This paper designs a novel controller to improve the path-tracking performance of articulated dump truck(ADT). By combining linear quadratic regulator(LQR) with genetic algorithm(GA), the designed controller is used t...This paper designs a novel controller to improve the path-tracking performance of articulated dump truck(ADT). By combining linear quadratic regulator(LQR) with genetic algorithm(GA), the designed controller is used to control linear and angular velocities on the midpoint of the front frame. The novel controller based on the error dynamics model is eventually realized to track the path high-precisely with constant speed. The results of simulation and experiment show that the LQR-GA controller has a better tracking performance than the existing methods under a low speed of 3 m/s. In this paper, kinematics model and simulation control models based on co-simulation of ADAMS and Matlab/Simulink are established to verify the proposed strategy. In addition, a real vehicle experiment is designed to further more correctness of the conclusion. With the proposed controller and considering the steering model in the simulation, the control performance is improved and matches the actual situation better. The research results contribute to the development of automation of ADT.展开更多
Active vibration control of functionally graded material (FGM) plate with integrated piezoelectric layers is studied. In this regard, a finite element model based on the classical plate theory is adopted and extended ...Active vibration control of functionally graded material (FGM) plate with integrated piezoelectric layers is studied. In this regard, a finite element model based on the classical plate theory is adopted and extended to the case of FGM plate to obtain a space state equation. Rectangular four node and eight node elements are used for the analysis purpose. The material proprieties of FG plate are assumed to be graded along the thickness direction. In order to control the vibration of the plate, an LQR controller has been designed and developed. The weighing factors are obtained by using genetic algorithm. The proposed results of finite element modeling are verified with the results obtained using ANSYS. Also the validation of methodology is done with comparing the results with that of available in literature and found in well agreement. Further analysis is performed for three sets of power law exponent n = 0, 1 and 100 which gives benchmark results for vibration control of FGM piezoelectric plate.展开更多
基金the Fundamental Research Funds for the Central Universities of China(No.FRF-TP-15-023A1)the National Key R&D Program Project(Nos.2016YFC0802905 and 2018YFC0604403)
文摘This paper designs a novel controller to improve the path-tracking performance of articulated dump truck(ADT). By combining linear quadratic regulator(LQR) with genetic algorithm(GA), the designed controller is used to control linear and angular velocities on the midpoint of the front frame. The novel controller based on the error dynamics model is eventually realized to track the path high-precisely with constant speed. The results of simulation and experiment show that the LQR-GA controller has a better tracking performance than the existing methods under a low speed of 3 m/s. In this paper, kinematics model and simulation control models based on co-simulation of ADAMS and Matlab/Simulink are established to verify the proposed strategy. In addition, a real vehicle experiment is designed to further more correctness of the conclusion. With the proposed controller and considering the steering model in the simulation, the control performance is improved and matches the actual situation better. The research results contribute to the development of automation of ADT.
文摘Active vibration control of functionally graded material (FGM) plate with integrated piezoelectric layers is studied. In this regard, a finite element model based on the classical plate theory is adopted and extended to the case of FGM plate to obtain a space state equation. Rectangular four node and eight node elements are used for the analysis purpose. The material proprieties of FG plate are assumed to be graded along the thickness direction. In order to control the vibration of the plate, an LQR controller has been designed and developed. The weighing factors are obtained by using genetic algorithm. The proposed results of finite element modeling are verified with the results obtained using ANSYS. Also the validation of methodology is done with comparing the results with that of available in literature and found in well agreement. Further analysis is performed for three sets of power law exponent n = 0, 1 and 100 which gives benchmark results for vibration control of FGM piezoelectric plate.
