http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Kaixian Ba (검색결과 5 건)
- 무료
- 기관 내 무료
- 유료
-
-
-
Kaixian Ba,Bin Yu,Xiangdong Kong,Hua-Long Zhao,Jin-Song Zhao,Qi-Xin Zhu,Chun-He Li 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4
The highly integrated valve-controlled cylinder (HIVC) is the joint driver in the hydraulic drive leggedrobot motion process, with the inner-loop-control-based outer loop dynamic compliance control method of the hydraulicsystem adopted. Yet the dynamic compliance of the HIVC position inner loop control has effects on theaccuracy of the outer loop dynamic compliance control. Therefore, the dynamic compliance parallel compositiontheory of the HIVC position inner loop control is presented and its dynamic compliance is analyzed in this paper,based on the HIVC position control nonlinear mathematical model. Moreover, the multiple parallel branch dynamiccompliance compound compensation control method is also designed and the dynamic compliance parallel compositionis rearranged. The experimental results indicate that adopting the compensation control method can decreasethe dynamic compliance of the HIVC position control system dramatically, which would provide the inner loopdynamic compliance compensation control method of the robot with high accuracy and high robustness.
-
Kaixian Ba,Guo-liang Ma,Bin Yu,Zheng-guo Jin,Zhi-peng Huang,Jun-xiao Zhang,Xiangdong Kong 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.7
In this paper, aimed at the problem of control accuracy when the traditional position-based impedance control is applied in the hydraulic drive unit (HDU) of legged robot, a kind of nonlinear model-based variable impedance parameters controller (MVIPC) is designed. First, the mathematical model of position-based impedance control for HDU is given. Second, the performance of traditional position-based impedance control is tested on the HDU performance test platform under different working conditions, and the experimental results show that the control accuracy of this control method needs to be improved greatly. Thirdly, the control idea of MVIPC is described, and the theoretical derivation is deduced. MVIPC considers the high-order dynamic characteristics of servo valve, pressure-flow nonlinearity of servo valve, oil compressibility and load characteristics. Finally, the control performance of MVIPC is verified on the HDU performance test platform. The experimental results show that MVIPC can significantly improve the performance of traditional position-based impedance control, and have an excellent adaptability under different working conditions. This research can provide an underlying control method of hydraulic systems during the robot locomotion.
-
Xiangdong Kong,Kaixian Ba,Bin Yu,Yuan Cao,Liujie Wu,Lingxiao Quan 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.10
A Highly-integrated valve-controlled cylinder (HIVC) that has the advantage of large power weight ratio and fast response is widelyapplied in many fields. To ensure high performance of HIVC, control strategy selection and structure parameters optimization are essential;thus, performance-influenced main parameters and secondary parameters should be well-grasped to target control compensation andstructure optimization. Trajectory sensitivity analysis (TSA), a branch of sensitivity analysis, can be adapted to research on the effects ofcontrol and structure parameter variation on system performance; the analysis conclusions can be used to improve system performanceand the analysis has been applied in many applications in various fields. In this paper, based on the mathematical model of the First-ordertrajectory sensitivity analysis (FOTSA), the mathematical model of Second trajectory sensitivity analysis (SOTSA) is further derived; thegeneral expression of the second-order trajectory sensitivity equations and the special expression that is applicable to each system parametersensitivity analysis of HIVC are built respectively. Furthermore, based on the position control system of the nonlinear mathematicalmodel of HIVC involved with servo valve dynamic characteristics, flow-pressure nonlinearity, initial piston position of servocylinder, and friction nonlinearity, the coefficient items and the free items matrices of the special expression are calculated. Moreover, theFirst-order trajectory sensitivity function (FOTSF) and the Second trajectory sensitivity function (SOTSF) of the 17 main parameters inHIVC are computed on the MATLAB/Simulink platform under nine typical working conditions of the displacement step response. Then,the dynamic change rules and the differences and similarities of each parameter sensitivity analysis results are obtained through FOTSAand SOTSA under different working conditions with different parameter variations; each parameter sensitivity variation histogram basedon the two kinds of sensitivity indexes, including the maximum value of the percentage absolute value and the absolute value summationwithin the sampling time, are given. Furthermore, differences and similarities of each parameter sensitivity index change rule and valueare quantitatively analyzed. Finally, the sensitivity index change rules and values of the four parameters in the position control system ofHIVC, including system supply oil pressure, proportion gain, initial piston position of servo cylinder, and load are experimentally verified. All above studies indicate that each parameter SOTSA result of HIVC vary under different working conditions. When parametervariation is significant, the differences in certain parameter sensitivity analysis between FOSTA and SOTSA are relatively significant;and SOTSA results are more similar to the test results, which illustrates that SOTSA results are more accurate.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
