The Study of the Real Time Identification and Control for The Nonlinear System

非线性系统实时辨识与控制的研究

• 批准号: 11650256
• 负责人: TSUJIUCHI Nobutaka
• 金额: $ 1.34万
• 依托单位: Doshisha University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1999
• 资助国家: 日本
• 起止时间: 1999 至 2000
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-11650256/
• 关键词: Nonliear System; System ldentification; Modal Analysis; ODS; Vold-Kalman Filter; Gain scheduling; Sliding Mode Control; Force Control; 異常診断; 非線形制御

1 .Diagnosis for Rotating Shaft Using Adaptive Modal Parameter Identification MethodIn order to make a diagnosis of a rotating machinery with an overhung rotor, we propose an adaptive modal parameter identification method which identify the ODSs corresponds to the well excited frequencies.At first, the effectiveness of this method for the signal including noise and time varying signal has been proved in simulation stage. Next it has been confirmed that this method can adaptively identify the well excited frequency components and ODSs in practically satisfied precision level. Consequently the method we use in this study can perform condition monitoring based on ODSs and diagnose the structure by using information of the well excited frequency.2.Simultaneous Tracking of Harmonic and Resonance ComponentsThe purpose of this study is to track harmonic and resonance components in rotating machinery simultaneously using Kalman Filter and Vold-Kalman Filter. Experimental study was also perform … More ed using a rotating machinery in order to verify that this order tracking means was able to decouple close and crossing order such as harmonic and resonance components in a rotating machinery. Displacement response was measured while rotational frequency was sweeped over its natural frequency. Frequencies and amplitudes were estimated from this response data with Kalman Filter and Vold-Kalman Filter. In this experiment, this order tracking method was verified to capable of decoupling and tracking simultaneously harmonic and resonance components in a rotating machinery.3.Sliding Mode Controller with Gain scheduling Type Variable Hyperplane for Force Controlwe have proposed a new types of sliding mode controller with a time-varying hyperplane for the servo system. This hyperplane is continuously changes with respect to the stiffness of the environment identified in real time. With the proposed controller, force control can be stably performed without information on changes in the environmental stiffness in an advanced stage. Less

1.基于自适应模态参数识别法的转轴故障诊断为了对带有悬臂转子的旋转机械进行诊断，本文提出了一种自适应模态参数识别法，识别出与激励频率相对应的振型。首先，通过仿真验证了该方法对含有噪声和时变信号的信号的有效性。经验证，该方法能够在实际满足的精度水平下，自适应地识别良好的激励频率分量和ODS。2.谐波和共振分量的同时跟踪本研究的目的是利用卡尔曼滤波和Vold-Kalman滤波对旋转机械中的谐波和共振分量进行同时跟踪。实验研究还进行了…更详细地使用了旋转机械，以验证这种阶数跟踪方法能够解耦闭合和交叉阶数，如旋转机械中的谐波和共振分量。当旋转频率扫过其固有频率时，测量其位移响应。利用卡尔曼滤波和Vold-Kalman滤波从响应数据中估计频率和幅值。在实验中，这种阶次跟踪方法能够同时解耦和跟踪旋转机械中的谐波和共振分量。3.用于力控制的增益调度型变超平面滑模控制器我们提出了一种新型的时变超平面滑模控制器用于伺服系统。该超平面相对于实时识别的环境的刚度不断变化。利用所提出的控制器，在没有高级阶段环境刚度变化的信息的情况下，可以稳定地执行力控制。较少

项目成果

Nobutaka Tsujiuchi: "Siding Mode Controller with Time-Varying Hyperplane for the Robot Manipulator"Proceedings of the IMACXVIII. Vol.II. 160-165 (2000)

Nobutaka Tsujiuchi：“机器人操纵器的时变超平面侧滑模式控制器”IMACXVIII 论文集。

Takayuki Koizumi: "A Study of the Dynamic Characteristics of Hydraulic Engine Mount"Proceedings of the 76th JSME Kansai. 10-3-10-4

小泉隆之：“液压发动机支架动态特性的研究”第 76 届 JSME 关西会议论文集。

Takayuki Koizumi: "An Optimization of Rubber Mounting for Vehicle Interior Noise Reduction"Proceedings of the IMAC XIX. Vol.I. 275-281 (2001)

Takayuki Koizumi：“用于降低车辆内部噪音的橡胶安装的优化”IMAC XIX 会议记录。

Takayuki Koizumi: "An Analytical Method for Piston SecondaryMotion of Small Gasolin Engine"Proceedings of the IMAC XIX. Vol.I. 257-261 (2001)

Takayuki Koizumi：“小型汽油发动机活塞二次运动的分析方法”IMAC XIX 论文集。

Nobutaka Tsujiuchi: "Sliding Mode Controller with Time-Varying Hyperplane for the Robot Manipulator"Proceedings of the IMAC XVIII. Vol.II. 160-165 (2000)

Nobutaka Tsujiuchi：“用于机器人操纵器的时变超平面滑模控制器”IMAC XVIII 论文集。