检索结果-内蒙古大学图书馆

Behavioural Study of the Force control loop Used in a Collaborative Robot for Sanding Materials

MATERIALS 2021年第1期14卷 67-67页

作者： Ubeda, Rodrigo Perez Gutierrez Rubert, Santiago C. Stanisic, Ranko Zotovic Perles Ivars, Angel Univ Politecn Valencia Dept Mech & Mat Engn Valencia 46022 Spain Univ Politecn Valencia Inst Ind Control Syst & Comp Valencia 46022 Spain Univ Politecn Valencia ITACA Inst Valencia 46022 Spain

The rise of collaborative robots urges the consideration of them for different industrial tasks such as sanding. In this context, the purpose of this article is to demonstrate the feasibility of using collaborative robots in processing operations, such as orbital sanding. For the demonstration, the tools and working conditions have been adjusted to the capacity of the robot. Materials with different characteristics have been selected, such as aluminium, steel, brass, wood, and plastic. An inner/outer control loop strategy has been used, complementing the robot's motion control with an outer force control loop. After carrying out an explanatory design of experiments, it was observed that it is possible to perform the operation in all materials, without destabilising the control, with a mean force error of 0.32%. Compared with industrial robots, collaborative ones can perform the same sanding task with similar results. An important outcome is that unlike what might be thought, an increase in the applied force does not guarantee a better finish. In fact, an increase in the feed rate does not produce significant variation in the finish-less than 0.02 mu m;therefore, the process is in a "saturation state" and it is possible to increase the feed rate to increase productivity.

关键词： robot sanding robot finishing inner outer control loop force control collaborative robot

来源：评论

学校读者我要写书评

暂无评论

Large-disturbance Stability Analysis of Power Systems with Synchronous Generator and Converter-interfaced Generation

引用

Journal of Modern Power Systems and Clean Energy 2024年第3期12卷 997-1002页

作者： Lei Chen Yong Min Liangshuai Hao Guangzheng Xing Yalou Li Shiyun Xu Department of Electrical Engineering Tsinghua UniversityBeijing 100084China China Electric Power Research Institute Beijing 100192China

This letter studies large-disturbance stability of the power system with a synchronous generator(SG)and a converter-interfaced generation(CIG)connected to infinite *** power system is multi-timescale and first *** is shown that the boundary of region of attraction(ROA)of the simplified model is composed of stable manifolds of unstable equilibrium point(UEP)or semi-singular point(SSP),named anchor points,and singular surface *** type of anchor point determines the dominant instability pattern of the power *** the anchor point is UEP or SSP,the dominant instability pattern is the instability of rotor angle of SG or the instability of phase-locked loop and outer control loop(OCL)of CIG,*** of dominant instability pattern can be analyzed with the relative position relationship between UEP and *** effect of OCL is *** the OCL is activated,the ROA becomes smaller and the system is more prone to instability of *** is necessary to consider the OCL when studying the large-disturbance stability of the power system.

关键词： Converter-interfaced generation large-disturbance stability outer control loop phase-locked loop synchronous generator voltage source converter

来源：评论

学校读者我要写书评

暂无评论

Discrete sliding mode control based on exponential reaching law and time delay estimation for an asymmetrical six-phase induction machine drive

引用

IET ELECTRIC POWER APPLICATIONS 2019年第11期13卷 1660-1671页

作者： Kali, Yassine Saad, Maarouf Doval-Gandoy, Jesus Rodas, Jorge Benjelloun, Khalid Ecole Technol Super Power Elect & Ind Control Res Grp GREPCI Montreal PQ H3C 1K3 Canada Univ Vigo Appl Power Elect Technol Res Grp APET Vigo 36310 Spain Univ Nacl Asuncion Fac Ingn Lab Power & Control Syst LSPyC Luque 2060 Paraguay Univ Mohammed 5 Elect Engn Dept Ecole Mohammadia Ingn Rabat Morocco

This study deals with the problem of controlling rotor speed and stator currents of an asymmetrical six-phase induction machine with uncertain dynamics, disturbances, and unmeasurable rotor currents and proposes a robust non-linear variable structure controller. First of all, an outer control loop based on a proportional-integral regulator is performed to control the rotor speed and to construct the desired stator current references. Then, the inner loop is performed based on the proposed method that combines the time delay estimation method and discrete sliding mode control based on exponential reaching law. This structure allows an accurate and simple estimation of uncertainties and rotor currents, a high-tracking precision, a convergence of the stator currents to their known desired references in finite-time and chattering reduction. The design procedure is detailed step by step and the stability analysis and the convergence time are established for the current closed-loop system. Experimental work was carried out on an asymmetrical six-phase induction motor drive to show the effectiveness and performance of the proposed robust non-linear discrete method. The results obtained highlighted the good tracking performance of the stator currents.

关键词： machine theory nonlinear control systems machine control closed loop systems induction motor drives robust control variable structure systems rotors control system synthesis control system analysis stators nonlinear variable structure controller outer control loop proportional-integral regulator rotor speed desired stator current references inner loop time delay estimation method discrete sliding mode control exponential reaching law stator currents known desired references chattering reduction convergence time current closed-loop system six-phase induction motor drive nonlinear discrete method six-phase induction machine drive unmeasurable rotor currents

来源：评论

学校读者我要写书评

暂无评论

Adaptive super-twisting sliding mode control of three-phase power rectifiers in active front end applications

引用

IET control THEORY AND APPLICATIONS 2019年第10期13卷 1483-1490页

作者： Luo, Wensheng Zhao, Tongyu Li, Xiaolei Wang, Zhenhuan Wu, Ligang Harbin Inst Technol Sch Astronaut Harbin 150001 Heilongjiang Peoples R China Harbin Inst Technol Space Control & Inertial Technol Res Ctr Harbin 150001 Heilongjiang Peoples R China

A robust control approach for three-phase two-level grid-connected power converters using an adaptive super-twisting algorithm (ASTA) is studied. A cascaded structure of the proposed control method is employed, which consists of two control loops, the dc-link capacitor voltage regulation loop (outer loop) and the grid phase current tracking loop (inner loop). In the outer control loop, a proportional controller using $H_{\infty }$H infinity technique is considered, which is designed to regulate the dc-link capacitor voltage to some desired value. An extended state observer used to asymptotically estimate the external disturbance is integrated into the outer control loop. For the inner control loop, two ASTA-based controllers are implemented that force the grid phase currents to their desired values in finite time. Lyapunov analysis is provided to show the finite time convergence of the closed-loop system. With the help of ASTA, a priori knowledge of the upper bounds of the derivative of the disturbances is not required. Illustrative simulation results in comparison with the linear proportional-integral control method are provided to demonstrate the effectiveness and robustness of the proposed ASTA, in the presence of load variation and parametric uncertainty.

关键词： closed loop systems observers electric current control robust control power convertors power grids voltage control nonlinear control systems control system synthesis variable structure systems Lyapunov methods closed-loop system grid phase currents ASTA-based controllers inner control loop desired value proportional controller outer control loop inner loop grid phase current tracking loop outer loop dc-link capacitor voltage regulation loop control loops super-twisting algorithm three-phase two-level grid robust control approach active front end applications three-phase power rectifiers adaptive super-twisting sliding mode control linear proportional-integral control method

来源：评论

学校读者我要写书评

暂无评论

Implementation of a single-phase three-leg AC/AC converter with neutral-point diode-clamped scheme

引用

IEE PROCEEDINGS-ELECTRIC POWER APPLICATIONS 2002年第6期149卷 423-432页

作者： Lin, BR Chen, DJ Natl Yunlin Univ Sci & Technol Dept Elect Engn Power Elect Res Inst Touliu 640 Yunlin Taiwan

A single-phase AC/AC converter with neutral-point diode-clamped scheme is proposed. A three-leg configuration, which has a common leg between the AC/DC and DC/AC converters, is adopted to reduce the number of switching devices compared with the conventional three-level AC/AC system. The common leg is operated in both rectifier and inverter modes. The rectifier is controlled to have a constant DC-link voltage and unity input power factor. The AC side of the rectifier has a three-level PWM waveform to reduce the voltage harmonics compared with that of a two-level scheme. The hysteresis current control scheme is used in the inner control loop to track the line current command. A proportional-integral (PI) control is adopted in the outer control loop to maintain the constant DC-link voltage. In the inverter side, a sinusoidal output voltage is generated to provide a stable and clean source voltage to the critical load. The fixed-frequency current controller is adopted to generate the properly PWM waveform. The output voltage is independent of the mains voltage to provide a stable AC power source. The neutral-point diodeclamped circuit configuration is used to reduce the voltage stress of power devices. The system model and control algorithm are described and analysed. Simulations and experimental results based on a laboratory prototype were performed to verify the effectiveness of the proposed control strategies.

关键词： fixed-frequency current controller hysteresis current control scheme power conversion harmonics Power convertors and power supplies to apparatus voltage harmonics reduction switching circuits electric current control AC-AC power convertors control system analysis PWM power convertors control strategies constant DC-link voltage control performance two-term control control simulation control design power devices voltage stress outer control loop three-level PWM waveform control system synthesis harmonic distortion proportional-integral control neutral-point diode-clamped scheme control system analysis and synthesis methods single-phase three-leg AC/AC converter control of electric power systems unity input power factor line current command tracking sinusoidal output voltage Current control Voltage control switching devices reduction voltage control

来源：评论

学校读者我要写书评

暂无评论

Three-degrees-of-freedom Flexible Robot Position control Robust to Load Changes

Three-degrees-of-freedom Flexible Robot Position Control Rob...

引用

15th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Partida, Gonzalo Jaramillo, Victor H. Feliu, Vicente Univ Castilla La Mancha Tech Sch Ind Engineers Ciudad Real 13005 Spain

ISBN: (纸本)9781424468508

This paper proposes a new control method for a three-degree-of-freedom flexible robot. In the model, the mass is assumed to be concentrated at the end of the robotic arm. The main feature of the method is that it consists of two nested control loops: the inner one controls the angular positions of the motors and the external one the tip's position and cancels the vibration. The outer control loop, as will be shown, is robust to tip mass variations. Simulations are carried out, supposing different masses with succesfull results in trajectory tracking.

关键词： 3DOF flexible robot angular positions flexible manipulators nested control loops outer control loop position control robotic arm robust control three-degrees-of-freedom flexible robot position control tip mass variations trajectory tracking

来源：评论

学校读者我要写书评

暂无评论

Attitude Tracking of the Small-Scale Helicopter System using Disturbance Observer based Sliding Mode control 22

Attitude Tracking of the Small-Scale Helicopter System using...

引用

22nd Mediterranean Conference on control and Automation (MED)

作者： Salihbegovic, Almir Hebibovic, Mujo Univ Sarajevo Fac Elect Engn Dept Automat Control & Elect Sarajevo 71000 Bosnia & Herceg

ISBN: (纸本)9781479959013

control design for a small-scale helicopter is quite challenging due to its nonlinearities, unknown and unmodelled dynamics, strong cross-coupling effects produced by the vehicles actuators, parametric uncertainties and external disturbances. This paper introduces the design of robust and stable disturbance observer (DOB) based sliding mode control (SMC) to meet these issues. It consists of the disturbance observer in the inner control loop which estimates and attenuates plant input generalized disturbance, and the sliding mode controller in the outer control loop which enforces convergence to the reference and stability of the equilibrium. Introduced disturbance observer is a linear low-pass filter capable to compensate unwanted chattering effects of the sliding mode control. The highly nonlinear helicopter model is introduced to illustrate effectiveness of the proposed control method. Designed controllers are implemented in the simulation mode and experimentally tested in a realistic environment. Obtained results showed that developed DOB based SMC controllers improve tracking performances over the entire range of the helicopter output variables even in the presence of additional parametric uncertainties, and external disturbances in the form of wind gusts.

关键词： aircraft control attitude control control system synthesis helicopters observers robust control variable structure systems DOB based SMC controllers attitude tracking control design disturbance observer external disturbances inner control loop linear low-pass filter outer control loop parametric uncertainties robust and stable disturbance observer sliding mode control small-scale helicopter system Acceleration Azimuth Convergence DC motors Helicopters Observers Torque

来源：评论

学校读者我要写书评

暂无评论

Simulation Technique and Mathematical Basis for Faster AC Analysis of Power Factor Correction Boost Converters

引用

IEEE ACCESS 2024年 12卷 165130-165142页

作者： Kim, Katherine A. Wilson Jr, Thomas G. Natl Taiwan Univ Dept Elect Engn Taipei 10617 Taiwan SIMPLIS Technol Portland OR 97240 USA

Power factor correction (PFC) boost converters are widely used for single-phase industrial ac-dc applications, where simulation is typically used for design and verification. However, running simulations with an ac source at the line frequency (50-60 Hz) can be time-consuming due to the long line period compared to the converter switching period. For PFC converters, the control loop, input impedance, and output impedance are critical to analyze the converter performance. We show that the ac analysis of the control loop and output impedance yields the same frequency response when using an ac and dc voltage source with the same rms value for a single-phase constant-frequency PFC boost converter operating in continuous conduction mode with a high power factor. The mathematical basis for this finding is derived based on a line-averaged rectified converter model. In contrast, for the ac analysis of the input impedance, an ac source must be used for the simulation. A mathematical derivation of this result is presented based on a line-averaged ac-side converter model. From these findings, the use of a dc source for ac analysis of the control loop and output impedance reduced the simulation time to less than 6.8% of that with an ac source.

关键词： Impedance Voltage control Frequency conversion Frequency response Frequency control Switches control systems Transfer functions Reactive power Power system stability AC analysis boost converter input impedance outer control loop output impedance power factor correction simulation techniques small-signal modeling

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：