期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2014
卷号：11
DOI：10.5772/57463
语种：English
出版社：SAGE Publications
摘要：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 the 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.
