scholarly journals Research on Constant Force Polishing Control of Aero-engine Blade Based on Expanded State Observer

2021 ◽  
Author(s):  
Wenhua Zhang ◽  
Shijie Dai ◽  
Yufeng Zhao ◽  
Jiaheng Mu ◽  
Tianrong Hu ◽  
...  
Keyword(s):  
Boundary Layer ◽  
Control Method ◽  
Sliding Mode ◽  
Force Sensor ◽  
State Observer ◽  
Polishing Process ◽  
Aero Engine ◽  
Engine Blade ◽  
Polishing Force ◽  
Parallel Control

Abstract This paper presents a parallel control method based on the expanded state observer (ESO) for aero-engine blade robot polishing. Aiming to reduce the fluctuation of polishing force caused by environmental noise and modeling errors. First, calibrate six-dimensional force sensor according to the maximum acceleration of the end effector during the polishing process. Then, build the gravity compensation and zero drift compensation model. Besides, use this model to compensate measurement error of the six-dimensional force sensor. Finally, calculate the error between the expected polishing force and the actual feedback value and its derivative value. Use calculation results to design the control boundary layer. The polishing force controller is divided into two parallel control loops to design. When the switching value is in the control boundary layer. A nonlinear active disturbance rejection control (ADRC) loop is used. When the switching value is outside the control boundary layer. An ESO-based sliding mode control (SMC) loop is used. Simulation and experimental results show that the proposed parallel control method based on ESO has a fast response and high robustness compared with FuzzyPID, PID, and ADRC. It can effectively suppress the force fluctuation in the polishing process and significantly improve the surface processing quality of the aero-engine blade.

Sensorless Control for PMLSM Based on Fuzzy Sliding Mode Observer

2014 ◽  
Vol 556-562 ◽  
pp. 2270-2273
Author(s):  
Hua Cai Lu ◽  
Juan Ti ◽  
Yi Ming Yuan ◽  
Li Sheng Wei
Keyword(s):  
Boundary Layer ◽  
Control Method ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Sensorless Control ◽  
Sliding Mode Observer ◽  
Mode Function ◽  
Fuzzy Sliding Mode ◽  
The Difference ◽  
Current Error

In this paper, a new sensorless control method is proposed for a permanent magnet linear synchronous motor based on Fuzzy sliding mode observer, which combines the advantages of sliding mode observer and Fuzzy controller respectively. The difference between the current estimated value and the actual current value is regarded as sliding mode function; sliding mode function (current error) and variation of the error are used as the input of fuzzy controller, and the width of the boundary layer as the output, adjusting the width of the boundary layer dynamically in real time. The simulation results show that Fuzzy sliding mode observer is able to find a balance between soft chattering and steady-state error, keep the system robustness and control precision.

scholarly journals An Adaptive Sliding-Mode Iterative Constant-force Control Method for Robotic Belt Grinding Based on a One-Dimensional Force Sensor

Sensors ◽  
2019 ◽  
Vol 19 (7) ◽  
pp. 1635 ◽  
Author(s):  
Tie Zhang ◽  
Ye Yu ◽  
Yanbiao Zou
Keyword(s):  
Force Control ◽  
Control Method ◽  
Sliding Mode ◽  
Force Sensor ◽  
Grinding Force ◽  
One Dimension ◽  
Constant Force ◽  
Belt Grinding ◽  
Robotic Belt Grinding ◽  
The Relationship

To improve the processing quality and efficiency of robotic belt grinding, an adaptive sliding-mode iterative constant-force control method for a 6-DOF robotic belt grinding platform is proposed based on a one-dimension force sensor. In the investigation, first, the relationship between the normal and the tangential forces of the grinding contact force is revealed, and a simplified grinding force mapping relationship is presented for the application to one-dimension force sensors. Next, the relationship between the deformation and the grinding depth during the grinding is discussed, and a deformation-based dynamic model describing robotic belt grinding is established. Then, aiming at an application scene of robot belt grinding, an adaptive iterative learning method is put forward, which is combined with sliding mode control to overcome the uncertainty of the grinding force and improve the stability of the control system. Finally, some experiments were carried out and the results show that, after ten times iterations, the grinding force fluctuation becomes less than 2N, the mean value, standard deviation and variance of the grinding force error’s absolute value all significantly decrease, and that the surface quality of the machined parts significantly improves. All these demonstrate that the proposed force control method is effective and that the proposed algorithm is fast in convergence and strong in adaptability.

scholarly journals Attitude control for the rigid spacecraft with the improved extended state observer

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Yuteng Cao ◽  
Qi Liu ◽  
Guiqin He ◽  
Qiuling Zhao ◽  
Fang Liu
Keyword(s):  
Sliding Mode Control ◽  
Rigid Body ◽  
Attitude Control ◽  
Control Method ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Solar Array ◽  
Extended State ◽  
Rigid Spacecraft

Abstract In this article, a three-axis attitude manoeuvre spacecraft consisting of a central rigid body and a rotating solar array is studied. The rotating solar array is considered a disturbance to the spacecraft. In the design of the controller, the coupled terms and the rotating solar array are considered a disturbance. The improved extended state observer is proposed by combing the sliding mode observer with the originally extended state observer to estimate the disturbance. The sliding mode control method is adopted to adjust the attitude of the spacecraft. Numerical simulations are presented to demonstrate the outstanding performance of the present observer.

Tool Posture and Polishing Force Control on Unknown 3-Dimensional Curved Surface

2016 ◽  
Author(s):  
Yuta Oba ◽  
Yasuhiro Kakinuma
Keyword(s):  
Force Control ◽  
Control Method ◽  
Reaction Force ◽  
Curved Surface ◽  
Skilled Workers ◽  
Polishing Process ◽  
Automotive Manufacturing ◽  
3 Dimensional ◽  
Polishing Force ◽  
Tool Posture

In the painting process in automotive manufacturing, the repair polishing process is still done manually by a worker with a sufficient skilled technique. However, the number of skilled workers is decreasing with the aging. In addition, the polishing time and the surface quality after the repair polishing are dependent on the proficiency level of the worker. Thus, skill-independent automation technology for the repair polishing is required. In our past research, the serial-parallel mechanism polishing machine was developed for automating the polishing process. The developed machine can control the tool trajectory, tool posture and polishing force simultaneously. In addition, the polishing force is controlled without external sensors by the reaction force observer system. This study aims to develop a polishing automation method for unknown 3-dimensional curved surface by using the developed machine. First, the tool posture control method on unknown curved surface was proposed. Second, the normal force control method based on the posture information was proposed. By using these proposed methods simultaneously, the tool posture and polishing force were controlled in the normal direction on unknown 3-dimesional curved surface. From the experimental results, the validity of the proposed method was verified.

scholarly journals The Nonlinear Single Controller of DGEN380 Aero Engine Design

2019 ◽  
Vol 2019 ◽  
pp. 1-12
Author(s):  
Jie Bai ◽  
Shuai Liu ◽  
Wang Wei
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Control Approach ◽  
Engine Control System ◽  
Nonlinear Dynamic Equation ◽  
Aero Engine ◽  
Single Controller ◽  
Power Point ◽  
The Impact

The advanced nonlinear sliding mode control method of DGEN380 aero engine is presented in this paper. This aero engine is a small high bypass ratio turbofan engine by which the nonlinear control approach of the aero engine is invested. And this paper focuses on the power management function of the aero engine control system which includes steady control and transient control. The mathematical model of DGEN380 aero engine is built by a set of nonlinear dynamic equation that is validated by experimental data. The single controller based on sliding mode approach is designed that can keep some certain thrust levels during steady state and maintain repeatable performance during transient operation from one requested thrust level to another. The single controller can offset the impact of the signal noise and harmonic disturbance at a certain power point. And the dynamic performance of the single controller is satisfactory at the transient process. The experiment is conducted by aero engine test bench for the single control.

Order-reduced-model based integral sliding mode control of a heavy-duty hydraulic manipulator with disturbances estimation

2021 ◽  
pp. 095965182110585
Author(s):  
Xinping Guo ◽  
Hengsheng Wang ◽  
Xin He ◽  
Xiaoyu Sun ◽  
Hui Liu
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Sliding Mode ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Heavy Duty ◽  
Integral Sliding Mode Control ◽  
Mode Control ◽  
Hydraulic Manipulator

A sliding mode control method is adapted to the trajectory tracking and positioning control of a heavy-duty hydraulic manipulator in this article, which shows high performance with the drive of hydraulic proportional valve. The dynamic model of the system is established, the complexity of which is reduced based on the singular perturbation theory to simplify the analysis and the online calculation of the control variable. The extended state observer is developed in the control loop to estimate the real-time disturbances including the parameter uncertainties and load changes of the system. The integral sliding mode control law is designed combining the extended state observer, and the stability of the system is proved theoretically. The experimental results on a heavy-duty hydraulic manipulator show that the proposed control method has high dynamic tracking performance and positioning accuracy, and the proposed extended state observer can effectively resist disturbances.

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