To solve the attitude trajectory tracking problem for hypersonic vehicles in the presence of system constraints and unknown disturbances,this paper designed a nonlinear robust model predictive control(RMPC)scheme,whic...To solve the attitude trajectory tracking problem for hypersonic vehicles in the presence of system constraints and unknown disturbances,this paper designed a nonlinear robust model predictive control(RMPC)scheme,which can produce near-optimal tracking commands.Unlike the existing designs,the proposed scheme is less conservative and successfully prioritizes the solution optimality.The established RMPC follows a dualloop structure.Specifically,in the outer feedback loop,the reference attitude angle profiles are optimally tracked,while in the inner feedback loop,the control moment commands are produced by optimally tracking the desired angular rate trajectories.Besides,an adaptive disturbance observer(ADO)is designed and embedded in the inner and outer RMPC controllers to alleviate the negative effects caused by unknown external disturbances.The recursive feasibility of the optimization process,together with the input-to-state stability of the proposed RMPC,is theoretically guaranteed by introducing a tightened control constraint and terminal region.The derived property reveals that our proposal can steer the tracking error within a small region of convergence.Finally,the effectiveness of the proposed scheme is demonstrated by performing simulation studies.展开更多
This study develops a GWO-optimized cascaded fuzzy-PID controller with triangular membership functions for load frequency control in interconnected power systems.The controller’s effectiveness is demonstrated on ther...This study develops a GWO-optimized cascaded fuzzy-PID controller with triangular membership functions for load frequency control in interconnected power systems.The controller’s effectiveness is demonstrated on thermal–thermal and hybrid thermal–hydro–gas power systems.The controller parameters were tuned using the Integral Time Absolute Error(ITAE)objective function,which was also evaluated alongside other objective functions(IAE,ISE,and ITSE)to ensure high precision in frequency stabilization.To validate the effectiveness of the triangular membership function,comparisons were made with fuzzy-PID controllers employing trapezoidal and Gaussian membership functions.Performance metrics,including ITAE,settling time,overshoot,and undershoot of frequency deviation,as well as tie-line power deviation,were evaluated.Robustness was established through a comprehensive sensitivity analysis with T_(G),T_(T),andT_(R) parameter variations(±50%),a non-linearity analysis incorporating Generation Rate Constraint(GRC)and Governor Deadband(GDB),a random Step Load Perturbation(SLP)over 0–100 s,and also Stability analysis of the proposed scheme is conducted using multiple approaches,including frequency-domain analysis,Lyapunov stability theory,and eigenvalue analysis.Additionally,the system incorporating thermal,hydro,and gas turbines,along with advanced components like CES and HVDC links,was analysed.Comparisons were conducted against controllers optimized using Modified Grasshopper Optimization Algorithm(MGOA),Honey Badger Algorithm(HBA),Particle Swarm Optimization(PSO),Artificial Bee Colony(ABC),and Spider Monkey Optimization(SMO)algorithms.Results demonstrate that the GWO-based fuzzy-PID controller outperforms the alternatives,exhibiting superior performance across all evaluated metrics.This highlights the potential of the proposed approach as a robust solution for load frequency control in complex and dynamic power systems.展开更多
The principle of electric braking system is analyzed and an anti-skid braking system based on the slip rate control is proposed.The fuzzy-PID controller with parameter self-adjustment feature is designed for the anti-...The principle of electric braking system is analyzed and an anti-skid braking system based on the slip rate control is proposed.The fuzzy-PID controller with parameter self-adjustment feature is designed for the anti-skid braking system.The dynamic model of aircraft ground braking is established in the simulation environment of MATLAB/SIMULINK,and simulation results of dry runway and wet runway are presented.The results show that the fuzzy-PID controller with parameter self-adjustment feature for the electric anti-skid braking system keeps working in the state of stability and the brake efficiencies are increased to 93%on dry runway and 82%on wet runway respectively.展开更多
This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic ...This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by noise.To solve these problems,a＇＇dual-loop scheme＇＇is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.展开更多
The five degree freedom magnetic bearing is researched and its structure and working principles are introduced also. Based on the fuzzy control technology, combining fuzzy algorithm and PID control method, identifying...The five degree freedom magnetic bearing is researched and its structure and working principles are introduced also. Based on the fuzzy control technology, combining fuzzy algorithm and PID control method, identifying the transition process mode of the online system to get the PID parameters＇ self-adjusting, the magnetic beating system＇s Fuzzy-PID nonlinear controller is designed by analyzing the system control demands. The Fuzzy-PID nonlinear controller can deal with the magnetic bearing system＇ s open loop instability and strong nonlinearity, and the approach could improve the system＇s rapidity, adaptability, stability and dynamic characteristics. Comparative analysis and experiments are conducted between linear PID and nonlinear fuzzy- PID control methods, the results show that the fuzzy-PID controller is better, and the five-freedom magnetic bearing＇ s rotary precision experiments are conducted by the fuzzy-PID controller, it satisfies the control rotary precision demands and realizes the hearing＇s steady floating and rotating.展开更多
In order to evaluate the performance of semi-active cab’s hydraulic mounts(SHM)of the off-road vibratory roller with the optimal fuzzy-PID(proportional integral derivative)control,a nonlinear dynamic model of the veh...In order to evaluate the performance of semi-active cab’s hydraulic mounts(SHM)of the off-road vibratory roller with the optimal fuzzy-PID(proportional integral derivative)control,a nonlinear dynamic model of the vehicle interacting with off-road terrains is established based on Matlab/Simulink software.The weighted root-mean-square(RMS)acceleration responses of the driver’s seat heave and the cab’s pitch angle are chosen as objective functions.The SHM is then optimized and analyzed via the optimal fuzzy-PID control under different operation conditions.The simulations results show that the driver’s ride comfort and the cab shaking are greatly affected by the off-road terrains under various operating conditions of the vehicle,especially at the speed from 8 to 12 km/h on a very poor terrain surface of Grenville soil ground under the vehicle travelling.With SHM using the optimal fuzzy-PID control,the driver’s ride comfort and the cab shaking are clearly improved under various operation conditions of the vehicle,particularly at the speed from 6 to 7 km/h of the vehicle traveling.展开更多
An unmanued smart car control system and the fuzzy-PID control algorithm are produced.A design scheme of fuzzy-PID controller is put forward.The simulation analysis from matlab indicated that the dynamic performance o...An unmanued smart car control system and the fuzzy-PID control algorithm are produced.A design scheme of fuzzy-PID controller is put forward.The simulation analysis from matlab indicated that the dynamic performance of fuzzy-PID control algorithm is better than that of usual PID.Experimental result of smart car show that it can follow the black guid line well and fast-stable complete running the whole trip.展开更多
With penetration growing of renewable energy sources which integrated into power system have caused problems on grid stability. Electric Vehicles (EV) are one of the renewable energy sources that can bring significant...With penetration growing of renewable energy sources which integrated into power system have caused problems on grid stability. Electric Vehicles (EV) are one of the renewable energy sources that can bring significant impacts to power system during their charging and discharging operations. This article established a model of single machine infinite bus (SMIB) power system considering EV as a case study of load disturbance for power system oscillation. The objective of this research is to enhance stability and overcome the drawbacks of traditional control algorithms such as power system stabilizer (PSS), PID controller and fuzzy logic controller (FLC). The implementation’s effect of FLC parallel with PID controller (Fuzzy-PID) has been shown in this paper. The speed deviation (?ω) and electrical power (Pe) are the important factors to be taken into consideration without EV (only change in mechanical torque), EV with change in the mechanical torque and sudden plug-in EV. The obtained result by nonlinear simulation using Matlab/Simulink of a SMIB power system with EV has shown the effectiveness of using (Fuzzy-PID) against all disturbances.展开更多
To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)...To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.展开更多
This work proposes a sensor-based control system for fully automated object detection and exploration(surface following) with a redundant industrial robot. The control system utilizes both offline and online trajector...This work proposes a sensor-based control system for fully automated object detection and exploration(surface following) with a redundant industrial robot. The control system utilizes both offline and online trajectory planning for reactive interaction with objects of different shapes and color using RGBD vision and proximity/contact sensors feedback where no prior knowledge of the objects is available. The RGB-D sensor is used to collect raw 3D information of the environment. The data is then processed to segment an object of interest in the scene. In order to completely explore the object, a coverage path planning technique is proposed using a dynamic 3D occupancy grid method to generate a primary(offline) trajectory. However, RGB-D sensors are very sensitive to lighting and provide only limited accuracy on the depth measurements. Therefore, the coverage path planning is then further assisted by a real-time adaptive path planning using a fuzzy self-tuning proportional integral derivative(PID)controller. The latter allows the robot to dynamically update the 3D model by a specially designed instrumented compliant wrist and adapt to the surfaces it approaches or touches. A modeswitching scheme is also proposed to efficiently integrate and smoothly switch between the interaction modes under certain conditions. Experimental results using a CRS-F3 manipulator equipped with a custom-built compliant wrist demonstrate the feasibility and performance of the proposed method.展开更多
A novel pressure and vacuum continuous control system,which adopts a hybrid pump as pressure and vacuum source,is presented.The mathematical model of the system is developed.The theoretical simulation and analysis on ...A novel pressure and vacuum continuous control system,which adopts a hybrid pump as pressure and vacuum source,is presented.The mathematical model of the system is developed.The theoretical simulation and analysis on the system are implemented in order to study the relationships among the characteristics,parameters and working points of the system.The experimental investigations on the system characteristics are presented with the adoption ofa fuzzy-PID controller.The simulation and experimental results indicate that the pressure and vacuum continuous control system based on hybrid pump has good dynamic and static performance,strong robustness and satisfactory adaptability to various system parameters.According to the results,system can successfully gain high accuracy and fast response signal.Also,the mathematical model of system is also testified by the experimental results.展开更多
An intelligent fuzzy-PID controller consisting of fuzzy logic controller and PID controller was developed to control the molten steel level of twin-roll strip caster.Additionally,a feedforward differential PID control...An intelligent fuzzy-PID controller consisting of fuzzy logic controller and PID controller was developed to control the molten steel level of twin-roll strip caster.Additionally,a feedforward differential PID controller was used for stopper position control in order to avoid differential kick.It is proved by simulation that the proposed intelligent controller is able to obtain zero steady state error asymptotically and the control system is robust due to its fuggy behavior of the controller.展开更多
The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously ef...The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously effective for the position control of single pneumatic muscle actuator, which can realize precision within 0.3 mm and withstand 18?N variable load plus about 36?N fixed load. It is relatively precise and robust.展开更多
The measurement and control of the molten steel level are studied, which affect the quality of strip surface in strip casting. A system of molten steel measurement with a CCD (Charge Coupled Devices) sensor is designe...The measurement and control of the molten steel level are studied, which affect the quality of strip surface in strip casting. A system of molten steel measurement with a CCD (Charge Coupled Devices) sensor is designed, real-time measured data are given and its precision is analyzed. The level fluctuation model is derived, and an adaptive fuzzy-PID controller with supervisory control (AFPS) is proposed. The stability of the system is proved using Lyapunov theorem, and the simulation results are given when the model, the casting speed and the roll gap change. It is suggested that this kind of coupled nonlinear and time varying system is stable and robust using the designed AFPS controller.展开更多
Because the load of the oil beam pumping unit driven by pure electric motor changes sharply during operation,the power of the driving motor does not match and the energy efficiency is low.In this paper,a new type of w...Because the load of the oil beam pumping unit driven by pure electric motor changes sharply during operation,the power of the driving motor does not match and the energy efficiency is low.In this paper,a new type of wind-driven hydro-motor hybrid power system is proposed.The motor and the hydraulic motor are jointly driven,and the energy is recovered by a hydraulic pump with controllable displacement,so that the speed of the driving motor is relatively stable.In order to control the fan speed and keep up with the drastic changes of the outside wind speed,a control strategy of hybrid power system based on wind speed feed-forward compensation is proposed.Through simulation and experimental results,the following conclusions can be drawn:to begin with,the mathematic model is proved to be effective;next,simulation studies show that the proposed feed-forward control method can improve the response rate as well as reduce the response lag.This research can be a reference for the application of the feed-forward control method on the hybrid power system of beam pumping unit.system.展开更多
The high rolling speed of a missile heavily affects the stabilizing capability of the inertial platform in the laser tracking system （LTS） of the missile. In this paper, a rotational stabilizing platform （RSP） and...The high rolling speed of a missile heavily affects the stabilizing capability of the inertial platform in the laser tracking system （LTS） of the missile. In this paper, a rotational stabilizing platform （RSP） and a fuzzy-PID controller is designed to stabilize the inertial platform. This controller integrates the advantages of both fuzzy controller and classic PID controller. A comparison study is carried out to illustrate the advantages of the proposed fuzzy-PID controller over the classic PID controller. Numerical results indicate that the fuzzy-PID controller outperforms the classic one in effectively handling nonlinear disturbances and quickly stabilizing the inertial platform at the sudden change of missile roiling speed.展开更多
Background Compared with traditional biomagnetic field detection devices,such as superconducting quantum interference devices(SQUIDs)and atomic magnetometers,only giant magneto impedance(GMI)sensors can be applied for...Background Compared with traditional biomagnetic field detection devices,such as superconducting quantum interference devices(SQUIDs)and atomic magnetometers,only giant magneto impedance(GMI)sensors can be applied for unshielded human brain biomagnetic detection,and they have the potential for application in next-generation wearable equipment for brain-computer interfaces(BCIs).Achieving a better GMI sensor without magnetic shielding requires the stimulation of the GMI effect to be maximized and environmental noise interference to be minimized.Moreover,the GMI effect stimulated in an amorphous filament is closely related to its working point,which is sensitive to both the external magnetic field and the drive current of the filament.Methods In this paper,we propose a new noise reducing GMI gradiometer with a dual-loop self-adapting structure.Noise reduction is realized by a direction-flexible differential probe,and the dual-loop structure optimizes and stabilizes the working point by automatically controlling the external magnetic field and drive current.This dual-loop structure is fully program controlled by a micro control unit(MCU),which not only simplifies the traditional constant parameter sensor circuit,saving the time required to adjust the circuit component parameters,but also improves the sensor performance and environmental adaptation.Results In the performance test,within 2 min of self-adaptation,our sensor showed a better sensitivity and signal-to-noise ratio(SNR)than those of the traditional designs and achieved a background noise of 12 pT/√Hz at 10 Hz and 7pT/√Hz at 200 Hz.Conclusion To the best of our knowledge,our sensor is the first to realize self-adaptation of both the external magnetic field and the drive current.展开更多
文摘To solve the attitude trajectory tracking problem for hypersonic vehicles in the presence of system constraints and unknown disturbances,this paper designed a nonlinear robust model predictive control(RMPC)scheme,which can produce near-optimal tracking commands.Unlike the existing designs,the proposed scheme is less conservative and successfully prioritizes the solution optimality.The established RMPC follows a dualloop structure.Specifically,in the outer feedback loop,the reference attitude angle profiles are optimally tracked,while in the inner feedback loop,the control moment commands are produced by optimally tracking the desired angular rate trajectories.Besides,an adaptive disturbance observer(ADO)is designed and embedded in the inner and outer RMPC controllers to alleviate the negative effects caused by unknown external disturbances.The recursive feasibility of the optimization process,together with the input-to-state stability of the proposed RMPC,is theoretically guaranteed by introducing a tightened control constraint and terminal region.The derived property reveals that our proposal can steer the tracking error within a small region of convergence.Finally,the effectiveness of the proposed scheme is demonstrated by performing simulation studies.
文摘This study develops a GWO-optimized cascaded fuzzy-PID controller with triangular membership functions for load frequency control in interconnected power systems.The controller’s effectiveness is demonstrated on thermal–thermal and hybrid thermal–hydro–gas power systems.The controller parameters were tuned using the Integral Time Absolute Error(ITAE)objective function,which was also evaluated alongside other objective functions(IAE,ISE,and ITSE)to ensure high precision in frequency stabilization.To validate the effectiveness of the triangular membership function,comparisons were made with fuzzy-PID controllers employing trapezoidal and Gaussian membership functions.Performance metrics,including ITAE,settling time,overshoot,and undershoot of frequency deviation,as well as tie-line power deviation,were evaluated.Robustness was established through a comprehensive sensitivity analysis with T_(G),T_(T),andT_(R) parameter variations(±50%),a non-linearity analysis incorporating Generation Rate Constraint(GRC)and Governor Deadband(GDB),a random Step Load Perturbation(SLP)over 0–100 s,and also Stability analysis of the proposed scheme is conducted using multiple approaches,including frequency-domain analysis,Lyapunov stability theory,and eigenvalue analysis.Additionally,the system incorporating thermal,hydro,and gas turbines,along with advanced components like CES and HVDC links,was analysed.Comparisons were conducted against controllers optimized using Modified Grasshopper Optimization Algorithm(MGOA),Honey Badger Algorithm(HBA),Particle Swarm Optimization(PSO),Artificial Bee Colony(ABC),and Spider Monkey Optimization(SMO)algorithms.Results demonstrate that the GWO-based fuzzy-PID controller outperforms the alternatives,exhibiting superior performance across all evaluated metrics.This highlights the potential of the proposed approach as a robust solution for load frequency control in complex and dynamic power systems.
基金Supported by the National Natural Science Foundation of China(51105197,51305198,11372129)the Project Funded by the Priority Academic Program Department of Jiangsu Higher Education Instructions
文摘The principle of electric braking system is analyzed and an anti-skid braking system based on the slip rate control is proposed.The fuzzy-PID controller with parameter self-adjustment feature is designed for the anti-skid braking system.The dynamic model of aircraft ground braking is established in the simulation environment of MATLAB/SIMULINK,and simulation results of dry runway and wet runway are presented.The results show that the fuzzy-PID controller with parameter self-adjustment feature for the electric anti-skid braking system keeps working in the state of stability and the brake efficiencies are increased to 93%on dry runway and 82%on wet runway respectively.
基金sponsored by the National Basic Research Program of China (No.2014CB046406)the Key Projects of the National Natural Science Foundation (No.51235002)
文摘This paper investigates motion coupling disturbance（the so called surplus torque）in the hardware-in-the-loop（HIL）experiments.The＇＇velocity synchronization scheme＇＇was proposed by Jiao for an electro-hydraulic load simulator（EHLS）in 2004.In some situations,however,the scheme is limited in the implementation for certain reasons,as is the case when the actuator＇s valve signal is not available or it is seriously polluted by noise.To solve these problems,a＇＇dual-loop scheme＇＇is developed for EHLS.The dual-loop scheme is a combination of a torque loop and a position synchronization loop.The role of the position synchronization loop is to decouple the motion disturbance caused by the actuator system.To verify the feasibility and effectiveness of the proposed scheme,extensive simulations are performed using AMESim.Then,the performance of the developed method is validated by experiments.
文摘The five degree freedom magnetic bearing is researched and its structure and working principles are introduced also. Based on the fuzzy control technology, combining fuzzy algorithm and PID control method, identifying the transition process mode of the online system to get the PID parameters＇ self-adjusting, the magnetic beating system＇s Fuzzy-PID nonlinear controller is designed by analyzing the system control demands. The Fuzzy-PID nonlinear controller can deal with the magnetic bearing system＇ s open loop instability and strong nonlinearity, and the approach could improve the system＇s rapidity, adaptability, stability and dynamic characteristics. Comparative analysis and experiments are conducted between linear PID and nonlinear fuzzy- PID control methods, the results show that the fuzzy-PID controller is better, and the five-freedom magnetic bearing＇ s rotary precision experiments are conducted by the fuzzy-PID controller, it satisfies the control rotary precision demands and realizes the hearing＇s steady floating and rotating.
基金The National Key Research and Development Plan(No.2019YFB2006402)
文摘In order to evaluate the performance of semi-active cab’s hydraulic mounts(SHM)of the off-road vibratory roller with the optimal fuzzy-PID(proportional integral derivative)control,a nonlinear dynamic model of the vehicle interacting with off-road terrains is established based on Matlab/Simulink software.The weighted root-mean-square(RMS)acceleration responses of the driver’s seat heave and the cab’s pitch angle are chosen as objective functions.The SHM is then optimized and analyzed via the optimal fuzzy-PID control under different operation conditions.The simulations results show that the driver’s ride comfort and the cab shaking are greatly affected by the off-road terrains under various operating conditions of the vehicle,especially at the speed from 8 to 12 km/h on a very poor terrain surface of Grenville soil ground under the vehicle travelling.With SHM using the optimal fuzzy-PID control,the driver’s ride comfort and the cab shaking are clearly improved under various operation conditions of the vehicle,particularly at the speed from 6 to 7 km/h of the vehicle traveling.
文摘An unmanued smart car control system and the fuzzy-PID control algorithm are produced.A design scheme of fuzzy-PID controller is put forward.The simulation analysis from matlab indicated that the dynamic performance of fuzzy-PID control algorithm is better than that of usual PID.Experimental result of smart car show that it can follow the black guid line well and fast-stable complete running the whole trip.
文摘With penetration growing of renewable energy sources which integrated into power system have caused problems on grid stability. Electric Vehicles (EV) are one of the renewable energy sources that can bring significant impacts to power system during their charging and discharging operations. This article established a model of single machine infinite bus (SMIB) power system considering EV as a case study of load disturbance for power system oscillation. The objective of this research is to enhance stability and overcome the drawbacks of traditional control algorithms such as power system stabilizer (PSS), PID controller and fuzzy logic controller (FLC). The implementation’s effect of FLC parallel with PID controller (Fuzzy-PID) has been shown in this paper. The speed deviation (?ω) and electrical power (Pe) are the important factors to be taken into consideration without EV (only change in mechanical torque), EV with change in the mechanical torque and sudden plug-in EV. The obtained result by nonlinear simulation using Matlab/Simulink of a SMIB power system with EV has shown the effectiveness of using (Fuzzy-PID) against all disturbances.
基金supported by the National Natural Science Foundation of China(Nos.62063009,52262050)the National Key Research and Development Program during the 14th 5-Year Plan(No.2023YFB4302100)the Major Science and Technology Research and Development Special Project in Jiangxi Province(No.20232ACE01011).
文摘To address the issue of disturbance compensation deviation in linear active disturbance rejection control(LADRC),a linear active disturbance rejection control method with reference to the integral chain model(LADRC-R)is proposed.By constructing an ideal control reference model,a dynamic correlation between output deviation and uncompensated disturbances is established,and a dual-loop compensation mechanism is designed.Based on theoretical analysis and frequency-domain characteristics of typical first/second-order systems,this method maintains the parameter-tuning advantages of LADRC while reducing disturbance effects by 50%and introducing no phase lag during low-frequency disturbance suppression.Simulations on second-order systems verify its robustness under parameter perturbations,gain mismatch,and complex disturbances,and an optimized design scheme for the deviation compensator is proposed to suppress discontinuous measurement noise interference.Finally,the engineering effectiveness of this method in precision motion control is validated on an electromagnetic suspension platform,providing a new approach to improving the control performance of LADRC in environments with uncertain disturbances.
基金supported by the Natural Sciences and Engineering Research Council of Canadathe Canadian Foundation for Innovation
文摘This work proposes a sensor-based control system for fully automated object detection and exploration(surface following) with a redundant industrial robot. The control system utilizes both offline and online trajectory planning for reactive interaction with objects of different shapes and color using RGBD vision and proximity/contact sensors feedback where no prior knowledge of the objects is available. The RGB-D sensor is used to collect raw 3D information of the environment. The data is then processed to segment an object of interest in the scene. In order to completely explore the object, a coverage path planning technique is proposed using a dynamic 3D occupancy grid method to generate a primary(offline) trajectory. However, RGB-D sensors are very sensitive to lighting and provide only limited accuracy on the depth measurements. Therefore, the coverage path planning is then further assisted by a real-time adaptive path planning using a fuzzy self-tuning proportional integral derivative(PID)controller. The latter allows the robot to dynamically update the 3D model by a specially designed instrumented compliant wrist and adapt to the surfaces it approaches or touches. A modeswitching scheme is also proposed to efficiently integrate and smoothly switch between the interaction modes under certain conditions. Experimental results using a CRS-F3 manipulator equipped with a custom-built compliant wrist demonstrate the feasibility and performance of the proposed method.
基金This project is supported by National Natural Science Foundation of China(No.50675075).
文摘A novel pressure and vacuum continuous control system,which adopts a hybrid pump as pressure and vacuum source,is presented.The mathematical model of the system is developed.The theoretical simulation and analysis on the system are implemented in order to study the relationships among the characteristics,parameters and working points of the system.The experimental investigations on the system characteristics are presented with the adoption ofa fuzzy-PID controller.The simulation and experimental results indicate that the pressure and vacuum continuous control system based on hybrid pump has good dynamic and static performance,strong robustness and satisfactory adaptability to various system parameters.According to the results,system can successfully gain high accuracy and fast response signal.Also,the mathematical model of system is also testified by the experimental results.
基金Item Sponsored by National Natural Science Foundation of China(59995440)State Key Fundamental Research Project of China(G2000067208-4)
文摘An intelligent fuzzy-PID controller consisting of fuzzy logic controller and PID controller was developed to control the molten steel level of twin-roll strip caster.Additionally,a feedforward differential PID controller was used for stopper position control in order to avoid differential kick.It is proved by simulation that the proposed intelligent controller is able to obtain zero steady state error asymptotically and the control system is robust due to its fuggy behavior of the controller.
文摘The PID, fuzzy, self-organized fuzzy and self-organized fuzzy-PID controllers are adopted in the position control of single pneumatic muscle actuator. Experiments show that the self-organized fuzzy-PID is obviously effective for the position control of single pneumatic muscle actuator, which can realize precision within 0.3 mm and withstand 18?N variable load plus about 36?N fixed load. It is relatively precise and robust.
文摘The measurement and control of the molten steel level are studied, which affect the quality of strip surface in strip casting. A system of molten steel measurement with a CCD (Charge Coupled Devices) sensor is designed, real-time measured data are given and its precision is analyzed. The level fluctuation model is derived, and an adaptive fuzzy-PID controller with supervisory control (AFPS) is proposed. The stability of the system is proved using Lyapunov theorem, and the simulation results are given when the model, the casting speed and the roll gap change. It is suggested that this kind of coupled nonlinear and time varying system is stable and robust using the designed AFPS controller.
基金This project was supported by the Science Research Foundation of Inner Mongolia University for the nationalities grant no.NMDGP1704 the Inner Mongolia nature Science Foundation(grant no.2016MS0622)National nature Science Foundation grant no.51865046Science and technology innovation leading project of Inner Mongolia grant no.KCBJ2018028。
文摘Because the load of the oil beam pumping unit driven by pure electric motor changes sharply during operation,the power of the driving motor does not match and the energy efficiency is low.In this paper,a new type of wind-driven hydro-motor hybrid power system is proposed.The motor and the hydraulic motor are jointly driven,and the energy is recovered by a hydraulic pump with controllable displacement,so that the speed of the driving motor is relatively stable.In order to control the fan speed and keep up with the drastic changes of the outside wind speed,a control strategy of hybrid power system based on wind speed feed-forward compensation is proposed.Through simulation and experimental results,the following conclusions can be drawn:to begin with,the mathematic model is proved to be effective;next,simulation studies show that the proposed feed-forward control method can improve the response rate as well as reduce the response lag.This research can be a reference for the application of the feed-forward control method on the hybrid power system of beam pumping unit.system.
基金the China Aerospace Science and Innovation Foundation(No. 06CASC0407)
文摘The high rolling speed of a missile heavily affects the stabilizing capability of the inertial platform in the laser tracking system （LTS） of the missile. In this paper, a rotational stabilizing platform （RSP） and a fuzzy-PID controller is designed to stabilize the inertial platform. This controller integrates the advantages of both fuzzy controller and classic PID controller. A comparison study is carried out to illustrate the advantages of the proposed fuzzy-PID controller over the classic PID controller. Numerical results indicate that the fuzzy-PID controller outperforms the classic one in effectively handling nonlinear disturbances and quickly stabilizing the inertial platform at the sudden change of missile roiling speed.
基金Supported by the China Postdoctoral Science Foundation(4139ZRL)the National Natural Science Foundation of China(U19A2083).
文摘Background Compared with traditional biomagnetic field detection devices,such as superconducting quantum interference devices(SQUIDs)and atomic magnetometers,only giant magneto impedance(GMI)sensors can be applied for unshielded human brain biomagnetic detection,and they have the potential for application in next-generation wearable equipment for brain-computer interfaces(BCIs).Achieving a better GMI sensor without magnetic shielding requires the stimulation of the GMI effect to be maximized and environmental noise interference to be minimized.Moreover,the GMI effect stimulated in an amorphous filament is closely related to its working point,which is sensitive to both the external magnetic field and the drive current of the filament.Methods In this paper,we propose a new noise reducing GMI gradiometer with a dual-loop self-adapting structure.Noise reduction is realized by a direction-flexible differential probe,and the dual-loop structure optimizes and stabilizes the working point by automatically controlling the external magnetic field and drive current.This dual-loop structure is fully program controlled by a micro control unit(MCU),which not only simplifies the traditional constant parameter sensor circuit,saving the time required to adjust the circuit component parameters,but also improves the sensor performance and environmental adaptation.Results In the performance test,within 2 min of self-adaptation,our sensor showed a better sensitivity and signal-to-noise ratio(SNR)than those of the traditional designs and achieved a background noise of 12 pT/√Hz at 10 Hz and 7pT/√Hz at 200 Hz.Conclusion To the best of our knowledge,our sensor is the first to realize self-adaptation of both the external magnetic field and the drive current.
