A flight control system is designed for a reusable launch vehicle with aerodynamic control surfaces and reaction control system based on a variable-structure control and neural network theory.The control problems of c...A flight control system is designed for a reusable launch vehicle with aerodynamic control surfaces and reaction control system based on a variable-structure control and neural network theory.The control problems of coupling among the channels and the uncertainty of model parameters are solved by using the method.High precise and robust tracking of required attitude angles can be achieved in complicated air space.A mathematical model of reusable launch vehicle is presented first,and then a controller of flight system is presented.Base on the mathematical model,the controller is divided into two parts:variable-structure controller and neural network module which is used to modify the parameters of controller.This control system decouples the lateraldirectional tunnels well with a neural network sliding mode controller and provides a robust and de-coupled tracking for mission angle profiles.After this a control allocation algorithm is employed to allocate the torque moments to aerodynamic control surfaces and thrusters.The final simulation shows that the control system has a good accurate,robust and de-coupled tracking performance.The stable state error is less than 1°,and the overshoot is less than 5%.展开更多
The COVID-19 pandemic has shown that there is a lack of healthcare facilities to cope with a pandemic.This has also underscored the immediate need to rapidly develop hospitals capable of dealing with infectious patien...The COVID-19 pandemic has shown that there is a lack of healthcare facilities to cope with a pandemic.This has also underscored the immediate need to rapidly develop hospitals capable of dealing with infectious patients and to rapidly change in supply lines to manufacture the prescription goods(including medicines)that is needed to prevent infection and treatment for infected patients.The COVID-19 has shown the utility of intelligent autonomous robots that assist human efforts to combat a pandemic.The artificial intelligence based on neural networks and deep learning can help to fight COVID-19 in many ways,particularly in the control of autonomous medic robots.Health officials aim to curb the spread of COVID-19 among medical,nursing staff and patients by using intelligent robots.We propose an advanced controller for a service robot to be used in hospitals.This type of robot is deployed to deliver food and dispense medications to individual patients.An autonomous line-follower robot that can sense and follow a line drawn on the floor and drive through the rooms of patients with control of its direction.These criteria were met by using two controllers simultaneously:a deep neural network controller to predict the trajectory of movement and a proportional-integral-derivative(PID)controller for automatic steering and speed control.展开更多
针对常规比例、积分和微分(proportional integral derivative,PID)控制器在无人艇航向控制系统中表现出的稳定性差、控制精度低等问题,文章提出一种将模糊控制与反向传播(back propagation,BP)神经网络相结合的控制算法;在MATLAB中对...针对常规比例、积分和微分(proportional integral derivative,PID)控制器在无人艇航向控制系统中表现出的稳定性差、控制精度低等问题,文章提出一种将模糊控制与反向传播(back propagation,BP)神经网络相结合的控制算法;在MATLAB中对比常规PID控制器、模糊PID控制器与模糊神经网络PID控制器在给定期望航向角下的航向控制性能,仿真结果表明模糊神经网络PID控制器对无人艇的航向控制性能最佳;在搭建的实验平台上对不同航向控制器下无人艇的航行轨迹和航向角进行比较,实验结果进一步验证了模糊神经网络PID航向控制算法的优越性。展开更多
旋转控制头轴承组件要承受很大的动载荷,由于摩擦力的作用,使轴承发热和磨损非常严重,极易发生轴承温度过高而导致轴承失效。针对旋转控制头轴承温度影响因素多、精确计算困难、不易测量等特点,提出了一种基于遗传算法优化的神经网络(th...旋转控制头轴承组件要承受很大的动载荷,由于摩擦力的作用,使轴承发热和磨损非常严重,极易发生轴承温度过高而导致轴承失效。针对旋转控制头轴承温度影响因素多、精确计算困难、不易测量等特点,提出了一种基于遗传算法优化的神经网络(the optimized algorithm of BP neural network based on genetic algorithm,GA-BP)进行旋转控制头轴承温度预测的方法,利用某无外挂冷却润滑泵站式旋转控制头台架实验数据进行训练和测试,并与传统神经网络模型(BP)进行对比。结果表明,GA-BP预测模型实现了控制头轴承温度预测过程的自适应控制,预测得到的轴承温度与期望值之间的线性相关度达到0.991 48;通过95%置信区间以及平均、最大、最小绝对百分比误差的对比得到,GA-BP模型在逼近能力、收敛和泛化能力上都要优于BP预测模型。GA-BP预测模型预测精度高、稳定性好,对掌握轴承运行状态,优化旋转控制头冷却润滑方式和结构。提高旋转控制头的整体性能有重要指导意义.展开更多
文摘A flight control system is designed for a reusable launch vehicle with aerodynamic control surfaces and reaction control system based on a variable-structure control and neural network theory.The control problems of coupling among the channels and the uncertainty of model parameters are solved by using the method.High precise and robust tracking of required attitude angles can be achieved in complicated air space.A mathematical model of reusable launch vehicle is presented first,and then a controller of flight system is presented.Base on the mathematical model,the controller is divided into two parts:variable-structure controller and neural network module which is used to modify the parameters of controller.This control system decouples the lateraldirectional tunnels well with a neural network sliding mode controller and provides a robust and de-coupled tracking for mission angle profiles.After this a control allocation algorithm is employed to allocate the torque moments to aerodynamic control surfaces and thrusters.The final simulation shows that the control system has a good accurate,robust and de-coupled tracking performance.The stable state error is less than 1°,and the overshoot is less than 5%.
基金the Deanship of Scientific Research at King Saud University for its funding of this research through the Research Group No.RG-1439/007.
文摘The COVID-19 pandemic has shown that there is a lack of healthcare facilities to cope with a pandemic.This has also underscored the immediate need to rapidly develop hospitals capable of dealing with infectious patients and to rapidly change in supply lines to manufacture the prescription goods(including medicines)that is needed to prevent infection and treatment for infected patients.The COVID-19 has shown the utility of intelligent autonomous robots that assist human efforts to combat a pandemic.The artificial intelligence based on neural networks and deep learning can help to fight COVID-19 in many ways,particularly in the control of autonomous medic robots.Health officials aim to curb the spread of COVID-19 among medical,nursing staff and patients by using intelligent robots.We propose an advanced controller for a service robot to be used in hospitals.This type of robot is deployed to deliver food and dispense medications to individual patients.An autonomous line-follower robot that can sense and follow a line drawn on the floor and drive through the rooms of patients with control of its direction.These criteria were met by using two controllers simultaneously:a deep neural network controller to predict the trajectory of movement and a proportional-integral-derivative(PID)controller for automatic steering and speed control.
文摘针对常规比例、积分和微分(proportional integral derivative,PID)控制器在无人艇航向控制系统中表现出的稳定性差、控制精度低等问题,文章提出一种将模糊控制与反向传播(back propagation,BP)神经网络相结合的控制算法;在MATLAB中对比常规PID控制器、模糊PID控制器与模糊神经网络PID控制器在给定期望航向角下的航向控制性能,仿真结果表明模糊神经网络PID控制器对无人艇的航向控制性能最佳;在搭建的实验平台上对不同航向控制器下无人艇的航行轨迹和航向角进行比较,实验结果进一步验证了模糊神经网络PID航向控制算法的优越性。
文摘旋转控制头轴承组件要承受很大的动载荷,由于摩擦力的作用,使轴承发热和磨损非常严重,极易发生轴承温度过高而导致轴承失效。针对旋转控制头轴承温度影响因素多、精确计算困难、不易测量等特点,提出了一种基于遗传算法优化的神经网络(the optimized algorithm of BP neural network based on genetic algorithm,GA-BP)进行旋转控制头轴承温度预测的方法,利用某无外挂冷却润滑泵站式旋转控制头台架实验数据进行训练和测试,并与传统神经网络模型(BP)进行对比。结果表明,GA-BP预测模型实现了控制头轴承温度预测过程的自适应控制,预测得到的轴承温度与期望值之间的线性相关度达到0.991 48;通过95%置信区间以及平均、最大、最小绝对百分比误差的对比得到,GA-BP模型在逼近能力、收敛和泛化能力上都要优于BP预测模型。GA-BP预测模型预测精度高、稳定性好,对掌握轴承运行状态,优化旋转控制头冷却润滑方式和结构。提高旋转控制头的整体性能有重要指导意义.
