Research on Motion Control System of Driving Simulator and Control Algorithm

2011 ◽  
Author(s):  
Wang Taikui ◽  
Duan Jianmin
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Algorithm ◽  
Driving Simulator ◽  
Motion Control System ◽  
And Control

Motion Control System and Control Algorithm of 3-Axes Platform Based on Controller Area Network

2014 ◽  
Vol 532 ◽  
pp. 196-199
Author(s):  
Cheng Long Zhou ◽  
Xing Song Wang ◽  
Yu Liang Mao
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Algorithm ◽  
Controller Area Network ◽  
Numerical Control ◽  
Area Network ◽  
Motion Controller ◽  
Motion Control System ◽  
And Control ◽  
Control Machine

3-axes motion is broadly used in industry numerical control machine. Many motion controller we use are usually limited by the number of interface it consist. But the kind of motion controller based on CAN (Controller Area Network ) can solve this problem properly. We can add a controller of one axe conveniently. I use a Advantech CAN motion controller to build the motion control system.

scholarly journals Heading Control System Design for a Micro-USV Based on an Adaptive Expert S-PID Algorithm

2018 ◽  
Vol 25 (2) ◽  
pp. 6-13 ◽  
Author(s):  
Runlong Miao ◽  
Zaopeng Dong ◽  
Lei Wan ◽  
Jiangfeng Zeng
Keyword(s):  
Control System ◽  
System Design ◽  
Motion Control ◽  
Pid Control ◽  
Control Algorithm ◽  
Control System Design ◽  
Motion Control System ◽  
Expert Control ◽  
Pid Algorithm ◽  
Heading Control

Abstract The process of heading control system design for a kind of micro-unmanned surface vessel (micro-USV) is addressed in this paper and a novel adaptive expert S-PID algorithm is proposed. First, a motion control system for the micro-USV is designed based on STM32-ARM and the PC monitoring system is developed based on Labwindows/CVI. Second, by combining the expert control technology, S plane and PID control algorithms, an adaptive expert S-PID control algorithm is proposed for heading control of the micro-USV. Third, based on SL micro-USV developed in this paper, a large number of pool experiments and lake experiments are carried out, to verify the effectiveness and reliability of the motion control system designed and the heading control algorithm proposed. A great amount of comparative experiment results shows the superiority of the proposed adaptive expert S-PID algorithm in terms of heading control of the SL micro-USV.

scholarly journals Motion Control System of Unmanned Railcars Based on Image Recognition

2019 ◽  
Vol 2 (1) ◽  
pp. 9
Author(s):  
Yuan-Wei Tseng ◽  
Tsung-Wui Hung ◽  
Chung-Long Pan ◽  
Rong-Ching Wu
Keyword(s):  
Computer Vision ◽  
Control System ◽  
Motion Control ◽  
Image Recognition ◽  
Electromagnetic Interference ◽  
Integrated System ◽  
Radio Communication ◽  
Motion Control System ◽  
Computer Vision Technology ◽  
And Control

The main purpose of this paper is to construct an autopilot system for unmanned railcars based on computer vision technology in a fixed luminous environment. Four graphic predefined signs of different colors and shapes serve as motion commands of acceleration, deceleration, reverse and stop for the motion control system of railcars based on image recognition. The predefined signs’ strong classifiers were trained based on Haar-like feature training and AdaBoosting from Open Source Computer Vision Library (OpenCV). Comprehensive system integrations such as hardware, device drives, protocols, an application program in Python and man machine interface have been properly done. The objectives of this research include: (1) Verifying the feasibility of graphic predefined signs serving as commands of a motion control system of railcars with computer vision through experiments; (2) Providing reliable solutions for motion control of unmanned railcars, based on image recognition at affordable cost. The experiment results successfully verify the proposed methodology and integrated system. In the main program, every predefined sign must be detected at least three times in consecutive images within 0.2 s before the system confirms the detection. This digital filter like feature can filter out false detections and make the correct rate of detections close to 100%. After detecting a predefined sign, it was observed that the system could generate new motion commands to drive the railcars within 0.3 s. Therefore, both real time performance and the precision of the system are good. Since the sensing and control devices of the proposed system consist of computer, camera and predefined signs only, both the implementation and maintenance costs are very low. In addition, the proposed system is immune to electromagnetic interference, so it is ideal to merge into popular radio Communication Based Train Control (CBTC) systems in railways to improve the safety of operations.

The Research on the Application of Intelligent Robots in Small Storage and Logistics Based on Improved PID Control Algorithm

2012 ◽  
Vol 220-223 ◽  
pp. 1230-1235
Author(s):  
Ke Man Hu ◽  
Hai Yan Hu
Keyword(s):  
Control System ◽  
Motion Control ◽  
Pid Control ◽  
Control Algorithm ◽  
Control Parameter ◽  
Adjustment Process ◽  
Control Parameters ◽  
Motion Control System ◽  
Intelligent Robots ◽  
Scalar Part

Studying on PID control algorithm and through the analysis of the control parameter of scalar part, integration part and derivation part, the author investigates systematically on the motion control system of the intelligent robots in small storage and logistics, and presents an improved PID control algorithm. The improved PID control algorithm not only maintains the merits of the original one, but also simplifies the multifarious adjustment process of the control parameters of scalar part, integration part and derivation part. The improved algorithm turns out to be effective after the simulation and verification by the MATLAB and can be applied and promoted to other practical controls field.

The Track-Controlling System for Mobile Greenhouse Robots

2013 ◽  
Vol 387 ◽  
pp. 258-261
Author(s):  
Lei Huang ◽  
Deng Xiang Yang ◽  
Qun Feng Zhu
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Algorithm ◽  
Control Parameters ◽  
Motion Control System ◽  
Stability Constraint ◽  
Controlling System ◽  
Photoelectric Encoder ◽  
The Impact

This paper targets on the study of the motion control system for greenhouse robots, and researches into the realization of the linear track control algorithm on robots motion control, demonstrating the feasibility and stability constraint of the algorithms. The author also analyzes the impact of different control parameters on the moving tracks through simulation, then applies the algorithm to the actual robot-controlling, and has designed an effective controlling system for mobile greenhouse robots based on gyroscopes and photoelectric encoder.

scholarly journals THE DIGITAL MOTION CONTROL SYSTEM FOR THE SUBMILLIMETER ARRAY ANTENNAS

2013 ◽  
Vol 02 (01) ◽  
pp. 1350002 ◽  
Author(s):  
T. R. HUNTER ◽  
R. W. WILSON ◽  
R. KIMBERK ◽  
P. S. LEIKER ◽  
N. A. PATEL ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Algorithm ◽  
Error Function ◽  
Servo Control ◽  
Reliable Operation ◽  
Motion Control System ◽  
Unix System ◽  
Three Phase ◽  
And Performance

We describe the design and performance of the digital servo and motion control system for the 6-meter parabolic antennas of the Submillimeter Array (SMA) on Mauna Kea, Hawaii. The system is divided into three nested layers operating at a different, appropriate bandwidth. (1) A rack-mounted, real-time Unix system runs the position loop which reads the high resolution azimuth and elevation encoders and sends velocity and acceleration commands at 100 Hz to a custom-designed servo control board (SCB). (2) The microcontroller-based SCB reads the motor axis tachometers and implements the velocity loop by sending torque commands to the motor amplifiers at 558 Hz. (3) The motor amplifiers implement the torque loop by monitoring and sending current to the three-phase brushless drive motors at 20 kHz. The velocity loop uses a traditional proportional-integral-derivative (PID) control algorithm, while the position loop uses only a proportional term and implements a command shaper based on the Gauss error function. Calibration factors and software filters are applied to the tachometer feedback prior to the application of the servo gains in the torque computations. All of these parameters are remotely adjustable in the software. The three layers of the control system monitor each other and are capable of shutting down the system safely if a failure or anomaly occurs. The Unix system continuously relays the antenna status to the central observatory computer via reflective memory. In each antenna, a Palm Vx hand controller displays the complete system status and allows full local control of the drives in an intuitive touchscreen user interface. The hand controller can also be connected outside the cabin, a major convenience during the frequent reconfigurations of the interferometer. Excellent tracking performance (~ 0.3′′ rms) is achieved with this system. It has been in reliable operation on 8 antennas for over 10 years and has required minimal maintenance.

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