Study on Passive Torque Servo System Based on H&lt;sub&gt;&amp;#x0221E;&lt;/sub&gt; Robust Controller

Yuan, Rong; Luo, Jun; Wu, Zhangyong; Zhao, Ke

doi:10.1109/robio.2006.340204

Cited by 6 publications

(6 citation statements)

References 10 publications

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“…In equation (15), the time constant of the filter link is 0.01. By further observations, it can be found that the compensation link after adding a filter link has a pair of zero (o n ¼ 108.2 rad/s) and pole (o d ¼ 100rad/s) to constitute a dipole.…”

Section: Surplus Force Compensation Experimentsmentioning

confidence: 99%

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Passive force control of multimodal astronaut training robot

Zou

Qin

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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For the purpose of solving the problem of astronaut training in weightlessness environment, this article proposes a multimodal astronaut training robot to enable astronauts to perform running, bench press and deep squat training in the weightless environment, so as to help them mitigate the adverse effects brought by the space adaptation syndrome. Taking the modularized wire driving unit as the research object, the dynamic model of the passive force servo system was established; and the passive force control strategy was designed. The experimental results show that the system is of good stability, high steady-state accuracy, and excellent dynamic quality after correction. When the given signal frequency is 10 Hz, the system phase lag is about 9 , and the loading error is about 5%. The passive force servo control strategy can effectively reduce the surplus force. When the speed disturbance frequency of carrying unit is within 3 Hz, the elimination rate of the surplus force can reach 90%.

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Section: Surplus Force Compensation Experimentsmentioning

confidence: 99%

“…The surplus force, caused by the astronaut’s active motion, is a special problem in the passive force servo system. 15 If the surplus force is large, it can seriously affect the loading accuracy.…”

Section: Introductionmentioning

confidence: 99%

Passive force control of multimodal astronaut training robot

Zou

Qin

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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“…5 In the above-mentioned study, the velocity of the actuator is approximated using a known nominal model, but practically, the parameters of the actuator under test may have uncertainty or time variation, which can introduce errors in the velocity synchronization loop. Closed loop torque controllers using disturbance predictor and H-infinity control techniques are proposed in the studies by Fang et al 6 and Yuan et al 7 Although the experimental and simulation performance of proposed controllers is good enough, robust control is effective for suppressing fast dynamics disturbance and uncertainties. A variable structure optimal controller is proposed in the study by Fan et al, 8 but the designed controller does not incorporate modeling uncertainties and unknown dynamics.…”

Section: Introductionmentioning

confidence: 99%

High performance direct torque control of electrical aerodynamics load simulator using adaptive fuzzy backstepping control

Ullah

Wang

2014

Proceedings of the Institution of Mechanical Engineers, Part G:

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Electrical load simulator is hardware in the loop simulator used to exert real-time aerodynamics loads on the servo actuation system of a flight vehicle under test according to flight conditions. This article investigates direct torque control of electrical load simulator system using adaptive fuzzy backstepping method. To analyze the effect of extra torque disturbance on electrical load simulator system, detailed mathematical formulations are derived. Considering practical aspects of the proposed method, state vector is estimated using a state predictor, and parameters of the system are estimated using algebraic method. Fuzzy logic system is used to estimate extra torque disturbance acting on electrical load simulator system, but the approximation error may not converge to zero, which may affect control performance. Similarly, the parameters of the system may vary with time; thus the lumped disturbance due to time variation of parameters and fuzzy approximation error is compensated using adaptive control law derived based on estimated error dynamics between actual plant and state predictor. Moreover, to improve transient response, a novel saturation function-based transient performance controller is introduced. The performance of the proposed control is verified using extensive numerical simulations.

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“…In the above cited work, velocity of actuator is approximated using its nominal model, but practically parametric uncertainty can degrade control performance of ELS system. To rectify the same problem some robust control techniques are presented in literature such as disturbance observer based control [3], H-infinity control [4] and variable structure sliding mode control [5]. The robust control techniques in [3][4][5] ensure good tracking performance with known dynamics and disturbance bounds.…”

Section: Introductionmentioning

confidence: 99%

“…To rectify the same problem some robust control techniques are presented in literature such as disturbance observer based control [3], H-infinity control [4] and variable structure sliding mode control [5]. The robust control techniques in [3][4][5] ensure good tracking performance with known dynamics and disturbance bounds. Direct torque control is proposed for ac dynamometer [6].…”

Section: Introductionmentioning

confidence: 99%

High Performance Direct Torque Control of Electrical Aerodynamics Load Simulator using Fractional Calculus

Ullah¹,

Khan²,

Wang³

2014

ACTA POLYTECH HUNG

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Electrical load simulator system (ELSS) is a test rig used to apply medium range aerodynamics loads on flight actuation system in real time experiments. A novel high performance fractional order adaptive robust torque control law is proposed for Electrical Load Simulator which is subjected to extra torque disturbance, friction, and parametric uncertainties. Adaptive fuzzy system is used to estimate extra torque disturbance and parametric uncertainty is estimated using discontinuous projection based adaptive control. A friction observer is used to compensate nonlinear friction. Stability of closed loop is derived using Lyapunov method .The proposed method ensures transient performance of ELSS system subjected to none zero initial conditions. Frequency testing and extra torque elimination tests are performed using PID, integer order sliding mode control and the proposed controller. The efficiency of proposed controller is verified using extensive numerical simulations.

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Study on Passive Torque Servo System Based on H<sub>∞</sub> Robust Controller

Cited by 6 publications

References 10 publications

Passive force control of multimodal astronaut training robot

Passive force control of multimodal astronaut training robot

High performance direct torque control of electrical aerodynamics load simulator using adaptive fuzzy backstepping control

High Performance Direct Torque Control of Electrical Aerodynamics Load Simulator using Fractional Calculus

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