scholarly journals Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System

2015 ◽  
Vol 2015 ◽  
pp. 1-7 ◽  
Author(s):  
Rongsheng Liu ◽  
Yingjie Gao ◽  
Yulin Yang ◽  
Yanlong Liu
Keyword(s):  
Motion Control ◽  
Intelligent Control ◽  
Dead Zone ◽  
Control Mode ◽  
Joint Motion ◽  
Compensation Scheme ◽  
Negative Effects ◽  
Proportional Valve ◽  
Control Scheme ◽  
And Control

Joint motion control of a 52-meter-long five-boom system driven by proportional hydraulic system is developed. It has been considered difficult due to strong nonlinearities and parametric uncertainties, the effect of which increases with the size of booms. A human simulated intelligent control scheme is developed to improve control performance by modifying control mode and control parameters. In addition, considering the negative effects caused by frequent and redundant reverse actions of the proportional valve, a double-direction compensation scheme is proposed to deal with the dead-zone nonlinearity of proportional valve. Sinusoidal motions are implemented on a real boom system. The results indicate that HSIC controller can improve control accuracy, and dead-zone nonlinearity is effectively compensated by proposed compensation scheme without introducing frequent reverse actions of proportional valve.

Control System of Powered Wheelchairs Based on Tongue Motion Detection

2016 ◽  
Vol 8 (4) ◽  
pp. 60-75
Author(s):  
Liao Lu ◽  
Ping Yi Deng ◽  
Ying Wu ◽  
Jie Jun Bai ◽  
Yun Xiao Zhang ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Intelligent Control ◽  
Motion Detection ◽  
Potential Application ◽  
Low Cost ◽  
Control Mode ◽  
Powered Wheelchair ◽  
Embedded Controller ◽  
Tongue Motion

A new intelligent powered wheelchair is urgently needed for the individuals with tetraplegia and similar impairments who are unable to use the standard joystick. Based on the tongue motion detection, a new control system is introduced in this paper which is helpful for users to operate powered wheelchair efficiently and easily. This article introduces two control modes, including tongue motion control mode and infrared control mode. Wherein the infrared control mode mainly use the infrared controller. The tongue motion can be detected with several vibration film sheets that were embedded in the headset and a standard analog signal can be generated with embedded controller to control the wheelchair. The tongue motion drive system integrated into headset was developed and the control of the wheelchair has been tested moving along the designed route. Preliminary results show that the system is simple and convenient to control powered wheelchair with low cost, which has potential application in intelligent control domain.

Joint Motion Control and Control Allocation Design for UAS Flight Control Systems

2011 ◽  
Author(s):  
Tristan Perez ◽  
Alejandro Donaire ◽  
Pierre De Lamberterie ◽  
Brendan Williams
Keyword(s):  
Control Systems ◽  
Motion Control ◽  
Flight Control ◽  
Control Allocation ◽  
Joint Motion ◽  
And Control

Dynamic Model Development of Linear Fresnel Solar Field

2015 ◽  
Author(s):  
Elina Hakkarainen ◽  
Matti Tähtinen ◽  
Hannu Mikkonen
Keyword(s):  
Control System ◽  
Dynamic Simulation ◽  
Model Development ◽  
Control Mode ◽  
Plant Behavior ◽  
Clear Sky ◽  
Control Scheme ◽  
Control Schemes ◽  
And Control ◽  
Solar Field

As a dispatchable clean energy source, concentrated solar power (CSP) can be one of the key technologies to overcome many problems related to fossil fuel consumption and electricity balancing problems. Solar is a variable location, time and weather dependent source of energy, which sets challenges to solar field operations. With proper dynamic simulation tools it is possible to study dynamics of CSP field under changing weather conditions, find optimum control strategies, and plan and predict the performance of the field. CSP technology considered in this paper, linear Fresnel reflector (LFR), is a proven line focusing technology, having simpler design but suffering in optical performance compared to more mature parabolic trough (PT) technology. Apros dynamic simulation software is used to configure and simulate the solar field. Apros offers a possibility to dynamically simulate field behavior with varying collector configuration, field layout and control mode under varying irradiation conditions. The solar field applies recirculation (RC) as a control mode and direct steam generation (DSG) producing superheated steam. DSG sets challenges for the control scheme, which main objective is to maintain constant steam pressure and temperature at the solar field outlet under varying inlet water and energy conditions, while the steam mass flow can vary. The design and formulation of an entire linear Fresnel solar field in Apros is presented, as well as the obtained control scheme. The field includes user defined amount of collector modules, control system and two modules describing solar irradiation on the field. As two-phase water/steam flow is used, an accurate 6-equation model is used in Apros. Irradiation on the solar field under clear sky conditions is calculated according to time, position and Linke turbidity factor. Overcast conditions can be created by the clear sky index. For LFR single-axis sun tracking system is applied. In order to test the model functionality and to investigate the field behavior, thermal performance of the field was simulated at different dates at two different locations, and the results were compared. Similar field dimensions and control schemes were applied in each case, and simulations were done for full 24 hours in order to study the daily operations and ensure process stability. Control scheme functionality is evaluated based on the plant behavior in simulation cases having different operational conditions. The proper operability of the configured LFR model is evaluated. Obtained performance results show differences between locations and variation depending on season and time. The importance of a proper control system is revealed. The results show that the dynamic model development of a solar field is necessary in order to simulate plant behavior under varying irradiation conditions and to further develop optimal field control schemes and field optimizing process. The future work in the development of the LFR model presented will focus on dynamic response behavior development under transient conditions and field start-up and shut down procedure development.

Modeling and Control of Proportional Valve with Synchronous Motor

2015 ◽  
Vol 220-221 ◽  
pp. 457-462 ◽  
Author(s):  
Andrzej Milecki ◽  
Dominik Rybarczyk
Keyword(s):  
Permanent Magnets ◽  
Dead Zone ◽  
Flow Characteristics ◽  
Synchronous Motor ◽  
Hydraulic Actuator ◽  
Servo Drive ◽  
Proportional Valve ◽  
Modeling And Control ◽  
Basic Characteristics ◽  
And Control

The paper describes the research results of modeling and control of proportional valve with synchronous motor type PMSM (Permanent Magnets Synchronous Motor). In the paper, a simulation model of the proposed valve was developed and described. The model included the square root flow characteristics, nonlinearity of the hydraulic actuator, valve dead zone and saturation of the flow. The study included the investigations of the basic characteristics, such as valve flow characteristic and step responses. In order to determine the basic parameters of the valve, the test stand was built, on which the new valve and the servo drive with this valve were tested. A servo drive control system was based on PLC with touch panel and inverter module. In the paper, the chosen investigations results of the valve and the servo drive system are presented and shortly discussed.

Distributed Cohesive Motion Control of Quadrotor Vehicle Formations

2010 ◽  
Author(s):  
I˙smail Bayezit ◽  
Barıs¸ Fidan ◽  
Mehdi M. Amini ◽  
Iman Shames
Keyword(s):  
Motion Control ◽  
Dynamic Models ◽  
Individual Agent ◽  
3 Dimensional ◽  
Vehicle System ◽  
Control Scheme ◽  
Control Schemes ◽  
Vehicle Systems ◽  
And Control ◽  
Coordination And Control

In this paper, we focus on distributed cohesive motion control of 3-dimensional multi-vehicle systems considering individual agent dynamic behaviors as well as the overall multi-vehicle system. In this context, we examine maintenance of geometric formation of a swarm of autonomous quadrotor vehicles, i.e. maintenance of the distance between each agent pair in the swarm, during arbitrary maneuvers. A distributed scheme for the formation maintenance task is developed first. This coordination scheme is integrated with low level dynamic controllers designed for the agents considering practical kinematic and dynamic models for quadrotor vehicles. The distributed motion control scheme is implemented to move the vehicles whose initial positions satisfying the desired formation maintenance constraints are specified, to a set of final desired positions satisfying the same constraints cohesively without deviating from the desired geometric formation during motion. The developed coordination and control schemes are tested via a number of simulations.

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.

Simulation and Experimental Analysis of a Portable Powered Ankle-Foot Orthosis Control

2011 ◽  
Author(s):  
Yifan Li ◽  
K. Alex Shorter ◽  
Elizabeth T. Hsiao-Wecksler ◽  
Timothy Bretl
Keyword(s):  
Current System ◽  
Proportional Valve ◽  
Ankle Foot Orthosis ◽  
Performance Improvements ◽  
Binary Event ◽  
Control Scheme ◽  
Event Based ◽  
Functional Gait ◽  
And Control ◽  
Foot Orthosis

A portable powered ankle-foot orthosis (PPAFO) was previously developed using off-the-shelf pneumatic components to explore new opportunities for fluid power in human assist devices. The untethered pneumatically powered ankle-foot orthosis provides both motion control and torque assistance at the ankle via a binary, event-based control scheme that uses solenoid valves. While stable, the binary actuation of the solenoid valves that results from this approach limits the overall performance of the system. This paper addresses the limitations of the current system using a modeling approach for both hardware and control design. Hardware and control configurations were first evaluated using simulations of the modeled PPAFO and shank-foot system during a simplified functional gait task: assistive propulsive torque during stance. These simulations demonstrated that the introduction of a proportional valve and new control architecture resulted in PPAFO performance improvements during the task. These results were then confirmed experimentally with the PPAFO attached to a physical model of a shank and foot.

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Jai Raj ◽  
Krishna Raghuwaiya ◽  
Bibhya Sharma ◽  
Jito Vanualailai
Keyword(s):  
Motion Planning ◽  
Control Problem ◽  
Motion Control ◽  
Dynamic Environment ◽  
Continuous Control ◽  
Control Laws ◽  
Planning And Control ◽  
Control Scheme ◽  
And Control ◽  
Emergent Behaviors

SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

Intelligent Control and Management Integrated System of Coke Oven

2011 ◽  
Vol 460-461 ◽  
pp. 625-630
Author(s):  
Gong Fa Li ◽  
Jian Yi Kong ◽  
Guo Zhang Jiang ◽  
Liang Xi Xie
Keyword(s):  
Control System ◽  
Intelligent Control ◽  
Integrated Control ◽  
Coke Oven ◽  
Pressure Control ◽  
Integrated System ◽  
Control Scheme ◽  
Advanced Control ◽  
Control And Management ◽  
And Control

In order to improve the level of control and management of coke oven, the research on control and management integrated system is carried out. In modern advanced control system of coke oven, the control scheme of feedback combined with feed-forward, and control merged with management is widely used. The integrated control and management system of coke oven is introduced systematically, including the system model, production planning and management, heating control system, the model and method of evaluating temperature, intelligent combustion control and the pressure control gas collector of coke oven. It is pointed out that the integration of control and management is the developing orientation of coke oven control system.

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