scholarly journals Synchronization Control of Large Crawler Crane Driven by Double Winches Using Hook Angle Feedback Information

2015 ◽  
Vol 9 (1) ◽  
pp. 977-981
Author(s):  
Jun Yao ◽  
Yu Tang ◽  
Zhencai Zhu
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Synchronization Control ◽  
Small Range ◽  
Variable Speed ◽  
Angle Sensor ◽  
Feedback Information ◽  
Control Scheme ◽  
Crawler Crane ◽  
Synchronization Performance

During the operation of a crawler crane driven by double winches, it is important to make the two winches actuate synchronously so that the hook is in a horizontal state to prevent accidents. In this paper, a novel synchronization control strategy for crawler crane driven by double winches using hook angle feedback information is proposed. The hook angle proportional to the length error of ropes is measured by a wireless angle sensor firstly and is then employed as a feedback control signal. To further improve the synchronization performance, cross-coupled control scheme together with the variable speed PID control is utilized on the basis of the collected hook angle signal. Simulations and experiments are then conducted and the results demonstrate that the proposed control scheme can obtain a better synchronization performance than the conventional control strategy using encoders and the inclination of the hook is greatly reduced to a limited small range.

Synchronization Control of Planar 2-Dof Robot with Redundant Actuation

2012 ◽  
Vol 468-471 ◽  
pp. 1414-1420 ◽  
Author(s):  
Jian Wei Mi ◽  
Hong Bao ◽  
Jing Li Du
Keyword(s):  
Control Strategy ◽  
Parallel Manipulator ◽  
Synchronization Control ◽  
Redundant Actuation ◽  
Model Errors ◽  
Position Measurement ◽  
Coupling Relationship ◽  
The Stability ◽  
Coupling Error ◽  
Synchronization Performance

Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, relatively small workspace and the strong coupling relationship among arms，a synchronization control strategy is presented in this paper. Since in the feedforward ,the inertial and the coriolis matrix are designed constant according to relatively small workspace, position measurement of the endeffector in plane is ignored. Synchronization error and coupling error are introduced to reject the model errors of inertial and coriolis matrix as stated above. Using the method, the errors of driving arms may be reduced, as well as synchronization performance among axes improves. The stability of the controllers was proved by Lyapunov. Finally, experimental results show the feasibility.

An anti-windup control strategy to actuator saturating input voltage for active magnetic bearing system

2016 ◽  
Vol 35 (3) ◽  
Author(s):  
Avadh Pati ◽  
Richa Negi
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Input Voltage ◽  
Magnetic Bearing ◽  
Active Magnetic Bearing ◽  
Region Of Attraction ◽  
Control Scheme ◽  
Amb System ◽  
Voltage Saturation ◽  
Bearing System

Purpose The active magnetic bearing is highly nonlinear and unstable system. In general most of physical systems, conventional PID control strategies are employed for their stable operation but the dynamics of the system are influenced by input voltage saturation that degrades the performance of the system. The conventional PID control scheme does not work properly alone. In such a situation, PID faces windup phenomenon that leads to instability in the system. To overcome this problem, an anti-windup control scheme leads to stable and smooth operation of active magnetic bearing system. Design/methodology/approach The proposed anti-windup control strategy is based on dynamic output feedback that is applied on linearized active magnetic bearing (AMB) system to stabilize and avoid the input voltage saturation effect in the actuator. Findings An anti-windup controller is designed for active magnetic bearing system in presence of input voltage saturation. The stability of AMB system with anti-windup controller is derived in sense of Lyapunov and expressed as linear matrix inequality problem for AMB system and the designed anti-windup controller also enlarges the region of attraction of considered AMB system. Originality/value T-S fuzzy technique is used for obtaining local linear model of nonlinear active magnetic bearing system for easy and simple implementation of anti-windup control scheme. In proposed methodology the region of attraction for anti-windup compensator is also discussed. The effectiveness of proposed method is verified by the numerical simulation results for considered active magnetic bearing system and domain of attraction or stability region of closed loop AMB system are also calculated using Eigen Value Optimization technique for both the cases such as with and without anti-windup controller. The comparative result and the contribution of proposed control strategy are also discussed.

scholarly journals Leader-Following Control System Design Based on Back-stepping Control Strategy

2020 ◽  
Author(s):  
Dong-Hun Lee ◽  
Duc-Quan Tran ◽  
Young-Bok Kim
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Strategy ◽  
Pid Control ◽  
Control Method ◽  
Nonlinear Parameters ◽  
Control Scheme ◽  
Leader Following ◽  
Back Stepping Control ◽  
And Control

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

Dual Hydraulic Cylinders Synchronized Control Strategy

2014 ◽  
Vol 898 ◽  
pp. 546-549
Author(s):  
Li Ping Liu
Keyword(s):  
Control Strategy ◽  
Pid Control ◽  
Single Neuron ◽  
Control Method ◽  
Synchronization Control ◽  
Depth Study ◽  
Hydraulic Cylinders ◽  
Single Neuron Pid ◽  
Lifting System ◽  
Synchronization Accuracy

Through the double cylinder synchronous lifting system in-depth study presents a master-slave control method and the single neuron PID control strategy for controlling synchronization accuracy. Simulation results show that this method can achieve higher precision synchronization control.

scholarly journals Adaptive Pinning Synchronization Control of the Fractional-Order Chaos Nodes in Complex Networks

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Darui Zhu ◽  
Ling Liu ◽  
Chongxin Liu
Keyword(s):  
Complex Network ◽  
Fractional Order ◽  
Design Methodology ◽  
Small World ◽  
Synchronization Control ◽  
Order Complex ◽  
Small World Network ◽  
Network Systems ◽  
Control Scheme ◽  
Synchronization Performance

Adaptive pinning synchronization control is studied for a class of fractional-order complex network systems which are constructed depending on small-world network algorithm. Based on the fractional-order stability theory, the suitable adaptive control scheme is designed to guarantee global asymptotic stability of all the nodes in complex network systems and the node selected algorithm is given. In numerical implementation, it is shown that the numerical solution of the fractional-order complex network systems can be obtained by applying an improved version of Adams-Bashforth-Moulton algorithm. Furthermore, simulation results are provided to confirm the validity and synchronization performance of the advocated design methodology.

Research on Intelligent Synchronization Control of Erecting System Driven by Two Hydraulic Cylinders

2011 ◽  
Vol 422 ◽  
pp. 167-171 ◽  
Author(s):  
Qin He Gao ◽  
Wen Liang Guan
Keyword(s):  
Pid Control ◽  
Control Algorithm ◽  
Control Valve ◽  
Synchronization Control ◽  
Loop Control ◽  
Control Approach ◽  
Control Scheme ◽  
Hydraulic Cylinders ◽  
Intelligent Pid ◽  
System Synchronization

The synchronization control problem of a large equipment erecting system driven by two oil cylinders side-by-side is analyzed. A closed loop control scheme of hydraulically driven erecting system based on electro-hydraulic proportion control valve is given. Considering the existence of time-varying parameters of hydraulic system, intelligent PID control algorithm is implemented by adding neurotic adaptive element control approach to improve the adaptive control capacity of the controller. Simulation results show that the intelligent PID control algorithm is more effective than conventional method for the erecting system synchronization control.

scholarly journals Leader-Following Control System Design Based on Back-stepping Control Strategy

2020 ◽  
Author(s):  
Dong-Hun Lee ◽  
Tran-Duc Quan ◽  
Young-Bok Kim
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Strategy ◽  
Pid Control ◽  
Control Method ◽  
Nonlinear Parameters ◽  
Control Scheme ◽  
Leader Following ◽  
Back Stepping Control ◽  
And Control

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessels including barge ships are need to have assistance of tugboats. Combining two vessels, some work purposes in the sea or harbor area can be completed. In this study, the authors give newly developed mathematical model and control system strategy. Especially, the system model fully presenting the physical characteristics of two vessels are derived. For controlling the system effectively, it is considered that the towed vessel has no power propulsion system but the rudder is activated to improve the maneuverability. Considering the strong nonlinearities included in the vessel dynamics, the modelled system is presented by nonlinear system without linearization of nonlinear parameters. Thus, the control system for the towed vessel is designed based on the nonlinear control scheme. Exactly, the back-stepping control method is applied to its motion control. Also, the PID control method is applied for comparing with the proposed control strategy.

scholarly journals Robust Quadrotor Control through Reinforcement Learning with Disturbance Compensation

2021 ◽  
Vol 11 (7) ◽  
pp. 3257
Author(s):  
Chen-Huan Pi ◽  
Wei-Yuan Ye ◽  
Stone Cheng
Keyword(s):  
Neural Network ◽  
Reinforcement Learning ◽  
Control Strategy ◽  
External Disturbance ◽  
Control Agent ◽  
Network Control ◽  
Outdoor Environment ◽  
Disturbance Compensation ◽  
Tracking Accuracy ◽  
Control Scheme

In this paper, a novel control strategy is presented for reinforcement learning with disturbance compensation to solve the problem of quadrotor positioning under external disturbance. The proposed control scheme applies a trained neural-network-based reinforcement learning agent to control the quadrotor, and its output is directly mapped to four actuators in an end-to-end manner. The proposed control scheme constructs a disturbance observer to estimate the external forces exerted on the three axes of the quadrotor, such as wind gusts in an outdoor environment. By introducing an interference compensator into the neural network control agent, the tracking accuracy and robustness were significantly increased in indoor and outdoor experiments. The experimental results indicate that the proposed control strategy is highly robust to external disturbances. In the experiments, compensation improved control accuracy and reduced positioning error by 75%. To the best of our knowledge, this study is the first to achieve quadrotor positioning control through low-level reinforcement learning by using a global positioning system in an outdoor environment.

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