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Hu C.,Tsinghua University | Wang Z.,Tsinghua University | Zhu Y.,Tsinghua University | Zhang M.,Tsinghua University | And 2 more authors.
IEEE Transactions on Industrial Electronics | Year: 2016

Magnetically levitated planar motor is a new-generation motion device in modern precision industry, while its advanced motion controller design is still of main concern. In this paper, a learning adaptive robust control (LARC) motion controller is proposed for a magnetically levitated planar motor developed in our laboratory to achieve good tracking performance. The planar motor consists of a Halbach permanent magnetic array as the stator, and a levitated platen containing four groups of three-phase windings as the mover. Based on the Lorentz force law, the mover placed in the magnetic field is subjected to vertical force for levitation and horizonal force for planar motion through dynamics decoupling and current allocation. An LARC control scheme containing adaptive robust control (ARC) term and iterative learning control (ILC) term in a serial structure is then proposed for the magnetically levitated planar motor to achieve high-performance tracking even there exist parametric variations and uncertain disturbances. Comparative experiments between traditional lead, ARC, ILC, and the proposed LARC are carried out on the planar motor to track sinusoidal, point-to-point, and planar circular motions, respectively. The experimental results consistently validate that the proposed LARC control strategy outperforms other controllers much, and possesses not only good transient/steady-state tracking performance but also parametric adaptation ability and uncertain disturbance robustness. The proposed scheme actually provides a practically effective technique for motion control of magnetically levitated planar motors in industrial applications. © 1982-2012 IEEE.

Wang Y.,Beijing Institute of Mechanical Equipment | Tian Z.M.,Beijing Institute of Mechanical Equipment | Xia F.,State Grid Corporation of China
Proceedings of the World Congress on Intelligent Control and Automation (WCICA) | Year: 2016

In view of the current problems of system evaluation and decision support, an advanced theory of evaluation based on data station was proposed. The system effectiveness from different aspects was analyzed. For massive and non-structural characteristics a model of simulation data refinement and reconstruction processing was constructed, in order to meet different demands for system analysis a data cube was built. Taking vehicle information platform for instance, the data mining technology to the system evaluation and decision support effectively solves the issue of high-dimensional data complexity and makes it possible to do in-depth analysis of system indicators. © 2016 IEEE.

Liang Y.,Beijing Institute of Mechanical Equipment | Li J.,Beijing Institute of Mechanical Equipment | Meng J.,Harbin Engineering University
2016 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2016 | Year: 2016

This paper present a blade vibration monitoring method based on strain gauges for a straight-bladed vertical axis wind turbine with pitch control. NACA0018 airfoil sinusoid-pitched at centroid was employed, and experimental study was conducted to investigate vibration characteristics of the pitching airfoil. The mechanical model of blade with simply supported was built, meanwhile the impacts of arrangement of pitch control device and bearing constraint were analysed for blade safety. The distribution of measuring points of blade was discussed in this paper. Results show that pitch control device should be placed at the bottom of blade, and aligning ball bearing was suggested to be utilized at the top of blade for smaller bending stress. Static calibration experiment and wind tunnel experiment were conducted, and the experimental results can well capture the vibration characteristics of blade, showing the availability and reliability of the blade vibration monitoring method. © 2016 IEEE.

Fu Z.-D.,Beijing Institute of Mechanical Equipment | Wang R.,Beijing Institute of Mechanical Equipment | Jiang D.-X.,Beijing Institute of Mechanical Equipment | Song Y.,Beijing Institute of Mechanical Equipment
Lecture Notes in Electrical Engineering | Year: 2016

This study focuses on the robust generalized fault diagnosis observer design for a nonlinear system with external disturbances and an actuator fault. The robust generalized fault diagnosis observer (RGFDO) with the defined performance index, which can estimate system states and fault signal simultaneously, is designed. Finally, simulations are performed on flexible joint robotic systems to illustrate the effectiveness and applicability of the algorithm proposed. © Springer Science+Business Media Singapore 2016.

Zhang J.-W.,Beijing Institute of Mechanical Equipment | Xu N.,Beijing Institute of Mechanical Equipment | Wu S.-X.,Beijing Institute of Mechanical Equipment
Yuhang Xuebao/Journal of Astronautics | Year: 2016

For angular maneuvers of the underactuated spacecraft with arbitrary scissors configurations of flywheels, a mathematic model is built by taking the flywheels and the spacecraft as an integrated system. The limitation of the control system design based on the traditional model is analyzed. The attitude maneuver set is given through the description of the angular momentum set of the flywheels. Since the controller of the integrated system with non-zero initial momentum is difficult to be designed by using the Lyapunov method, and in order to ensure the precise control of the spacecraft attitude maneuver, nonlinear model predictive control is used to realize the feedback control of the integrated system. By doing so, the spacecraft attitude maneuver is realized in the attitude maneuver set under the arbitrary scissors configurations of flywheels and arbitrary initial momentum of the integrated system with the flywheels unsaturated. The simulation results show that the system has good control performance and precision. © 2016, Editorial Dept. of JA. All right reserved.

Zhou L.,Beijing Institute of Mechanical Equipment | Wang S.,Beijing Institute of Mechanical Equipment
Jiangsu Daxue Xuebao (Ziran Kexue Ban)/Journal of Jiangsu University (Natural Science Edition) | Year: 2015

To reduce torque ripple of brushless DC motor (BLDCM) control system, two torque control methods were proposed based on predictive current control of BLDCM with trapezoidal back electromagnetic fields (EMF). According to the characteristics of trapezoidal back EMF, an extended PARK transformation was used to make torque value proportional to current and to transform torque control into current control. Based on 120 degree commutation mode and hybrid commutation mode, two predictive current control methods were proposed by current calculating of the next control cycle through mathematical model analysis of BLDCM and by voltage vector choosing through values comparison of a cost function. The simulation results show that both of the proposed methods can successfully control current and speed of BLDCM with rapid torque response and low torque ripple. ©, 2014, Journal of Jiangsu University (Natural Science Edition). All right reserved.

Wen Q.,Beijing Institute of Technology | Xia Q.,Beijing Institute of Technology | Weixia S.,Beijing Institute of Mechanical Equipment
Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering | Year: 2015

This note studies the problem of impact angle guidance by considering the seeker's field-of-view angle constraint and proposes a new guidance parameter design strategy based on the classical time-to-go weighted impact angle optimal guidance law. To this end, firstly, the analytic expression of the field-of-view angle throughout the guidance process is presented. It is demonstrated that the max field-of-view angle can be controlled by designing the correct time-to-go weighted parameter and initial guidance conditions. Then, a guidance strategy, which includes the optimal guidance law, guidance condition selection, and guidance parameter design, is given. When using the strategy, the suitable time-to-go weighted parameter is modified to ensure the seeker's field-of-view angle would not exceed the boundary value. Finally, the results of a numerical simulation based on the simple missile-target kinematics are presented; these results validate the proposed strategy. © IMechE 2015.

Qiuqiu W.,Beijing Institute of Technology | Qunli X.,Beijing Institute of Technology | Weixia S.,Beijing Institute of Mechanical Equipment
Journal of Aerospace Engineering | Year: 2016

To avoid the mathematical singularity of polar converting in bank-to-turn (BTT) guidance and to provide the specified terminal impact angle, a BTT guidance law with impact-angle constraint (BTT-GL/IA) is presented. Considering the influence of the impact-angle control and target maneuver to the miss-distance, a new form zero-effort miss-distance with impact angle (ZEM/IA) is introduced. Referring to the Lyapunov-like approach used to drive the guidance law in the prior literature, a Lyapunov function is constructed in terms of ZEM/IA. Based on the Lyapunov stability theorem, a negative definite function is designed, and the BTT-GL/IA is derived. Next, BTT-GL/IA is implemented in another form with the variables as the line-of-sight angle and its rate, which are easily measured by the seeker. When using BTT-GL/IA, the guidance law tends to maintain smooth and continuously-varied body acceleration and roll-angle commands while satisfying the impact position and angle constraints. The problem of a mathematical singularity in normal BTT polar converting logic is avoided. Finally, both the maneuverable and stationary targets with different impact-angle constraints are considered in numerical simulations. Through various simulation results, the effectiveness and practicality of the BTT-GL/IA are demonstrated. © 2015 American Society of Civil Engineers.

Zhong H.,Beijing Institute of Mechanical Equipment | Zhao W.,Second Research Institute China Arerospace Science and Industry Corporation office | Sun Y.,Second Research Institute China Arerospace Science and Industry Corporation office
Applied Mechanics and Materials | Year: 2014

The slip-judgment method of threshold value was made for all-wheel independent electric drive vehicle through the analysis of the relationship of steering kinematics, which based on detecting speed and current of wheel-motor. The speed coordinated control of motor was used as synchronous control method. Models of vehicle dynamics and synchronous control were respectively constructed in Adams and Matlab/Simulink, which composed the model of mechanical-electric collaborative simulation. The synchronous control process of vehicle that running on bisectional road was analyzed, the result shows that synchronous control based on power control strategy reduces slip-wheel motor's power consumption and increases other motors' output power and torque through reducing the motor speed to average speed of normal wheel-motor. Improves the traction performance and stability of vehicle, also reduces the wheel wear and driver's control difficulty. The method has advantages of low cost, wide applicability, good controllability, high reliability etc., provide the reference of synchronization technology for independent electric drive military vehicle. © (2014) Trans Tech Publications, Switzerland.

Bi L.,Beijing Institute of Technology | Lu Y.,Beijing Institute of Technology | Fan X.,Beijing Institute of Mechanical Equipment | Lian J.,Beijing Institute of Technology | Liu Y.,University of Michigan
IEEE Transactions on Neural Systems and Rehabilitation Engineering | Year: 2016

Directly using brain signals rather than limbs to steer a vehicle may not only help disabled people to control an assistive vehicle, but also provide a complementary means of control for a wider driving community. In this paper, to simulate and predict driver performance in steering a vehicle with brain signals, we propose a driver brain-controlled steering model by combining an extended queuing network-based driver model with a brain-computer interface (BCI) performance model. Experimental results suggest that the proposed driver brain-controlled steering model has performance close to that of real drivers with good performance in brain-controlled driving. The brain-controlled steering model has potential values in helping develop a brain-controlled assistive vehicle. Furthermore, this study provides some insights into the simulation and prediction of the performance of using BCI systems to control other external devices (e.g., mobile robots). © 2016 IEEE.

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