Development of movement control algorithm along predetermined trajectory for fire robot based on the quadcopter

2017 ◽  
Author(s):  
Vyacheslav A. Shadrin ◽  
Sergey A. Lisakov ◽  
Andrey N. Pavlov ◽  
Eugene V. Sypin
Keyword(s):  
Control Algorithm ◽  
Movement Control

A Signal Aware Movement Control Algorithm for GPS-free Ad Hoc Networks

2010 ◽  
Vol 5 (9) ◽  
pp. 238-245
Author(s):  
Ying Zhang ◽  
Zhong Shen ◽  
Yilin Chang Zhongjiang Yan ◽  
Liang Dai
Keyword(s):  
Ad Hoc Networks ◽  
Control Algorithm ◽  
Ad Hoc ◽  
Movement Control ◽  
Hoc Networks

scholarly journals Adaptive Synchronization Control of Multiple Vessels with Switching Communication Topologies and Time Delay

2015 ◽  
Vol 2015 ◽  
pp. 1-11
Author(s):  
Fuguang Ding ◽  
Yanqin Ma ◽  
Yuanwei Zhou ◽  
Jiangjun Li
Keyword(s):  
Communication Network ◽  
Time Delay ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Tracking Error ◽  
Movement Control ◽  
Adaptive Synchronization ◽  
Synchronization Control ◽  
External Disturbances ◽  
Varying Time Delay

Recently, synchronization movement control of multiple vessels has been studied broadly. In most of the studies, the communication network among vessels is considered to be fixed and the time delay is often ignored. However, the communication network among vessels maybe vary because of switching of different tasks, and the time delay is necessary to be considered when the communication network is unreliable. In this paper, the synchronization movement of multiple vessels with switching connected communication topologies is studied, and an adaptive synchronization control algorithm that is based on backstepping sliding mode control is proposed. The control algorithm is achieved by defining cross coupling error which is combination of the trajectory tracking error and velocity tracking error. And an adaptive control term is used to estimate the external disturbances, so that the unknown external disturbances can be compensated. Furthermore, the robustness of the control law to time-varying time delay is also discussed. At last, some simulations are carried out to validate the effectiveness of the proposed synchronization control algorithm.

Control of Regenerative Self-Excited Vibrations in the Milling Process

2019 ◽  
Vol 20 (5) ◽  
pp. 291-298
Author(s):  
O. B. Shagniev ◽  
I. K. Shanshin ◽  
S. F. Burdakov
Keyword(s):  
Control Algorithm ◽  
Amplitude Spectrum ◽  
Movement Control ◽  
Depth Of Cut ◽  
Robot Arm ◽  
Machined Surface ◽  
Elastic Suspension ◽  
Work Surface ◽  
Subsequent Decrease ◽  
Axial Depth

The problem of the occurrence and rapid suppression of vibrations arising in the process of milling using robot arm is considered. It is assumed that the tool (cutter) is connected with the robot by an elastic suspension, which is used for the force sensation of the robot. Based on the mathematical model of regenerative self-excited vibrations (chattering), the simulation of the system "robot-tool-work surface" was carried out. The tool moves evenly along the work surface with a given pressure on it. The cutter is pressed using the position-force control algorithm based on two PID-controllers with coordinate and force feedbacks. It provides the necessary axial depth of cut. Uniform movement along the work surface is carried out using the velocity control algorithm based on PID-controller with velocity feedback. It provides the required tool feed. Several authors have experimentally and analytically shown that in the process of milling "on the track" unstable regenerative self-oscillations can occur. Track remains on the machined surface during the previous cutter tooth pass. Chattering is a deterrent to increase productivity which mainly depends on rotation speed of cutter and the axial depth of cut. In this paper we consider the possibility of promptly detecting the onset of unstable auto-oscillations from the amplitude spectrum of the sensor readings of the horizontal forces of interaction between the instrument and the work surface. The amplitude spectrum is obtained using the fast Fourier transform, which allows to promptly determine the beginning of unstable processes in system. The subsequent decrease of the axial depth of cut (within one to two percent) almost completely stabilizes the cutting process. This paper proposes a variant of adaptation contour for the robot vertical movement control system based on the allowable change of the axial depth of cut.

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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