Control of a Mobile Support Platform for Vehicle Detectors on Highway

2004 ◽  
Author(s):  
Qingcang Yu ◽  
Fidelis O. Eke ◽  
Harry H. Cheng ◽  
Jacob S. Duane ◽  
Joe A. Palen
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Strategy ◽  
Mobile Platform ◽  
Department Of Transportation ◽  
Highway Traffic ◽  
Road Vehicles ◽  
California Department ◽  
New Family ◽  
Actual Location

The California Department of Transportation has sponsored the development of a new family of out of pavement, laser based sensing devices for monitoring road vehicles on the highway. These devices are to be placed over highway traffic lanes, so that they can have an unobstructed view of vehicles moving along the highway. It is expected that there will be need for relatively frequent adjustment of the actual location of these devices over the freeway, so that they can be moved from one lane to another, or so the position over a given lane can be modified. Because of these constraints, a mobile support platform is planned for these devices. This paper presents a motion control strategy for such a mobile platform, and the necessary hardware to implement the control system. The ideas presented in the paper have been tested on a prototype mobile support platform.

Design of a Mobile Platform for Overhead Detectors for Vehicles on the Highway

2004 ◽  
Author(s):  
Jacob S. Duane ◽  
Joe A. Palen ◽  
Fidelis O. Eke ◽  
Harry H. Cheng
Keyword(s):  
United States ◽  
The United States ◽  
Department Of Transportation ◽  
Ground Vehicles ◽  
Highway Traffic ◽  
Road Vehicles ◽  
California Department ◽  
New Family ◽  
Technical Study ◽  
Electronic Sensing

The California Department of Transportation, like many such departments in the United States, is working on developing a new family of electronic sensing devices for the purpose of monitoring certain characteristics of road vehicles as they move along the highway. The devices currently under development are to be located overhead individual highway traffic lanes, from where they can have a clear “view” of ground vehicles. In order to deploy these devices, there is a need to develop the capability to safely and efficiently mount them above highway traffic lanes, using existing overhead bridges and sign structures as support structures. This paper presents a technical study of a universal support platform for these devices. The study discusses such issues as mobility, reliability, and resistance to environmental and other hazards. Results of tests conducted on a prototype are also presented.

HIL Testbed and Motion Control Strategy for the Hybrid Hydraulic-Electric Architecture (HHEA)

2021 ◽  
Author(s):  
Arpan Chatterjee ◽  
Perry Y. Li
Keyword(s):  
Motion Control ◽  
Control Strategy ◽  
Control Strategies ◽  
Electric Machines ◽  
Hardware In The Loop ◽  
System Efficiency ◽  
Electric Motors ◽  
Test Bed ◽  
Road Vehicles ◽  
Precise Control

Abstract The Hybrid Hydraulic-Electric Architecture (HHEA) was proposed in recent years to increase system efficiency of high power mobile machines and to reap the benefits of electrification without the need for large electric machines. It uses a set of common pressure rails to provide the majority of power hydraulically and small electric motors to modulate that power for precise control. This paper presents the development of a Hardware-in-the-loop (HIL) test-bed for testing motion control strategies for the HHEA. Precise motion control is important for off-road vehicles whose utility requires the machine being dexterous and performing tasks exactly as commanded. Motion control for the HHEA is challenging due to its intrinsic use of discrete pressure rail switches to minimize system efficiency or to keep the system within the torque capabilities of the electric motor. The motion control strategy utilizes two different controllers: a nominal passivity based back-stepping controller used in between pressure rail switches and a transition controller used to handle the event of a pressure rail switch. In this paper, the performance of the nominal control under various nominal and rail switching scenarios is experimentally evaluated on the HIL testbed.

Cross-Coupled Adaptive Feedrate Control for Multiaxis Machine Tools

1991 ◽  
Vol 113 (3) ◽  
pp. 451-457 ◽  
Author(s):  
Hua-Yi Chuang ◽  
Chang-Huan Liu
Keyword(s):  
Computer Simulation ◽  
Control System ◽  
Motion Control ◽  
Control Strategy ◽  
Machine Tools ◽  
Feedback Loop ◽  
Contour Error ◽  
Coupled Motion ◽  
Contouring Accuracy ◽  
Perturbed Model

Cross-coupled controllers have been proposed for improving contouring accuracy of multiaxis machine tools. However, during cross-coupled motion control, increasing contour feedrate may result in larger contour errors. In order to increase feedrate and hence productivity without sacrificing the contouring performance, this paper presents an adapative feedrate control strategy based on a linear perturbed model. The method effectively closes the feedback loop between the contour error and feedrate. An experimental biaxial control system is constructed to implement the proposed strategy. Both computer simulation and experiments have verified that desired contouring accuracy can be achieved.

scholarly journals Leader-Following Control System Design Based on Back-stepping Control Strategy

2020 ◽  
Author(s):  
Dong-Hun Lee ◽  
Duc-Quan Tran ◽  
Young-Bok Kim
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Strategy ◽  
Pid Control ◽  
Control Method ◽  
Nonlinear Parameters ◽  
Control Scheme ◽  
Leader Following ◽  
Back Stepping Control ◽  
And Control

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

scholarly journals Control Strategy of Pipeline Robot

2021 ◽  
Vol 2066 (1) ◽  
pp. 012099
Author(s):  
Qian Li ◽  
Yongyi Fang ◽  
Baoan Liu ◽  
Kun Xing ◽  
Lijun Wang ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Strategy ◽  
Control Experiment ◽  
Implementation Process ◽  
System Construction ◽  
Frame Design ◽  
Variable Diameter ◽  
Interactive Operation ◽  
Pipeline Robot

Abstract The detection of pipeline in service is very important, but the existing manual detection has blind spots, long cycle, high risk, low precision and high cost. Therefore, it is very important to develop a mobile detection robot to replace manual inspection. This paper mainly introduces the control strategy of pipeline robot. In this paper, the overall control structure of the pipeline robot system is built, including the design of hardware framework and the design of software implementation process. Hardware design includes the selection design of microcontroller ARM, sensor, motor driver and so on. The software design is mainly the process design of action realization and the frame design of man-machine interactive operation panel structure. After the system construction is completed, the motion control experiment of the pipeline robot control system is carried out to test the walking performance of the pipeline robot prototype in the vertical variable diameter pipeline, and the motion control experiment is carried out to verify the rationality of the mechanical structure of the pipeline robot and the practicability of the control system.

scholarly journals Leader-Following Control System Design Based on Back-stepping Control Strategy

2020 ◽  
Author(s):  
Dong-Hun Lee ◽  
Tran-Duc Quan ◽  
Young-Bok Kim
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Strategy ◽  
Pid Control ◽  
Control Method ◽  
Nonlinear Parameters ◽  
Control Scheme ◽  
Leader Following ◽  
Back Stepping Control ◽  
And Control

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

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