scholarly journals Adaptive Coordinated Motion Constraint Control for Cooperative Multi-manipulator Systems

2021 ◽  
Author(s):  
Chunjian Su ◽  
Min Zhang ◽  
Shuai Zhang ◽  
Sumin Guo ◽  
Rui Wang ◽  
...  
Keyword(s):  
Simulation Analysis ◽  
External Disturbance ◽  
Environment Interaction ◽  
Coordinated Motion ◽  
Control Precision ◽  
Drawing Task ◽  
Constraint Control ◽  
Coordination Effect ◽  
High Control ◽  
Motion Constraint

Abstract A cooperative multi-manipulator system is a nonlinear, time-varying, strong coupling system with multiple inputs and outputs. Because of external disturbance, load change and other factors, a cooperative multi-manipulator system needs to address the problems of uncertain environment interaction, feasible control methods and coordinated planning. In this study, the coordinated motion of a multi-manipulator is divided into two types: coupling and superposition motions. An adaptive coordinated motion constraint scheme is proposed for the two different motion forms. The coupled and superposition motions were investigated by coordinating a carrying task and a circle drawing task, respectively, and the effectiveness of the adaptive coordinated motion scheme was verified. Based on the adaptive kinematics constraint algorithm of the multi-manipulator, co-simulation analysis of the multi-manipulator coordinated motion is conducted. Simulation results show that the multi-manipulator preserves the coordination relationship at all points of the trajectory planning path and has a good motion effect. Finally, an experimental platform for a cooperative multi-manipulator system was built to conduct experimental research on the coordinated motion of the multi-manipulator. Experimental results show that the proposed adaptive motion constraint control scheme for cooperative multi-manipulator systems has a good coordination effect, strong adaptivity and high-control precision.

Rocker Arm Force Analysis of Crown-Block Heave Compensation System Based on ADAMS

2017 ◽  
Vol 872 ◽  
pp. 266-270
Author(s):  
Zhen Dong Liu ◽  
Yan Ting Zhang ◽  
Lu Meng Huang ◽  
Kang Wang ◽  
Ming Bin Shi
Keyword(s):  
Simulation Analysis ◽  
System Control ◽  
Load Variation ◽  
Control Precision ◽  
Offset Distance ◽  
Small Load ◽  
Swing Arm ◽  
Adams Software ◽  
Variation Range ◽  
High Control

This paper compares three common installation ways of swing arm and carries out simulation analysis by using Adams software. The research results show that when using intercrossed enwinding wirerope, the swing arm will bear alternating load and the load variation range is huge, load G’ will change obviously and bring great impact on system control precision. When using along enwinding wirerope, the swing arm’s load is slightly bigger than wirerope tension and the load variation range is very small, load G’ will be static and it’s easy to get high control precision. By reducing the length of lower swing arm, increasing the length of upper swing arm and the offset distance, its working condition can be improved when using intercrossed enwinding wirerope.

Design of New Frequency Converter Based on TMS320LF2407A

2012 ◽  
Vol 466-467 ◽  
pp. 809-813
Author(s):  
Zhan Jun Yuan ◽  
Jin Wang
Keyword(s):  
Digital Signal Processor ◽  
Pulse Width Modulation ◽  
Frequency Converter ◽  
Dynamic Performance ◽  
Digital Signal ◽  
Control Precision ◽  
Software And Hardware ◽  
Converter Design ◽  
Utilization Ratio ◽  
High Control

In order to improve voltage utilization ratio and dynamic performance of frequency converter, this paper presents a digital frequency converter design scheme based on digital signal processor TMS320LF2407A and the theory of space vector pulse width modulation (SVPWM) technology, provides its detailed design measures of software and hardware and SVPWM algorithm realization methods. The experimental results prove that this new frequency converter has simple structure, high control precision, higher voltage utilization ratio, better dynamic and static property.

System of Annealing Furnace Temperature Control Based on Neural Network

2014 ◽  
Vol 1044-1045 ◽  
pp. 881-884
Author(s):  
Xin Wang ◽  
He Pan
Keyword(s):  
Neural Network ◽  
Temperature Control ◽  
Bp Neural Network ◽  
Pid Controller ◽  
Nonlinear Approximation ◽  
Annealing Furnace ◽  
Furnace Temperature ◽  
Control Precision ◽  
High Control ◽  
Adaptive Ability

In the thesis the adaptive ability of neural network strong and good nonlinear approximation ability, A controller is designed based on BP neural network by the adaptive ability of neural network strong and good nonlinear approximation ability in this paper, this method changed defect of the usual PID controller that parameters of annealing furnace condition are not easy set and the ability to adapt is poor. The new method is not only has good stability, but also has high control precision and strong adaptability.

Research on Terminal Piecewise Sliding Mode for Excitation Control System Based on the Nonlinear Disturbance Observer

2014 ◽  
Vol 711 ◽  
pp. 297-302
Author(s):  
Xiao Feng Liu ◽  
Hong Zhang ◽  
He Qiao
Keyword(s):  
Disturbance Observer ◽  
Convergence Rates ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Nonlinear Disturbance Observer ◽  
Disturbance Estimation ◽  
Guarantee System ◽  
Control Precision ◽  
Nonlinear Disturbance ◽  
High Control

Aiming at uncertainty and disturbance of the excitation system, we designed a kind of precise sliding mode controller with nonlinear disturbance observer that realized disturbance estimation and compensation. In order to obtain better convergence rates, based on the basis of fast terminal sliding mode surface, terminal piecewise sliding mode is adopted. Using the single machine infinite system, we have carried on the static and transient simulation. Simulation results show that control strategy adopted can guarantee system robustness to disturbance and has high control precision

Control System of Moving Target Simulator

2012 ◽  
Vol 442 ◽  
pp. 488-492 ◽  
Author(s):  
Rong Chun Sun ◽  
Xue Song
Keyword(s):  
Control System ◽  
Image Motion ◽  
Stepper Motor ◽  
Moving Target ◽  
The Core ◽  
Control Precision ◽  
Ground Target ◽  
Design Requirements ◽  
High Control ◽  
Rotation Motion

To test the accuracy of image motion compensation of space camera, the moving target simulator was developed according to the principle of relative motion. As the core controller, PIC microcontroller controls DC motor to drive photoetching turntable rotating to simulate the relative linear velocity between ground target and aircraft, and the rotation motion is divided into uniform velocity rotation and sinusoidal velocity rotation. Furthermore, the simulation of drift angle of aircraft was realized by controlling stepper motor to drive the photoetching turntable deflecting, and the deflection includes uniform deflection, sinusoidal velocity deflection and specified angle positioning. The design of the hardware and software of control system has been completed and tested, and the experiment results show that the control system has high control precision and meets the design requirements.

scholarly journals Novel Fuzzy PID-Type Iterative Learning Control for Quadrotor UAV

Sensors ◽  
2018 ◽  
Vol 19 (1) ◽  
pp. 24 ◽  
Author(s):  
Jian Dong ◽  
Bin He
Keyword(s):  
Fuzzy Control ◽  
Iterative Learning Control ◽  
Control Method ◽  
External Disturbance ◽  
Learning Control ◽  
Iterative Learning ◽  
System Stability ◽  
Learning Gain ◽  
Control Precision ◽  
Quadrotor Aircraft

Due to the under-actuated and strong coupling characteristics of quadrotor aircraft, traditional trajectory tracking methods have low control precision, and poor anti-interference ability. A novel fuzzy proportional-interactive-derivative (PID)-type iterative learning control (ILC) was designed for a quadrotor unmanned aerial vehicle (UAV). The control method combined PID-ILC control and fuzzy control, so it inherited the robustness to disturbances and system model uncertainties of the ILC control. A new control law based on the PID-ILC algorithm was introduced to solve the problem of chattering caused by an external disturbance in the ILC control alone. Fuzzy control was used to set the PID parameters of three learning gain matrices to restrain the influence of uncertain factors on the system and improve the control precision. The system stability with the new design was verified using Lyapunov stability theory. The Gazebo simulation showed that the proposed design method creates effective ILC controllers for quadrotor aircraft.

BLDC Motor Torque Ripple Control Using Self-Tuning PID Fuzzy Control System

2016 ◽  
Vol 851 ◽  
pp. 459-463 ◽  
Author(s):  
Chao Wang ◽  
Zhuang Li ◽  
Guang Qing Kang ◽  
Chun Yan Zeng
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Pid Control ◽  
Torque Ripple ◽  
Static Characteristic ◽  
Bldc Motor ◽  
Fuzzy Control System ◽  
Control Precision ◽  
Self Tuning ◽  
High Control

In order to suppress the torque ripple of the BLDC motor, at the same time considering the nonlinear and uncertainty of the BLDC motor, this paper mainly proposes a self-tuning PID fuzzy algorithm to control the torque ripple. Self-tuning PID fuzzy control is integrating the advantages of PID control system and fuzzy control system, using the error and change of error as inputs, and adjustment of PID parameter on-line by fuzzy control rules. Self-tuning PID fuzzy has the advantages of flexible and adaptable, and also have the characteristics of traditional PID control system such as broad applicability and high control precision. The results of simulation show that the self-tuning PID fuzzy control can suppress the torque ripple of BLDC motor effectively, the optimization of the dynamic and static characteristic of the system, satisfying the requirements of system performance, the superiority and reliability of the control strategy was verified.

Research on the Step by Step Sliding Mode Variable Structure Adaptive Control

2013 ◽  
Vol 721 ◽  
pp. 591-600
Author(s):  
Xu Xiao Hu ◽  
Han Tao Chen ◽  
Gang Chen ◽  
Xin Rong Xu
Keyword(s):  
Adaptive Control ◽  
Sliding Mode ◽  
Variable Structure ◽  
Step Method ◽  
Small Peak ◽  
Control Precision ◽  
Adaptive Control Strategy ◽  
Sliding Mode Variable Structure ◽  
High Control ◽  
Peak Value

In order to increase the control precision in meeting the robust request, a step by step sliding mode variable structure adaptive control strategy is presented in accordance with kind of two order time-invariant controlled object. Because the chatter amplitude is decreased when the system cuts in the position of equilibrium by the small peak-to-peak value, the mathematical model is firstly established and using the adaptive algorithm determined the control quantity to achieve the target value, then uses by the step by step method about, in the proper attention to both rapidity and robustness, reduces the peak-to-peak value deviation gradually which cuts, thus obtains the high control precision.

scholarly journals Adaptive Finite-Time Control on SE(3) for Spacecraft Final Proximity Maneuvers with Input Quantization

2021 ◽  
Vol 2021 ◽  
pp. 1-25
Author(s):  
Sai Zhang ◽  
Zhen Yang
Keyword(s):  
Finite Time ◽  
Tracking System ◽  
Integrated Control ◽  
External Disturbance ◽  
Uniform Motion ◽  
Input Quantization ◽  
Time Control ◽  
Control Precision ◽  
One Step ◽  
Rendezvous And Docking

In this paper, a bounded finite-time control strategy is developed for the final proximity maneuver of spacecraft rendezvous and docking exposed to external disturbance and input quantization. To realize the integrated control for spacecraft final proximity operation, the coupling kinematics and dynamics of attitude and position are modeled by feat of Lie group SE 3 . With a view to improving the convergence rate and reducing the chattering, an adaptive finite-time controller is proposed for the error tracking system with one-step theoretical proof of stability. Meanwhile, the hysteresis logarithmic quantizer is implemented to effectively reduce the frequency of data transmission and the quantization errors are reduced under the proposed controller. The algorithms outlined above are based on an integrated model expressed by SE 3 and denoted by uniform motion states, which can simplify the design progress and improve control precision. Finally, simulations are provided to exhibit the effectiveness and advantages of the designed strategy.

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