Research on compound control algorithm for motion control system

2017 ◽  
Author(s):  
Yu Zhang ◽  
Chao Wu ◽  
Shihua Li
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Algorithm ◽  
Motion Control System ◽  
Compound Control

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.

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.

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 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.

scholarly journals The study of emergency situations caused by a failure in the channels of the motion control system of the ekranoplan

2020 ◽  
Author(s):  
В.Ю. Каминский ◽  
Д.А. Скороходов ◽  
А.Л. Стариченков
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Algorithm ◽  
Information Sources ◽  
Movement Control ◽  
Sea Waves ◽  
Motion Control System ◽  
Limit Values ◽  
Emergency Situations ◽  
Analysis Of Failures

Рассмотрены способы повышения надёжности каналов системы управления движением экраноплана, измерителей параметров движения и угловых скоростей, а также особенности их реализации. Исследована система обнаружения и индикации отказов каналов управления, исполнительных механизмов и приборов - указателей. Проанализирован принцип генерации информации о достижении предельных значений координат движения. Рассмотрены особенности электропитания системы управления движением и автономных подсистем гидравлики. Исследованы последствия отказа источников информации и каналов системы управления движением экраноплана в диапазоне относительных высот 0,150,3 в условиях волнения моря различной интенсивности. Выполнен анализ отказов в цепях формирования интегральной составляющей алгоритма управления для каналов тангажа, крена, высоты и путевого курса. Исследовано поведение экраноплана при отказах исполнительных приводов секций элеронов-закрылков, рулей высоты, а также при отказах приводов секций руля направления. The ways of increasing the reliability of channels of the ekranoplan motion control system, motion parameters and angular velocity meters, as well as the features of their implementation are considered. The system of detection and indication of failures of control channels, actuators and indicator devices is studied. The principle of generating information about reaching the limit values of the movement coordinates is analyzed. The paper considers the features of power supply for the motion control system and Autonomous hydraulic subsystems. The consequences of failure of information sources and channels of the ekranoplan movement control system in the range of relative heights 0.150.3 in the conditions of sea waves of different intensity are studied. The analysis of failures in the chains of forming an integral component of the control algorithm for pitch, roll, height and track rate channels is performed. The behavior of the ekranoplan is studied when the Executive drives of the Aileron-flaps sections, the elevators, as well as when the drives of the rudder sections fail.

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