A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-...A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller.展开更多
为了降低到达时间(time of arrival, TOA)算法的接收信号采样率需求,基于正交频分复用(orthogonal frequency division multiplexing, OFDM)系统中信号具有频谱稀疏性的特点,提出了基于压缩感知算法的可见光通信定位一体化系统。仿真结...为了降低到达时间(time of arrival, TOA)算法的接收信号采样率需求,基于正交频分复用(orthogonal frequency division multiplexing, OFDM)系统中信号具有频谱稀疏性的特点,提出了基于压缩感知算法的可见光通信定位一体化系统。仿真结果表明,采用压缩感知算法后,通信系统仅需原始采样率为100 MHz时数据量的60%即可使误码率降至10-3以下,定位系统仅需原始采样率为800 MHz时数据量的2.1%即可准确估计收发端距离,远低于采样定理所需数据量,证明了所提算法的优越性。此外,在引入噪声后,通过提高压缩感知算法的测量数据比例,一体化系统仍能在奈奎斯特采样率以下保持良好的通信与定位性能。展开更多
基金Project(51375430)supported by the National Natural Science Foundation of China
文摘A pneumatic parallel platform driven by an air cylinder and three circumambient pneumatic muscles was considered. Firstly, a mathematical model of the pneumatic servo system was developed for the MIMO nonlinear model-based controller designed. The pneumatic muscles were controlled by three proportional position valves, and the air cylinder was controlled by a proportional pressure valve. As the forward kinematics of this structure had no analytical solution, the control strategy should be designed in joint space. A cross-coupling integral adaptive robust controller(CCIARC) which combined cross-coupling control strategy and traditional adaptive robust control(ARC) theory was developed by back-stepping method to accomplish trajectory tracking control of the parallel platform. The cross-coupling part of the controller stabilized the length error in joint space as well as the synchronization error, and the adaptive robust control part attenuated the adverse effects of modelling error and disturbance. The force character of the pneumatic muscles was difficult to model precisely, so the on-line recursive least square estimation(RLSE) method was employed to modify the model compensation. The projector mapping method was used to condition the RLSE algorithm to bound the parameters estimated. An integral feedback part was added to the traditional robust function to reduce the negative influence of the slow time-varying characteristic of pneumatic muscles and enhance the ability of trajectory tracking. The stability of the controller designed was proved through Laypunov's theory. Various contrast controllers were designed to testify the newly designed components of the CCIARC. Extensive experiments were conducted to illustrate the performance of the controller.
文摘为了降低到达时间(time of arrival, TOA)算法的接收信号采样率需求,基于正交频分复用(orthogonal frequency division multiplexing, OFDM)系统中信号具有频谱稀疏性的特点,提出了基于压缩感知算法的可见光通信定位一体化系统。仿真结果表明,采用压缩感知算法后,通信系统仅需原始采样率为100 MHz时数据量的60%即可使误码率降至10-3以下,定位系统仅需原始采样率为800 MHz时数据量的2.1%即可准确估计收发端距离,远低于采样定理所需数据量,证明了所提算法的优越性。此外,在引入噪声后,通过提高压缩感知算法的测量数据比例,一体化系统仍能在奈奎斯特采样率以下保持良好的通信与定位性能。
