In this paper, a new nonlinear self-tuning PID controller(NSPIDC) is proposed to control the joint position and link deflection of a flexible-link manipulator(FLM) while it is subjected to carry different payloads. Si...In this paper, a new nonlinear self-tuning PID controller(NSPIDC) is proposed to control the joint position and link deflection of a flexible-link manipulator(FLM) while it is subjected to carry different payloads. Since, payload is a critical parameter of the FLM whose variation greatly influences the controller performance. The proposed controller guarantees stability under change in payload by attenuating the non-modeled higher order dynamics using a new nonlinear autoregressive moving average with exogenous-input(NARMAX) model of the FLM. The parameters of the FLM are identified on-line using recursive least square(RLS) algorithm and using minimum variance control(MVC) laws the control parameters are updated in real-time. This proposed NSPID controller has been implemented in real-time on an experimental set-up. The joint tracking and link deflection performances of the proposed adaptive controller are compared with that of a popular direct adaptive controller(DAC). From the obtained results, it is confirmed that the proposed controller exhibits improved performance over the DAC both in terms of accurate position tracking and quick damping of link deflections when subjected to variable payloads.展开更多
For measuring velocity and impacting position of single fragment of warhead,a non-contact measuring method is proposed,in which a six-light-screen array,a position indicator,a multi-channel chronograph and a computer ...For measuring velocity and impacting position of single fragment of warhead,a non-contact measuring method is proposed,in which a six-light-screen array,a position indicator,a multi-channel chronograph and a computer are used.The principle of measurement is described.The key device of the system is a light screen array sensor which consists of six light screens allocated with certain geometrical parameters.When the fragment flies through the light screen array,the time of passing through each of the screens is recorded by the multi-channel chronograph.According to the time data and the geometrical parameters of the array,the velocity vector and the location of the fragment can be calculated immediately.The presented method can be used to locate the fragment and to measure the real velocity on its flying direction.It can also be used to measure the velocity of a fragment swarm after the system is engineered further.展开更多
文摘In this paper, a new nonlinear self-tuning PID controller(NSPIDC) is proposed to control the joint position and link deflection of a flexible-link manipulator(FLM) while it is subjected to carry different payloads. Since, payload is a critical parameter of the FLM whose variation greatly influences the controller performance. The proposed controller guarantees stability under change in payload by attenuating the non-modeled higher order dynamics using a new nonlinear autoregressive moving average with exogenous-input(NARMAX) model of the FLM. The parameters of the FLM are identified on-line using recursive least square(RLS) algorithm and using minimum variance control(MVC) laws the control parameters are updated in real-time. This proposed NSPID controller has been implemented in real-time on an experimental set-up. The joint tracking and link deflection performances of the proposed adaptive controller are compared with that of a popular direct adaptive controller(DAC). From the obtained results, it is confirmed that the proposed controller exhibits improved performance over the DAC both in terms of accurate position tracking and quick damping of link deflections when subjected to variable payloads.
基金Sponsored by Foundation of Department Education of Shaanxi Province of China(03JC31)Key Lab Foundationin Nanjing University of Science and Technology(51453010103SX0201).
文摘For measuring velocity and impacting position of single fragment of warhead,a non-contact measuring method is proposed,in which a six-light-screen array,a position indicator,a multi-channel chronograph and a computer are used.The principle of measurement is described.The key device of the system is a light screen array sensor which consists of six light screens allocated with certain geometrical parameters.When the fragment flies through the light screen array,the time of passing through each of the screens is recorded by the multi-channel chronograph.According to the time data and the geometrical parameters of the array,the velocity vector and the location of the fragment can be calculated immediately.The presented method can be used to locate the fragment and to measure the real velocity on its flying direction.It can also be used to measure the velocity of a fragment swarm after the system is engineered further.
