In this paper, a class of gun control system of tank is considered with uncertain parameters and the backlash-like hysteresis which modeled by a differential equation. An adaptive control law is designed with backstepping technique. Compared to exist results on tank gun control problem , in our control scheme, the effect of backlash hysteresis is considered completely than to be linearized simply and no knowledge is assumed on the uncertain parameters. the stability of closed loop system and the tracking performance can be guaranteed by this control law. Simulation studies show that this controller is effective.
In position sensorless control based on a high-frequency pulsating voltage injection method, filters are used to complete the extraction of high-frequency response signals for position observation. A finite impulse response (FIR) filter has the advantages of good stability and linear phase. However, the FIR filter designed by using traditional methods has a high order which will cause a large time delay. This paper proposes a low-order FIR filter design method for a high-frequency signal injection method in the permanent magnet linear synchronous motor. Based on the frequency characteristics of the current signal, the requirement that the FIR filter needs to meet were analyzed. According to the amplitude–frequency characteristic of the FIR filter, these requirements were converted into constraint equations. By solving these equations, the coefficient of the FIR filter could be obtained. The simulation and experiment results showed the effectiveness of this low-order FIR filter.
Permanent magnet linear synchronous motors have the advantages of high thrust density, high acceleration, high speed, and high efficiency, which are widely used in CNC lathes, lithography machines, rail transportation, etc. In high-speed, high-precision servo control systems, detent force fluctuation caused by end effect can easily cause problems such as speed fluctuation, mechanical vibration and electromagnetic noise, which affect the servo performance of permanent magnet linear synchronous motors. Aiming at the detent force fluctuation caused by the end effect of permanent magnet linear synchronous motor, this paper proposes a stepped double auxiliary pole method. The method has a good suppression effect on the end normal force fluctuation and the end thrust fluctuation, which improves the servo performance of the permanent magnet linear synchronous motor in the high-precision servo system. In the traditional methods of suppressing the fluctuation of end detent force, two common methods are using a magnetic isolation aluminum plate and optimizing the auxiliary pole size. The former needs a magnetic isolation aluminum plate to connect the auxiliary pole and the primary mover. Therefore, it needs to add the connection device to connect those three parts. The connection device complicates the auxiliary pole part and increases manufacturing difficulty. The latter does not change the manufacturing process, but in the early design process, the optimum size of the auxiliary needs to be considered. Compared with these two methods, the one proposed in this paper avoids the complex structure of magnetic isolation aluminum plate, the stepped double auxiliary pole is integrated with the primary mover. Moreover, it has a fixed structure with optimum size. Therefore, the method in the paper does not change the manufacturing process, improves the strength of the initial pole structure, and reduces design period. Finally, the finite element analysis by ANSYS was performed to illustrate the correctness and effectiveness of the method.
The configurable and multi-articulated urban bus is a new type of urban vehicle with the advantages of road vehicles and urban rail trains. However, its articulated and long body structure will bring about difficulties in steering control and trajectory following. Moreover, the following carriages easily deviate from their expected path, leading to the fishtailing and folding of the compartment. In this paper, we propose a generic framework that allows the rapid building of kinematic models for the new train. By introducing the MPC theory, we design a trajectory tracking controller for a multi-articulated vehicle with an arbitrary number of carriages. To verify our models, we establish kinematic models and a trajectory tracking controller for a multi-articulated train with different number of compositions in MATLAB. Under the double-lane-change track and serpentine road conditions, the trajectory tracking of the train is simulated. The influence of the number of carriages, velocity, and length of carriage on the trajectory tracking are further analyzed. The experimental results show the feasibility of our method. Our findings thus provide significant guidance for the design, actual configuration, and trajectory tracking control of the new multi-articulated urban bus.
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