مقاله A relay-based method for servo performance improvement : تی پی بین

خلاصه مقاله

This paper proposes a relay-based performance-improving method for servo mechanism systems. The method first utilizes a relay-based feedback technique to identify the model parameters and the Coulomb friction value. Then, based on the identified results, a control algorithm, which consists of a feedforward controller, a time-delay compensator and a sliding mode controller, is designed. The feedforward control-ler and the time-delay compensator are used to compensate the system dynamics and the external dis-turbances respectively. Their parameters are decided directly according to the identified values. The sliding mode controller is to stabilize the system, two of whose parameters are one-to-one mapping to the closed-loop characteristic roots. Thus, this method avoids the complicated parameters tuning process, which is attractive in practice to the control engineers. Experimental studies on a linear-motor-driven table illustrate that the proposed method is capable of improving the servo performance greatly and can-celing the external disturbances effectively

نویسندگان

Wu Jianhua [ Institute of Robots, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, No. 800, Dong Chuan Rd., Shanghai 200240, PR China ]

Liu Jia [ Institute of Robots, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, No. 800, Dong Chuan Rd., Shanghai 200240, PR China ]

Xiong Zhenhua [ Institute of Robots, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, No. 800, Dong Chuan Rd., Shanghai 200240, PR China ]

Ding Han [ Institute of Robots, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, No. 800, Dong Chuan Rd., Shanghai 200240, PR China ]

کلمات کلیدی

Servo system Relay based feedback technique Time delay compensator Motion control

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مشاهده مقالات

Mechatronics 2011

The Science of Intelligent Machines Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence.

حوزه های تحت پوشش : mechanical engineering , electronic control , systems thinking