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	Linear ADRC Application in Position Loop on the Nanshan 26-m Radio Telescope 期刊论文 OAI收割 INTERNATIONAL JOURNAL OF ANTENNAS AND PROPAGATION, 2025, 卷号: 2025, 期号: 1, 页码: 4365724 作者: Li, Ning; Xu, Qian; Wang, Na \| 收藏 \| 浏览/下载：1/0 \| 提交时间：2025/10/09 antidisturbance fast and nonovershoot LADRC PID position-loop controller radio telescope
	LABTM control system based on FPGA (EI CONFERENCE) 会议论文 OAI收割 2nd International Conference on Mechatronics and Applied Mechanics, ICMAM 2012, December 8, 2012 - December 9, 2012, Taiwan 作者: Wang Y.; Yu P.; Yu P.; Wang Y.; Wang Y. 收藏 \| 浏览/下载：171/0 \| 提交时间：2013/03/25 This paper presents the digital PI control method for design and simulation of a high precision limited angle brushless torque motor control system in Field Programmable Gate Array device (FPGA). The direct drive structures which are widely applied in many servo control fields. Matlab Xilinx System GeneratorR toolbox based on Fixed-Point Arithmetic is used to design the digital PI controller using DSP architecture plot the responses of the control system and generate the VHDL source code. The control system model consists of a digital PI a real LABTM and a real absolute Inductosyn encoder to rpm and position blocks. Through loading generated codes in process of the simulation that built by the digital discrete model it is verified that the rising time of current loop is only 1.2ms and rate loop is 8ms overshoot is rarely 4.2%. Finally the comprehensive positioning accuracy of system can reach up to 5 arc sec and the rate jitter achieves 5% with the 4 arc sec accuracy absolute Inductosyn. (2013) Trans Tech Publications Switzerland.
	An energy-based position control and asymptotic stability analysis for manipulator handling a flexible payload (EI CONFERENCE) 会议论文 OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China 作者: Wang Z.; Li Y.; Li Y.; Li Y.; Li Y. 收藏 \| 浏览/下载：65/0 \| 提交时间：2013/03/25 In this paper an exact dynamic model of manipulator handling a flexible payload is derived by Hamiton's principle. On the basis of the distributed parameter model a position controller is designed by using Lyapunov function related to the total energy of the system. The controller can achieve the given desired link angles and suppress the vibrations of flexible payload. Using the LaSalle's invariance principle and the characteristic of the differential operator the asymptotic stability in the neighbor-hood of the desired states of the closed-loop system is proved. The effectiveness of the control strategy proposed is supported by some simulations. 2012 IEEE.
	Design of motion adjusting system for space camera based on ultrasonic motor (EI CONFERENCE) 会议论文 OAI收割 International Symposium on Photoelectronic Detection and Imaging 2011: Space Exploration Technologies and Applications, May 24, 2011 - May 26, 2011, Beijing, China 作者: Sun Z. 收藏 \| 浏览/下载：110/0 \| 提交时间：2013/03/25 Drift angle is a transverse intersection angle of vector of image motion of the space camera. Adjusting the angle could reduce the influence on image quality. Ultrasonic motor (USM) is a new type of actuator using ultrasonic wave stimulated by piezoelectric ceramics. They have many advantages in comparison with conventional electromagnetic motors. In this paper some improvement was designed for control system of drift adjusting mechanism. Based on ultrasonic motor T-60 was designed the drift adjusting system which is composed of the drift adjusting mechanical frame the ultrasonic motor the driver of Ultrasonic Motor the photoelectric encoder and the drift adjusting controller. The TMS320F28335 DSP was adopted as the calculation and control processor photoelectric encoder was used as sensor of position closed loop system and the voltage driving circuit designed as generator of ultrasonic wave. It was built the mathematic model of drive circuit of the ultrasonic motor T-60 using matlab modules. In order to verify the validity of the drift adjusting system was introduced the source of the disturbance and made simulation analysis. It designed the control systems of motor drive for drift adjusting system with the improved PID control. The drift angle adjusting system has such advantages as the small space simple configuration high position control precision fine repeatability self locking property and low powers. It showed that the system could accomplish the mission of drift angle adjusting excellent. 2011 SPIE.
	Robust trajectory tracking control of autonomous quad-rotor UAV based on double loop frame (EI CONFERENCE) 会议论文 OAI收割 2011 International Conference on Materials, Mechatronics and Automation, ICMMA 2011, January 15, 2011 - January 16, 2011, Melbourne, VIC, Australia 作者: Sun Q. 收藏 \| 浏览/下载：36/0 \| 提交时间：2013/03/25 This paper deals with the under-actuated characteristic of a quad-rotor unmanned aerial vehicle (UAV). By designing the double loop configuration the autonomous trajectory tracking is realized. The model uncertainty external disturbance and the senor noise are also taken into consideration. Then the H controller is put forward in the inner loop. An optimal stability augmentation control (SAC) method is used to stabilize the horizon position and keep it away from oscillation. By calculating the nonlinear decouple map control quantity is converted to the speeds of the four rotors. At last some simulation results and the prototype implementation prove that the control method is effective.
	Design of motion compensation mechanism of satellite remote sensing camera (EI CONFERENCE) 会议论文 OAI收割 International Symposium on Photoelectronic Detection and Imaging 2011: Space Exploration Technologies and Applications, May 24, 2011 - May 26, 2011, Beijing, China Gu S.; Yan Y.; Xu K.; Jin G. 收藏 \| 浏览/下载：62/0 \| 提交时间：2013/03/25 With the development of aerospace remote sensing technology the ground resolution of remote sensing camera enhances continuously. Since there is relative motion between camera and ground target when taking pictures the target image recorded in recording media is moved and blurred. In order to enhance the imaging quality and resolution of the camera the image motion had to be compensated. In order to abate the effect of image motion to image quality of space camera and improve the resolution of the camera the compensation method of image motion to space camera is researched. First the reason of producing drift angle and adjustment principle are analyzed in this paper. This paper introduce the composition and transmission principle of image motion compensation mechanism. Second the system adopts 80C31 as controller of drift angle and adopts stepping motor for actuators and adopts absolute photoelectric encoder as the drift Angle measuring element. Then the control mathematical model of the image motion compensation mechanism are deduced and it achieve the closed-loop control of the drift angle position. At the last this paper analyses the transmission precision of the mechanism. Through the experiment we measured the actual precision of the image motion compensation mechanism and compared with the theoretical analysis. There are two major contributions in this paper. First the traditional image motion compensation mechanism is big volume and quality heavy. This has not fit for the development trend of space camera miniaturization and lightweight. But if reduce the volume and quality of mechanism it will bring adverse effects for the precision and stiffness of mechanism. For this problem This paper designed a image motion compensation that have some advantages such as small size light weight at the same time high precision stiffness and so on. This image motion compensation can be applicable to the small optics cameras with high resolution. Second the traditional mechanism control need to corrected fitting and iterative for the control formula of mechanism. Only in this way we can get the optimal control mathematical model. This paper has high precision of the control formula derived. It can achieve the high precision control without fitting It also simplify the difficulty of control mathematical model establishment. This paper designed the range of adjusting of image motion compensation mechanism between -5 +5. Based on choosing-5 -4 -3 -2 -1 0 +1 +2 +3 +4 +4 as the expectation value of the imaginary drift angle we get ten groups of the fact data in adjusting drift angle measured. The test results show that the precision of the drift angle control system can be achieved in 1. It can meet the system requirements that the precision of the control system is less than 3' and it can achieve the high-precision image motion compensation. 2011 SPIE.
	Position following control system for the dome based on TMS320F2812 (EI CONFERENCE) 会议论文 OAI收割 ICMIT 2005: Control Systems and Robotics, September 20, 2005 - September 23, 2005, Chongging, China 作者: Zhao J. 收藏 \| 浏览/下载：28/0 \| 提交时间：2013/03/25 A position following control system was discussed to synchronize the rotational position of the dome with that of the theodolite. There were two loops in the servo control system. Open loop control was for speed adjustment while closed loop control was for position following control. The core controller of the servo control system adopted TMS320F2812 DSP (Digital Signal Processing) chip and an absolute type encoder was used as a position feedback unit. A converter DA8562 converted the digital angular position calculated in DSP to an analogy voltage to control the dome rotation through a series of devices such as frequency conversion actiyator servomotor and gear case. The experimental results show that the system synchronous following error less than 2 at 0.1/s to 35/s.