Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots

This paper designs an adaptive sliding-mode dynamic controller for wheeled mobile robots to implement the trajectory-tracking mission. First, a kinematic controller is introduced for the wheeled mobile robot. Secondly, the adaptive sliding-mode dynamic controller is proposed to make the real velocity of the wheeled mobile robot reach the desired velocity command, although the wheeled mobile robot is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the wheeled mobile robot is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes. Finally, the real-time experiments of the adaptive sliding-mode dynamic controller on the test ground demonstrate the feasibility of practical wheeled mobile robot maneuvers.     

Design and implementation of an adaptive controller for torqueripple minimization in PM synchronous motors

This paper addresses the problem of torque ripple minimization in permanent magnet synchronous motors (PMSMs) and proposes an adaptive feedback structure as a solution. A model of PMSM that includes a torque ripple phenomenon is first developed and tested. While slightly different from the conventional one, our model is still compact and suitable for control. All parameters of the model have physical interpretation, and can either be measured directly or estimated in a numerically reliable procedure. An adaptive control algorithm is then described, enabling speed tracking while minimizing the torque ripple. Finally, the proposed algorithm is verified in simulations and implemented in a hardware setup. Experimental results show significant reduction of torque ripple (by 27 dB). Extensive analysis and simulations of hardware imposed limitations were performed as well, revealing and quantifying the issues that might affect practical ripple minimization performance     

Development and implementation of an FPGA based fractional order controller for a DC motor

Fractional calculus has been gaining more and more popularity in control engineering in numerous fields, including mechatronic applications. One of the most common applications in all mechatronic domains is the control of DC motors. Several control algorithms have been proposed for such motors, ranging from traditional PID algorithms, to the more sophisticated advanced methods, including fractional order controllers. Nevertheless, very little information regarding the implementation problems of such fractional algorithms exists today. The paper proposes a simple approach for designing a fractional order PI controller for controlling the speed of a DC motor. The resulting controller is implemented on an FPGA target and its performance is compared to other possible benchmarks. The experimental results show the efficiency of the designed fractional order PI controller. Beside the initial DC motor, two other different DC motors are also used in the experiments to demonstrate the robustness of the controller.     

自适应模糊滑模控制器设计

针对传统滑模控制的抖振问题,利用线性化反馈技术,将模糊自适应和滑模控制相结合,设计一种新型的模糊滑模控制器。通过模糊推理和基于Lyapunov函数的稳定性分析,获得模糊控制规则的自适应律,构成自适应模糊滑模控制器,有效解决了传统滑模控制中,需要确定参数摄动和外部干扰上确界不确定性问题,倒立摆上的运行结果表明该方法的有效性。     

OBS核心控制器结构设计与硬件化实现

设计了一个基于JIT协议的OBS核心控制器,该控制器将路由选择和信道调度整合在一个模块中处理,并采用信道资源信息共享与先调度再转发的处理机制,简化了控制器的结构,有效提高了OBS核心节点的处理速度,同时也避免了路由选择的盲目性,减少丢包。在FPGA平台上实现了提出的OBS核心控制器结构并进行了实际测试。测试结果表明：接收完BCP包到发出光开关设置信号的最短时间为100ns。     

Design and implementation of H-inf controller for micro-monocopter

An all rotating platform has been modified with the purpose of having at one's disposal an operative monocopter. The nature of the modifications are described, as well as the control strategy designed and implemented to control the prototype. This strategy corresponds to a H-inf controller in which a nonlinear function has been included to cancel the propeller quadratic force.     

A robust adaptive controller for PM motor drives in roboticapplications

The paper deals with theoretical development and practical implementation of an adaptive speed and position regulator suitable for robotic applications. The proposed adaptive control scheme is characterized by a reduced amount of computation and is based on the model reference adaptive control approach to compensate the variations of the system parameters, such as inertia and torque constant. A disturbance torque observer is employed to balance the required load torque and reduce the complexity of the adaptive algorithm. Simulation tests of a robotic drive, including an interior type permanent magnet synchronous (IPMS) motor, are reported in order to compare the proposed control scheme with standard speed and position regulators. Experimental results, obtained from a prototype based on a commercial PC board, are also reported in order to practically evaluate the feasibility and the features of the proposed adaptive control scheme     

空天飞行器模糊自适应轨迹线性化控制器设计

针对一类单输入单输出非线性不确定系统,提出了模糊自适应轨迹线性化控制(TLC)方法并应用于空天飞行器(ASV)飞行控制系统设计.利用模糊系统具有以任意精度逼近非线性系统的能力对未知干扰和不确定进行估计,以减小其对系统性能的影响,并通过鲁棒控制项来克服模糊系统的逼近误差.采用Lyapunov方法,证明了闭环系统所有信号一致最终有界.最后利用提出的控制方案设计了空天飞行器飞行控制系统,并在高超声速条件下进行了仿真验证,仿真结果表明了该方法的有效性和鲁棒性.     

自适应压电振动盘控制器设计

振动给料机是工业控制自动化中常用的设备,压电振动盘是目前效率和稳定性最高的振动给料机,但在使用过程中存在共振点变化导致效率下降的问题。针对该问题,设计了适用于压电振动盘的自适应控制器。该控制器能够对压电振动盘的振动频率和幅值进行连续调节,模糊PID控制使得振动盘输出幅值保持稳定,自适应算法使振动盘始终工作在最佳振动频率。控制器采用准谐振开关电源,可以消除电网电压波动对系统工作的影响。设计结果表明:该控制器工作性能稳定,驱动效率高且产生的噪音较小。     

广播发射机智能控制器的设计与实现

为了实现发射机房＂有人留守,无人值班＂的智能化安全管理,设计了以单片机W77E58为核心的广播发射机智能控制器,包括模拟量输入电路、开关量输入/输出电路、键盘模块、显示电路、存储电路和电源电路等模块,阐明了总体结构和软、硬件实现方法。在企业现场测试后表明,该智能控制器具有工作可靠、成本低、操作方便灵活、界面友好等特点。     

Design and implementation of an adaptive neural-network compensatorfor control systems

Recently, many studies have been made for intelligent controls using the neural-network (NN). These NN approaches for control strategies are based on the concept of replacing the conventional controller with a new NN controller. However, it is usually difficult and unreliable to replace the factory-installed controller with another controller in the workplace. In this case, it is desirable to install an additional outer control loop around the conventional control system to compensate for the control error of the preinstalled conventional control system. This paper presents an adaptive NN compensator for the outer loop to compensate for the control errors of conventional control systems. The proposed adaptive NN compensator generates a new command signal to the conventional control system using the control error that is the difference between the desired reference input and the actual system response. The proposed NN-compensated control system is adaptable to the environment changes and is more robust than the conventional control systems. Experimental results for a SCARA-type manipulator show that the proposed adaptive NN compensator enables the conventional control system to have precise control performance     

智能门禁控制器的设计与实现

门禁控制器是门禁控制系统的核心,开发周期长,通用性差。在此利用现有读卡设备实现门禁控制器的设计,用户只需选用不同的读卡设备就可以实现不同卡的读取,对软件做适当修改,以满足不同门禁系统的需求,缩短了开发周期,提高了门禁控制器的通用性。在此还提供了多种开锁方式,方便用户的进出。在小区门禁系统中的应用证明,该门禁控制器运行稳定,可靠性高。     

Integrated design of speed-sensorless and adaptive speed controller for a brushless DC motor

The study develops a design of an integrated new speed-sensorless approach that involves a torque observer and an adaptive speed controller for a brushless dc motor (BLDCM). The system is based on the vector control drive strategy. The speed-sensorless approach first employs a load observer to estimate the disturbed load torque, and then the estimated load torque is substituted into the mechanical dynamic equation to determine the rotor speed, and thus develop a speed-sensorless algorithm. Additionally, the mechanical rotor inertia constant and the friction coefficient, which are the inputs of the load observer, are estimated using the recursive least-square rule. Therefore, the proposed speed-sensorless approach is unaffected by the time-variant motor parameters nor is affected by the integrator drift problem. It also has a simpler computing algorithm than the extended Kalman filter for estimating the speed. The modified model reference adaptive system algorithm, an adaptive control algorithm, is adopted as a speed controller of the BLDCM to improve the performance of the speed-sensorless approach. Simulation and experimental results confirm that the performance of the design of a new integrated speed-sensorless approach and the adaptive speed controller is good.     

大型电气控制器的节能设计与实现

为了提高大型电气控制设备的节能效果,降低功耗,提高输出功率增益,提出基于内环控制器适应度补偿和DC/AC逆变模型的大型电气控制器的节能设计方法。构建大型电气设备控制器单元模型,建立电流内环控制的电气控制器DC/AC逆变模型,采用内环控制器适应度补偿方法进行输出增益控制,实现大型电气控制器的硬件设计。实验结果表明,采用该方法进行大型电气控制器设计,节能效果较好,输出功率增益较高。     

基于FPGA的以太网激光振镜控制器设计与实现

为了提高系统的兼容性、可移植性以及设备的网络化管理,提出并设计了一种基于FPGA的以太网激光振镜控制器。控制器采用FPGA作为主控芯片,利用FPGA并行执行的特性实现了对XY2-100协议的精确驱动,解决了在MCU的实现方案中,占用系统资源高和四路输出信号存在延时等问题。同时基于FPGA设计并开发了UDP模块和SDRAM模块用于数据的收发与缓存,以保证控制器稳定持续地输出控制信号。经测试结果表明:控制器能够精确控制振镜的转角,并且可以灵活支持异构的上位机环境,解决了传统基于PCI接口进行数据传输的振镜控制卡在硬件与软件兼容性上存在的问题,提高了上位机应用程序的可移植性。     

Novel stepper motor controller based on FPGA hardware implementation

This paper proposes a novel stepper motor controller based on field programable gate arrays, showing a remarkable performance. The system provides a combination between a novel algorithm and programmable logic to achieve both high speed and high precision on a compact hardware.     

电机控制器中的CMOS电路节能设计与实现

为了提高电机控制器的输出功率增益,增强电机的节能性和控制稳定性,提出基于CMOS数字集成电路进行电机控制器的节能电路优化设计方案。电机控制器的电路设计主要由交流放大电路、滤波电路、电压温漂抑制电路和微调电路等模块组成,采用CMOS电压控制放大器作为核心器件,提高电机控制器输出基准的稳定性。通过电路模块化分析和集成化设计,实现电机控制器优化设计。电路测试结果表明,设计的电机控制器具有较高的输出增益,电机输出效率得到提高。     

无刷直流电机的模糊PID控制系统研究

直流无刷电机效率高,转矩大,维护方便,广泛应用于工业过程的各个方面。提出了一种基于模糊PID控制的直流无刷电机调速系统并与传统的PID调速系统进行比较。运用传统的PID调速方法,参数不容易整定并且不容易得到满意的控制特性。由于模糊控制能够满足人们对控制特性的要求并且参数易于调整,因此设定了模糊PID控制器,对直流无刷电机进行调速。实验结果表明与传统PID控制相比,模糊PID控制的电机转速相应快,无超调,转速波动小,调节时间短,转速波动小,其性能明显优于传统PID控制,具有优良的静态性能和动态性能。直流无刷电机的建模,控制和仿真都在MATLAB/Simulink软件上进行。     

多轴电机同步运动控制器设计

针对多轴电机同步控制问题,研究一种基于模糊-单神经元PID控制策略的同步控制器。使用研究的同步控制方法与常规PID算法进行对比分析。结果表明,相比基于常规PID算法的多轴电机同步运动控制器,在基于模糊-单神经元PID算法的多轴电机同步运动控制器作用下,各个电机之前的同步误差更小,当第二台电机发生载荷突变时,控制器能够有效抑制载荷突变对整个多轴电机系统的影响。基于模糊-单神经元PID算法的多轴电机同步运动控制器能够有效提升多轴电机同步运动系统的动态特性和稳定性。     

自适应有源噪声控制器的设计与实现

论述了自适应有源噪声控制器的设计原理及实现方法，给出了通用型自适应有源噪声控制器的硬件结构和软件流程，作为实例，设计了一台通用型自适应有源噪声控制器，并提供了该控制器用于有源噪声控制的实验结果。