scholarly journals Design and Realize a Snake-Like Robot in Complex Environment

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Bingqi Liu ◽  
Mingzhe Liu ◽  
Xianghe Liu ◽  
Xianguo Tuo ◽  
Xing Wang ◽  
...  
Keyword(s):  
Control System ◽  
Real Time ◽  
Information Acquisition ◽  
High Performance ◽  
Control Method ◽  
Control Function ◽  
Complex Environment ◽  
Real Time System ◽  
Performance Requirements ◽  
Time Image

Aiming at high performance requirements of snake-like robots under complex environment, we present a control system of our proposed design which utilizes a STM32 as the core processor and incorporates real-time image acquisition, multisensor fusion, and wireless communication technology. We use Solidworks to optimize the design of head, body, and tail joint structure of the snake-like robot. The system is a real-time system with a simple-circuit structure and multidegrees of freedom are attributed to the flawless design of control system and mechanical structure. We propose a control method based on our simplified CPG model. Meanwhile, we improve Serpenoid control function and then investigate how different parameters affect the motion gait in terms of ADAMS emulation. Finally, experimental results show that the snake-like robot can tackle challenging problems including multi-information acquisition and processing, multigait stability, and autonomous motion and further verify the reliability and accuracy of the system in our combinatory experiments.

Modified Posicast Control Design Method Based on the Parameters of a Fractional Order System

2021 ◽  
Vol 143 (4) ◽  
Author(s):  
Erhan Yumuk ◽  
Müjde Güzelkaya ◽  
İbrahim Eksin
Keyword(s):  
Real Time ◽  
Fractional Order ◽  
Control Method ◽  
Design Method ◽  
Order System ◽  
Half Cycle ◽  
Empirical Formulas ◽  
Real Time System ◽  
Novel Design ◽  
Better Than

Abstract In this study, a novel design method for half-cycle and modified posicast controller structures is proposed for a class of the fractional order systems. In this method, all required design variable values, namely, the input step magnitudes and their application times are obtained as functions of fractional system parameters. Moreover, empirical formulas are obtained for the overshoot values of the compensated system with half-cycle and modified posicast controllers designed utilizing this method. The proposed design methodology has been tested via simulations and ball balancing real-time system. It is observed that the derived formulas are in coherence with outcomes of the simulation and real-time application. Furthermore, the performance of modified posicast controller designed using proposed method is much better than other posicast control method.

The Application of Intelligent Industrial Robotic Control System Based on PLC in Mechanical Automation

2013 ◽  
Vol 738 ◽  
pp. 272-275
Author(s):  
Dun Chen Lan
Keyword(s):  
Control System ◽  
Control Method ◽  
Control Function ◽  
Industrial Robot ◽  
Interface State ◽  
Research Field ◽  
Normal Operation ◽  
System Control ◽  
Experiment Platform ◽  
Excellent Control

In the field of mechanical automation, intelligent industrial robot technology is an important branch in the research field of robot; it is always the hot spots of the world robot research, and it being used to get the application in the industry today. Robot experiment platform of PLC and motor control technology, it based on the control method used by the robot control system improvements to make it more perfect run more precise, reasonable. In the same time, the man-machine interface state run monitoring, to ensure the normal operation of the system. Improved control method of the improvement of the work efficiency, reduce the work of the workers a duplication degree have a significant effect, and the system control at the scene, especially PLC control has excellent control function and good cost performance .

Research on PCS Real-Time System Based on Integrated Control and Simulation

2015 ◽  
Vol 743 ◽  
pp. 164-167
Author(s):  
S. Liu ◽  
S.S. Shi ◽  
Z.W. Zhang ◽  
J.T. Chen ◽  
Z. Wang
Keyword(s):  
Real Time ◽  
Dynamic Process ◽  
Control Algorithm ◽  
Control Method ◽  
Integrated Control ◽  
Simulation Design ◽  
Time System ◽  
Real Time System ◽  
Time Simulation ◽  
And Control

The principle and control method of PCS circuit based on DSP2812 are introduced.The unified model of equations and simulation is built based on the topology of the circuit.The real-time simulation and directly generation of the control code is implemented using Embedded Coder of MATLAB toolbox.The integrated control and simulation design of control algorithm and dynamic process of PCS are implemented.

Real-time nonlinear speed control of an induction motor based on a new advanced integral backstepping approach

2019 ◽  
Vol 42 (2) ◽  
pp. 244-258 ◽  
Author(s):  
Bilel Aichi ◽  
Mohamed Bourahla ◽  
Khedidja Kendouci ◽  
Benyounes Mazari
Keyword(s):  
Real Time ◽  
Induction Motor ◽  
High Performance ◽  
Control Method ◽  
Current Control ◽  
Lyapunov Theory ◽  
External Disturbances ◽  
Low Speed ◽  
Backstepping Approach ◽  
Time Motor

This work proposes a robust control scheme of a three-phase induction motor using a new Backstepping approach based on variable gains. Because of the saturation blocks that are essential to protect the control system, the use of conventional integral Backstepping could lead to a modest performance represented by overshooting and strong vibrations in transitional regimes that cause overcurrent. To develop an efficient and simple control algorithm, the variable gains propriety is used in the speed controller to offer a quick response without overshooting with good robustness against external disturbances. The same property has been introduced in current regulation by a different mean in order to develop a new solution to solve obstacles related to very low-speed operations. The asymptotic stability of the global control is proven by Lyapunov theory. The improvement of the new version compared with the classical one was verified by a brief comparative study based on simulation results. The proposed algorithm has been implemented in a dSPACE DS 1104 card, to analyze the real-time motor performance, and to test control sensitivity against parametric variations. The obtained results show a remarkable improvement of the new control concerning rapidity and stability of transient regimes, overtaking elimination and reduction of starting current, with a low algorithm sensitivity against parametric variations. We have also been able to confirm that the new current control method can guarantee optimal regulation in order to achieve a high-performance operation at very low-speed zones, in the presence of various internal and external disturbances.

Design of high performance RAID in real-time system

1999 ◽  
Vol 27 (3) ◽  
pp. 10-17 ◽  
Author(s):  
Peng Cheng ◽  
Hai Jin ◽  
Jiangling Zhang
Keyword(s):  
Real Time ◽  
High Performance ◽  
Time System ◽  
Real Time System

Research on Unmanned Helicopter Communication System Based on μC/OS-II Operating System

2013 ◽  
Vol 456 ◽  
pp. 607-610 ◽  
Author(s):  
Meng Lin He ◽  
Ning Luo ◽  
Andrew Cudzo Amenuvor
Keyword(s):  
Operating System ◽  
Control System ◽  
Real Time ◽  
Communication System ◽  
Unmanned Helicopter ◽  
Monitoring And Control ◽  
Real Time System ◽  
Monitoring And Control System ◽  
And Control ◽  
Ground Monitoring

Recent years, Unmanned Aerial Vehicle (UAV) has gained great attention and importance both in civil and military applications all over the world. Ground Monitoring and Control System (GMCS) is an important part of the entire unmanned helicopter system. As UAV develops rapidly, the functions and tasks are becoming increasingly complex, and the ground control station needs to collect more data. In addition, establishing a real-time and reliable communication system has become an important part of the control system of UAVs. The μC/OS-II operating system has the characteristics of modular application which can be used for multiple task operations, and can satisfy the requirement of real time system very well. And the system was successfully applicable to practical UAV fighter and the setting up of The Ground Monitoring Station.

Application of Computer Control in the Angular Distortion Measurement System

2013 ◽  
Vol 380-384 ◽  
pp. 923-926
Author(s):  
Ming Hui Zhang ◽  
Yao Yu Zhang
Keyword(s):  
Control System ◽  
Real Time ◽  
Measurement System ◽  
Computer Control ◽  
Angular Distortion ◽  
Computer Control System ◽  
Video Signals ◽  
Real Time Measurement ◽  
Miss Distance ◽  
Time Image

A new real-time angular distortion measurement system, composed of devices i.e. the photoelectrical auto-collimating collimator and the reflex light-tube installed on deck, is developed in this paper. Real-time measurement of vessels bi-dimensional angular distortion is achieved by using this computer control system. Two video signals of photoelectrical auto-collimating collimators are received by the computer control system, and real-time image processing is done to obtain the dynamic miss distance. Then relative distortion of vessel is calculated by overlying measuring results of these two-way images.

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