Heterogeneous-Type Force Tele-Presence Tele-Operation System Control Strategy

Author(s):  
Zhuxin Zhang ◽  
Dingxuan Zhao
2021 ◽  
pp. 1-31
Author(s):  
S.H. Derrouaoui ◽  
Y. Bouzid ◽  
M. Guiatni

Abstract Recently, transformable Unmanned Aerial Vehicles (UAVs) have become a subject of great interest in the field of flying systems, due to their maneuverability, agility and morphological capacities. They can be used for specific missions and in more congested spaces. Moreover, this novel class of UAVs is considered as a viable solution for providing flying robots with specific and versatile functionalities. In this paper, we propose (i) a new design of a transformable quadrotor with (ii) generic modeling and (iii) adaptive control strategy. The proposed UAV is able to change its flight configuration by rotating its four arms independently around a central body, thanks to its adaptive geometry. To simplify and lighten the prototype, a simple mechanism with a light mechanical structure is proposed. Since the Center of Gravity (CoG) of the UAV moves according to the desired morphology of the system, a variation of the inertia and the allocation matrix occurs instantly. These dynamics parameters play an important role in the system control and its stability, representing a key difference compared with the classic quadrotor. Thus, a new generic model is developed, taking into account all these variations together with aerodynamic effects. To validate this model and ensure the stability of the designed UAV, an adaptive backstepping control strategy based on the change in the flight configuration is applied. MATLAB simulations are provided to evaluate and illustrate the performance and efficiency of the proposed controller. Finally, some experimental tests are presented.


2014 ◽  
Vol 539 ◽  
pp. 653-655
Author(s):  
Li Li Wan ◽  
Guo Rong Wang ◽  
Jian Luo

The design of Xinyang Iron and Steel Factorys sintering machine lubrication system based on Siemens S7-200 PLC is introduced in this paper. According to the characteristics of the lubrication system, and the current domestic situation of the lubrication system existing problems, corresponding control strategy is presented. Using automatic oil supply system instead of manual oil supply, not only improve the reliability and accuracy of the system control, but also improve the working efficiency.


2013 ◽  
Vol 336-338 ◽  
pp. 532-535
Author(s):  
Wei Rong Zhang ◽  
Chang Fu Zong ◽  
Guo Ying Chen ◽  
Shao Song Li

EPS can improve many aspects including chassis coordinated control. Aimed at eliminating the adverse effects deriving from the controlled and uncontrollable differential braking condition, this paper analyzed the EPS-based compensation system control strategy. Coordinated control of EPS and differential braking ensures the vehicle driving safety and driving comfort purposes. Based on the above research, this paper verified the EPS compensation control strategy in simulation environment.


2015 ◽  
Vol 740 ◽  
pp. 196-200
Author(s):  
Qing Nian Wang ◽  
Shi Xin Song ◽  
Shao Kun Li ◽  
Wei Chen Zhao ◽  
Feng Xiao

With the analysis of influence factors on regenerative braking in electro-mechanical braking system, and considering the power battery charging characteristics, a regenerative braking system control strategy for electric vehicle is researched in this paper. The models of the motor and the whole vehicle are built in AMESim. The control effects and the braking force distribution on front and rear wheels of the control strategy in an FTP-72 driving cycle are simulated and analyzed. The simulation results show that the control strategy could be utilized in the 4WD electric vehicles. The ideal braking force distribution on front and rear wheels and the high amount of recovery energy could be achieved.


Author(s):  
H. Perez-Blanco ◽  
Paul Albright

As increasing power generation needs are met with gas turbines, it is clear that exhaust heat recovery presents a considerable opportunity to reduce operational costs and enhance thermal efficiency. Typically, a system may provide power, process heat and cooling. However, each utility may have a daily demand curve with peaks that do not necessarily coincide in time. Hence, it is necessary to devise strategies that ensure meeting the needs of each user continually while maintaining high thermal efficiencies. To study these situations, a dynamic model of a system comprising a gas turbine, a heat recovery steam generator, and absorption machine was developed. The transient response of the system was studied to determine the effects of sudden changes in demand. Two control strategies utilizing proportional integral controls were considered. The first strategy relied on operating the turbine to meet the power required by the consumer. When power demands were low and steam and cooling demands high, a secondary control strategy operated the turbine to meet the steam demands, thus maximizing the thermal efficiency of the systemThe first strategy relied on operating the turbine to meet the power required by the consumer. When power demands were low and steam and cooling demands high, a secondary control strategy operated the turbine to meet the steam demands, thus maximizing the thermal efficiency of the system. System control and stability were tested, including simulation of a power distribution network simulating resistive, capacitance and inductive loads.


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