Formulation of control objectives is a key issue in automatic control systems design. Although at first sight the desired goal （control objective） of a control system seems to be a trivial and obvious matter, for...Formulation of control objectives is a key issue in automatic control systems design. Although at first sight the desired goal （control objective） of a control system seems to be a trivial and obvious matter, for effectiveness of some high level robotic tasks, unusual exotic control objectives may be required. This paper presents a review of some exotic control objectives useful in robotics, such as velocity field control objective and range control objective. The paper also proposes a novel confinement control objective. The usefulness of these exotic control objectives may appear in safe robot-human interaction and self-protection of robots against collisions.展开更多
Dear Editor,This letter proposes a novel Nash bargaining solution-based multiobjective model predictive control(MPC)scheme to deal with the interaction force control and the path-following problem of the constrained i...Dear Editor,This letter proposes a novel Nash bargaining solution-based multiobjective model predictive control(MPC)scheme to deal with the interaction force control and the path-following problem of the constrained interactive robot.Considering the elastic interaction force model,a mechanical trade-off always exists between the interaction force and position,which means that neither force nor path following can satisfy their desired demands completely.Based on this consideration,two irreconcilable control specifications,the force object function and the position track object function,are proposed,and a new multi-objective MPC scheme is then designed.展开更多
Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However...Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.展开更多
In order to reduce the torque ripple,increase the average torque and optimize the drive performance of the switched reluctance motor (SRM),the nonlinear dynamic model of SRM is established in the MATLAB /Simulink envi...In order to reduce the torque ripple,increase the average torque and optimize the drive performance of the switched reluctance motor (SRM),the nonlinear dynamic model of SRM is established in the MATLAB /Simulink environment.The effects of the turn-on and turn-off angles are investigated by the simulation results of the dynamic model,and the function is made among the rotor speed,turn-on angle and turn-off angle.To optimize the torque dynamic performance,the two-objective simultaneous optimization function is proposed by two weight factors.And the optimized turn-on and turn-off angles as functions of rotor speed are developed by using the simultaneous optimization method.Then the optimized torque controller is designed based on the optimized turn-on and turn-off angles.The simulation results show that the optimized torque controller designed in this paper can effectively reduce the torque ripple and increase the average torque,and optimize the torque dynamic performance of the SRM.展开更多
The aircraft engine multi-loop control system is described and the switching control theory is introduced to solve the regulating and protecting control problems in this paper. The aircraft engine multi-loop control s...The aircraft engine multi-loop control system is described and the switching control theory is introduced to solve the regulating and protecting control problems in this paper. The aircraft engine multi-loop control system is firstly described and the control problems are formulated. Secondly, the theory of the smooth switching control is devoted and a new extended scheme for the smooth switching of a switched control system is introduced. Then, for the key technologies of aero-engines switching control, a design algorithm is presented which can determine which candidate controller should be put in feedback with the plant to achieve a desired performance and the procedure to design the aircraft engine multi-loop control system is detailed. The switching performance objectives and the switching scheme are given and a family of PID controllers and compensators is designed. The simulation shows that using the switching control design method can not only improve the dynamic performance of the aircraft engine control system and reduce the switching times, but also guarantee the stability in some peculiar occasions.展开更多
This paper presents a numerical algorithm tuning aircraft landing gear control system with three objectives,including reducing relative vibration, reducing hydraulic strut force and controlling energy consumption. Sli...This paper presents a numerical algorithm tuning aircraft landing gear control system with three objectives,including reducing relative vibration, reducing hydraulic strut force and controlling energy consumption. Sliding mode control is applied to the vibration control of a simplified landing gear model with uncertainty. A two-stage generalized cell mapping algorithm is applied to search the Pareto set with gradient-free scheme. Drop test simulations over uneven runway show that the vibration and force interaction can be considerably reduced, and the Pareto optimum form a tight range in time domain.展开更多
It is generally difficult to design feedback controls of nonlinear systems with time delay to meet time domain specifications such as rise time, overshoot, and tracking error. Furthermore, these time domain specificat...It is generally difficult to design feedback controls of nonlinear systems with time delay to meet time domain specifications such as rise time, overshoot, and tracking error. Furthermore, these time domain specifications tend to be conflicting to each other to make the control design even more challenging. This paper presents a cell mapping method for multi-objective optimal feedback control design in time domain for a nonlinear Duffing system with time delay. We first review the multi-objective optimization problem and its formulation for control design. We then introduce the cell mapping method and a hybrid algorithm for global optimal solutions. Numerical simulations of the PID control are presented to show the features of the multi-objective optimal design. @ 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi：10.1063/2.1306306]展开更多
This paper proposes a new type of nonlinear controllers and a large phase angle allowance design method based on the multi-objective optimal control system. With the proposed method, the performance of the system beco...This paper proposes a new type of nonlinear controllers and a large phase angle allowance design method based on the multi-objective optimal control system. With the proposed method, the performance of the system becomes better than that of the original system. Then, an example of the radar servo system is designed with a large phase angle allowance multi-objective optimal design method. Finally, the performance based on computer simulation demonstrates that the multi-objective optimal system is superior to linear optimal systems.展开更多
In this paper, the modelling and multi-objective optimal control of batch processes, using a recurrent neuro-fuzzy network, are presented. The recurrent neuro-fuzzy network, forms a ＂global＂ nonlinear long-range pre...In this paper, the modelling and multi-objective optimal control of batch processes, using a recurrent neuro-fuzzy network, are presented. The recurrent neuro-fuzzy network, forms a ＂global＂ nonlinear long-range prediction model through the fuzzy conjunction of a number of ＂local＂ linear dynamic models. Network output is fed back to network input through one or more time delay units, which ensure that predictions from the recurrent neuro-fuzzy network are long-range. In building a recurrent neural network model, process knowledge is used initially to partition the processes non-linear characteristics into several local operating regions, and to aid in the initialisation of corresponding network weights. Process operational data is then used to train the network. Membership functions of the local regimes are identified, and local models are discovered via network training. Based on a recurrent neuro-fuzzy network model, a multi-objective optimal control policy can be obtained. The proposed technique is applied to a fed-batch reactor.展开更多
A method of designing robust controller based on genetic algorithm is presented in order to overcome the drawback of manual modification and trial in designing the control system of missile. Specification functions wh...A method of designing robust controller based on genetic algorithm is presented in order to overcome the drawback of manual modification and trial in designing the control system of missile. Specification functions which reflect the dynamic performance in time domain and robustness in frequency domain are presented, then dynamic/static performance, control cost and robust stability are incorporated into a multi-objective optimization problem. Genetic algorithm is used to solve the problem and achieve the optimal controller directly. Simulation results show that the controller provides a good stability and offers a good dynamic performance in a large flight envelope. The results also validate the effectiveness of the method.展开更多
The approach of control software development based on simulation is discussed. A library of object classes for a flexible manufacturing system(FMS) simulation has been developed using the technology of object-oriented...The approach of control software development based on simulation is discussed. A library of object classes for a flexible manufacturing system(FMS) simulation has been developed using the technology of object-oriented programming. Using the library, the simulation software of a FMS which has the same manufacturing logic with the FMS control system can be easily constructed. A new approach in the development of FMS control software based on software reuse and an emulator of the blade FMS control system for testing control software have also been developed.展开更多
In view of the lack of research on the information model of tufting carpet machine in China,an information modeling method based on Object Linking and Embedding for Process Control Unified Architecture(OPC UA)framewor...In view of the lack of research on the information model of tufting carpet machine in China,an information modeling method based on Object Linking and Embedding for Process Control Unified Architecture(OPC UA)framework was proposed to solve the problem of“information island”caused by the differentiated data interface between heterogeneous equipment and system in tufting carpet machine workshop.This paper established an information model of tufting carpet machine based on analyzing the system architecture,workshop equipment composition and information flow of the workshop,combined with the OPC UA information modeling specification.Subsequently,the OPC UA protocol is used to instantiate and map the information model,and the OPC UA server is developed.Finally,the practicability of tufting carpet machine information model under the OPC UA framework and the feasibility of realizing the information interconnection of heterogeneous devices in the tufting carpet machine digital workshop are verified.On this basis,the cloud and remote access to the underlying device data are realized.The application of this information model and information integration scheme in actual production explores and practices the application of OPC UA technology in the digital workshop of tufting carpet machine.展开更多
The control study of vehicle semi-active suspension with magneto-rheological (MR) dampers has been attracted much attention internationally. However, a simple, real time and easy implementing semi-active controller ha...The control study of vehicle semi-active suspension with magneto-rheological (MR) dampers has been attracted much attention internationally. However, a simple, real time and easy implementing semi-active controller has not been proposed for the MR full-vehicle suspension system, and a systematic analysis method has not been established for evaluating the multi-objective suspension performances of MR full-vehicle vertical, pitch and roll motions. For this purpose, according to the 7-degree of freedom (DOF) fullvehicle dynamic system, a generalized 7-DOF MR and passive full-vehicle dynamic model is set up by employing the modified Boucwen hysteretic force-velocity (F-v) model of the MR damper. A semi-active controller is synthesized to realize independent control of the four MR quarter-vehicle sub-suspension systems in the full-vehicle, which is on the basis of the proposed modified skyhook damping scheme of MR quarter-vehicle sub-suspension system. The proposed controller can greatly simplify the controller design complexity of MR full-vehicle suspension and has merits of easy implementation in real application, wherein only absolute velocities of sprung and unsprung masses with reference to the road surface are required to measure in real time when the vehicle is moving. Furthermore, a systematic analysis method is established for evaluating the vertical, pitch and roll motion properties of both MR and passive full-vehicle suspensions in a more realistic road excitation manner, in which the harmonic, rounded pulse and real road measured random signals with delay time are employed as different road excitations inserted on the front and rear two wheels, by considering the distance between front and rear wheels in full-vehicle. The above excitations with different amplitudes are further employed as the road excitations inserted on left and right two wheels for evaluating the roll motion property. The multi-objective suspension performances of ride comfort and handling safety of the proposed MR full-vehicle suspension are thus thoroughly evaluated by comparing with those of the passive full-vehicle suspension. The results show that the proposed controller can ideally improve multiobjective suspension performances of the ride comfort and handling safety. The proposed harmonic, rounded pulse and real road measured random signals with delay time and asymmetric amplitudes are suitable for accurately analyzing the vertical, pitch and roll motion properties of MR full-vehicle suspension system in a more realistic road excitation manner. This research has important theoretical significance for improving application study on the intelligent MR semi-active suspension.展开更多
文摘Formulation of control objectives is a key issue in automatic control systems design. Although at first sight the desired goal （control objective） of a control system seems to be a trivial and obvious matter, for effectiveness of some high level robotic tasks, unusual exotic control objectives may be required. This paper presents a review of some exotic control objectives useful in robotics, such as velocity field control objective and range control objective. The paper also proposes a novel confinement control objective. The usefulness of these exotic control objectives may appear in safe robot-human interaction and self-protection of robots against collisions.
基金supported by the National Natural Science Foundation of China(62303095)the Natural Science Foundation of Sichuan Province(2023NSFSC0872).
文摘Dear Editor,This letter proposes a novel Nash bargaining solution-based multiobjective model predictive control(MPC)scheme to deal with the interaction force control and the path-following problem of the constrained interactive robot.Considering the elastic interaction force model,a mechanical trade-off always exists between the interaction force and position,which means that neither force nor path following can satisfy their desired demands completely.Based on this consideration,two irreconcilable control specifications,the force object function and the position track object function,are proposed,and a new multi-objective MPC scheme is then designed.
基金supported by Open Research Fund of State Key Laboratory of Automobile Dynamics Simulation, China (Grant No. 20101103)National Natural Science Foundation of China (Grant No. 51075176)
文摘Rollover and jack-knifing of tractor semi-trailer are serious threats for vehicle safety, and accordingly active safety technologies have been widely used to reduce or prevent the occurrence of such accidents. However, currently tractor semi-trailer stability control is generally only a single hazardous condition (rollover or jack-knifing) control, it is difficult to ensure the vehicle comprehensive stability of various dangerous conditions. The main objective of this study is to introduce a multi-objective stability control algorithm which can improve the vehicle stability of a tractor semi-trailer by using differential braking. A vehicle controller is designed to minimize the likelihood of rollover and jack-knifing. First a linear vehicle model of tractor semi-trailer is constructed. Then an optimal yaw control for tractor using differential braking is applied to minimize the yaw rate and lateral acceleration deviation of tractor, as well as the hitch articulation angle of tractor semi-trailer, so as to improve the vehicle stability. Second a braking scheme and variable structure control with sliding mode control are introduced in order to achieve the best braking effect. Last Fishhook maneuver is introduced to the active safety simulation and the active control system effect verification. The simulation results show that multi-objective stability control algorithm of semi-trailer could improve the vehicle stability significantly during the transient maneuvers. The proposed multi-objective stability control algorithm is effective to prevent the vehicle rollover and jackknifing.
基金Sponsored by the Ph.D.Program Foundation of Ministry of Education of China(Grant No.20092302120)
文摘In order to reduce the torque ripple,increase the average torque and optimize the drive performance of the switched reluctance motor (SRM),the nonlinear dynamic model of SRM is established in the MATLAB /Simulink environment.The effects of the turn-on and turn-off angles are investigated by the simulation results of the dynamic model,and the function is made among the rotor speed,turn-on angle and turn-off angle.To optimize the torque dynamic performance,the two-objective simultaneous optimization function is proposed by two weight factors.And the optimized turn-on and turn-off angles as functions of rotor speed are developed by using the simultaneous optimization method.Then the optimized torque controller is designed based on the optimized turn-on and turn-off angles.The simulation results show that the optimized torque controller designed in this paper can effectively reduce the torque ripple and increase the average torque,and optimize the torque dynamic performance of the SRM.
基金supported by the National Natural Science Foundation of China (Grant No. 61104146/F030203)Innovation Plan of Aero Engine Complex System Safety by the Ministry of Education Chang Jiang Scholars of China (Grant No. IRT0905)
文摘The aircraft engine multi-loop control system is described and the switching control theory is introduced to solve the regulating and protecting control problems in this paper. The aircraft engine multi-loop control system is firstly described and the control problems are formulated. Secondly, the theory of the smooth switching control is devoted and a new extended scheme for the smooth switching of a switched control system is introduced. Then, for the key technologies of aero-engines switching control, a design algorithm is presented which can determine which candidate controller should be put in feedback with the plant to achieve a desired performance and the procedure to design the aircraft engine multi-loop control system is detailed. The switching performance objectives and the switching scheme are given and a family of PID controllers and compensators is designed. The simulation shows that using the switching control design method can not only improve the dynamic performance of the aircraft engine control system and reduce the switching times, but also guarantee the stability in some peculiar occasions.
基金Supported by National Basic Research Program of China（973 Program）（2013CB035500） National Natural Science Foundation of China（61233004,61221003,61074061）+1 种基金 International Cooperation Program of Shanghai Science and Technology Commission （12230709600） the Higher Education Research Fund for the Doctoral Program of China（20120073130006）
基金Supported by the National Natural Science Foundation of China(No.11172197 and No.11332008)a key-project grant from the Natural Science Foundation of Tianjin(No.010413595)
文摘This paper presents a numerical algorithm tuning aircraft landing gear control system with three objectives,including reducing relative vibration, reducing hydraulic strut force and controlling energy consumption. Sliding mode control is applied to the vibration control of a simplified landing gear model with uncertainty. A two-stage generalized cell mapping algorithm is applied to search the Pareto set with gradient-free scheme. Drop test simulations over uneven runway show that the vibration and force interaction can be considerably reduced, and the Pareto optimum form a tight range in time domain.
基金supported by the UC MEXUSCONACyT("Cell-to-cell Mapping for Global Multi-objective Optimization")the National Natural Science Foundation of China(11172197)+1 种基金the Natural Science Foundation of Tianjin through a key-project grantsupport from CONACyT through a scholarship to pursue graduate studies at the Computer Science Department of CINVESTAV-IPN
文摘It is generally difficult to design feedback controls of nonlinear systems with time delay to meet time domain specifications such as rise time, overshoot, and tracking error. Furthermore, these time domain specifications tend to be conflicting to each other to make the control design even more challenging. This paper presents a cell mapping method for multi-objective optimal feedback control design in time domain for a nonlinear Duffing system with time delay. We first review the multi-objective optimization problem and its formulation for control design. We then introduce the cell mapping method and a hybrid algorithm for global optimal solutions. Numerical simulations of the PID control are presented to show the features of the multi-objective optimal design. @ 2013 The Chinese Society of Theoretical and Applied Mechanics. [doi：10.1063/2.1306306]
基金partly supported by the Natural Science Foundation of Guangdong (No.06023131)
文摘This paper proposes a new type of nonlinear controllers and a large phase angle allowance design method based on the multi-objective optimal control system. With the proposed method, the performance of the system becomes better than that of the original system. Then, an example of the radar servo system is designed with a large phase angle allowance multi-objective optimal design method. Finally, the performance based on computer simulation demonstrates that the multi-objective optimal system is superior to linear optimal systems.
基金This work was supported by the UK EPSRC (GR/N13319, GR/R10875).
文摘In this paper, the modelling and multi-objective optimal control of batch processes, using a recurrent neuro-fuzzy network, are presented. The recurrent neuro-fuzzy network, forms a ＂global＂ nonlinear long-range prediction model through the fuzzy conjunction of a number of ＂local＂ linear dynamic models. Network output is fed back to network input through one or more time delay units, which ensure that predictions from the recurrent neuro-fuzzy network are long-range. In building a recurrent neural network model, process knowledge is used initially to partition the processes non-linear characteristics into several local operating regions, and to aid in the initialisation of corresponding network weights. Process operational data is then used to train the network. Membership functions of the local regimes are identified, and local models are discovered via network training. Based on a recurrent neuro-fuzzy network model, a multi-objective optimal control policy can be obtained. The proposed technique is applied to a fed-batch reactor.
基金Sponsored bythe Ministerial Level Advanced Research Foundation(320010401)
文摘A method of designing robust controller based on genetic algorithm is presented in order to overcome the drawback of manual modification and trial in designing the control system of missile. Specification functions which reflect the dynamic performance in time domain and robustness in frequency domain are presented, then dynamic/static performance, control cost and robust stability are incorporated into a multi-objective optimization problem. Genetic algorithm is used to solve the problem and achieve the optimal controller directly. Simulation results show that the controller provides a good stability and offers a good dynamic performance in a large flight envelope. The results also validate the effectiveness of the method.
基金the High Technology Research and Development Programme of China
文摘The approach of control software development based on simulation is discussed. A library of object classes for a flexible manufacturing system(FMS) simulation has been developed using the technology of object-oriented programming. Using the library, the simulation software of a FMS which has the same manufacturing logic with the FMS control system can be easily constructed. A new approach in the development of FMS control software based on software reuse and an emulator of the blade FMS control system for testing control software have also been developed.
文摘In view of the lack of research on the information model of tufting carpet machine in China,an information modeling method based on Object Linking and Embedding for Process Control Unified Architecture(OPC UA)framework was proposed to solve the problem of“information island”caused by the differentiated data interface between heterogeneous equipment and system in tufting carpet machine workshop.This paper established an information model of tufting carpet machine based on analyzing the system architecture,workshop equipment composition and information flow of the workshop,combined with the OPC UA information modeling specification.Subsequently,the OPC UA protocol is used to instantiate and map the information model,and the OPC UA server is developed.Finally,the practicability of tufting carpet machine information model under the OPC UA framework and the feasibility of realizing the information interconnection of heterogeneous devices in the tufting carpet machine digital workshop are verified.On this basis,the cloud and remote access to the underlying device data are realized.The application of this information model and information integration scheme in actual production explores and practices the application of OPC UA technology in the digital workshop of tufting carpet machine.
基金supported by National Natural Science Foundation of China (Grant No. 51075215)Research, Innovation Project for College Graduates of Jiangsu Province (Grant No. CXLX11_0889)
文摘The control study of vehicle semi-active suspension with magneto-rheological (MR) dampers has been attracted much attention internationally. However, a simple, real time and easy implementing semi-active controller has not been proposed for the MR full-vehicle suspension system, and a systematic analysis method has not been established for evaluating the multi-objective suspension performances of MR full-vehicle vertical, pitch and roll motions. For this purpose, according to the 7-degree of freedom (DOF) fullvehicle dynamic system, a generalized 7-DOF MR and passive full-vehicle dynamic model is set up by employing the modified Boucwen hysteretic force-velocity (F-v) model of the MR damper. A semi-active controller is synthesized to realize independent control of the four MR quarter-vehicle sub-suspension systems in the full-vehicle, which is on the basis of the proposed modified skyhook damping scheme of MR quarter-vehicle sub-suspension system. The proposed controller can greatly simplify the controller design complexity of MR full-vehicle suspension and has merits of easy implementation in real application, wherein only absolute velocities of sprung and unsprung masses with reference to the road surface are required to measure in real time when the vehicle is moving. Furthermore, a systematic analysis method is established for evaluating the vertical, pitch and roll motion properties of both MR and passive full-vehicle suspensions in a more realistic road excitation manner, in which the harmonic, rounded pulse and real road measured random signals with delay time are employed as different road excitations inserted on the front and rear two wheels, by considering the distance between front and rear wheels in full-vehicle. The above excitations with different amplitudes are further employed as the road excitations inserted on left and right two wheels for evaluating the roll motion property. The multi-objective suspension performances of ride comfort and handling safety of the proposed MR full-vehicle suspension are thus thoroughly evaluated by comparing with those of the passive full-vehicle suspension. The results show that the proposed controller can ideally improve multiobjective suspension performances of the ride comfort and handling safety. The proposed harmonic, rounded pulse and real road measured random signals with delay time and asymmetric amplitudes are suitable for accurately analyzing the vertical, pitch and roll motion properties of MR full-vehicle suspension system in a more realistic road excitation manner. This research has important theoretical significance for improving application study on the intelligent MR semi-active suspension.
