共查询到19条相似文献,搜索用时 109 毫秒
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针对多台高精度直线电机组成的柔性夹持系统缺乏多轴控制器的问题,文中提出一种可以同时控制多台直线电机实现高精度定位、柔性夹持易碎物品、具备上位机界面和总线通信控制功能的多轴运动控制系统。该装置由主控制器、上位机软件、直线电机和.伺服电机、步进电机以及运动结构部件组成。主控制器由STM32F103VET6芯片与外围器件构成。光栅尺传感器产生位置信号分辨率达到05μm实现高精度控制。主控输出PWM控制I信号由驱动器放大并驱动直线电机运行,电流传感器监测负载变化情况结合控制算法实现柔性控制。主控程序逻辑包括多轴运动控制、PD算法控制、电流监测、RS232上位机通信和CAN总线多联机通信模块。通过CAN总线进行多联机协同运动控制,上位机软件实时监测和控制全部参数。该系统可以有效解决多台高精度直线电机协同控制的问题,本文阐述了该系统的框架及实现原理。 相似文献
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DSP在短行程直线电机精密位置控制中的应用研究 总被引:3,自引:0,他引:3
阐述了一种新研制的短行程永磁直流直线电机的工作原理,提出了基于DSP(TMS320LF2407A)的短行程直流直线电机数、模混合伺服控制系统方案,重点对直线电机的位置检测及控制技术进行了研究,给出了DSP控制器的位置检测接口电路、16位双极性数模转换器(DAC7641)的扩展电路和控制软件的实现方法。短行程直线电机的有效工作行程范围为±5mm,带有分辨率为1μm直线位移检测装置(光栅尺)。实验结果表明,控制系统设计合理,直线电机可实现精密定位,定位精度可控制在5μm以内。 相似文献
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研究了基于定时中断编程的直线电机模型参数辨识技术。推导了直线电机的数学模型,建立了一个永磁同步直线电机驱动的单自由度实验台的硬件及软件系统。采用定时中断编程技术,在DOS下运行C语言程序,采集工作台位移数据,经数据处理,得到直线电机力常数为13.1N/A,与理论值较好吻合。 相似文献
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为实现永磁同步直线电机系统中对多个无源动子的绝对定位,设计了基于双磁道的短磁栅、长传感器定位方案。双磁道包括增量式磁道和绝对式磁道,每个磁道中的短磁栅为永磁体阵列,长传感器内霍尔阵列由线性霍尔芯片组成,且长传感器包含多个线性霍尔阵列。其中,增量式磁道采用区间查表方式计算位移增量,绝对式磁道采用连续位移编码方式识别绝对偏移量。定子传感器数字信号输出的霍尔芯片阵列与主控MCU之间通过总线方式连接,且信号处理和传输均在MCU中进行,简化了硬件电路。结果表明,无源多动子绝对位置传感器具有不同应用场景便于移植的特点,使无源动子的定位更灵活。 相似文献
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Chih-Min Lin Ya-Fu Peng 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2004,34(2):1248-1260
An adaptive cerebellar-model-articulation-controller (CMAC)-based supervisory control system is developed for uncertain nonlinear systems. This adaptive CMAC-based supervisory control system consists of an adaptive CMAC and a supervisory controller. In the adaptive CMAC, a CMAC is used to mimic an ideal control law and a compensated controller is designed to recover the residual of the approximation error. The supervisory controller is appended to the adaptive CMAC to force the system states within a predefined constraint set. In this design, if the adaptive CMAC can maintain the system states within the constraint set, the supervisory controller will be idle. Otherwise, the supervisory controller starts working to pull the states back to the constraint set. In addition, the adaptive laws of the control system are derived in the sense of Lyapunov function, so that the stability of the system can be guaranteed. Furthermore, to relax the requirement of approximation error bound, an estimation law is derived to estimate the error bound. Finally, the proposed control system is applied to control a robotic manipulator, a chaotic circuit and a linear piezoelectric ceramic motor (LPCM). Simulation and experimental results demonstrate the effectiveness of the proposed control scheme for uncertain nonlinear systems. 相似文献
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Hybrid supervisory control using recurrent fuzzy neural network fortracking periodic inputs 总被引:3,自引:0,他引:3
A hybrid supervisory control system using a recurrent fuzzy neural network (RFNN) is proposed to control the mover of a permanent magnet linear synchronous motor (PMLSM) servo drive for the tracking of periodic reference inputs. First, the field-oriented mechanism is applied to formulate the dynamic equation of the PMLSM. Then, a hybrid supervisory control system, which combines a supervisory control system and an intelligent control system, is proposed to control the mover of the PMLSM for periodic motion. The supervisory control law is designed based on the uncertainty bounds of the controlled system to stabilize the system states around a predefined bound region. Since the supervisory control law will induce excessive and chattering control effort, the intelligent control system is introduced to smooth and reduce the control effort when the system states are inside the predefined bound region. In the intelligent control system, the RFNN control is the main tracking controller which is used to mimic a idea control law and a compensated control is proposed to compensate the difference between the idea control law and the RFNN control. The RFNN has the merits of fuzzy inference, dynamic mapping and fast convergence speed, In addition, an online parameter training methodology, which is derived using the Lyapunov stability theorem and the gradient descent method, is proposed to increase the learning capability of the RFNN. The proposed hybrid supervisory control system using RFNN can track various periodic reference inputs effectively with robust control performance. 相似文献
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The paper deals with the supervisory control of a nonlinear uncertain system in which the switching is directed by the recently introduced state-dependent dwell-time switching logic. The proposed supervisory control architecture is shown to regulate to zero the state of the system without requiring the switching to stop in finite time. A significant class of systems to which the control architecture can be applied is the class of linear systems with input saturation. 相似文献
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A supervisory fuzzy neural network (FNN) control system is designed to track periodic reference inputs in this study. The control system is composed of a permanent magnet (PM) synchronous servo motor drive with a supervisory FNN position controller. The supervisory FNN controller comprises a supervisory controller, which is designed to stabilize the system states around a defined bound region and an FNN sliding-mode controller, which combines the advantages of the sliding-mode control with robust characteristics and the FNN with online learning ability. The theoretical and stability analyses of the supervisory FNN controller are discussed in detail. Simulation and experimental results show that the proposed control system is robust with regard to plant parameter variations and external load disturbance. Moreover, the advantages of the proposed control system are indicated in comparison with the sliding-mode control system 相似文献
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《Advances in Engineering Software》2002,33(6):361-364
In this paper, a supervisory control and data acquisition system of DC motor with implementation of fuzzy logic controller (FLC) on neural network (NN) is presented. We successfully avoid complex data processing of fuzzy logic in the proposed scheme. After designed a FLC for controlling the motor speed, a NN is trained to learn the input–output relationship of FLC. The tasks of sampling and acquiring the input signals, process of the input data, and output of the voltage are commanded by using LabVIEW. Finally, the experimental results are provided to confirm the performance and effectiveness of the proposed control approach. 相似文献
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In this paper, we approach supervisory control as an online decision problem. In particular, we introduce ldquocalibrated forecastsrdquo as a mechanism for controller selection in supervisory control. The forecasted quantity is a candidate controller's performance level, or reward, over finite implementation horizon. Controller selection is based on using the controller with the maximum calibrated forecast of the reward. The proposed supervisor does not perform a pre-routed search of candidate controllers and does not require the presence of exogenous inputs for excitation or identification. Assuming the existence of a stabilizing controller within the set of candidate controllers, we show that under the proposed supervisory controller, the output of the system remains bounded for any bounded disturbance, even if the disturbance is chosen in an adversarial manner. The use of calibrated forecasts enables one to establish overall performance guarantees for the supervisory scheme even though non-stabilizing controllers may be persistently selected by the supervisor because of the effects of initial conditions, exogenous disturbances, or random selection. The main results are obtained for a general class of system dynamics and specialized to linear systems. 相似文献
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本文介绍了采用直线步进电机作为驱动装置的压路机发动机转速闭环控制系统。直线步进电机具有结构简单、免维护、可靠性高、能实现位移的精确控制等特点,将其应用于电控油门装置上是一种先进的技术方案。文中详细叙述了该控制系统的组成及原理和控制程序的结构及功能。应用实践表明,采用上述控制装置取得了良好的效果。 相似文献