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Research on Adaptive Control in Two Application Examples of Electrical and Mechanical

Author: ZhaoHouRu
Tutor: LiuChen
School: Hefei University of Technology
Course: Instrumentation Engineering
Keywords: Adaptive Feedback The mechanical arm Joint Matlab
CLC: TP13
Type: Master's thesis
Year: 2014
Downloads: 5
Quote: 0
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Abstract


Adaptive control is a popular theory, also is a multi subject crossed technique. Itsemergence and development benefit from many disciplines, including conventionalfeedback control, optimal control, neural network control, fuzzy control,on the otherside, these subjects from each side presents this theory and method. At the same time,the adaptive control is not a mature discipline, need to improve it to make it perfectconstantly.This paper introduces two application examples of the adaptive control:in the electricsystem and the mechanical system.They are researched by the control algorithm ofdouble joint manipulator and solar array simulator,respectively.The former case is,inorder to make the system working stably on the characteristic curve,the system controlsthe voltage and current feedback with the improved adaptive controller when theexternal load changes. The next case is in order to make it achieving that the givendesired trajectory under the allowed error range,use the adaptive controller to controltrajectory of manipulator.The main contents of this paper are as follows:1) Introduces the definition, principle and development status of adaptive control,then briefly lists its application in the field of CNC mechine,sewagetreatment,communication, network data transmission and automobile.2) The analysis of solar cells and its modeling,principle and structure of simulator，design of control methods are elaborated separately based on the applicationexamples of solar cells array；Then made open-loop and closed-loop simulationexperiments on the mathematical model of solar cells，simulate circuit and controlsystem with matlab software.At last,conclusions show that this model is accurateand the control performance of the controller is well.3) Using the double-joint robot arm in the plane as application example,firstlydescribes the problem of manipulator in the spatial coordinates detailedly,and thenintroduces the transformation of spatial coordination.Secondly,model thedouble-joint robot arm to derive its kinamatis equation.Then building model by theMATLAB software,and add controller, write the program and simulate thesystem.The results show that,the system tracking well.4) This paper finally shows that the two adaptive control methods have good controleffectiveness,but the control process and the algorithm also have some areas need tobe improved.

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CLC: > Industrial Technology > Automation technology,computer technology > Automated basic theory > Automatic control theory
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