Simulation Research on Adaptive Control of a Six-degree-of-freedom Material-testing Machine | Zendy

Dan Wang | Zendy; Rui Fan | Zendy; Wuyi Chen | Zendy

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Simulation Research on Adaptive Control of a Six-degree-of-freedom Material-testing Machine

Author(s) -

Dan Wang,

Rui Fan,

Wuyi Chen

Publication year - 2014

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/57463

Subject(s) - computer science , controller (irrigation) , stiffness , control theory (sociology) , kinematics , adaptive control , control (management) , artificial intelligence , structural engineering , biology , engineering , physics , classical mechanics , agronomy

This paper presents an adaptive controller equipped with a stiffness estimation method for a novel material-testing machine, in order to alleviate the performance depression caused by the stiffness variance of the tested specimen. The dynamic model of the proposed machine is built using the Kane method, and kinematic model is established with a closed-form solution. The stiffness estimation method is developed based on the recursive least-squares method and the proposed stiffness equivalent matrix. Control performances of the adaptive controller are simulated in detail. The simulation results illustrate that the proposed controller can greatly improve the control performance of the target material-testing machine by online stiffness estimation and adaptive parameter tuning, especially in low-cycle fatigue (LCF) and high-cycle fatigue (HCF) tests

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