scheduling, using a single hydroplant system as a case study to focus the comparison on the feedback control performance. The comparison is made by simulation using data from historical and synthetical inflow sequences in the consideration of three different Brazilian hydroplants located in different river basins. Results have demonstrated that the performance of the partial open-loop feedback control policy is similar to that of the closed-loop control policy, and is even superior in dry streamflow periods     

两相混合式步进电动机闭环控制的研究

提出了一种利用步进电机磁阻变化实现转子位置检测的新方法,在此基础上设计了两相混合式步进电动机微机闭环控制系统,通过调节超前角实现了对电机转速的控制,实验证明了这种闭环控制方法的可行性。     

基于RTDS的一种直流触发角测量方法及其实现

随着我国电力系统的发展和计算机漱硬件技术的提高,RTDS实时数字仿真系统由于其具备建立闭环仿真环境等的优点在我国得到了越来越广泛的应用。提出了一种基于RTDS的闭环交直流混联系统的直流触发角测量方法。在介绍了直流触发角测量原理和RTDS改进点火脉冲算法的基础上,提出了可用于直流控制保护设备控制测试分析和系统分析研究用的直流触发角测量方法．并基于RTDS控制模块库元件和自定义（UDC功能进行了仿真实现。最后,就我国桌特高压直流输电系统的电气参数和南瑞继保自主．研发的特高压直流控制保护系统样机,通过与实际控制保护系统直流触发角测量录波软迹的比较．验证了所提方法的有效性。     

永磁同步电机无位置传感器启动策略的改进

针对永磁同步电机,提出了一种基于滑模观测器的永磁同步电机(PMSM)无位置传感器启动控制方法。采用电流闭环-速度开环的(I-F)定位,启动加速和速度-电流双闭环切换的控制方法。启动加速达到设定转速时,进入速度-电流双闭环的切换过程,采用K/cos2曲线对电机电流进行减小,进而减小滑模观测器估测的转子位置与给定坐标系位置的角度差,并使其趋于零,实现状态的平滑切换。最后通过实验验证了所提启动控制方法的有效性。     

集装箱桥吊防摇切换控制研究

针对桥式吊车这类欠驱动系统,为提高小车迅速消除集装箱摆动的能力,提出一种基于切换的防摇控制算法.通过分析吊具摆角与小车运行加减速之间的关系,建立集装箱桥吊系统的数学模型.由摄像头和反光板组成的传感器将检测到的图像,经处理后得到吊具的角度.再将吊具的摆角信号引入到防摇控制中,从而构成闭环控制系统.根据吊具摆角大小给出小车速度切换指令来消除吊具的摆动.当小车在目标位置停止运动时,吊具的摆角范围为±0.01 rad,满足系统设计的要求.计算机仿真和桥吊装置试验结果表明该算法的有效性.     

数字化有限转角力矩电机控制技术

本文提出了某燃油阀门的有限转角数字化控制系统设计方案。从控制的角度详细阐述了有限转角力矩电机电流、速度、位置三闭环控制系统设计,详细介绍了控制系统的硬件设计、控制环路设计以及软件时序设计。对其进行仿真计算,同时对样机产品进行了阶跃、扫频、跟随等性能测试,试验结果表明该数字化控制系统具有重要的实用价值。     

动态不确定发电机系统的小增益控制

对于包含动态不确定的发电机系统,运用Backstepping方法和小增益相结合的设计方法,设计了发电机系统的非线性控制器,使其达到功角和输出电压的稳定性.采用改进的Backstepping方法设计励磁控制输入,通过小增益方法对动态不确定部分加以控制,使得整个系统达到渐近稳定.仿真结果验证了该设计方法不仅保证了功角、转子角速度和输出电压的稳定性,而且对于动态不确定部分实现了有效控制,说明了设计思想正确、控制方案有效.     

A field orientation scheme for current-fed induction motor drivesbased on the torque angle closed-loop control

A novel field orientation scheme for current-fed induction motor drives is presented. The scheme is based on the closed-loop control of the torque angle and has the merits of being simple in implementation and insensitive to rotor resistance variations. The limits of previous field orientation schemes are reviewed. The torque angle control scheme is then formulated, and its application to induction motor (IM) drives fed by either current source inverters or current-controlled PWM inverters is illustrated. As an example, a current source inverter induction motor drive incorporating the scheme is designed, and its performance, which has been tested by simulation, is given     

Design and implementation of a closed-loop observer and adaptivecontroller for induction motor drives

This paper discusses the implementation and experimental results of a closed-loop rotor flux observer and model reference adaptive system (MRAS) of a direct field-oriented control (FOC) of an induction motor drive. The motor was supplied from a high-frequency (20 kHz) AC resonant link via a MOS-controlled-thyristor (MCT)-based bidirectional converter. Hardware and software implementations of the various motor control functions are presented. The closed-loop observer combines the current and voltage models via a speed-dependent gain (SDG). The current model was formulated to operate in the rotor reference frame and requires only an encoder angle and not the actual rotor speed for implementation. The closed-loop observer permits the use of a pure analog integrator to calculate an adequate stator flux. The use of an AC resonant link further complicated an all-digital calculation of the stator flux. The observer and adaptive controller were tested on a 400-Hz 2-hp induction motor for low and high speeds. The closed-loop observer showed sensitivity at low speeds to the rotor circuit time constant which attributed to the current model rotor flux estimation. At high speed, the closed-loop observer followed the voltage model rotor flux estimation attributes. The MRAS was able to improve the complete speed response by correcting the current model rotor flux observer for errors in estimation of its parameters