scholarly journals Optimized Control for Dynamical Performance of the Polishing Robot in Unstructured Environment

2011 ◽  
Vol 18 (1-2) ◽  
pp. 355-364 ◽  
Author(s):  
Zhong Luo ◽  
Shuxian Yang ◽  
Yilan Sun ◽  
Hongyi Liu
Keyword(s):  
Path Planning ◽  
Intelligent Control ◽  
Control Strategy ◽  
Planning Method ◽  
Robot System ◽  
Change Rate ◽  
Unstructured Environment ◽  
Processing Accuracy ◽  
Structure Vibration ◽  
The Stability

In this paper, the dynamical performance of polishing robot working in unstructured environment is investigated. Structure mechanism and operating principle of a polishing robot are introduced firstly, and its dynamical model is established. Then, a S-shaped acceleration-deceleration path planning method and a human-simulated intelligent control (HSIC) strategy are proposed. The S-shaped acceleration-deceleration path planning method is to switch the magnitude and direction of the abrupt velocities between motion sections in order to improve the work efficiency, the smoothness of movement and the processing accuracy. The HSIC control strategy is built based on the unstructured environment information measured by ultrasonic sensors, in which the appropriate programs prepared in advance are determined according to the size and sign of both the control error and its change rate. Simulation results show that the intelligent control strategy combining with optimum path planning method are effective to reduce the structure vibration, to improve the stability and the control accuracy of the polishing robot system.

scholarly journals Research on path planning of robotic ultrasonic surface strengthening for turbine blade based on dynamic response of ultrasonic surface strengthening

2019 ◽  
Vol 11 (12) ◽  
pp. 168781401989696
Author(s):  
Shanxiang Fang ◽  
Qinjian Zhang ◽  
Weidong Cheng ◽  
Jiwu Wang ◽  
Chang Liu ◽  
...  
Keyword(s):  
Path Planning ◽  
Dynamic Response ◽  
Turbine Blade ◽  
Kinematic Hardening ◽  
Turbine Blades ◽  
Planning Method ◽  
Response Model ◽  
Surface Strengthening ◽  
Processing Accuracy ◽  
The Impact

In order to realize the automatic strengthening for turbine blades, a path planning method for robotic ultrasonic surface strengthening is proposed. A constitutive model of nonlinear isotropic strengthening–kinematic hardening is analyzed to establish the dynamic response model of ultrasonic surface strengthening on the turbine blade. According to the dynamic response model, the impact depth of the ultrasonic working head was obtained. Then, a path planning method of robotic ultrasonic surface strengthening for turbine blades is proposed on the basis of impact depth of working head, and it can improve both the uniformity of path distribution and contour accuracy. It not only ensures the processing accuracy but also meets the uniformity requirement of coverage. This path planning method provides a new surface strengthening technology for turbine blades.

scholarly journals An Improved Real-Time Path Planning Method Based on Dragonfly Algorithm for Heterogeneous Multi-Robot System

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 140558-140568
Author(s):  
Jianjun Ni ◽  
Xiaotian Wang ◽  
Min Tang ◽  
Weidong Cao ◽  
Pengfei Shi ◽  
...  
Keyword(s):  
Path Planning ◽  
Real Time ◽  
Planning Method ◽  
Robot System ◽  
Dragonfly Algorithm ◽  
Time Path ◽  
Multi Robot

Research of the Dissolved Oxygen Intelligent Control System in the Aeration System of Wastewater Treatment

2013 ◽  
Vol 433-435 ◽  
pp. 1136-1140 ◽  
Author(s):  
Hou Zhao Dai ◽  
Ming Jian Huang ◽  
Cong Li ◽  
Ya Ning Zhang
Keyword(s):  
Water Quality ◽  
Control System ◽  
Dissolved Oxygen ◽  
Intelligent Control ◽  
Control Strategy ◽  
Pid Control ◽  
Oxygen Control ◽  
Fuzzy Pid Control ◽  
Dissolved Oxygen Control ◽  
The Stability

Based on these characteristics of dissolved oxygen control in sewage treatment aeration process, such as nonlinearity, large time delay in a timely manner and difficult to model accurately, this paper puts forward an intelligent control strategy of dissolved oxygen. First, make intelligent dynamic dissolved oxygen value setting according to water quality parameters as the feed forward control, and then Fuzzy PID control and conventional PID control fan control systems compose a cascade control system to ensure the stability of dissolved oxygen value in given value. I used the simulation and experimental analysis. The results show that under the condition of ensuring water quality, the control strategy can reduce aeration energy consumption and guarantee the stability of system.

Towards a new design with generic modeling and adaptive control of a transformable quadrotor

2021 ◽  
pp. 1-31
Author(s):  
S.H. Derrouaoui ◽  
Y. Bouzid ◽  
M. Guiatni
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Experimental Tests ◽  
Generic Model ◽  
System Control ◽  
System A ◽  
Viable Solution ◽  
Generic Modeling ◽  
Adaptive Control Strategy ◽  
The Stability

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.

scholarly journals A Unified Control Strategy of Distributed Generation for Grid-Connected and Islanded Operation Conditions Using an Artificial Neural Network

2021 ◽  
Vol 13 (11) ◽  
pp. 6388
Author(s):  
Karim M. El-Sharawy ◽  
Hatem Y. Diab ◽  
Mahmoud O. Abdelsalam ◽  
Mostafa I. Marei
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Control System ◽  
Distributed Generation ◽  
Control Strategy ◽  
Current Control ◽  
Operating Conditions ◽  
Pi Controllers ◽  
Artificial Neural ◽  
The Stability

This article presents a control strategy that enables both islanded and grid-tied operations of a three-phase inverter in distributed generation. This distributed generation (DG) is based on a dramatically evolved direct current (DC) source. A unified control strategy is introduced to operate the interface in either the isolated or grid-connected modes. The proposed control system is based on the instantaneous tracking of the active power flow in order to achieve current control in the grid-connected mode and retain the stability of the frequency using phase-locked loop (PLL) circuits at the point of common coupling (PCC), in addition to managing the reactive power supplied to the grid. On the other side, the proposed control system is also based on the instantaneous tracking of the voltage to achieve the voltage control in the standalone mode and retain the stability of the frequency by using another circuit including a special equation (wt = 2πft, f = 50 Hz). This utilization provides the ability to obtain voltage stability across the critical load. One benefit of the proposed control strategy is that the design of the controller remains unconverted for other operating conditions. The simulation results are added to evaluate the performance of the proposed control technology using a different method; the first method used basic proportional integration (PI) controllers, and the second method used adaptive proportional integration (PI) controllers, i.e., an Artificial Neural Network (ANN).

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