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相关概念视频

Open and closed-loop control systems01:17

Open and closed-loop control systems

652
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
652
Feedback control systems01:26

Feedback control systems

288
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
288
PD Controller: Design01:26

PD Controller: Design

193
In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
193
Controller Configurations01:22

Controller Configurations

85
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
85
PID Controller01:19

PID Controller

102
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
102
Control Systems01:10

Control Systems

1.1K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
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Updated: Jun 8, 2025

An Experimental Platform to Study the Closed-loop Performance of Brain-machine Interfaces
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脱的强大的后退跟踪控制器可变刚度驱动的机器人与输入和输入和.

Chen Ji1, Zhongqiang Zhang2, Guanggui Cheng2

  • 1School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, China; State Key Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150000, China; Institute of Intelligent Flexible Mechatronics, Jiangsu University, Zhenjiang 212013, China.

ISA transactions
|November 7, 2024
PubMed
概括
此摘要是机器生成的。

这项研究介绍了可变刚度执行器的强大的控制器,提高了机器人的能源效率. 这种新的方法可确保精确控制位置和刚度,即使有动态变化和干扰.

关键词:
反清算补偿金 清算补偿金 清算补偿金命令过后退的控制控制.干扰观察者是干扰的观察者.可变刚度执行器的执行器

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统工程 控制系统工程
  • 机械工程 机械工程

背景情况:

  • 可变刚度执行器 (VSA) 对于机器人能源效率至关重要,因为它们具有储能能力.
  • 控制VSA的非线性和合动态,特别是在快速变化的度方面,存在重大挑战.
  • 由于弹性元素的限制,执行器扭矩和会对控制性能产生负面影响.

研究的目的:

  • 开发可分离和强大的控制器,用于在可变硬度驱动的机器人中精确的位置和硬度跟踪.
  • 解决与高度动态的刚性变化和系统非线性相关的挑战.
  • 通过先进的控制策略,提高机器人系统的能源效率和性能.

主要方法:

  • 拟议的脱和强大的命令过后退跟踪控制器的位置和刚性.
  • 引入了一个干扰观察员来估计来自未建模的动态和错误的块干扰.
  • 集成的反轮补偿,以减轻输入控制扭矩和的影响.

主要成果:

  • 复合控制器,集成指令过后退,干扰观察员和反倒闭,确保系统稳定性.
  • 通过模拟,证明了多度自由度 (多DoF) 可变刚度驱动机器人的有效跟踪控制性能.
  • 提出的方法有效地处理合的非线性和动态刚度变化.

结论:

  • 开发的复合控制策略为控制可变刚度执行器提供了稳定和强大的解决方案.
  • 这种方法显著提高了复杂机器人系统中位置和刚度的跟踪精度.
  • 这项工作有助于通过先进的VSA控制来实现机器人中类似人类的能源效率.