CN110086401A - Radioactive source upside-down mounting system method of servo-controlling - Google Patents
Radioactive source upside-down mounting system method of servo-controlling Download PDFInfo
- Publication number
- CN110086401A CN110086401A CN201910286724.XA CN201910286724A CN110086401A CN 110086401 A CN110086401 A CN 110086401A CN 201910286724 A CN201910286724 A CN 201910286724A CN 110086401 A CN110086401 A CN 110086401A
- Authority
- CN
- China
- Prior art keywords
- servo
- follows
- radioactive source
- down mounting
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 69
- 230000002285 radioactive effect Effects 0.000 title claims abstract description 32
- 230000001133 acceleration Effects 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims abstract description 4
- 238000006467 substitution reaction Methods 0.000 claims abstract description 4
- 238000013461 design Methods 0.000 claims description 38
- 230000008569 process Effects 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000002474 experimental method Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000012937 correction Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- GUTLYIVDDKVIGB-OUBTZVSYSA-N Cobalt-60 Chemical compound [60Co] GUTLYIVDDKVIGB-OUBTZVSYSA-N 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229910017052 cobalt Inorganic materials 0.000 description 1
- 239000010941 cobalt Substances 0.000 description 1
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 238000005025 nuclear technology Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0077—Characterised by the use of a particular software algorithm
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/12—Observer control, e.g. using Luenberger observers or Kalman filters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Feedback Control In General (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Radioactive source upside-down mounting system method of servo-controlling.Usually there is " climbing " or " resonance " phenomenon in the servo-system of lower-speed state.The present invention includes the following steps: the parameter identification based on least square method, can carry out parameter fitting to quadratic expression using the principle of least square fitting, be measured using servo-system for differenceInputAngle Position output, obtain the Amplitude Ration of input and output, i.e.,, substitution obtains correspondingWithValue, then be fitted, obtain firstValue, be obtained by calculation、、Value, take back former formula and obtain plant characteristic.But to obtain first due to measurement inaccuracy、、Among be possible to negative value, this, which just needs to measure multi-group data, is fitted, obtain one group it is normalValue, obtain the servo-system parameter of electric machine, linear extended state observer model foundation, 3w method speed, acceleration.The present invention is used for radioactive source upside-down mounting system SERVO CONTROL.
Description
Technical field:
The present invention relates to civilian nuclear technology fields, automation field, and in particular to a kind of radioactive source upside-down mounting system SERVO CONTROL
Method.
Background technique:
According to Chinese isotope and radiation employer's organization statistics, by 2015, all kinds of irradiation devices in China had more than 300, only cobalt -60
Irradiation devices just have more than 180 seats, and about 30 EBq of overall design loading of source capacity is distributed in wherein 3.7 PBq's or more has more than 100 seats
National more than 50 a cities.Be installed in addition in irradiation devices at present, upside-down mounting, retired high -60 radioactive source of activity cobalt storage source well depth about
It is operated for 7 meters or so, uses traditional handle type mechanical clamp more, it is inconvenient.Meanwhile the design of Conventional flip tool
Easily there is radioactive source in use process and falls off in defect, and increases workload to radioactive source upside-down mounting work, and be easily damaged radiation
Source.Generally there are two types of specifications in used industrial irradiation source on irradiation devices at present: one is domestic 11 mm × 451 φ
mm；Another kind is φ 11.6 mm × 451 mm of import.Its physical half time is 5.27a, that is to say, that every 5 years radioactive sources
Activity will cut down about half, thus cannot be satisfied with irradiation require, need to augment60The amount of Co adds the process of radioactive source
It is the dangerous work of tool.Research and development are fallen automatically during source device, and control system control method and vulnerability to jamming are especially heavy
It wants, system is worked under water by water level fluctuation, and playing clip process speed cannot be excessive, this makes system work in lower-speed state.
Usually there is " climbing " or " resonance " phenomenon in the servo-system of lower-speed state.Meanwhile in addition to mechanical position limitation, directly in control system
Carrying out position control has higher stability compared to opened loop control.
Summary of the invention:
Control system is carried out using optical code wheel location information estimated acceleration signal method the object of the present invention is to provide a kind of
Design improves the dynamic characteristic of radioactive source upside-down mounting system and the radioactive source upside-down mounting system method of servo-controlling of reliability.
Above-mentioned purpose is realized by following technical scheme:
A kind of radioactive source upside-down mounting system method of servo-controlling, this method comprises the following steps:
(1) based on the parameter identification of least square method；
Parameter fitting can be carried out to quadratic expression using the principle of least square fitting, measured using servo-system for differenceInputAngle Position output, obtain the Amplitude Ration of input and output, i.e.,, substitution obtains correspondingWithValue, then into
Row fitting, obtains firstValue, be obtained by calculation、、Value, take back former formula obtain object spy
Property.But to obtain first due to measurement inaccuracy、、Among be possible to negative value, this just needs to measure
Multi-group data is fitted, obtain one group it is normalValue；
(2) the servo-system parameter of electric machine is obtained；
(3) linear extended state observer model foundation；
(4) 3w method speed, acceleration.
The radioactive source upside-down mounting system method of servo-controlling, the step obtain the specific of quadratic polynomial in (1)
Process are as follows:
System model will be modeled by the method for experiment first, it, be to controlled for the parameter model of servo motor
Object mechanism model is simplified, and plant characteristic is now set are as follows:
(1)
It willIt substitutes into plant characteristic, obtains the amplitude-frequency characteristic of servo-system,
(2)
If, above formula can be become
(3)
It sets again,, institute's above formula becomes
(4)
Above formula is quadratic polynomial.
The radioactive source upside-down mounting system method of servo-controlling, the detailed process of the step (2) are as follows: measure for not
The Angle Position output of same input, measures the amplitude of input and output, by calculating, last solution obtains the transmission function of servo-system
As a result are as follows:
(5)
The radioactive source upside-down mounting system method of servo-controlling, the detailed process of the step (3) are as follows: system is set for linear modelWhereinIt is system expansion state, and can be micro-, definition
System state space description are as follows:
(6)
Wherein
Design following state observer:
(7)
WhereinForEstimated value,For observer parameter, suitable gain is chosen, observer may be implemented to state variable
Estimation；
The discrete form for providing linear expansion observer herein is realized in order to program are as follows:
(8)
Control rate is divided into two parts by extended state observer, wherein, it is that observer can be estimated
Obtained disturbance is counted, then system is also referred to as,For compensating disturbance, this is equivalent to
One easily controlled more integral model；
It can be in the hope of the characteristic equation of LESO according to state-space model are as follows:
(9)
The radioactive source upside-down mounting system method of servo-controlling, the detailed process of the step (4) are as follows: with the side of design bandwidth
Method carries out Control System Design, characteristic equation are as follows:
For the bandwidth of observer, notices index contrast and obtain
Acquire the transmission function of estimated state:
(10)
Radioactive source upside-down mounting process mainly uses Stepped Impedance Resonators, considers perturbed system input signal are as follows:
The utility model has the advantages that
1. the present invention uses linear condition extended state observer, it is based on motor model, combines the control system of 3w method design
Estimate that upper hysteresis is obviously improved in velocity and acceleration, in design bandwidth, need to compromise to bandwidth value,
Design bandwidth ambassador's signal generates lag, and too small and influence because of noise disturbance generates burr.
2. dress system optical code wheel location information of the present invention obtains acceleration signal by extended state observer, to overcome
The system of falling source disturbs big, lag serious phenomenon under water and develops skill support, and increases the reliability of system.
3. the acceleration signal obtained in present invention design and Control System Design using estimation, the side corrected using frequency
Method has carried out controller parameter design.
4. low frequency characteristic of the present invention is good, control precision is high, and overload capacity is strong, and speed responsive is fast, and torque frequency feature is good.
Detailed description of the invention:
Attached drawing 1 is the lower Amplitude Ration curve graph exported of different frequency input；
Attached drawing 2 is transmission function and data measured amplitude contrast curve chart after fitting；
Attached drawing 3 is the frequency response curve of system under different bandwidth；
Attached drawing 4 is speed tracing effect curve figure；
Attached drawing 5 is acceleration tracking effect curve graph；
Attached drawing 6 is interlock protection design flow diagram；
Attached drawing 7 is control drawing；
Attached drawing 8 is the Bode figure of controller design；
Attached drawing 9 is the dynamic characteristic figure of controller design；
Specific embodiment:
Embodiment 1:
A kind of radioactive source upside-down mounting system method of servo-controlling, this method comprises the following steps:
(1) based on the parameter identification of least square method；
Parameter fitting can be carried out to quadratic expression using the principle of least square fitting, measured using servo-system for differenceInputAngle Position output, obtain the Amplitude Ration of input and output, i.e.,, substitution obtains correspondingWithValue, then into
Row fitting, obtains firstValue, be obtained by calculation、、Value, take back former formula obtain object spy
Property.But to obtain first due to measurement inaccuracy、、Among be possible to negative value, this just needs to measure
Multi-group data is fitted, obtain one group it is normalValue；
(2) the servo-system parameter of electric machine is obtained；
(3) linear extended state observer model foundation；
(4) 3w method speed, acceleration.
Embodiment 2:
According to radioactive source upside-down mounting system method of servo-controlling described in embodiment 1, the step obtains quadratic polynomial in (1)
Detailed process are as follows:
System model will be modeled by the method for experiment first, it, be to controlled for the parameter model of servo motor
Object mechanism model is simplified, and plant characteristic is now set are as follows:
(1)
It willIt substitutes into plant characteristic, obtains the amplitude-frequency characteristic of servo-system,
(2)
If, above formula can be become
(3)
It sets again,, institute's above formula becomes
(4)
Above formula is quadratic polynomial.
Embodiment 3:
The radioactive source upside-down mounting system method of servo-controlling according to embodiment 1 or 2, the detailed process of the step (2) are as follows:
The Angle Position output for different inputs is measured, measures the amplitude of input and output as shown in Figure 1, by calculating, last solution is obtained
The result of the transmission function of servo-system are as follows:
(5)
The Amplitude Ration of transmission function and the Amplitude Ration measured comparison are as shown in Figure 2；
Curve matching degree application condition is small between Amplitude Ration and the Amplitude Ration that measures by verifying transmission function, can be tied with this
Transmission function basis as subsequent design of the fruit as controlled device；
Embodiment 4:
According to radioactive source upside-down mounting system method of servo-controlling described in embodiment 1 or 2 or 3, the detailed process of the step (3)
Are as follows: system is set for linear modelWhereinIt is system expansion state, and being can
Micro-, definition
System state space description are as follows:
(6)
Wherein
Design following state observer:
(7)
WhereinForEstimated value,For observer parameter, suitable gain is chosen, observer may be implemented to state variable
Estimation；
The discrete form for providing linear expansion observer herein is realized in order to program are as follows:
(8)
Control rate is divided into two parts by extended state observer, wherein, it is that observer can be estimated
Obtained disturbance is counted, then system is also referred to as,For compensating disturbance, this is equivalent to
One easily controlled more integral model；
It can be in the hope of the characteristic equation of LESO according to state-space model are as follows:
(9)
Embodiment 5:
According to radioactive source upside-down mounting system method of servo-controlling described in embodiment 1 or 2 or 3 or 4, the step (4) it is specific
Process are as follows: carry out Control System Design, characteristic equation with the method for design bandwidth are as follows:
For the bandwidth of observer, notices index contrast and obtain
Acquire the transmission function of estimated state:
(10)
Radioactive source upside-down mounting process mainly uses Stepped Impedance Resonators, considers perturbed system input signal are as follows:
Obviously, each state of system is restrained with time change, steady-state error 0.It can be under the premise of not considering system response
Realize the deadbeat estimation of each state.By transmission function it can be seen that when input signal is rank exceeding signal, system mode tracking is that have
Overshoot, this is because linear system structure designs, disturbance, inputs co-determination, overshoot size and system design bandwidth
It is unrelated.
System bandwidth design, bandwidth are carried out by matlab softwareIts Bode figure frequency characteristic
Curve is as shown in figure 3, be 10 using the method design servo-control system bandwidth, location information acquisition optical code wheel error is
0.0005, acceleration and velocity estimation situation as illustrated in figures 4-5, using linear condition extended state observer, are based on motor mould
Type, the control system for combining the design of 3w method are estimated that upper hysteresis is obviously improved in velocity and acceleration, are being designed
It when bandwidth, needs to compromise to bandwidth value, design bandwidth ambassador's signal generates lag, influence too small and because of noise disturbance
Generate burr.
Effect of the acceleration estimation in upside-down mounting source control system:
(1) interlock protection designs
Interlock protection design can be carried out with the acceleration of estimation, flow chart is as shown in Figure 6:
In figure, power is perceived as gripping body front end clamping power.After being determined by mechanical structure, obtained by mechanics model calculating
:
F`=bJa
Wherein: F` is gripping body front end power；
B is coefficient；
A is angular acceleration；
J indicates rigid body around the rotary inertia to dead axle；
When the flow chart indicates Control System Design, clamping power in mechanical structure front end can be sought according to motor angular acceleration, and
Clamping power size is constrained, when motor output is excessive, to avoid the damage of radiation source rod from stopping in time.
(2) control loop designs
In order to integrate real-time, stability, safety, the influence of the snail-like movement and environmental perturbation in start-up course is especially overcome,
Design acceleration, position double closed-loop control system, wherein position ring outside, including acceleration ring, effect is that acceleration ring can be with
Effectively inhibit environmental perturbation, position ring effectively overcomes quantizing noise, and control system is as shown in fig. 7, the servo-system transmission function
Are as follows:
Two feedback quantity positions and acceleration can be obtained by accompanying method in 4, and P, Q are controller, which needs
System acceleration is estimated, and acceleration ring design process will avoid the generation of hysteresis, that is, use big band
Width is designed, and in order to improve response speed, needs to take large gain.However excessive bandwidth is to the inhibitory effect of noise
Difference, gain become larger undoubtedly to the amplification of noise.It can be at two aspects of anti-interference and real-time using the method for this patent design
It is designed by the means of emulation.
(3) design of controller
For the object of least squares identification, the method for using frequency to correct carries out the design of controller: increasing to reduce object
Benefit, if, it is as shown in Figure 8 to do Bode figure:
To make its cross-over frequency be reduced to 200rad/s, angular acceleration controller is obtained using the method corrected in advance are as follows:
Then the transmission function of object becomes:
Continue to use Bode figure method, carry out superpower correction, make cross-over frequency, with 100 ° of phase angles of advanced correction, gain be K=
29854 obtain positioner:
It is tested on artificial rotary table using the controller that the method designs, to observe dynamic characteristic, dynamic characteristic figure such as Fig. 9
It is shown, it is inputted using 1HZ sinusoidal signal, obtains good real-time in artificial rotary table.
Servo-control system be it is a kind of can the operation that is carried out automatically controlling by pre-provisioning request of the mechanical movement to experimental rig
System.Feedback control system, effect be make output mechanical displacement (or corner) be accurately tracked by input displacement (or turn
Angle).It is mainly had the advantage that compared with motor control
(1) low frequency characteristic is good.Easily there is low-frequency vibration phenomenon when low speed in stepper motor.AC servo motor is not in this phenomenon
Operating very steady AC servo has the function of that resonance inhibits.It is insufficient that mechanical rigidity can be covered, and internal system has
There is frequency resolution function, can detect that mechanical resonance point, is convenient for system call interception.During radioactive source upside-down mounting, system clamping
Process displacement is small, requires system low frequency characteristic high.
(2) control precision is high.The control precision of AC servo motor is guaranteed by the rotary encoder of motor shaft rear end.Upside-down mounting
Radioactive sources are protected except mechanical position limitation, and when automatically controlled design, the reliability of system can be improved using closed-loop control.
(3) overload capacity is strong.Stepper motor does not have overload capacity, in order to overcome inertia load in the inertia of starting moment
Need to choose the phenomenon that nominal torque motor more much larger than load torque causes torque waste when torque type selecting.And it exchanges
Servo motor has stronger overload capacity,
(4) speed responsive is fast.Stepper motor needs 200~400 milliseconds from the static rated speed that accelerates to.System operating distance
Far, for system there are certain lag, quick response can effectively improve the efficiency of clamping.
(5) torque frequency feature is good.The output torque of stepper motor increases with revolving speed and declines and the torque meeting in higher rotation speed
Sharply decline, so its highest working speed is generally in 300~600RPM.
Claims (5)
1. a kind of radioactive source upside-down mounting system method of servo-controlling, it is characterized in that: this method comprises the following steps:
(1) based on the parameter identification of least square method；
Parameter fitting can be carried out to quadratic expression using the principle of least square fitting, measured using servo-system for difference
InputAngle Position output, obtain the Amplitude Ration of input and output, i.e.,, substitution obtains correspondingWithValue, then carry out
Fitting, obtains firstValue, be obtained by calculation、、Value, take back former formula and obtain plant characteristic.But to obtain first due to measurement inaccuracy、、Among be possible to negative value, this just needs to measure more
Group data be fitted, obtain one group it is normalValue；
(2) the servo-system parameter of electric machine is obtained；
(3) linear extended state observer model foundation；
3w method speed, acceleration.
2. radioactive source upside-down mounting system method of servo-controlling according to claim 1, it is characterized in that: in the step (1)
Obtain the detailed process of quadratic polynomial are as follows:
System model will be modeled by the method for experiment first, it, be to controlled for the parameter model of servo motor
Object mechanism model is simplified, and plant characteristic is now set are as follows:
(1)
It willIt substitutes into plant characteristic, obtains the amplitude-frequency characteristic of servo-system,
(2)
If, above formula can be become
(3)
It sets again,, institute's above formula becomes
(4)
Above formula is quadratic polynomial.
3. radioactive source upside-down mounting system method of servo-controlling according to claim 1, it is characterized in that: the step (2)
Detailed process are as follows: the Angle Position output for different inputs is measured, the amplitude of input and output is measured, by calculating, last solution
Obtain the result of the transmission function of servo-system are as follows:
(5).
4. radioactive source upside-down mounting system method of servo-controlling according to claim 1, it is characterized in that: the step (3)
Detailed process are as follows: system is set for linear modelWhereinIt is system expansion state,
And can be micro-, definition
System state space description are as follows:
(6)
Wherein
Design following state observer:
(7)
WhereinForEstimated value,For observer parameter, suitable gain is chosen, observer may be implemented to state variable
Estimation；
The discrete form for providing linear expansion observer herein is realized in order to program are as follows:
(8)
Control rate is divided into two parts by extended state observer, wherein, it is that observer can be estimated
Obtained disturbance, then system is also referred to as,For compensating disturbance, this is equivalent to one
A easily controlled more integral models；
It can be in the hope of the characteristic equation of LESO according to state-space model are as follows:
(9)。
5. radioactive source upside-down mounting system method of servo-controlling according to claim 1, it is characterized in that: the step (4)
Detailed process are as follows: carry out Control System Design, characteristic equation with the method for design bandwidth are as follows:
For the bandwidth of observer, notices index contrast and obtain
Acquire the transmission function of estimated state:
(10)
Radioactive source upside-down mounting process mainly uses Stepped Impedance Resonators, considers perturbed system input signal are as follows:
。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910286724.XA CN110086401A (en) | 2019-04-10 | 2019-04-10 | Radioactive source upside-down mounting system method of servo-controlling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910286724.XA CN110086401A (en) | 2019-04-10 | 2019-04-10 | Radioactive source upside-down mounting system method of servo-controlling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110086401A true CN110086401A (en) | 2019-08-02 |
Family
ID=67414684
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910286724.XA Pending CN110086401A (en) | 2019-04-10 | 2019-04-10 | Radioactive source upside-down mounting system method of servo-controlling |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110086401A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509680A (en) * | 2009-03-16 | 2009-08-19 | 哈尔滨工业大学 | Energy-conserving control method for adjusting water pump number in synchronization speed changing flow quantity changing heating system |
| CN106407599A (en) * | 2016-10-18 | 2017-02-15 | 重庆大学 | Semi-active suspension amplitude variation characteristic modeling method |
-
2019
- 2019-04-10 CN CN201910286724.XA patent/CN110086401A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509680A (en) * | 2009-03-16 | 2009-08-19 | 哈尔滨工业大学 | Energy-conserving control method for adjusting water pump number in synchronization speed changing flow quantity changing heating system |
| CN106407599A (en) * | 2016-10-18 | 2017-02-15 | 重庆大学 | Semi-active suspension amplitude variation characteristic modeling method |
Non-Patent Citations (1)
| Title |
|---|
| 姚钢: ""机电系统加速度估计方法及应用"", 《工程科技Ⅱ辑》 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104166372A (en) | Anti-disturbance controller with double position loop feedback for feeding system | |
| CN104460518B (en) | Based on Fuzzy Disturbing compensation direct drive XY platform contours control device and methods | |
| Xi et al. | Improving CNC contouring accuracy by robust digital integral sliding mode control | |
| CN105373143B (en) | A kind of large-scale astronomical telescope high-precision control system and method for inhibiting wind load disturbance | |
| CN101834554B (en) | Method for improving processing precision by using load disturbance compensator and optimizing setting of load disturbance compensator | |
| CN107843424A (en) | A kind of harmonic reduction machine detecting device and its control method | |
| CN101989827A (en) | Method for automatically adjusting speed loop control parameters of alternating-current servo system based on inertia identification | |
| CN107218269A (en) | A kind of direct drive type electrohydraulic servo pressure control system | |
| CN105305913A (en) | Novel disturbance-rejection following controller for ball screw feeding system | |
| CN106026822A (en) | Inertia online identification method and system of servo motor drive system | |
| CN115313419B (en) | Direct-drive wind power system control method and system based on network-building type converter | |
| CN104111664A (en) | Method for overcoming motor dead zone and improving radar tracking precision in speed ring | |
| CN103792888A (en) | Vibration suppression controller based on position feedback signals of feeding system | |
| CN103472730A (en) | Double-frame control moment gyro high-precision frame rate servo system based on harmonic reducer torsional rigidity hysteresis model | |
| CN1967414A (en) | Method for building simplified self interference rejection controller of permanent magnet synchronous machine | |
| CN103116281A (en) | Model-free adaptive control system of axial mixing magnetic bearing and control method thereof | |
| CN109995289A (en) | Permanent magnet synchronous motor Active Disturbance Rejection Control optimization method based on model reference adaptive | |
| CN207585910U (en) | A kind of harmonic reduction machine detecting device | |
| CN111209639B (en) | Efficient quantitative modeling method for impeller-bearing-rotor system | |
| CN105978400A (en) | Ultrasonic motor control method | |
| CN110086401A (en) | Radioactive source upside-down mounting system method of servo-controlling | |
| CN203720602U (en) | Vibration elimination controller based on position feedback signals of feeding system | |
| CN110209122A (en) | A kind of control method, device, medium and the equipment of multiaxial motion platform | |
| CN111835251B (en) | Permanent magnet synchronous motor high-performance control method based on speed-free sensing | |
| CN107104618A (en) | A kind of control method and system of magnetic suspension motor rotor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190802 |