A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of contro...A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.展开更多
在M atlab/S im u link环境下,通过对独立的PM SM本体、dq坐标系向abc坐标系转换、三相电流源逆变器、速度控制器等功能模块建立与组合,构建了永磁同步电机控制系统的速度和电流双闭环仿真模型。验证了其控制算法。仿真结果证明了该系...在M atlab/S im u link环境下,通过对独立的PM SM本体、dq坐标系向abc坐标系转换、三相电流源逆变器、速度控制器等功能模块建立与组合,构建了永磁同步电机控制系统的速度和电流双闭环仿真模型。验证了其控制算法。仿真结果证明了该系统模型的有效性,为永磁同步电机控制系统的设计和调试提供了理论基础。展开更多
A dynamic marine propeller simulation system was developed, which is utilized for meeting the experimental requirement of theory research and engineering design of marine electric propulsion system. By applying an act...A dynamic marine propeller simulation system was developed, which is utilized for meeting the experimental requirement of theory research and engineering design of marine electric propulsion system. By applying an actual ship parameter and its accurate propeller J＇ -KT＇ and J＇ - Kp＇ curve data, functional experiments based on the simulation system were carried out. The experiment results showed that the system can correctly emulate the propeller characteristics, produce the dynamic and steady performances of the propeller under different navigation modes, and present actual load torque for electric propulsion motor.展开更多
基金supported by the National Natural Science Foundation of China(11272027)
文摘A dynamics-based adaptive control approach is proposed for a planar dual-arm space robot in the presence of closed-loop constraints and uncertain inertial parameters of the payload. The controller is capable of controlling the po- sition and attitude of both the satellite base and the payload grasped by the manipulator end effectors. The equations of motion in reduced-order form for the constrained system are derived by incorporating the constraint equations in terms of accelerations into Kane＇s equations of the unconstrained system. Model analysis shows that the resulting equations perfectly meet the requirement of adaptive controller design. Consequently, by using an indirect approach, an adaptive control scheme is proposed to accomplish position/attitude trajectory tracking control with the uncertain parameters be- ing estimated on-line. The actuator redundancy due to the closed-loop constraints is utilized to minimize a weighted norm of the joint torques. Global asymptotic stability is proven by using Lyapunov＇s method, and simulation results are also presented to demonstrate the effectiveness of the proposed approach.
文摘在M atlab/S im u link环境下,通过对独立的PM SM本体、dq坐标系向abc坐标系转换、三相电流源逆变器、速度控制器等功能模块建立与组合,构建了永磁同步电机控制系统的速度和电流双闭环仿真模型。验证了其控制算法。仿真结果证明了该系统模型的有效性,为永磁同步电机控制系统的设计和调试提供了理论基础。
基金supported by the Fund of Shanghai Committee of Science and Technology(Grant No.11170501700)the International Cooperation and Exchange Projects of the Ministry of Science and Technology(Grant No.2012DFG71850)
文摘A dynamic marine propeller simulation system was developed, which is utilized for meeting the experimental requirement of theory research and engineering design of marine electric propulsion system. By applying an actual ship parameter and its accurate propeller J＇ -KT＇ and J＇ - Kp＇ curve data, functional experiments based on the simulation system were carried out. The experiment results showed that the system can correctly emulate the propeller characteristics, produce the dynamic and steady performances of the propeller under different navigation modes, and present actual load torque for electric propulsion motor.
