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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.
Yan-He Song,Kai-Xian Ba,Xin Chen,Chao Ai,Xiang-Dong Kong,Yue-Yue Hao 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.7
In this paper, aiming at the phenomenon that the dead zone and hysteresis of three-way proportional pressure reducing valve (TPPRV) will seriously affect the control accuracy of construction machinery, a polynomial excitation current compensation controller (PECC) is designed, which is novel and easy to realize in engineering. Firstly, the mathematical model of TPPRV is established, and the dead zone and hysteresis of TPPRV are quantitatively analyzed by using the performance test platform of proportional pressure reducing valve. Secondly, the design principle of PECC is expounded, and the controller model is deduced theoretically. The proposed PECC has two main advantages. One is that the method does not need to establish the nonlinear model of dead zone and hysteresis, and the other is that the method can compensate the dead zone and hysteresis simultaneously. Finally, the compensation control performance of PECC is verified by using the performance test platform of proportional pressure reducing valve. The experimental results show that PECC can greatly reduce the adverse effects of dead zone and hysteresis on TPPRV, and has great applicability under different working conditions. Relevant research results can significantly improve the proportional control accuracy of TPPRV, which has a certain engineering value.
Design and Application of Self-Lifting & Slewing Multi-Cranes Platform
Kun Zhang,Kaiqiang Wang,Bo Chen,Qing Sun,Hui Yang,Xin Ba,Jinming Zhao Council on Tall Building and Urban Habitat Korea 2022 International journal of high-rise buildings Vol.11 No.2
Tower crane is of great importance in the construction of high rise buildings. A self-lifting & slewing multi-cranes platform (referred to as crane slewing platform) was developed to optimize the configuration of tower cranes, as well as solve the problems of cooperative operation conflict between multiple cranes and other construction equipment and their respective climbing and occupying of construction period. The design and test of the slewing platform was introduced. By applying the slewing platform in the construction of Chengdu Greenland Center super high rise building project, some key technologies such as the configuration of cranes, the installation, construction and lifting of the slewing platform are implemented and validated. Up to now, the slewing platform has been safely lifted up 98 times in Chengdu Greenland Center project construction, and achieved good social and economic benefits.