scholarly journals High-Efficiency Closed-Loop Control of a Robotic Fish via Virtual Musculoskeletal Methodology

2021 ◽  
Vol 11 (18) ◽  
pp. 8602
Author(s):  
Dong Xu ◽  
Yuanlin Zhang ◽  
Hongjie Fan ◽  
Cai Meng
Keyword(s):  
Closed Loop ◽  
High Efficiency ◽  
Control Method ◽  
Small Body ◽  
Water Environment ◽  
Joint Space ◽  
Robotic Fish ◽  
Loop Control ◽  
Long Time ◽  
Karman Vortex

Improving propulsion efficiency holds the promise of enabling the robotic fish to work for a long time with a limited battery in its small body. In this paper, for the swimming of a bionic robotic fish, we present a virtual musculoskeletal control method from the bionic model of the joint driven by agonist muscle and antagonist muscle. A closed-loop method composed of two loops is proposed as a rule of thumb for the speed control of the robotic fish. The outer loop adjusts the swimming speed using the speed deviation; the inner loop regulates the stiffness according to the virtual muscle spindle feedback to fit the water environment. Compared with the proportion control, the evaluation results show that the virtual musculoskeletal methodology increases the efficiency by 3.4% in the steady flow and 7% in the Karman-vortex flow. This algorithm provides a new idea for the joint-space control of the bionic robots that need to reduce the energy consumption of movements.

scholarly journals A Control Strategy of a Single-phase H6-type Grid-connected Inverter with Low Harmonic Current

2018 ◽  
Vol 173 ◽  
pp. 02041
Author(s):  
Lin Chunxu ◽  
Zhou Chunhua ◽  
Li Wei ◽  
Chen Rui
Keyword(s):  
Control Strategy ◽  
Single Phase ◽  
Closed Loop ◽  
High Efficiency ◽  
Control Method ◽  
Harmonic Distortion ◽  
Outer Loop ◽  
Lcl Filter ◽  
Loop Control ◽  
Grid Connected Inverter

In order to reduce the total harmonic distortion (THD) of the grid-connected current caused by the high-frequency switching of the inverter, this paper combines the high efficiency single-phase H6-type inverter with LCL filter. The double closed-loop control method that consists of grid-connected current outer loop and capacitor current inner loop is put forward, by which a resonance peak of a low damping LCL filter is eliminated. In the grid-connected current outer loop, quasi proportion resonant (QPR) controller is adopted to overcome the steady-state error and weak anti-jamming capability in traditional PI controller. Finally, a simulation model is built in SIMULINK to verify the research. The simulation results show that, based on the single-phase H6-type inverter and LCL filter, the double closed-loop QPR control strategy can achieve the static error free tracking control of grid-connected current, which makes the system more stable and reduces the THD of grid-connected current effectively.

Research on the Control Method of STATCOM Based on MMC

2013 ◽  
Vol 448-453 ◽  
pp. 2167-2170
Author(s):  
Kai Li ◽  
Yi Hui Zheng ◽  
Xin Wang ◽  
Li Xue Li ◽  
Gang Yao ◽  
...  
Keyword(s):  
Closed Loop ◽  
Reactive Power ◽  
Control Method ◽  
Modular Multilevel Converter ◽  
Energy Balancing ◽  
Multilevel Converter ◽  
Voltage Fluctuation ◽  
Loop Control ◽  
Voltage Balancing ◽  
High Voltage Direct Current

To realize the STATCOM based on Modular Multilevel Converter (MMC), a simplified double-closed loop structure, simplifying from the control method of High Voltage Direct Current (HVDC) based on MMC, is presented. Considering MMCs DC side using capacitors, a part-controlling method based on energy balancing is proposed, to solve the voltage balancing problem. With the part-controlling fixing the changing capacitors voltage and the simplified double-closed loop control method, voltage fluctuation could be reduced, and the loads reactive power could be compensated. The correctness and the effectiveness of the MMC-STATCOM controlling scheme is verified by Matlab/Simulink.

Research into the Variable Speed Pump Control System for Driving the Cutter Head of Shield Tunneling Machine

2009 ◽  
Vol 628-629 ◽  
pp. 257-262 ◽  
Author(s):  
Tong Xing
Keyword(s):  
Control System ◽  
Hydraulic System ◽  
Closed Loop ◽  
Control Method ◽  
Control Technique ◽  
Closed Loop Control ◽  
Variable Speed ◽  
Shield Tunneling ◽  
Loop Control ◽  
Cutter Head

The cutter head drive hydraulic system of φ1.8m simulate shield machine is introduced in this article, which has the variable speed pump control technique and the closed loop control method. The AMESim simulation model of the hydraulic system is built up, and the efficiency of the hydraulic system, speed control performance by open loop and closed loop control are analyzed. The result of the simulation shows that the variable speed pump control system has higher efficiency than the variable displacement pump control system about 4%-26% in the same condition when the cutter head speed is at the range of 0.5-4r/min, and the hydraulic system has good dynamic characteristics in closed-loop PID control.

Closed-Loop Control Method for Monitoring and Improving the Diesel Combustion Noise

2016 ◽  
Author(s):  
Insoo Jung ◽  
Jaemin Jin ◽  
Dongchul Lee ◽  
Seunghyun Lee ◽  
Seungwook Yang ◽  
...  
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Combustion Noise ◽  
Closed Loop Control ◽  
Diesel Combustion ◽  
Loop Control

EVALUATION OF CLOSED-LOOP CONTROL SYSTEM FOR RESTORING STANDING AND SITTING FUNCTIONS BY FUNCTIONAL ELECTRICAL STIMULATION

2005 ◽  
Vol 17 (01) ◽  
pp. 19-26 ◽  
Author(s):  
CHENG-LIANG LIU ◽  
CHUNG-HUANG YU ◽  
SHIH-CHING CHEN ◽  
CHANG-HUNG CHEN
Keyword(s):  
Electrical Stimulation ◽  
Functional Electrical Stimulation ◽  
Closed Loop ◽  
Spinal Cord Injuries ◽  
Control Method ◽  
Control Strategies ◽  
Evaluation Process ◽  
Closed Loop Control ◽  
Loop Control ◽  
Loop Control System

Functional electrical stimulation (FES) is a method for restoring the functional movements of paraplegic or patients with spinal cord injuries. However, the selection of parameters that control the restoration of standing up and sitting functions has not been extensively investigated. This work provides a method for choosing the four main items involved in evaluating the strategies for sit-stand-sit movements with the aid of a modified walker. The control method uses the arm-supported force and the angles of the legs as feedback signals to change the intensity of the electrical stimulation of the leg muscles. The control parameters, Ki and Kp, are vary for different control strategies. Four items are collected through questionnaires and used for evaluation. They are the maximum reactions of the two hands, the average reaction of the two hands, largest absolute angular velocity of the knee joints, and the sit-stand-sit duration time. The experimental data are normalized to facilitate comparison. Weighting factors are obtained and analyzed from questionnaires answered by experts and are added to evaluation process for manipulation. The results show that the best strategy is the closed-loop control with parameters Ki=0.5 and Kp=0.

The Fuzzy Rule Based the BDFM Torque Control

2012 ◽  
Vol 203 ◽  
pp. 226-230
Author(s):  
Peng Chen ◽  
Jian Yang Zhai ◽  
Zheng Zhu
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Direct Torque Control ◽  
Fuzzy Rule ◽  
Torque Control ◽  
Closed Loop Control ◽  
Loop Control ◽  
Closed Loop Control System ◽  
Loop Control System ◽  
Doubly Fed

Combining with some fuzzy of the direct torque control and the fuzzy control which is often used in the traditional AC motor control,we put forward a direct torque control theory based on the fuzzy rule. The brushless doubly-fed machine(BDFM) closed-loop control system with the direct torque control based on the fuzzy rule is simulated by using of the Matlab/Simulink software, and the simulation results show that the closed-loop control method is correct and effective.

scholarly journals Vibration Control of Double-Beam System with Multiple Smart Damping Members

2016 ◽  
Vol 2016 ◽  
pp. 1-14 ◽  
Author(s):  
Dominik Pisarski ◽  
Tomasz Szmidt ◽  
Czesław I. Bajer ◽  
Bartłomiej Dyniewicz ◽  
Jacek M. Bajkowski
Keyword(s):  
Smart Materials ◽  
Closed Loop ◽  
Control Method ◽  
Bilinear System ◽  
Element Model ◽  
Strong Wind ◽  
Loop Control ◽  
Double Beam ◽  
Bang Bang Control ◽  
Wind Blow

A control method to stabilize vibration of a double cantilever system with a set of smart damping blocks is designed and numerically evaluated. The externally controlled magnetorheological sheared elastomer damping block is considered, but other smart materials can be used as well. The robust bang-bang control law for stabilization the bilinear system is elaborated. The key feature of the closed loop controller is the efficiency for different types of initial excitement. By employing the finite element model, the performance of the controller is validated for strong wind blow load and concentrated impact excitement of the particular point of one of the beams. For each of the excitations, the closed loop control outperforms the optimal passive damping case by over 27% for the considered energy metric.

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