Jiang Sunquan

Bio: Jiang Sunquan is an academic researcher from Hangzhou Dianzi University. The author has contributed to research in topics: Nonlinear system & Open-loop controller. The author has an hindex of 3, co-authored 3 publications receiving 24 citations.

Research on hysteresis compensation control of GMM

Abstract: The cerebella model articulation controller is used as a feedforward controller to establish a nonlinear inverse model of giant magnetostrictive material (GMM). This controller can eliminate the effect of nonlinear hysteresis response of GMM and realize linear control. A PID feedback control is employed to improve the stability and accuracy of the system. The output of the system can map the target input of the system accurately using the compound controller. An experimental platform was built, and the availability of the compound controller was tested on it. Most of the errors of the controlled system were limited in 6 %.

Device and method for collecting track vibration energy based on giant magnetostrictive rod

Abstract: The invention discloses a device and a method for collecting track vibration energy based on a giant magnetostrictive rod, which solve the problems of low conversion efficiency and difficult installation of the existing track vibration energy collecting technology. The device comprises an upper end cover and a lower end cover, wherein a circular groove for fixing a lower magnetic conducting block is formed in the lower end cover; the giant magnetostrictive rod is placed on the lower magnetic conducting block; a coil framework sleeves the giant magnetostrictive rod; an induction coil winds on the coil framework, and is externally connected with an adjusting circuit through a lead wire; an output end of the adjusting circuit is connected with an energy storage; a permanent magnet sleeves the coil framework; the bottom end of an input ejection rod is in contact with the giant magnetostrictive rod, and the top end is connected with an adjusting nut in a threaded manner; the upper end cover is connected with the lower end cover in a threaded manner; and a disk spring is arranged between a shaft shoulder of the input ejection rod and the upper end cover. The method provided by the invention is characterized in that: the energy storage and the device for collecting track vibration energy based on the giant magnetostrictive rod are installed between sleepers under a track; the adjusting nut is rotated to be in contact with the bottom surface of the track; and the giant magnetostrictive rod collects track vibration energy. The device and the method provided by the invention have the advantages of high energy conversion efficiency and convenient installation.

Multi-pile-location multi variety piling method based on PLC control, and multi-pile-location multi variety piling control system based on PLC control

Abstract: The invention discloses a multi-pile-location multi variety piling method based on PLC (programmable logic controller) control, and a multi-pile-location multi variety piling control system based on PLC control. The multi-pile-location multi variety piling control system based on PLC control comprises a human-computer interaction interface, a PLC, a sensor module, and an execution electric appliance module, wherein the human-computer interaction interface is used for real-time technological process displaying, technological parameter setting, and alarm information displaying, and the size of various types of goods, the distance between various pile locations, and selection of variety and pile locations can be input into the human-computer interaction interface; the human-computer interaction interface is communicated with the PLC; the PLC is used for collecting external control signals and executing internal logic operation and data operation; the sensor module is used for location detection and state monitoring in real time; the sensor module is also communicated with the execution electric appliance module; the execution electric appliance module executes a control command of the PLC; and a servo motor or a stepping motor can be used as an execution electric appliance which operates on three directions, X, Y and Z ,of a stacking machine, and can realize accurate locating of the stacking machine. The multi-pile-location multi variety piling control system based on PLC control has the advantages of being high in efficiency and variety adaptability, being convenient for operation and being wide in the versatility.

Estimation of and compensation for unknown input nonlinearities using equivalent-input-disturbance approach

Abstract: Nonlinearities greatly affect the control performance of a system. A new estimation and compensation method for unknown input dead zone and backlash has been developed based on the equivalent-input-disturbance (EID) approach. Unlike other methods, it requires neither any information on the nonlinearities nor an inverse model of them. The key idea is that input nonlinearities are taken to be an input-dependent disturbance. An EID estimator is designed that produces an estimate with the same effect on the output as that of the input nonlinearities. The estimate is then used to compensate for the nonlinearities. Simulation results demonstrate the validity of the method.

Adaptive trajectory tracking of magnetostrictive actuator based on preliminary hysteresis compensation and further adaptive filter controller

Abstract: The magnetostrictive actuator is a widely used precision smart actuator; however, the micro-positioning and tracking performance of it is limited due to the inherent dynamic nonlinearities. In order to improve the tracking performance of actuator, a hybrid control strategy comprising a preliminary rate-independent hysteresis compensation and a further adaptive filter controller is developed. The generalized Prandtl–Ishlinskii model that has analytical inversion is used to preliminarily compensate the rate-independent hysteresis. A modified coral reef optimization algorithm is utilized to identify the model parameter and accordingly enhance the compensation accuracy. In addition, considering the input current and output displacement of magnetostrictive actuator are always positive, a one-side generalized play operator is adopted. Further, the adaptive finite impulse response controller is applied to eliminate the preliminary compensation error which is owing to the dynamic effect of nonlinearities. In order to validate the hybrid control strategy, some simulations and experiments are conducted. Compared with the feedforward inverse controller, the hybrid control strategy is of better accuracy and adaptivity. The results demonstrate that the hybrid control strategy is capable of precisely tracking step and multiple-frequency sinusoidal trajectory.

Hysteresis nonlinearity modeling and position control for a precision positioning stage based on a giant magnetostrictive actuator

Abstract: A precision positioning stage based on giant magnetostrictive actuator (PPS-GMA) shows nonlinear displacement when it is used in the field of precision positioning control. To improve the defect, the Jiles–Atherton hysteresis model and the dynamic recurrent neural network (DRNN) feed forward-fuzzy PID feedback control strategy were adopted. An accurate hysteresis nonlinearity model of PPS-GMA was established with the Jiles–Atherton model and its parameters were identified using the particle swarm optimization (PSO) algorithm. A dynamics inverse model of the PPS-GMA was established with the DRNN learning method to compensate the hysteresis nonlinearity characteristic. A fuzzy PID feedback control was used to compensate for the mapping error of DRNN. Using these control methods, the positioning accuracy of the precision positioning stage was improved. The simulation and experimental results show that the Jiles–Atherton hysteresis model can describe the hysteresis nonlinear characteristic of the precision positioning stage, the PSO algorithm has high precision for parameter identification, the DRNN feed forward-fuzzy PID feedback control strategy can effectively eliminate the nonlinear characteristics of the PPS-GMA, which has practical significance for improving the positioning accuracy of the PPS-GMA.

Control method of palletizing robot based on formula

Abstract: The invention relates to a control method of a palletizing robot based on formula comprising a teaching step of teaching a robot with key teaching points; an inputting step of inputting palletizing form data, palletizing position data and palletizing formula data in a robot control system; a selecting step of selecting palletizing positions, palletizing forms and palletizing formula from the control system; a step of obtaining actual palletizing positions by means of a palletizing algorithm according to the data obtained from the above steps. The invention has the advantages that the palletizing system pre-develops several kinds of palletizing forms, and then customers only need to select the required palletizing forms according to the actual production process, meanwhile, the size of the products, the number of products to be grabbed, the cardboard placement and the number of palletizing layers are input into the control system so that corresponding palletizing of products can be fulfilled; the degree of automation and ease of operation of the robot palletizing system reduce labor costs.

Ill-conditioned dynamic hysteresis compensation for a low-frequency magnetostrictive vibration shaker

Abstract: We report an adaptive feedforward controller to address the ill-conditioned dynamic hysteresis on a custom-developed magnetostrictive vibration shaker. The vibration shaker works within low-frequency bandwidth. Magnetostrictive-induced hysteresis is a main issue that affects excitation waveform replication. Generally, the shape of dynamic hysteresis loop depends on the amplitude and frequency of input current. Many studies, e.g., Prandtl–Ishlinskii (PI)-based feedforward control approach, are conducted to address nonlinear dynamics in the hysteresis. Particularly, the dynamic hysteresis loop characterizes non-positive gradient (i.e., ill condition) when the frequency of input current is increasing. Under the ill condition, traditional PI-based feedforward control is ineffective. In this paper, we investigate this phenomenon according to a few experiments. Then, a novel static hysteresis and dynamics hybrid compensator is presented to deal with the ill-conditioned dynamic hysteresis issue. The dynamic compensator is a finite-impulse-response-based model whose coefficients are updated by the modified filtered-x normalized least mean square (MFxNLMS) algorithm. The static hysteresis compensator is constructed with the polynomial-modified PI (PMPI) model. The parameters of PMPI model are acquired by particle swarm optimization. Two simulations are conducted to show (1) the convergence of the MFxNLMS algorithm; (2) the efficacy of proposed model to describe the ill-conditioned dynamic hysteresis. Furthermore, the experimental device is constructed and a couple of experiments are implemented. The experimental results show that, with the proposed controller, the magnetostrictive vibration shaker can replicate both narrowband and wideband waveforms accurately. Moreover, it is robust to load variation.