More and more linear servo systems have been used in servo applications. Direct drive technology can greatly increase the bandwidth and the tracking accuracy. A position servo-system based on linear voice-coil motor w...More and more linear servo systems have been used in servo applications. Direct drive technology can greatly increase the bandwidth and the tracking accuracy. A position servo-system based on linear voice-coil motor was designed for one linear oscillation movement application. Besides the conventional position, speed and current control loops, the speed and acceleration feed-forward control of command position signal were also used. The experimental test proved the correctness of the design, and the system can track the given periodic sinusoid position command signal of 15Hz with high accuracy. The linear voice-coil motor is very suitable for short stroke position tracking application with high dynamic response.展开更多
The double pulse sources （DPS） method is presented for linear track estimation in this work. In the field of noise identification of underwater moving target, the Doppler will distort the frequency and amplitude of ...The double pulse sources （DPS） method is presented for linear track estimation in this work. In the field of noise identification of underwater moving target, the Doppler will distort the frequency and amplitude of the radiated noise. To eliminate this, the track estimation is necessary. In the DPS method, we first estimate bearings of two sinusoidal pulse sources installed in the moving target through baseline positioning method. Meanwhile, the emitted and recorded time of each pulse are also acquired. Then the linear track parameters will be achieved based on the geometry pattern with the help of double sources spacing. The simulated results confirm that the DPS improves the performance of the previous double source spacing method. The simulated experiments were carried out using a moving battery car to further evaluate its performance. When the target is 40-60m away, the experiment results show that biases of track azimuth and abeam distance of DPS are under 0.6° and 3.4m, respectively. And the average deviation of estimated velocity is around 0.25m/s.展开更多
This paper is focused on developing a tracking controller for a hypersonic cruise vehicle using tangent linearization approach.The design of flight control systems for air-breathing hypersonic vehicles is a highly cha...This paper is focused on developing a tracking controller for a hypersonic cruise vehicle using tangent linearization approach.The design of flight control systems for air-breathing hypersonic vehicles is a highly challenging task due to the unique characteristics of the vehicle dynamics.Motivated by recent results on tangent linearization control,the tracking control problem for the hypersonic cruise vehicle is reduced to that of a feedback stabilizing controller design for a linear time-varying system which can be accomplished by a standard design method of frozen-time control.Through a proper model transformation,it can be proven that the tracking error of the designed closed-loop system decays exponentially.Simulation studies are conducted for trimmed cruise conditions of 110000 ft and Mach 15 where the responses of the vehicle to step changes in altitude and velocity are evaluated.The effectiveness of the controller is demonstrated by simulation results.展开更多
This paper investigates the robust tracking control problcm for a class of nonlinear networked control systems （NCSs） using the Takagi-Sugeno （T-S） fuzzy model approach. Based on a time-varying delay system transf...This paper investigates the robust tracking control problcm for a class of nonlinear networked control systems （NCSs） using the Takagi-Sugeno （T-S） fuzzy model approach. Based on a time-varying delay system transformed from the NCSs, an augmented Lyapunov function containing more useful information is constructed. A less conservative sufficient condition is established such that the closed-loop systems stability and time-domain integral quadratic constraints （IQCs） are satisfied while both time-varying network- induced delays and packet losses are taken into account. The fuzzy tracking controllers design scheme is derived in terms of linear matrix inequalities （LMIs） and parallel distributed compensation （PDC）. Furthermore, robust stabilization criterion for nonlinear NCSs is given as an extension of the tracking control result. Finally, numerical simulations are provided to illustrate the effectiveness and merits of the proposed method.展开更多
This paper focuses on the development of an optimized photovoltaic tracking system involving low-cost, relative simple mechanisms, with linear actuators able to insure strokes comparable with those resulted when using...This paper focuses on the development of an optimized photovoltaic tracking system involving low-cost, relative simple mechanisms, with linear actuators able to insure strokes comparable with those resulted when using gear rotary actuators. Starting with a rhombus linkage, with a linear actuator on the diagonal used for the elevation motion till 90°, a new performance solution is generated. This new linkage allows large angular strokes by using an asymmetric rhombus and an eccentrically positioned linear actuator. The paper can be divided in three main parts. Firstly the kinematical modeling of the new linkage is addressed, which permits the establishing of the linkage dimensions according to two adjustable parameters （k2, k5）. Using the resulted correlations, in the second part the linkage synthesis algorithm is developed; the steps followed in this algorithm are presented in a numerical application considering a tracked PV platform, where the azimuthal vertical movement is obtained with the new proposed rhomboidal linkage. In the last part of the paper an analysis is done with the aim of determining the PV platform tracking efficiency （which represents the ratio between the received and the available beam solar energy） using the new linkage, in the meteorological conditions of Brasov, Romania implementation site.展开更多
The cascade systems which stabilize the transverse deviation of the ship in relation to the set path is presented. The ship's path is determined as a broken line with specified coordinates of way points. Three con...The cascade systems which stabilize the transverse deviation of the ship in relation to the set path is presented. The ship's path is determined as a broken line with specified coordinates of way points. Three controllers are used in the system. The main primary controller is the trajectory controller. The set value of heading for the course control system or angular velocity for the turning control system is generated. The course control system is used on the straight line of the set trajectory while the turning controller is used during a change of the set trajectory segment. The characteristics of the non-linear controllers are selected in such a way that the properties of the control system with the rate of turn controller are modelled by the first-order inertia, while the system with the course keeping controller is modelled by a second-order linear term. The presented control system is tested in computer simulation. Some results of simulation tests are presented and discussed.展开更多
Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed contr...Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.展开更多
This paper will discuss strategies for trinocular image rectification and matching for linear object tracking.It is well known that a pair of stereo images generates two epipolar images.Three overlapped images can yie...This paper will discuss strategies for trinocular image rectification and matching for linear object tracking.It is well known that a pair of stereo images generates two epipolar images.Three overlapped images can yield six epipolar images in situations where any two are required to be rectified for the purpose of image matching.In this case,the search for feature correspondences is computationally intensive and matching complexity increases.A special epipolar image rectification for three stereo images,which simplifies the image matching process,is therefore proposed.This method generates only three rectified images,with the result that the search for matching features becomes more straightforward.With the three rectified images,a particular line_segment_based correspondence strategy is suggested.The primary characteristics of the feature correspondence strategy include application of specific epipolar geometric constraints and reference to three_ray triangulation residuals in object space.展开更多
This paper presents a study on the statistical forecasts of typhoon tracks. Numerical models have their own systematic errors, like a bias. In order to improve the accuracy of track forecasting, a statistical model ca...This paper presents a study on the statistical forecasts of typhoon tracks. Numerical models have their own systematic errors, like a bias. In order to improve the accuracy of track forecasting, a statistical model called DLM (dynamic linear model) is applied to remove the systematic error. In the analysis of typhoons occurring over the western North Pacific in 1997 and 2000, DLM is useful as an adaptive model for the prediction of typhoon tracks.展开更多
In this book new results on controller design techniques for the tracking of generic reference inputs are presented. They allow the design of a controller for an uncertain process, either continuous or discrete-time, ...In this book new results on controller design techniques for the tracking of generic reference inputs are presented. They allow the design of a controller for an uncertain process, either continuous or discrete-time, without zeros, and with measurable state. The controller guarantees that the control system is Type 1 and has the desired constant gain and poles or that the control system tracks, with a specified maximum error and with a specified maximum time constant, a generic reference with bounded derivative (variation in the discrete-time case), also in the presence of a generic disturbance with bounded derivative (variation). In addition, it is considered the case in which the reference is known a priori. The utility and the efficiency of the proposed methods are illustrated with attractive and significant examples of motion control and temperature control. This book is useful for the design of control systems, especially for manufacturing systems, that are versatile, fast, precise and robust.展开更多
Focus is laid on the adaptive practical output-tracking problem of a class of nonlinear systems with high-order lower-triangular structure and uncontrollable unstable linearization. Using the modified adaptive additio...Focus is laid on the adaptive practical output-tracking problem of a class of nonlinear systems with high-order lower-triangular structure and uncontrollable unstable linearization. Using the modified adaptive addition of a power integrator technique as a basic tool, a new smooth adaptive state feedback controller is designed. This controller can ensure all signals of the closed-loop systems are globally bounded and output tracking error is arbitrary small.展开更多
针对X-Y平台中模型误差和扰动未知等问题,本文以夹胶玻璃自动切膜为应用背景,设计自动切膜恒力控制系统,并对系统中的交互力进行分析与建模。提出了一种改进线性自抗扰(linear active disturbance rejection controller,LADRC)力控制器...针对X-Y平台中模型误差和扰动未知等问题,本文以夹胶玻璃自动切膜为应用背景,设计自动切膜恒力控制系统,并对系统中的交互力进行分析与建模。提出了一种改进线性自抗扰(linear active disturbance rejection controller,LADRC)力控制器,将滑模控制嵌入到基于预报的线性跟踪微分器(tracking differentiator,TD)中,平衡滤波与相位滞后间的矛盾,利用分数阶比例微分(fractional order proportion differentiation,FOPD)快速响应跟踪力误差,并通过Lyapunov函数对改进线性跟踪微分器进行稳定性证明。通过与线性自抗扰进行比较,对所设计的控制器进行了仿真分析与实验验证。实验结果表明,当玻璃位置等参数发生变化时,基于改进跟踪微分器的线性自抗扰控制系统仍能较好地实现对切刀的交互力控制,有效保证切膜效果,证明了提出方法的有效性与实用性。展开更多
文摘More and more linear servo systems have been used in servo applications. Direct drive technology can greatly increase the bandwidth and the tracking accuracy. A position servo-system based on linear voice-coil motor was designed for one linear oscillation movement application. Besides the conventional position, speed and current control loops, the speed and acceleration feed-forward control of command position signal were also used. The experimental test proved the correctness of the design, and the system can track the given periodic sinusoid position command signal of 15Hz with high accuracy. The linear voice-coil motor is very suitable for short stroke position tracking application with high dynamic response.
文摘The double pulse sources （DPS） method is presented for linear track estimation in this work. In the field of noise identification of underwater moving target, the Doppler will distort the frequency and amplitude of the radiated noise. To eliminate this, the track estimation is necessary. In the DPS method, we first estimate bearings of two sinusoidal pulse sources installed in the moving target through baseline positioning method. Meanwhile, the emitted and recorded time of each pulse are also acquired. Then the linear track parameters will be achieved based on the geometry pattern with the help of double sources spacing. The simulated results confirm that the DPS improves the performance of the previous double source spacing method. The simulated experiments were carried out using a moving battery car to further evaluate its performance. When the target is 40-60m away, the experiment results show that biases of track azimuth and abeam distance of DPS are under 0.6° and 3.4m, respectively. And the average deviation of estimated velocity is around 0.25m/s.
基金supported by the National Natural Science Foundation of China (6071000260904007)+1 种基金the Program for Changjiang Scholars and Innovative Research Team in Universitythe State Key Laboratory of Robotics and System (SKLRS200801AO3)
文摘This paper is focused on developing a tracking controller for a hypersonic cruise vehicle using tangent linearization approach.The design of flight control systems for air-breathing hypersonic vehicles is a highly challenging task due to the unique characteristics of the vehicle dynamics.Motivated by recent results on tangent linearization control,the tracking control problem for the hypersonic cruise vehicle is reduced to that of a feedback stabilizing controller design for a linear time-varying system which can be accomplished by a standard design method of frozen-time control.Through a proper model transformation,it can be proven that the tracking error of the designed closed-loop system decays exponentially.Simulation studies are conducted for trimmed cruise conditions of 110000 ft and Mach 15 where the responses of the vehicle to step changes in altitude and velocity are evaluated.The effectiveness of the controller is demonstrated by simulation results.
基金supported by National Natural Science Foundation of China (No. 60574014, No. 60425310)Doctor Subject Foundation of China (No. 200805330004)+2 种基金Program for New Century Excellent Talents in University (No. NCET-06-0679)Natural Science Foundation of Hunan Province of China (No. 08JJ1010)Science Foundation of Education Department of Hunan Province (No. 08C106)
文摘This paper investigates the robust tracking control problcm for a class of nonlinear networked control systems （NCSs） using the Takagi-Sugeno （T-S） fuzzy model approach. Based on a time-varying delay system transformed from the NCSs, an augmented Lyapunov function containing more useful information is constructed. A less conservative sufficient condition is established such that the closed-loop systems stability and time-domain integral quadratic constraints （IQCs） are satisfied while both time-varying network- induced delays and packet losses are taken into account. The fuzzy tracking controllers design scheme is derived in terms of linear matrix inequalities （LMIs） and parallel distributed compensation （PDC）. Furthermore, robust stabilization criterion for nonlinear NCSs is given as an extension of the tracking control result. Finally, numerical simulations are provided to illustrate the effectiveness and merits of the proposed method.
基金supported by the Sectoral Operational Programme Human Resources Development (SOP HRD)Post Doctoral School,financed from the European Social Fund and by the Romanian Government (Grant No. POSDRU/89/1.5/S/59323)
文摘This paper focuses on the development of an optimized photovoltaic tracking system involving low-cost, relative simple mechanisms, with linear actuators able to insure strokes comparable with those resulted when using gear rotary actuators. Starting with a rhombus linkage, with a linear actuator on the diagonal used for the elevation motion till 90°, a new performance solution is generated. This new linkage allows large angular strokes by using an asymmetric rhombus and an eccentrically positioned linear actuator. The paper can be divided in three main parts. Firstly the kinematical modeling of the new linkage is addressed, which permits the establishing of the linkage dimensions according to two adjustable parameters （k2, k5）. Using the resulted correlations, in the second part the linkage synthesis algorithm is developed; the steps followed in this algorithm are presented in a numerical application considering a tracked PV platform, where the azimuthal vertical movement is obtained with the new proposed rhomboidal linkage. In the last part of the paper an analysis is done with the aim of determining the PV platform tracking efficiency （which represents the ratio between the received and the available beam solar energy） using the new linkage, in the meteorological conditions of Brasov, Romania implementation site.
文摘The cascade systems which stabilize the transverse deviation of the ship in relation to the set path is presented. The ship's path is determined as a broken line with specified coordinates of way points. Three controllers are used in the system. The main primary controller is the trajectory controller. The set value of heading for the course control system or angular velocity for the turning control system is generated. The course control system is used on the straight line of the set trajectory while the turning controller is used during a change of the set trajectory segment. The characteristics of the non-linear controllers are selected in such a way that the properties of the control system with the rate of turn controller are modelled by the first-order inertia, while the system with the course keeping controller is modelled by a second-order linear term. The presented control system is tested in computer simulation. Some results of simulation tests are presented and discussed.
基金Supported by the National High Technology Research and Development Programme of China(No.2015AA8082065)the National Natural Science Foundation of China(No.61205143)
文摘Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.
文摘This paper will discuss strategies for trinocular image rectification and matching for linear object tracking.It is well known that a pair of stereo images generates two epipolar images.Three overlapped images can yield six epipolar images in situations where any two are required to be rectified for the purpose of image matching.In this case,the search for feature correspondences is computationally intensive and matching complexity increases.A special epipolar image rectification for three stereo images,which simplifies the image matching process,is therefore proposed.This method generates only three rectified images,with the result that the search for matching features becomes more straightforward.With the three rectified images,a particular line_segment_based correspondence strategy is suggested.The primary characteristics of the feature correspondence strategy include application of specific epipolar geometric constraints and reference to three_ray triangulation residuals in object space.
基金the project"A study on improving forecast skill using a su-percomputer"of Meteorological Research Institute,KMA,2001.
文摘This paper presents a study on the statistical forecasts of typhoon tracks. Numerical models have their own systematic errors, like a bias. In order to improve the accuracy of track forecasting, a statistical model called DLM (dynamic linear model) is applied to remove the systematic error. In the analysis of typhoons occurring over the western North Pacific in 1997 and 2000, DLM is useful as an adaptive model for the prediction of typhoon tracks.
文摘In this book new results on controller design techniques for the tracking of generic reference inputs are presented. They allow the design of a controller for an uncertain process, either continuous or discrete-time, without zeros, and with measurable state. The controller guarantees that the control system is Type 1 and has the desired constant gain and poles or that the control system tracks, with a specified maximum error and with a specified maximum time constant, a generic reference with bounded derivative (variation in the discrete-time case), also in the presence of a generic disturbance with bounded derivative (variation). In addition, it is considered the case in which the reference is known a priori. The utility and the efficiency of the proposed methods are illustrated with attractive and significant examples of motion control and temperature control. This book is useful for the design of control systems, especially for manufacturing systems, that are versatile, fast, precise and robust.
基金This work was supported by the National Natural Sdence Foundation of China (No. 60304003)the National Sdence Foundation of Shandong Province (No. Q2002G02)
文摘Focus is laid on the adaptive practical output-tracking problem of a class of nonlinear systems with high-order lower-triangular structure and uncontrollable unstable linearization. Using the modified adaptive addition of a power integrator technique as a basic tool, a new smooth adaptive state feedback controller is designed. This controller can ensure all signals of the closed-loop systems are globally bounded and output tracking error is arbitrary small.
文摘针对X-Y平台中模型误差和扰动未知等问题,本文以夹胶玻璃自动切膜为应用背景,设计自动切膜恒力控制系统,并对系统中的交互力进行分析与建模。提出了一种改进线性自抗扰(linear active disturbance rejection controller,LADRC)力控制器,将滑模控制嵌入到基于预报的线性跟踪微分器(tracking differentiator,TD)中,平衡滤波与相位滞后间的矛盾,利用分数阶比例微分(fractional order proportion differentiation,FOPD)快速响应跟踪力误差,并通过Lyapunov函数对改进线性跟踪微分器进行稳定性证明。通过与线性自抗扰进行比较,对所设计的控制器进行了仿真分析与实验验证。实验结果表明,当玻璃位置等参数发生变化时,基于改进跟踪微分器的线性自抗扰控制系统仍能较好地实现对切刀的交互力控制,有效保证切膜效果,证明了提出方法的有效性与实用性。
