Simplified Dynamic Model for Amount of Directional Correction of Small-Diameter Tunneling Robot

1992 ◽  
Vol 114 (3) ◽  
pp. 476-480 ◽  
Author(s):  
Shin-ichi Aoshima ◽  
Tetsuro Yabuta
Keyword(s):  
Automatic Control ◽  
Dynamic Model ◽  
Robot Control ◽  
Small Diameter ◽  
Control Technology ◽  
Control Laws ◽  
Telecommunication Cable ◽  
Fluid Jets ◽  
Direction Control ◽  
Dynamic Simulator

In the last decade, small-diameter tunneling technology has improved considerably. As a result, the use of this technology is expected to increase dramatically [1]. For example, one microtunneling system can produce microtunnels ranging in diameter from 45 to 150 mm by using mechanically assisted high-pressure, low-volume fluid jets [2]. However, no dynamic model or automatic direction control has yet been designed for this technology. This paper describes a simplified dynamic model for the amount of vertical directional correction for a small-diameter tunneling robot designed to install telecommunication cable conduit. This model can also be used for the horizontal direction. The direction control of a tunneling robot conventionally depends on both the experience and intuition of the operator, and there have been no studies with regard to its automation. Therefore, in order to establish an automatic control technology for a small-diameter tunneling robot, we construct a simplified dynamic model for the amount of directional correction of the robot taking its past trajectory into consideration. We can make a dynamic simulator for the tunneling robot using this dynamic model. With this simulator, we can establish control laws for robot control. So, this study can contribute to the development of automatic control technology for a tunneling robot.

Research on Automatic Control Technology of Tobacco Manufacturing Process Based on IDEF Method

2015 ◽  
Vol 740 ◽  
pp. 265-268
Author(s):  
Yang Hua Gao ◽  
Hai Liang Lu
Keyword(s):  
Automatic Control ◽  
Manufacturing Process ◽  
Control Technology ◽  
Actual Situation ◽  
Bottleneck Link ◽  
Logistics Process ◽  
And Function

In this paper, the author does a study on the China tobacco Zhejiang Industrial co., LTD(ZJ) through building the IDEF0 & IDEF3 models, which can well present ZJ’s logistics process and function. By analyzing the model, the author find the bottleneck link and problems which will affects the efficiency of tobacco manufacturing process, and put forward the author's suggestions according to the actual situation.

Parallel Computing as a Tool for Tuning the Gains of Automatic Control Laws

2017 ◽  
Vol 15 (6) ◽  
pp. 1189-1196 ◽  
Author(s):  
M.A. Cruz ◽  
R.S. Ortigoza ◽  
C.M. Sanchez ◽  
V.M.H. Guzman ◽  
J.S. Gutierrez ◽  
...  
Keyword(s):  
Parallel Computing ◽  
Automatic Control ◽  
Control Laws

Full parallax transparent 3D display by holographic ray direction control technology

2021 ◽  
Vol 2021 (0) ◽  
pp. 1A1-J09
Author(s):  
Motoyasu SANO ◽  
Kenta TANAKA ◽  
Hideyoshi HORIMAI ◽  
Yumi HORIMAI ◽  
Yusuke AOKI
Keyword(s):  
Control Technology ◽  
3D Display ◽  
Direction Control

Design of Control System of Annealing Tin Machine Based on PLC

2013 ◽  
Vol 418 ◽  
pp. 70-73
Author(s):  
Jian Zhen Zhong ◽  
Wen Yong Li ◽  
Yu Yang
Keyword(s):  
Control System ◽  
Automatic Control ◽  
High Precision ◽  
Automatic Control System ◽  
Control Technology ◽  
Automatic Program ◽  
Plc Control ◽  
Backward Control

This paper describes a method that reform the backward control system of annealing tin machine with the PLC control technology, and designs of hardware and software of the machine so that the machine have a good man-machine automatic control system. The paper focuses on the development of automatic program based on PLC, home return program, alarm program and protection program. The result shows that this control system is reliable, stable and high precision when it is used to the machine, and improving the competitiveness of the machine in the industry greatly.

scholarly journals Furuta's Pendulum: AConservativeNonlinear Model for Theory and Practise

2010 ◽  
Vol 2010 ◽  
pp. 1-29 ◽  
Author(s):  
J. Á. Acosta
Keyword(s):  
Nonlinear Control ◽  
Automatic Control ◽  
Dynamic Model ◽  
Classical Mechanics ◽  
Dynamical Model ◽  
Integrals Of Motion ◽  
Control Techniques ◽  
Nonlinear Controllers ◽  
Control Community ◽  
Practical Model

Furuta's pendulum has been an excellent benchmark for the automatic control community in the last years, providing, among others, a better understanding of model-based Nonlinear Control Techniques. Since most of these techniques are based on invariants and/or integrals of motion then, the dynamic model plays an important role. This paper describes, in detail, the successful dynamical model developed for the available laboratory pendulum. The success relies on a basic dynamical model derived from Classical Mechanics which has been augmented to compensate thenon-conservativetorques. Thus, thequasi-conservative“practical” model developed allows to design all the controllers as if the system was strictlyconservative. A survey of all the nonlinear controllers designed and experimentally tested on the available laboratory pendulum is also reported.

Android Application Design with MIT App Inventor for Bluetooth Based Mobile Robot Control

2021 ◽  
Author(s):  
Ahmet TOP ◽  
Muammer GÖKBULUT
Keyword(s):  
Mobile Robot ◽  
Automatic Control ◽  
Robot Control ◽  
Manual Control ◽  
Android Application ◽  
Serial Connection ◽  
Mobile Robot Control ◽  
App Inventor ◽  
Robot Position ◽  
Mit App Inventor

Abstract In this study, a Bluetooth-based Android application interface is developed to perform a manual and automatic control of a four-wheel-driven mobile robot designed for education, research, health, military, and many other fields. The proposed application with MIT App Inventor consists of three components: the main screen, the manual control screen, and the automatic control screen. The main screen is where the actions of the control preference selection such as manual control and automatic control and the Bluetooth connection between the mobile robot and Android phone occur. When the robot is operated manually for calibration or manual positioning purposes, the manual control screen is employed to adjust the desired robot movement and speed by hand. In the case of the need for automatic motion control, the desired robot position and speed data are inserted into the mobile robot processor through the automatic control screen. At the first stage of the work, the proposed Android application is developed with the design and block editors of the MIT App Inventor. The compiled application is then installed on the Android phone. Next, the communication between the Arduino microcontroller used for the robot control with the Bluetooth protocol and the Android application is established. The accuracy of the data dispatched to the Arduino is tested on the serial connection screen. It is validated that the data from the Android application is transferred to Arduino smoothly. At the end of this study, the manual and automatic controls of the proposed mobile robot are performed experimentally and success of the coordination between the Android application and the mobile robot are demonstrated.

On-ground lateral direction control for an unswept flying-wing UAV

2019 ◽  
Vol 123 (1261) ◽  
pp. 416-432 ◽  
Author(s):  
Z. Y. Ma ◽  
X. P. Zhu ◽  
Z. Zhou
Keyword(s):  
Path Following ◽  
Steering System ◽  
Trajectory Tracking Control ◽  
Lateral Direction ◽  
Control Laws ◽  
Control Approach ◽  
Control Precision ◽  
Disturbance Rejection Control ◽  
Direction Control ◽  
Propeller Thrust

ABSTRACTTo solve the on-ground lateral direction control problem of the unswept flying-wing unmanned aerial vehicle (UAV) without rudder, steering system or breaking system, a control approach which uses differential propeller thrust to control the lateral direction is proposed. First, a mathematical model of the unswept flying-wing UAV on-ground moving is established. Second, based on the active disturbance rejection control (ADRC) theory, a yaw angle controller is designed by using the differential propeller thrust as the control output. Finally, a straight line trajectory tracking control law is designed by improving the vector field path following method. Experiment results show that the proposed control laws have a shorter response time, better robustness and better control precision compared with proportional integral derivative (PID) controller. The proposed controller has small computational complexity, simple parameter setting process, and uses practical measurable physical quantities, providing a reference solution for further engineering applications.

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