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Volume 33 Issue 11
Nov.  2007
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Journal of Beijing University of Aeronautics and Astronautics  > 2007  >  33(11): 1334-1339.
Liu Chun, Zheng Zheng, Cai Kaiyuan, et al. Online mining frequent closed itemsets over data stream[J]. Journal of Beijing University of Aeronautics and Astronautics, 2008, 34(8): 969-972. (in Chinese)
Citation: Zhang Xiaoning, Wang Yan, Fu Yonglinget al. Symmetric control of asymmetric cylinder[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(11): 1334-1339. (in Chinese)
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Symmetric control of asymmetric cylinder

  • School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 28 Nov 2006
  • Publish Date: 30 Nov 2007
    Abstract
  • The open loop gain and some parameters are different on the two moving directions of symmetric valve controlling asymmetric cylinder system. This difference leads to dynamic performance asymmetry on the two moving directions. The natural nonlinear and asymmetric system is difficult to control. The last three joints of PБ-211 robot are controlled by symmetric valve controlling asymmetric cylinder system. To make the robot moving smoothly and improve the control precision, the control system must have proper compensation. After analyzing the asymmetric cylinder and taking the difference of protrusion and retraction into account, a new control algorithm, model reference self-tuning gain adaptive algorithm, was put forward. The new algorithm includes adaptive single neuron PID, model reference adaptive algorithm and self-tuning output gain. Simulations and experiments illustrate that the new control algorithm can compensate the asymmetric cylinder system, which is better than the command PID algorithm.

     

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