Yang Liangliang

The Research on Networked Servo Control System Based on CAN Bus

Design of networked servo control system based on CAN bus is proposed. Systematic structure of servo control system and the servo node implementation are introduced. Software hierarchical structure is analyzed in brief. Moreover, Software frame and control loop of servo node are illuminated, and especially the offset in current control loop is analyzed and the compensating method is proposed to ensure zero point of motor current to be accuracy.

Research on Feedforward Parameter Optimization of Linear Servo System Based on Iterative Learning of Orthogonal Projection

The method of orthogonal projection is introduced according to the problem of feed forward parameter optimization in linear servo system with high frequency response. At first, orthogonalized basis functions are constructed and the control system is projected onto the axes of the basis functions. Then system parameters are identified along the axes of basis functions by iterative learning and high speed response are compensated by feed forward. The method extends the iterative learning from time domain to the space of orthogonalized basis functions. The simulations and experiments show this method can significantly improve the tracking and high-response performance of linear servo system and meet the high speed and high precision requirements.

Research on reducing residual vibration of trajectory glue based on pulse reshape filter

In order to realize the automation of sole glue working procedure, Auto-glue toe lasting machine is developed, but it is a high flexible machine and easy to produce residual vibration because of its structure. The existence of residual vibration degrades tracking precision and response speed of trajectory glue and influence the quality of trajectory glue and following procedure, this paper uses technology of pulse reshape filer in discrete domain, design and optimize input command reshaper against the system vibration mode, filter the input command and eliminate the residual vibration, improve system response. Experiment shows pulse reshape filter is effective against residual vibration caused by high flexible mode of auto-glue toe lasting machine.