{"title":"一类非线性机械子系统的基于模型的控制策略","authors":"C. Ionescu, R. Keyser","doi":"10.1109/AQTR.2016.7501378","DOIUrl":null,"url":null,"abstract":"This paper presents a comparison between various control strategies for a class of mechanical actuators common in heavy-duty industry. Typical actuator components are hydraulic or pneumatic elements with static non-linearities, which are commonly referred to as Hammerstein systems. Such static non-linearities may vary in time as a function of the load and hence classical inverse-model based control strategies may deliver sub-optimal performance. This paper investigates the ability of advanced model based control strategies to satisfy a tolerance interval for position error values, overshoot and settling time specifications. Due to the presence of static non-linearity requiring changing direction of movement, control effort is also evaluated in terms of zero crossing frequency (up-down or left-right movement). Simulation and experimental data from a lab setup suggest that sliding mode control is able to improve global performance parameters.","PeriodicalId":110627,"journal":{"name":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Model based control strategies for a class of nonlinear mechanical sub-systems\",\"authors\":\"C. Ionescu, R. Keyser\",\"doi\":\"10.1109/AQTR.2016.7501378\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a comparison between various control strategies for a class of mechanical actuators common in heavy-duty industry. Typical actuator components are hydraulic or pneumatic elements with static non-linearities, which are commonly referred to as Hammerstein systems. Such static non-linearities may vary in time as a function of the load and hence classical inverse-model based control strategies may deliver sub-optimal performance. This paper investigates the ability of advanced model based control strategies to satisfy a tolerance interval for position error values, overshoot and settling time specifications. Due to the presence of static non-linearity requiring changing direction of movement, control effort is also evaluated in terms of zero crossing frequency (up-down or left-right movement). Simulation and experimental data from a lab setup suggest that sliding mode control is able to improve global performance parameters.\",\"PeriodicalId\":110627,\"journal\":{\"name\":\"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)\",\"volume\":\"46 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-05-19\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AQTR.2016.7501378\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AQTR.2016.7501378","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Model based control strategies for a class of nonlinear mechanical sub-systems
This paper presents a comparison between various control strategies for a class of mechanical actuators common in heavy-duty industry. Typical actuator components are hydraulic or pneumatic elements with static non-linearities, which are commonly referred to as Hammerstein systems. Such static non-linearities may vary in time as a function of the load and hence classical inverse-model based control strategies may deliver sub-optimal performance. This paper investigates the ability of advanced model based control strategies to satisfy a tolerance interval for position error values, overshoot and settling time specifications. Due to the presence of static non-linearity requiring changing direction of movement, control effort is also evaluated in terms of zero crossing frequency (up-down or left-right movement). Simulation and experimental data from a lab setup suggest that sliding mode control is able to improve global performance parameters.