scholarly journals Research on the Modeling, Control, and Calibration Technology of a Tracked Vehicle Load Simulation Test Bench

2019 ◽  
Vol 9 (12) ◽  
pp. 2557
Author(s):  
Haoliang Lv ◽  
Xiaojun Zhou ◽  
Chenglong Yang ◽  
Zhe Wang ◽  
Yimeng Fu
Keyword(s):  
Test Bench ◽  
Control Method ◽  
Dynamic State ◽  
Test Bed ◽  
Simulation Test ◽  
Tracked Vehicle ◽  
Resistance Torque ◽  
Model Control ◽  
The Stability ◽  
Load Simulation

The load simulation test bench plays an important role in tracked vehicle development. The stability and accuracy of the system have a vital impact on the experimental results. To accurately reproduce the power performance of a tracked vehicle on the test platform, this paper aims to investigate the model, control, and calibration method of the test bench. Firstly, the dynamic model of a tracked vehicle under complex driving conditions is analyzed and established, which takes driving torque as the input and driving wheel speed as the output. Then, considering the uncertainties and disturbances in the system model, a 2-degree-of-freedom (2-DOF) control method combined with a disturbance observer is proposed to solve the stability problem of the system. Furthermore, in order to investigate the accuracy of the simulation on the test bed, a method of calibrating the system by a flywheel set with standard inertia is proposed. In the calibration process, the influence of the system resistance torque and the original mechanical inertia on the results is considered, and the response time of the inertia simulation is analyzed in both a steady and dynamic state. Finally, the load simulation test is carried out with the corrected system. The test results show that the system has a high load simulation accuracy under various load simulation tests.

scholarly journals Development of Temperature Process Control Method Using Smith Predictor

2019 ◽  
Vol 111 ◽  
pp. 06016
Author(s):  
Nikolajs Bogdanovs ◽  
Romualds Beļinskis ◽  
Ernests Petersons ◽  
Andris Krūmiņš ◽  
Artūrs Brahmanis
Keyword(s):  
Time Delay ◽  
Control Method ◽  
Distributed Delay ◽  
Heating System ◽  
Smith Predictor ◽  
Hot Water ◽  
Test Bed ◽  
Hot Water Supply ◽  
The Stability ◽  
System With Time Delay

The analysis of a problem of development of control systems for objects with big time delay is carried out in this work. For such objects it is difficult to provide high-quality control, because the control is carried on the last status of object’s output. The main setup methods of PID regulators have been examined. Based on this analysis the technique of complete synthesis of the regulator of higher level is given in order to regulate building’s heating system. This work offers a new method of object’s control with distributed delay. As the test bed for the offered structure of control the valve of hot water supply in a heat-node is used. Using the test bed the stability of the system with time delay have been studied, which is controlled by the PID-regulator assisted by Smith Predictor used to compensate the dead time.

An internal model control-cascade Proportion-Integration-Differentiation method for manipulation of nano-quad-rotors

2019 ◽  
Vol 233 (8) ◽  
pp. 2948-2955 ◽  
Author(s):  
Yuan Wang ◽  
Xiangming Zheng ◽  
Hongda Li ◽  
Xiaoran Li
Keyword(s):  
Trajectory Tracking ◽  
Internal Model ◽  
Control Method ◽  
Parameter Tuning ◽  
Internal Model Control ◽  
Model Uncertainties ◽  
Model Control ◽  
Tuning Process ◽  
The Stability ◽  
Significant Superiority

Nowadays, manipulation of quad-rotors faces complexity in controller parameter tuning process and system instability under uncertainties. Internal model control is featured with less controller parameters, simpler tuning process than conventional methods, good robustness and perfect capability in rejection of uncertainties. All its merits can be applied in the field of nano-quad-rotor control since its internal model is easy to be obtained and the suffered uncertainties, especially persistent ones such as model uncertainties and winds, can be rejected by the algorithm effectively. In this paper, an internal model control cascade Proportion-Integration-Differentiation (PID) method is developed to enhance the robustness and improve the capability of uncertainty rejection of nano-quad-rotors flying under persistent uncertainties. The system can be stabilized in a very easy way with all controller parameters tuned within 0 to 1. Comparison with internal model control method was carried out numerically; the results show that, in dealing with persistent uncertainties, the internal model control cascade PID-based method presents significant superiority in the maintenance of both the accuracy of trajectory tracking and the stability of attitude.

Research on Structure and Kinematics of Hexapod Robot Based on the Pneumatic Flexible Joint

2013 ◽  
Vol 401-403 ◽  
pp. 267-271
Author(s):  
De Xu Geng ◽  
He Peng ◽  
Jin Tao Zhang ◽  
Yun Wei Zhao ◽  
Guang Bin Wu
Keyword(s):  
High Speed ◽  
Test Bench ◽  
Control Method ◽  
Hexapod Robot ◽  
Gravity Center ◽  
Pneumatic Control ◽  
Translational Displacement ◽  
New Type ◽  
Set Up ◽  
The Stability

This paper developed a new type of hexapod robot using self-developed flexible space bending joints which can not only move from side to side or back and forth but also rotate. Then the principle of the movement and the gait of the hexapod robot were investigated, the kinematics model on translational displacement and velocity was followed. Furthermore, the test bench and pneumatic control system were set up, and the displacement, velocity and acceleration of the center of were acquired by high-speed camera shooting means. Finally, the stability of the gravity center and the control method of the hexapod robot were studied. The research of this paper provides a theoretical and practical basis for the application of bionic hexapod robot.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

scholarly journals Formation Control of Unmanned Vessels with Saturation Constraint and Extended State Observation

2021 ◽  
Vol 9 (7) ◽  
pp. 772
Author(s):  
Huixuan Fu ◽  
Shichuan Wang ◽  
Yan Ji ◽  
Yuchao Wang
Keyword(s):  
Formation Control ◽  
Control Method ◽  
Tracking Error ◽  
External Environment ◽  
Control Force ◽  
Extended State ◽  
Parameter Perturbation ◽  
State Observation ◽  
Saturation Constraint ◽  
The Stability

This paper addressed the formation control problem of surface unmanned vessels with model uncertainty, parameter perturbation, and unknown environmental disturbances. A formation control method based on the control force saturation constraint and the extended state observer (ESO) was proposed. Compared with the control methods which only consider the disturbances from external environment, the method proposed in this paper took model uncertainties, parameter perturbation, and external environment disturbances as the compound disturbances, and the ESO was used to estimate and compensate for the disturbances, which improved the anti-disturbance performance of the controller. The formation controller was designed with the virtual leader strategy, and backstepping technique was designed with saturation constraint (SC) function to avoid the lack of force of the actuator. The stability of the closed-loop system was analyzed with the Lyapunov method, and it was proved that the whole system is uniformly and ultimately bounded. The tracking error can converge to arbitrarily small by choosing reasonable controller parameters. The comparison and analysis of simulation experiments showed that the controller designed in this paper had strong anti-disturbance and anti-saturation performance to the compound disturbances of vessels and can effectively complete the formation control.

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