scholarly journals Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
Hongzhe Jin ◽  
Yang Zhang ◽  
Hui Zhang ◽  
Zhangxing Liu ◽  
Yubin Liu ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Control Strategy ◽  
Pitch Angle ◽  
Control Method ◽  
Steering Control ◽  
Dynamics Model ◽  
Gyroscope System ◽  
Simulation Results ◽  
Balance Structure ◽  
Gyroscope Precession

This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.

Proposed Topology for Voltage Sag Mitigation with New Control Strategy

2019 ◽  
Vol 15 (2) ◽  
pp. 138-144
Author(s):  
Adnan Diwan ◽  
Khalid Abdulhasan
Keyword(s):  
Duty Cycle ◽  
Control Strategy ◽  
Output Voltage ◽  
System Analysis ◽  
Control Method ◽  
Boost Converter ◽  
Voltage Sag ◽  
Voltage Sags ◽  
Long Duration ◽  
Simulation Results

voltage sags represent the greatest threat to the sensitive loads of industrial consumers, the microprocessor based-loads, and any electrical sensitive components. In this paper, a special topology is proposed to mitigate deep and long duration sags by using a modified AC to AC boost converter with a new control method. A boost converter is redesigned with a single switch to produces an output voltage that is linearly proportional to the duty cycle of the switch. On the other hand, the proposed control system is based on introducing a mathematical model that relates the missing voltage to the duty cycle of the boost converter switch. The simulation results along with the system analysis are presented to confirm the effectiveness and feasibility of the proposed circuit.

The Improved Algorithm to Preview Follower Control Applied Research on Intelligent Electric Vehicle

2014 ◽  
Vol 1079-1080 ◽  
pp. 1022-1025
Author(s):  
Sheng Rui Liu
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Control Method ◽  
Search Algorithm ◽  
Path Model ◽  
Driver Model ◽  
Domain Modeling ◽  
Steering Control ◽  
Tracking Accuracy ◽  
Electric Cars

This paper presents an improved preview follower, electric vehicle intelligent driver model of steering control strategy. And from the preview following the model proposed steering control method, and the preview follower algorithm, propose a new preview search algorithm, in order to ensure the preview points fall within the expected path, avoid the path curvature caused by excessive electric cars from the path. In addition, by considering the steady state response, to improve the precision of steering control strategy. Use of the multi domain modeling software Dipolar, combined with the electric vehicle dynamic model, the path model of the steering control strategy simulation. The simulation results show that the strategy is applied to electric vehicle path goal good tracking accuracy.

A New Control Strategy to Reduce Steering Torque Without Perceptible Vibration for Vehicles Equipped With Electric Power Steering

2010 ◽  
Vol 132 (5) ◽  
Author(s):  
Masahiko Kurishige ◽  
Osamu Nishihara ◽  
Hiromitsu Kumamoto
Keyword(s):  
Angular Velocity ◽  
Electric Power ◽  
Control Strategy ◽  
Steering Wheel ◽  
Velocity Control ◽  
Steering Control ◽  
Electric Power Steering ◽  
Power Steering ◽  
Wide Range ◽  
Steering Torque

This paper proposes a new electric power steering control strategy, which significantly reduces the effort needed to change the steering direction of stationary vehicles. Previous attempts to reduce undesirable steering vibration have failed to reduce the steering torque because high-assist gains tend to produce oscillation or increase noise sensitivity. Herein, to eliminate this vibration, a new control strategy was developed based on pinion angular velocity control using a newly developed observer based on a simplified steering model. Tests yielded excellent estimations of the pinion angular velocity, and this made it possible to eliminate vibration at all steering wheel rotation speeds. Experiments with a test vehicle confirmed significant steering torque reduction, over a wide range of steering wheel speeds, without vibration transmission to the driver. The proposed control strategy allowed use of an assist gain more than three times higher than is conventional. Additionally, the proposed control strategy does not require supplemental sensors.

scholarly journals Dynamical Adaptive Integral Sliding Backstepping Control of Nonlinear Nontriangular Uncertain Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Mahmood Pervaiz ◽  
Qudrat Khan ◽  
Aamer Iqbal Bhatti ◽  
Shahzad Ahmed Malik
Keyword(s):  
Control Strategy ◽  
Uncertain Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Continuous Stirred Tank Reactor ◽  
Adaptive Backstepping ◽  
Recursive Procedure ◽  
Continuous Stirred Tank ◽  
Simulation Results

We present a control strategy for nonlinear nontriangular uncertain systems. The proposed control method is a synergy between the dynamic adaptive backstepping (DAB) and integral sliding mode (ISM) and is referred to as DAB-ISMC. Our main objective is to find a recursive procedure to transform a nontriangular system into an implementable form that enables designing a control law which almost eliminates the reaching-phase. The proposed method further facilitates minimization of chattering which is believed to be a shortcoming of the sliding mode control. In this methodology, the ISM, as an integrated subsystem of DAB, is introduced at the final stage of backstepping. This strategy works very well to obtain a system that is robust against model imperfections, matching and unmatching uncertainties. The DAB-ISMC method is applied on a continuous stirred tank reactor (CSTR) and simulation results obtained on Matlab are found to be very promising.

Single-Primary-Winding Current-Fed Multiple-Input Full-Bridge Converter

2012 ◽  
Vol 461 ◽  
pp. 250-254
Author(s):  
Qin Wang ◽  
Mu Yu Cheng ◽  
Lan Xiao ◽  
Lei Wang
Keyword(s):  
Fuel Cell ◽  
Control Strategy ◽  
Control Method ◽  
Current Source ◽  
Flexible Control ◽  
Multiple Input ◽  
Pv Cell ◽  
Multiple Primary ◽  
Simulation Results ◽  
Pulsating Current

This paper proposes the topological generated method, control method and circuit feature of the single primary winding current-fed full-bridge MIC. The MIC has only one primary winding. Compared with the traditional multiple primary winding current-fed MIC, it has simpler structure, more flexible control and can power the load simultaneously or individually. The Pulsating Current Source Cell in the converter is Boost type. The input current is continuous and it can prolong the usage age of PV cell and fuel cell. The single primary winding current-fed double-input full-bridge converter based on Boost converter is taken as an example to analyze its operation principle, control strategy. Simulation results are presented to verify the theoretical analysis

Control Strategy of the Dual Motors Coupling Propulsion for Battery Electric Buses

2014 ◽  
Vol 528 ◽  
pp. 364-370 ◽  
Author(s):  
Guang Wei Han ◽  
Cheng Ning Zhang ◽  
Shuo Zhang ◽  
Xiao Hua Wu
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Control Method ◽  
Coordinated Control ◽  
Drive System ◽  
Simulation Platform ◽  
City Bus ◽  
Working Principle ◽  
Simulation Results

A novel drive system the Dual Motors Coupling Propulsion (DMCP) for battery electric buses was proposed, and its structure and working principle were introduced. For the power and comfort performance of the vehicle, the control method of the motors and the coordinated control strategy of the DMCP were developed. The co-simulation platform of AMESim and Simulink was established, based on which the dynamic model of the vehicle equipped the DMCP was built. The simulation results show that the DMCP runs smoothly in the Chinese typical city bus driving schedule. This indicates that the control strategy can manipulate the DMCP to drive the bus powerfully and smoothly. This has laid the foundation of the further research of the DMCP.

Study on a Control Method Used in the Semi-Active Suspension

2011 ◽  
Vol 128-129 ◽  
pp. 1025-1030
Author(s):  
Yun Tang Zhao ◽  
Si Zhong Chen ◽  
Zhan Zong Feng
Keyword(s):  
Control Strategy ◽  
Ride Comfort ◽  
Control Method ◽  
Active Suspension ◽  
The Other ◽  
Isolation Effect ◽  
Suspension Spring ◽  
Simulation Results ◽  
Active Damper ◽  
The Ideal

A new control method used in the semi-active suspension is studied. The force generated by the semi-active damper can be divided into two parts, one is the uncontrollable force, and the other is the controllable force. In order to make the sprung mass have the ideal isolation effect, the controllable force should be equal to the sum of the uncontrollable force and the force generated by the suspension spring. But the controllable force is limited by many constraints. Therefore, the control strategy can be concluded. The simulation results show that the ride comfort and handling stability are both improved by the control method.

AUV’s Executer Fault-Tolerant Control Based on ADRC

2014 ◽  
Vol 1006-1007 ◽  
pp. 581-585 ◽  
Author(s):  
Lei Wan ◽  
Ying Hao Zhang ◽  
Yu Shan Sun ◽  
Yue Ming Li
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Disturbance Rejection ◽  
Control Method ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Simulation Results ◽  
The One

An autonomous under vehicle (AUV) should have the ability of self-saving and finishing the certain targets when faults occur, which means that an AUV must have the ability of fault-tolerant control. In order to make it possible, one AUV’s fault-tolerant control strategy is made, which is based on the active disturbance rejection control (ADRC). In this paper, the control method in normal and the one in fault are offered respectively. Besides that, one simulation compared with PID control is made. The simulation results show the AUV’s fault-tolerant control strategy based on ADRC can achieve the goal and has better control results to restrain the shock, overshoot and other phenomena caused by disturbance than the strategy based on PID.

Adaptive Control Design for Hydrogen Production via Autothermal Reforming of Methanol

2011 ◽  
Vol 418-420 ◽  
pp. 377-382 ◽  
Author(s):  
Jian Feng Zheng ◽  
Qin Min Yang ◽  
Jian Gang Lu ◽  
You Xian Sun
Keyword(s):  
Hydrogen Production ◽  
Control Strategy ◽  
Control Method ◽  
Control Design ◽  
Autothermal Reforming ◽  
Adaptive Feedback ◽  
Adaptive Feedback Control ◽  
Feedback Control Method ◽  
Complex Chemical Reactions ◽  
Simulation Results

Autothermal reforming of methanol is considered to be a promising choice for hydrogen production. However, due to the fact that a series of complex chemical reactions are involved, an exact mathematical model is extremely hard to be established, which makes the control of the process a recognized difficulty. Therefore, an adaptive feedback control method is proposed in this work for the control of hydrogen production through autothermal reforming of methanol without the requirement of an accurate model. Theoretical analysis proves that this control strategy can achieve very good performance even when the system’s parameters change significantly. Moreover, simulation results demonstrate the feasibility of this approach.

Adaptive Switch Control of Synchronizer for Dual Clutch Transmission

2015 ◽  
Vol 742 ◽  
pp. 500-504
Author(s):  
Hong Kui Li ◽  
Tong Li Lu ◽  
Jian Wu Zhang
Keyword(s):  
Dynamical System ◽  
Mathematical Model ◽  
Control Strategy ◽  
Control Method ◽  
Hybrid Dynamical System ◽  
Dual Clutch Transmission ◽  
Synchronization Process ◽  
Switch Control ◽  
Simulation Results ◽  
Adaptive Switch

This paper focuses on developing a novel control strategy of synchronizer for dual clutch transmission. The synchronization process is investigated and a mathematical model of synchronizer is proposed. The paper proposes a switch control method for synchronizer which is a hybrid dynamical system. The simulation results demonstrate that the performance of the switch controller is reasonable and effective.

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