Feedforward Compensation of Railway Static Power Conditioners in a V/v Traction Power Supply System

Railway static power conditioners (RPC) usually improve the power quality of traction power supply systems only according to the active power of the load, which leads to inaccurate compensation. There are two factors that restrict the performance of RPC, one of which is the reactive power of the load, and the other is the system error. In order to eliminate the compensation error, a compensation optimization method is proposed. First, calculate the reactive power compensation value for the reactive power of the load. Second, introduce the amplitudes and phases of the primary currents of the V/v transformer as references for the compensation error caused by the system loss and then use fuzzy control to optimize compensation. The compensation method proposed in this paper is actually a feedforward control. In addition, this method balances the three-phase currents and enables RPC to be used in railway power supply systems with low locomotive power factors. The effectiveness of the method proposed in this paper has been confirmed by the simulation results.

Composite Compensation Control of Robotic System Subject to External Disturbance and Various Actuator Faults

This paper studies the problems of external disturbance and various actuator faults in a nonlinear robotic system. A composite compensation control scheme consisting of adaptive sliding mode controller and observer-based fault-tolerant controller is proposed. First, a sliding mode controller is designed to suppress the external disturbance, and an adaptive law is employed to estimate the bound of the disturbance. Next, a nonlinear observer is designed to estimate the actuator faults, and a fault-tolerant controller is obtained based on the observer. Finally, the composite compensation control scheme is obtained to simultaneously compensate the external disturbance and various actuator faults. It is proved by Lyapunov function that the disturbance compensation error and fault compensation error can converge to zero in finite time. The theoretical results are verified by simulations. Compared to the conventional fault reconstruction scheme, the proposed control scheme can compensate the disturbance while dealing with various actuator faults. The fault compensation accuracy is higher, and the fault error convergence rate is faster. Moreover, the robot can track the desired position trajectory more accurately and quickly.

Static Deformation-Compensation Method Based on Inclination-Sensor Feedback for Large-Scale Manipulators with Hydraulic Actuation

Modern large-scale manipulators with hydraulic actuation like mobile concrete pump manipulators are increasingly used in industrial, construction, and other fields. Due to the large span of these manipulators, the static deformation accumulation to the endpoint has seriously affected the precise control of the endpoint. In this paper, we propose a static deformation-compensation method based on inclination sensor feedback for large-scale manipulators to reduce the deviation of the endpoint. Compared with the finite element method, this method does not need to consider many boundary conditions that are uncertain for flexible manipulators in most situations. It has appropriate accuracy and is universal for large-scale manipulators of different sizes and working under different loads. Based on a 24m-3R mobile concrete pump manipulator, the parametric simulation is carried out. The reliability of the static deformation-compensation method is verified, and the error is analyzed. The validity of the static deformation-compensation method is verified by comparing the theoretical endpoint position with the actual endpoint position after static deformation compensation. The compensation error under different loads is obtained, and the universality of the compensation method for different loads is verified.

A new method of multi-beam real-time attitude compensation data processing

The traditional method for processing multi-beam real-time attitude compensation data did not consider the influence of attitude compensation error, which left attitude residual in data. So a new method for processing multi-beam data of real-time attitude compensation was proposed. By studying the nature of attitude compensation error, the calculation method of systematic attitude compensation error was put forward. The concept of correction threshold was introduced and the specific determination method was given. Finally, combining with the principle of real-time attitude compensation, a systematic attitude compensation error correction method, which makes use of a tracking algorithm considering attitude to make secondary attitude correction, was proposed, and the specific processing flow was given. By comparing the data processing accuracy of the tradition method and the new method, the results showed that the new method can effectively reduce the influence of systematic attitude compensation error, and significantly improve the data processing accuracy.

Tracking Control of a Galfenol-Actuated Nanopositioning Stage Using Feedforward Control with a Disturbance Observer

The main challenge of the galfenol actuator for high-precision positioning is the inherent nonsmooth hysteresis, which may lead to undesirable inaccuracies or oscillations and even instability. The primary aim of this study is to develop a tracking control method to precisely control the output displacement of a galfenol-actuated nanopositioning stage using feedforward control with a disturbance observer. In order to accurately describe the rate-dependent hysteresis, considering the dynamic behavior of the power amplifier, a novel dynamic model is put forward. Then, a developed controller is designed. In this controller, a feedforward control is developed to compensate the rate-dependent hysteresis, and a disturbance observer is employed to restrain disturbances, high-order unmodeled dynamics, and hysteresis compensation error. The comparative experimental results show that the proposed control method can significantly improve the positioning accuracy and suppress disturbances. This research can be applied in various micro and nanopositioning and vibration control fields.

EVALUATION AND COMPENSATION OF SYSTEMATIC ERRORS OF CALIBRATION OF MATRIX SIMULATOR

The problem of phase calibration of the matrix simulator is considered. The phase error at the point of reception is divided into systematic and random. Analytic relationships are obtained that allow one to evaluate and compensate for the systematic error in the calibration of the phases of the signals emitted by the matrix simulator, caused by the geometric separation of the phase centers of the antenna and the antenna of the calibration receiver. The random component of the phase error is compensated by the calibration algorithm. Analytical relations are obtained for determining the compensation error due to the non-precise determination of the coordinates of the emitting part of the matrix simulator and the phase center of the antenna of the measuring receiver. The magnitude of this error is determined for the typical location of the antennas of the device under investigation, the measuring receiver and the matrix simulator when performing semi-realistic simulation. The description of the laboratory stand of the developer of the matrix imitator is given. The obtained theoretical results are confirmed experimentally at the booth of the matrix imitator developer.

Method of axial adjustment for precessional transmissions

Axial adjustment method for precessional transmissions includes compensation error calculation, determination compensator groups, achieved in the form of base and auxiliary rings. The compensator has on the base ring axial canals in which can be placed clamping bolts but the auxiliary ring has axial holes for the screws. The auxiliary ring is formed from increasing sectors - the distance between auxiliary ring stairs and front side of body, from decreasing sectors - the distance between base ring and bottom place, and the closure element - the clearance between gear body and the front surface of the base ring. According to the method of group interchangeability is determined the deviation value of the upper and lower group tolerance and the clearance between lid and body. Then rotating one of the rings is ensured the dimension of the compensator which must match to compensation clearance value and then the compensator is adjusted to required value.