scholarly journals Intelligent Control of a Novel Hydraulic Forging Manipulator

2011 ◽  
Vol 2011 ◽  
pp. 1-7 ◽  
Author(s):  
J. Wang ◽  
F. Gao ◽  
Y. Zhang
Keyword(s):  
Intelligent Control ◽  
Position Control ◽  
Control Method ◽  
Industrial Applications ◽  
Heavy Duty ◽  
Force Perception ◽  
Large Size ◽  
Forging Manipulator ◽  
Combination Of Methods ◽  
And Control

The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications.

scholarly journals Modelling & Position Control for Electro-Hydraulic System

2019 ◽  
Vol 8 (4) ◽  
pp. 3841-3845 ◽  
Keyword(s):  
Control System ◽  
Hydraulic System ◽  
Position Control ◽  
Industrial Applications ◽  
Hydraulic Systems ◽  
System A ◽  
Complex Process ◽  
Highly Nonlinear ◽  
Back Stepping Control ◽  
And Control

Electro-hydraulic systems (EHS) are widely used in industrial applications due to the high-power density and accuracy. However, EHS are highly nonlinear which makes its modelling and control aspects a complex process. In this paper, we present the modelling and position control for an electro-hydraulic system (EHS). The mathematical modelling is carried out considering the non-linearities like friction, discharge coefficient and load mass present in the system. A back-stepping control scheme is developed for maintaining the accuracy in the position control. The closed-loop stability of the proposed control system is analyzed with Lyapunov’s theory. The performance of the control system under the effect of bounded external uncertainties is validated with simulation study. The study indicates that the proposed controller gives an effective motion control in presence of the system uncertainties.

scholarly journals Deployment Kinematic Analysis and Control of a New Hoop Truss Deployable Antenna

2019 ◽  
Vol 256 ◽  
pp. 05004
Author(s):  
Sun Zihan ◽  
Yankang Ding ◽  
Yiqun Zhang ◽  
Dongwu Yang ◽  
Na Li
Keyword(s):  
Motion Planning ◽  
Motion Control ◽  
Kinematic Analysis ◽  
Position Control ◽  
Control Method ◽  
Structural Characteristics ◽  
Motion Transformation ◽  
Transformation Relation ◽  
New Type ◽  
And Control

Firstly, based on the structural characteristics of a new type of hoop truss deployable antenna, this paper derives the motion transformation relation between two hoop modules by using the method of coordinate transformation, and establishes the general model for deployment kinematic analysis, which can be applied to analyze the position, velocity and acceleration of any point on the structure. Secondly, according to the relation between the driving cable and the hoop module, the motion planning of the hoop module is transformed into the motion control of the driving cable, which can realize the deploying position control of the antenna. Finally, numerical simulations show the control method can make the antenna smoothly deploy following the specified deployable motion.

scholarly journals Modeling, Prediction, and Control of Heating Temperature for Tube Billet

2015 ◽  
Vol 2015 ◽  
pp. 1-10 ◽  
Author(s):  
Yachun Mao ◽  
Dong Xiao ◽  
Dapeng Niu
Keyword(s):  
Control Method ◽  
Heating Temperature ◽  
Nonlinear Models ◽  
Time Lag ◽  
Industrial Applications ◽  
Billet Temperature ◽  
Tube Billet ◽  
Prediction And Control ◽  
Coupling Characteristics ◽  
And Control

Annular furnaces have multivariate, nonlinear, large time lag, and cross coupling characteristics. The prediction and control of the exit temperature of a tube billet are important but difficult. We establish a prediction model for the final temperature of a tube billet through OS-ELM-DRPLS method. We address the complex production characteristics, integrate the advantages of PLS and ELM algorithms in establishing linear and nonlinear models, and consider model update and data lag. Based on the proposed model, we design a prediction control algorithm for tube billet temperature. The algorithm is validated using the practical production data of Baosteel Co., Ltd. Results show that the model achieves the precision required in industrial applications. The temperature of the tube billet can be controlled within the required temperature range through compensation control method.

scholarly journals Research on control method of unmanned underwater vehicle dynamic positioning based on energy consumption optimization

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093383
Author(s):  
Xue Du ◽  
Dong Chen ◽  
Zebo Yan
Keyword(s):  
Energy Consumption ◽  
Position Control ◽  
Control Method ◽  
Dynamic Control ◽  
Operating Time ◽  
Underwater Vehicle ◽  
Target Point ◽  
Dynamic Positioning ◽  
Unmanned Underwater Vehicle ◽  
And Control

To satisfy the requirements of position control accuracy and allow unmanned underwater vehicle to maintain in the target zone with energy consumption as little as possible, this article proposes a flexible dynamic positioning strategy and control method, so as to extend the operating time of unmanned underwater vehicle dynamic positioning. Taking the distance between unmanned underwater vehicle and target point as the judgment condition for control method switching, this article delimits the working zone of different control levels for unmanned underwater vehicle and designs corresponding dynamic control methods for different working conditions. When unmanned underwater vehicle is far away from the target point, cuckoo search optimization method is proposed to plan the optimal motion scheme of energy consumption for the process of unmanned underwater vehicle reaching the target point. When unmanned underwater vehicle is close to the target positioning point, a flexible model predictive control method is proposed to reduce the energy consumption of unmanned underwater vehicle in the process of dynamic position control. The simulation case is designed to verify the flexible dynamic control capability of monomer unmanned underwater vehicle. The experimental results show that the strategy and control method proposed in this article, compared with the traditional proportion integration differentiation control method, could obtain the same control effect and reduce energy consumption, to achieve the purpose of prolonging the unmanned underwater vehicle operating time.

Intelligent Control Method of Ground to Air Missile Based on FCMAC

2011 ◽  
Vol 128-129 ◽  
pp. 168-171
Author(s):  
Gang Li ◽  
Hao He ◽  
Gang Fang ◽  
Jian Feng Wu
Keyword(s):  
Neural Network ◽  
Intelligent Control ◽  
Fuzzy Neural Network ◽  
Control Method ◽  
Basic Structure ◽  
Control Methods ◽  
Missile Guidance ◽  
Guidance And Control ◽  
Fuzzy Neural ◽  
And Control

Intelligent control methods of missile guidance and control system (GACS) are studied in this paper. Secondly, the component and principle of GACS is introduced. Based on the fuzzy neural network, this paper constructs a basic structure of the intelligent control method of missile. Meanwhile, a new intelligent control method of rolling channel of missile based on Fuzzy Cerebella Model Articulation Controller (FCMAC) is designed. Under complicated environmental conditions, the missile can be accurately controlled with this method. Finally, the application value is illustrated. It’s very meaningful to improve the combat capability.

Hybrid Force/Position Control Hardware System Design and Force Servo Control Realization

2011 ◽  
Vol 317-319 ◽  
pp. 685-689 ◽  
Author(s):  
Hai Tao Tang ◽  
Shun Pan Liang ◽  
Jian Tao Yao ◽  
Lian He Guo ◽  
Yong Sheng Zhao
Keyword(s):  
Control System ◽  
Position Control ◽  
Control Method ◽  
Servo Control ◽  
Motion Controller ◽  
Hardware System ◽  
Basic Language ◽  
Library Function ◽  
Parallel Machine Tool ◽  
And Control

The hardware control system of the 5-UPS/PRPU PMT (parallel machine tool) with redundant actuation was reconstructed to realize its hybrid force/position control, which was based on the primary “IPC+PMAC motion controller” system mode. Meanwhile, more perfect open type PMT control platform was constructed. Visual Basic language was used to realize the force servo control of the redundant limb and the relevant experiment was completed in the primary CNC system, combining with the PAMC motion controller library function. The results show that the force servo control strategy is exact and the newly designed hardware control system is effective, these results also provide feasible hardware basis and control method to realize the hybrid force/position control.

Summary of Vehicle Suspension Vibration Systems Control Technology Research

2012 ◽  
Vol 549 ◽  
pp. 843-847
Author(s):  
Jian Feng Wang ◽  
Chuan Xue Song ◽  
Zhong Xiang Lei
Keyword(s):  
Intelligent Control ◽  
Control Method ◽  
System Modeling ◽  
Development Trend ◽  
Future Research ◽  
Modeling And Control ◽  
Compound Control ◽  
Automobile Suspension ◽  
And Control ◽  
Suspension Structure

This paper expounds the automobile suspension structure based on the characteristics of three control strategy and its development, and focuses on modern control method and intelligent control method were discussed, and points out that the compound control method is more suitable to the car complex nonlinear suspension system modeling and control. Finally in the future research needs to be some problems and development trend are discussed.

scholarly journals Design and control of a diagnosis and treatment aimed robotic platform for wrist and forearm rehabilitation: DIAGNOBOT

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401774970 ◽  
Author(s):  
Mehmet Emin Aktan ◽  
Erhan Akdoğan
Keyword(s):  
Position Control ◽  
Control Method ◽  
Force Measurement ◽  
Impedance Control ◽  
Diagnosis And Treatment ◽  
Measurement Unit ◽  
Robotic Platform ◽  
Therapeutic Exercises ◽  
Flexion Extension ◽  
And Control

Therapeutic exercises play an important role in physical therapy and rehabilitation. The use of robots has been increasing day by day in the practice of therapeutic exercises. This study aims to design and control a novel robotic platform named DIAGNOBOT for diagnosis and treatment (therapeutic exercise). It has three 1-degree-of-freedom robotic manipulators and a single grasping force measurement unit. It is able to perform flexion–extension and ulnar–radial deviation movements for the wrist and pronation–supination movement for the forearm. The platform has a modular and compact structure and is capable of treating two patients concurrently. In order to control the DIAGNOBOT, an impedance control–based controller was developed for force control, which was required for the exercises, as well as a proportional–integral–derivative controller for position control. To model the resistive exercise, an angle-dependent impedance control method different from traditional methods has been proposed. Experiments were made on five healthy subjects and it has been demonstrated that the proposed robotic platform and its controller can perform therapeutic exercises.

Hierarchical Intelligent Alignment Control of Air Spring Vibration Isolation System of Ship Propulsion Plant

2013 ◽  
Vol 419 ◽  
pp. 630-635
Author(s):  
Wen Jun Bu ◽  
Ying Long Zhao ◽  
Liang Shi
Keyword(s):  
Intelligent Control ◽  
Vibration Isolation ◽  
Control Method ◽  
Good Control ◽  
Air Spring ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Speed Test ◽  
And Control ◽  
Layer Control

Alignment control of propulsion plant air spring vibration isolation system is a complicated Multi objects control problem. In this paper a new hierarchical intelligent control method of alignment control is brought out. Known from current hierarchical intelligent control methods with three layers, this method consists of task layout layer, control decision-making layer, control layout layer and control executive layer. The complicated alignment control task is decomposed into four hierarchical layers to reduce complexity. The control system has good control convergence capability and fast convergence speed. Test results validate the feasibility of this method.

scholarly journals Sliding mode control of pam actuator in LabVIEW environment

2010 ◽  
Vol 5 (1-2) ◽  
pp. 249-253
Author(s):  
János Gyeviki ◽  
József Sárosi ◽  
Antal Véha ◽  
Péter Toman
Keyword(s):  
Flow Rate ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Industrial Applications ◽  
Pneumatic Artificial Muscle ◽  
Air Mass ◽  
Pneumatic Muscle ◽  
Position Controller

As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution of this paper is a robust position control method based on sliding mode for pneumatic muscle actuator. Finally, it presents experimental results.

Sign in / Sign up

Export Citation Format

Share Document