scholarly journals Design of a micro pole-climbing robot

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985281
Author(s):  
Du Qiaoling ◽  
Li Yan ◽  
Liu Sinan
Keyword(s):  
Relative Error ◽  
Control Method ◽  
Load Capacity ◽  
Maximum Load ◽  
Single Step ◽  
Maximum Relative Error ◽  
Human Beings ◽  
Proportional Integral Derivative ◽  
Climbing Robot ◽  
Proportional Integral

Pole-climbing robots are increasingly needed to carry out high-risk tasks for human beings. A micro pole-climbing robot is designed in this article. A strategy of climbing pole is proposed, which has high precision in each stride. To enable the robot to sample the angle relative to the ground in real time, micro electro mechanical systems (MEMS) three-axis accelerometers are equipped on micro pole-climbing robot. Accelerometer measurements provide an absolute reference for the pitch-and-roll components of the estimated orientation, which are used as feedback input signal of proportional–integral–derivative algorithm. A supporting structure is installed at the joint of each gripper to assist the robot to clamp a pole. The support structure improves the load capacity of the robot. The maximum load of micro pole-climbing robot is 3.5 times its own weight. The climbing pole strategy includes the following sections: a Denavit–Hartenberg model is established and the inverse kinematic solution is analyzed; the flip locomotion is analyzed; and the parameters of KP, KI, and KD in the proportional–integral–derivative control method are obtained according to the Ziegler–Nichols controller. The performance of pole climbing based on micro pole-climbing robot prototype was tested. By using this strategy of climbing pole, the self-continuous climbing with controllable stride is realized, and the angular velocity fluctuation of the five-bar mechanism driven by steering gear is reduced. The average time of a single step is 27 s, the maximum relative error of step distance is 4.6%, and the average relative error is 2.8%. These results confirm that the structure scheme and the strategy of climbing pole are feasible.

scholarly journals A Modular Cooperative Wall-Climbing Robot Based on Internal Soft Bone

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7538
Author(s):  
Wenkai Huang ◽  
Wei Hu ◽  
Tao Zou ◽  
Junlong Xiao ◽  
Puwei Lu ◽  
...  
Keyword(s):  
Modular Design ◽  
Simulation Analysis ◽  
Load Capacity ◽  
Maximum Load ◽  
Variable Load ◽  
Climbing Robot ◽  
Element Simulation ◽  
Variable Step ◽  
In Series ◽  
Step Distance

Most existing wall-climbing robots have a fixed range of load capacity and a step distance that is small and mostly immutable. It is therefore difficult for them to adapt to a discontinuous wall with particularly large gaps. Based on a modular design and inspired by leech peristalsis and internal soft-bone connection, a bionic crawling modular wall-climbing robot is proposed in this paper. The robot demonstrates the ability to handle variable load characteristics by carrying different numbers of modules. Multiple motion modules are coupled with the internal soft bone so that they work together, giving the robot variable-step-distance functionality. This paper establishes the robotic kinematics model, presents the finite element simulation analysis of the model, and introduces the design of the multi-module cooperative-motion method. Our experiments show that the advantage of variable step distance allows the robot not only to quickly climb and turn on walls, but also to cross discontinuous walls. The maximum climbing step distance of the robot can reach 3.6 times the length of the module and can span a discontinuous wall with a space of 150 mm; the load capacity increases with the number of modules in series. The maximum load that modules can carry is about 1.3 times the self-weight.

A new control method based on fuzzy controller, time delay estimation, deep learning, and non-dominated sorting genetic algorithm-III for powertrain mount system

2019 ◽  
Vol 26 (13-14) ◽  
pp. 1187-1198 ◽  
Author(s):  
Li-Xin Guo ◽  
Dinh-Nam Dao
Keyword(s):  
Genetic Algorithm ◽  
Fuzzy Logic ◽  
Deep Learning ◽  
Fuzzy Logic Controller ◽  
Control Method ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral

This article presents a new control method based on fuzzy controller, time delay estimation, deep learning, and non-dominated sorting genetic algorithm-III for the nonlinear active mount systems. The proposed method, intelligent adapter fractions proportional–integral–derivative controller, is a smart combination of the time delay estimation control and intelligent fractions proportional–integral–derivative with adaptive control parameters following the speed range of engine rotation via the deep neural network with the optimal non-dominated sorting genetic algorithm-III deep learning algorithm. Besides, we proposed optimal fuzzy logic controller with optimal parameters via particle swarm optimization algorithm to control reciprocal compensation to eliminate errors for intelligent adapter fractions proportional–integral–derivative controller. The control objective is to deal with the classical conflict between minimizing engine vibration impacts on the chassis to increase the ride comfort and keeping the dynamic wheel load small to ensure the ride safety. The results of this control method are compared with that of traditional proportional–integral–derivative controller systems, optimal proportional–integral–derivative controller parameter adjustment using genetic algorithms, linear–quadratic regulator control algorithms, and passive drive system mounts. The results are tested in both time and frequency domains to verify the success of the proposed optimal fuzzy logic controller–intelligent adapter fractions proportional–integral–derivative control system. The results show that the proposed optimal fuzzy logic controller–intelligent adapter fractions proportional–integral–derivative control system of the active engine mount system gives very good results in comfort and softness when riding compared with other controllers.

scholarly journals Design of modified 2-degree-of-freedom proportional–integral–derivative controller for unstable processes

2020 ◽  
Vol 53 (7-8) ◽  
pp. 1465-1471
Author(s):  
Ziwei Li ◽  
Zheng Xu ◽  
Ridong Zhang ◽  
Hongbo Zou ◽  
Furong Gao
Keyword(s):  
Control Method ◽  
Direct Synthesis ◽  
Degree Of Freedom ◽  
Proportional Integral Derivative ◽  
Outer Loop ◽  
Set Point ◽  
Proportional Integral ◽  
Point Tracking ◽  
Disturbance Suppression ◽  
Unstable Processes

Concerning first-order unstable processes with time delays that are typical in chemical processes, a modified 2-degree-of-freedom proportional–integral–derivative control method is put forward. The system presents a two-loop structure: inner loop and outer loop. The inner loop is in a classical feedback control structure with a proportional controller intended for implementing stable control of the unstable process; the outer loop is in a 2-degree-of-freedom structure with feedforward control of set points, where the system’s tracking response of set points is separated from its disturbance response. To be specific, the system has a feedforward controller that is designed based on the controlled object models and mainly used for regulating the system’s set point tracking characteristics; besides, it has a feedback controller that is designed on the ground of direct synthesis of disturbance suppression characteristics to improve the system’s disturbance rejection. To verify the effectiveness, the system is put into a theoretical analysis and simulated comparison with other methods. Simulation results show that the system has good set point tracking characteristics and disturbance suppression characteristics.

Rayleigh Step Journal Bearing, Part II—Incompressible Fluid

1969 ◽  
Vol 91 (4) ◽  
pp. 641-650 ◽  
Author(s):  
B. J. Hamrock ◽  
W. J. Anderson
Keyword(s):  
Theoretical Analysis ◽  
Film Thickness ◽  
Journal Bearing ◽  
Load Capacity ◽  
Maximum Load ◽  
Single Step ◽  
Thickness Ratio ◽  
Infinite Length ◽  
One Step ◽  
Bearing Part

A theoretical analysis of the pressure distribution, load, capacity, and attitude angle for a single-step concentric as well as a multistep infinite length eccentric Rayleigh step journal bearing is performed. The results from the single-step concentric analysis indicated that the maximum load capacity is obtained when the film thickness ratio is 1.7 and the ratio of the angle subtended by the ridge to the angle subtended by the pad is 0.35. The results from the infinite length eccentric analysis indicated that one step placed around the journal was optimal. For eccentricity ratios greater than or equal to 0.2 the maximum load occurred for a bearing without a step or a Sommerfeld bearing. For eccentricity ratios less than 0.2 the optimal film thickness ratio is 1.7 while there are three optimal ratios of angle subtended by the ridge to the angle subtended by the pad of 0.4, 0.45, and 0.5 depending on whether load capacity or stability or both load capacity and stability is more important in the application being considered.

Enhanced variable universe fuzzy proportional–integral–derivative control of structural vibration with real-time adaptive contracting–expanding factors

2021 ◽  
pp. 107754632110026
Author(s):  
Gang Liu ◽  
Wei Jiang ◽  
Qi Wang ◽  
Tao Wang
Keyword(s):  
Real Time ◽  
Control Method ◽  
Magnetorheological Damper ◽  
Frame Structure ◽  
Structural Vibration ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Variable Universe ◽  
Proportional Integral Derivative Control ◽  
Derivative Control

A conventional variable universe fuzzy proportional–integral–derivative control approach is widely used for semi-active control in mechanical engineering. The performance of the controller is dependent on an optimal selection of parameters of the contracting–expanding factors. An improved variable universe fuzzy proportional–integral–derivative control algorithm is developed in this study where these parameters are automatically determined in real-time according to the error in the controlled responses and its change rate based on fuzzy logic control. The proposed method is numerically and experimentally illustrated with a three-story frame structure with a magnetorheological damper. The amplitude of displacement, velocity, and acceleration at all floor levels under the proposed control method are smaller than those obtained from existing proportional–integral–derivative, fuzzy, and conventional variable universe fuzzy methods.

scholarly journals Extended state observer–based nonlinear cascade proportional–integral–derivative control of the nano quadrotor

2016 ◽  
Vol 8 (12) ◽  
pp. 168781401668079 ◽  
Author(s):  
Xiaoran Li ◽  
Mou Chen
Keyword(s):  
Control Method ◽  
Design Procedure ◽  
State Observer ◽  
Extended State Observer ◽  
Model Parameters ◽  
Proportional Integral Derivative ◽  
Extended State ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Tracking Differentiator

The nano quadrotor is a nonlinear multi-input and multi-output system with strong coupling, which causes difficulties in control law design. In order to achieve a favorable performance, an extended state observer–based nonlinear cascade proportional–integral–derivative controller is proposed in this article. First, the nano quadrotor platform is built, and the dynamic model is established. Second, a novel and practical measuring method is given to obtain model parameters. Then, based on the active disturbance rejection control method, the design procedure of the extended state observer–based nonlinear cascade proportional–integral–derivative controller is presented. In the developed controller, a tracking differentiator is involved to extract the signals of gyroscope, and extended state observer is used to estimate the disturbance. To obtain a better performance of tracking differentiator and extended state observer, a systematic parameter-tuning method is studied. Finally, simulation results are given to demonstrate the efficiency of the proposed controller.

Automated Steering Control System for Reverse Parking Maneuver of Semi-Trailer Vehicles Considering Motion Planning by Simulation of Feedback Control System

2020 ◽  
Vol 32 (3) ◽  
pp. 561-570
Author(s):  
Yutaka Hamaguchi ◽  
Pongsathorn Raksincharoensak ◽  
◽  
Keyword(s):  
Control System ◽  
Control Method ◽  
Load Capacity ◽  
Maximum Load ◽  
Path Tracking ◽  
Steering Control ◽  
Driving Skills ◽  
Pure Pursuit ◽  
Large Maximum ◽  
Road Freight Transportation

With the increase in the demand for road freight transportation, semi-trailers are being increasingly preferedowing to their large maximum load capacity. However, for such vehicles, excellent driving skills are required because unique steering is often necessary during reverse parking. In this paper, the concept of a parking assist system and path tracking controller is proposed. The control system consists of a pure pursuit motion planner for handling the reference path tracking and a feedback controller for stabilizing the hitch angles. We propose a control method to realize the ideal control performance of an actual vehicle subjected to unmeasured disturbance. An actual full-scale vehicle experiment is conducted and the effectiveness of the proposed approach is verified by evaluating the error from the target parking position.

scholarly journals A Self-Tuning Proportional-Integral-Derivative-Based Temperature Control Method for Draw-Texturing-Yarn Machine

2017 ◽  
Vol 2017 ◽  
pp. 1-17 ◽  
Author(s):  
Rong Song ◽  
Shuting Chen
Keyword(s):  
Parameter Identification ◽  
Temperature Control ◽  
Control Method ◽  
Fast Time ◽  
Fuzzy Pid ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Self Tuning ◽  
Set Up ◽  
Control Accuracy

Owing to the fast time-varying characteristics, the temperature control for draw-texturing-yarn (DTY) machine has higher technical difficulties and results in challenges for system energy optimization. To address the matter, a self-tuning proportional-integral-derivative- (ST-PID-) based temperature control method is proposed. Referring to the technical procedures of DTY machine, a thermodynamic model is set up. Then, a ST-PID minimum phase control system is constructed by the pole-point placement method. Subsequently, an artificial neural network based forgetting factor searching (ANN-FFS) algorithm is developed to optimize the system parameter identification. The numerical cases show that the proposed ANN-FFS algorithm can improve the parameter identification process, and the average identifying efficiency (K>15) can increase by more than 50%; compared with the fuzzy PID controller, the proposed ST-PID method can increase the control accuracy nearly 3 times for the static temperature ascending. The experimental results prove that the proposed ST-PID method has better abilities of characteristics tracing and anti-interference and can restrain the temperature fluctuation caused by objective switching and the factual control accuracy reaches 3 times that of fuzzy PID method.

Design and verification of slip rate control system for straight line travel of high clearance self-propelled sprayer

2021 ◽  
pp. 095440702110320
Author(s):  
Wei Li ◽  
Enrong Mao ◽  
Suiying Chen ◽  
Zhen Li ◽  
Bin Xie ◽  
...  
Keyword(s):  
Control System ◽  
Field Test ◽  
Rate Control ◽  
Control Method ◽  
Slip Rate ◽  
Threshold Value ◽  
Proportional Integral Derivative ◽  
Proportional Integral ◽  
Speed Mode ◽  
High Clearance

A slip rate control system aimed at improving the working efficiency and driving stability of a high clearance sprayer was developed. First, the two-pump, two-anti-slip control (ASC) valve, four-motor “X” drive scheme hydraulic slip rate control system was designed, and a mathematical model of the system as well as a vehicle dynamics model were established. The system includes a slip rate control strategy, a proportional-integral-derivative control method and a fuzzy adaptive proportional-integral-derivative sprayer control method. To verify the performance of the system, a simulation model was developed using MATLAB/Simulink, and the performance of the two control methods were compared. Additionally, an actual vehicle test platform was built based on 3WPG-3000 high clearance self-propelled sprayer independently developed by the research group. The simulation results revealed that when a wheel slipped, the slip rate control system was able to control the wheel slip rate and keep it within the threshold value of 0.1, thus meeting the operating requirements of the sprayer. The field test results revealed that in field operations with a low adhesion coefficient, the system was able to maintain a nearly unchanged wheel speed in both fixed speed mode and variable speed mode, maintaining a slip rate below the target of 0.1 “when in a straight running mode” in both cases. Altogether, the results of the simulation and field test verify the stability, accuracy, and practicability of the system.

Research on the proportional-integral-derivative synchronous control method of the marine spherical isolation plug in the rotation process

2020 ◽  
Vol 234 (4) ◽  
pp. 810-819
Author(s):  
Wenming Wang ◽  
Jianqiang Guo ◽  
Jinchao Fan ◽  
Shimin Zhang ◽  
Xiaoxiao Zhu ◽  
...  
Keyword(s):  
Optimization Design ◽  
Control Method ◽  
Mathematic Model ◽  
Hydraulic Cylinder ◽  
Proportional Integral Derivative ◽  
Synchronous Control ◽  
Proportional Integral ◽  
Operation Process ◽  
Actual Operation ◽  
Offshore Industry

The emergency pipeline repair technology is crucial to the maintenance and safety of pipelines under the emergency condition. In the offshore industry, the marine spherical isolation plug, a novel active plug device, is a significant emergency repair equipment of the hot tapping and line stop operation. In this article, the structure scheme and operation process of the marine spherical isolation plug are designed. A mathematic model is extracted from the proposed structure, and then the coordinates of the center of the spherical plug head is calculated using the D–H method. The displacements of the inserting hydraulic cylinder and the rotation hydraulic cylinder are investigated to provide the remote control data for the upper computer controller during the torsion process of the plug head. Moreover, a proportional-integral-derivative (PID) synchronous control method simulated by MATLAB is presented to reduce the rotation error of the plug head. To discuss the control strategy, a numerical model using ADAMS software is built. The results show that the error of the PID synchronous control method is more precise than that of the signal step-by-step control method; the number of steps of 90 is recommended in the actual operation. This article will provide theoretical guidance for the optimization design of the marine spherical isolation plug system.

Sign in / Sign up

Export Citation Format

Share Document