Study on System Design and Control Methods of Polishing Robot System

2009 ◽  
Vol 16-19 ◽  
pp. 1370-1376
Author(s):  
Zhong Luo ◽  
Fei Wang ◽  
Yang Jiang ◽  
Hong Yi Liu
Keyword(s):  
Intelligent Control ◽  
Control Method ◽  
Design Method ◽  
Interaction Force ◽  
Working Environment ◽  
Robot System ◽  
Forward Reasoning ◽  
Control Rules ◽  
Control Decision ◽  
And Control

A design method is presented for a polishing robot in unstructured working environment. Setting up a structure model of the polishing system, and the operation principle and control method are described. The human-simulated intelligent control method is applied to the control of contact force in unstructured environment, because of the uncertainty, variability and unstructured of the environment. The basic idea of the intelligent control method is based on the size of error and change direction of control variables. The conditions of the control rules and control decision are inferred by forward reasoning. The HSIC controlling function is achieved, which can strengthen people energy to revise and control the interaction force and position of the end-effector.

A New Iterative Identification and Control Method of Closed-Loop Power System Based on Ambient Signals

2015 ◽  
Vol 798 ◽  
pp. 261-265
Author(s):  
Miao Yu ◽  
Chao Lu
Keyword(s):  
Power System ◽  
Closed Loop ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Stability Margin ◽  
System Stability ◽  
Iterative Identification ◽  
Effective Performance ◽  
And Control

Identification and control are important problems of power system based on ambient signals. In order to avoid the model error influence of the controller design, a new iterative identification and control method is proposed in this paper. This method can solve model set and controller design of closed-loop power system. First, an uncertain model of power system is established. Then, according to the stability margin of power system, stability theorem is put forward. And then controller design method and the whole algorithm procedure are given. Simulation results show the effective performance of the proposed method based on the four-machine-two-region system.

Study on Distributed Intelligent Control Model of the Ships Pipe Network

2014 ◽  
Vol 904 ◽  
pp. 287-291
Author(s):  
Tao Jin ◽  
Ze Yuan Zhou ◽  
Feng Yang
Keyword(s):  
Intelligent Control ◽  
Control Model ◽  
Sensor Data ◽  
Pipe Network ◽  
Control Logic ◽  
Control Rules ◽  
Valve Leakage ◽  
Pipe Segment ◽  
And Control ◽  
Valve Control

A MAS-based distributed intelligent pipeline leakage control model, ship pipe network through the intelligent valve control system for automatic, independent isolate damaged sections, thereby enhancing ship in wartime circumstances viability. According to distributed intelligent control pipe network model composed of properties, the Agent is divided into sensor Agent, processors and actuators Agent. Agent of the processor by the sensor data collected Agent independent judgment pipe segment status judgment method and control rules proposed intelligent valve leakage indicator to determine the logic of the other characteristic parameters for a comparative study. Pipeline leakage numerical simulation results show that: the model and control logic to isolate leakage pipe sections, using the model can improve the vitality of ship pipe network.

Dynamics and Control of a Helicopter Carrying a Payload Using a Cable-Suspended Robot

2005 ◽  
Author(s):  
So-Ryeok Oh ◽  
Ji-Chul Ryu ◽  
Sunil K. Agrawal
Keyword(s):  
Control Method ◽  
Dual System ◽  
Robust Controller ◽  
Robot System ◽  
Control Approach ◽  
Cable Robot ◽  
Dynamics And Control ◽  
Position And Orientation ◽  
And Control ◽  
Scale Control

This paper presents a study of the dynamics and control of a helicopter carrying a payload through a cable-suspended robot. The helicopter can perform gross motion, while the cable suspended robot underneath the helicopter can modulate a platform in position and orientation. Due to the under-actuated nature of the helicopter, the operation of this dual system consisting of the helicopter and the cable robot is challenging. We propose here a two time scale control method, which makes it possible to control the helicopter and the cable robot independently. In addition, this method provides an effective estimation on the bound of the motion of the helicopter. Therefore, even in the case where the helicopter motion is unknown, the cable robot can be stabilized by implementing a robust controller. Simulation results of the dual system show that the proposed control approach is effective for such a helicopter-robot system.

Intelligent Control Method of Ground to Air Missile Based on FCMAC

2011 ◽  
Vol 128-129 ◽  
pp. 168-171
Author(s):  
Gang Li ◽  
Hao He ◽  
Gang Fang ◽  
Jian Feng Wu
Keyword(s):  
Neural Network ◽  
Intelligent Control ◽  
Fuzzy Neural Network ◽  
Control Method ◽  
Basic Structure ◽  
Control Methods ◽  
Missile Guidance ◽  
Guidance And Control ◽  
Fuzzy Neural ◽  
And Control

Intelligent control methods of missile guidance and control system (GACS) are studied in this paper. Secondly, the component and principle of GACS is introduced. Based on the fuzzy neural network, this paper constructs a basic structure of the intelligent control method of missile. Meanwhile, a new intelligent control method of rolling channel of missile based on Fuzzy Cerebella Model Articulation Controller (FCMAC) is designed. Under complicated environmental conditions, the missile can be accurately controlled with this method. Finally, the application value is illustrated. It’s very meaningful to improve the combat capability.

Summary of Vehicle Suspension Vibration Systems Control Technology Research

2012 ◽  
Vol 549 ◽  
pp. 843-847
Author(s):  
Jian Feng Wang ◽  
Chuan Xue Song ◽  
Zhong Xiang Lei
Keyword(s):  
Intelligent Control ◽  
Control Method ◽  
System Modeling ◽  
Development Trend ◽  
Future Research ◽  
Modeling And Control ◽  
Compound Control ◽  
Automobile Suspension ◽  
And Control ◽  
Suspension Structure

This paper expounds the automobile suspension structure based on the characteristics of three control strategy and its development, and focuses on modern control method and intelligent control method were discussed, and points out that the compound control method is more suitable to the car complex nonlinear suspension system modeling and control. Finally in the future research needs to be some problems and development trend are discussed.

scholarly journals STUDY ON ACTIVE ANTI ROLLOVER CONTROL AND MODEL TEST OF TRACTOR MOMENTUM FLYWHEEL

2021 ◽  
pp. 225-232
Author(s):  
Weihong Qiao ◽  
Qiuhong Wei
Keyword(s):  
Dynamic System ◽  
Model Test ◽  
Control Method ◽  
Stable State ◽  
Working Environment ◽  
System Model ◽  
Pavement Roughness ◽  
Active Stabilization ◽  
And Control ◽  
Dynamic System Model

The tractor working environment is complex and changeable, and the dynamic variation range of the center of gravity position of the tractor body is large. In order to avoid rollover accident, an active anti rollover control method of tractor momentum flywheel and its model test are proposed in this paper. The tractor dynamic system model and control strategy are verified by a 1:16 scale tractor model. The research results show that when the model tractor crosses the trapezoidal obstacle B, the roll angle of the whole machine is temporarily stable near 35 °, indicating that at this time, the tires on one side of the whole machine are in actual contact with the obstacle, showing a short stable state of the whole machine. When the pavement roughness reaches F-H level, without any active anti rollover control, the evaluation index EP shows a divergence trend when it is greater than 1, and the simulation calculation is terminated due to the occurrence of rollover of the whole machine. The test data and simulation results under two different driving speeds are in good agreement, which verifies the effectiveness and reliability of the tractor rollover dynamic system model and the momentum flywheel active stabilization system.

Hierarchical Intelligent Alignment Control of Air Spring Vibration Isolation System of Ship Propulsion Plant

2013 ◽  
Vol 419 ◽  
pp. 630-635
Author(s):  
Wen Jun Bu ◽  
Ying Long Zhao ◽  
Liang Shi
Keyword(s):  
Intelligent Control ◽  
Vibration Isolation ◽  
Control Method ◽  
Good Control ◽  
Air Spring ◽  
Isolation System ◽  
Vibration Isolation System ◽  
Speed Test ◽  
And Control ◽  
Layer Control

Alignment control of propulsion plant air spring vibration isolation system is a complicated Multi objects control problem. In this paper a new hierarchical intelligent control method of alignment control is brought out. Known from current hierarchical intelligent control methods with three layers, this method consists of task layout layer, control decision-making layer, control layout layer and control executive layer. The complicated alignment control task is decomposed into four hierarchical layers to reduce complexity. The control system has good control convergence capability and fast convergence speed. Test results validate the feasibility of this method.

scholarly journals Intelligent Control of a Novel Hydraulic Forging Manipulator

2011 ◽  
Vol 2011 ◽  
pp. 1-7 ◽  
Author(s):  
J. Wang ◽  
F. Gao ◽  
Y. Zhang
Keyword(s):  
Intelligent Control ◽  
Position Control ◽  
Control Method ◽  
Industrial Applications ◽  
Heavy Duty ◽  
Force Perception ◽  
Large Size ◽  
Forging Manipulator ◽  
Combination Of Methods ◽  
And Control

The increased demand for large-size forgings has led to developments and innovations of heavy-duty forging manipulators. Besides the huge carrying capacity, some robot features such as force perception, delicacy and flexibility, forging manipulators should also possess. The aim of the work is to develop a heavy-duty forging manipulator with robot features by means of combination of methods in mechanical, hydraulic, and control field. In this paper, through kinematic analysis of a novel forging manipulator, control strategy of the manipulator is proposed considering the function and motion of forging manipulators. Hybrid pressure/position control of hydraulic actuators in forging manipulator is realized. The feasibility of the control method has been verified by the experiments on a real prototype of the novel hydraulic forging manipulator in our institute. The intelligent control of the forging manipulator is performed with programmable logic controller which is suitable for industrial applications.

scholarly journals Improving Interactions between a Power-Assist Robot System and Its Human User in Horizontal Transfer of Objects Using a Novel Adaptive Control Method

2012 ◽  
Vol 2012 ◽  
pp. 1-12 ◽  
Author(s):  
S. M. Mizanoor Rahman ◽  
Ryojun Ikeura
Keyword(s):  
Adaptive Control ◽  
Horizontal Transfer ◽  
Control Method ◽  
Weight Perception ◽  
The Novel ◽  
Robot System ◽  
Control Scheme ◽  
Dynamics And Control ◽  
Motion Features ◽  
And Control

Power assist systems are usually used for rehabilitation, healthcare, and so forth.This paper puts emphasis on the use of power assist systems for object transfer and thus brings a novelty in the power-assist applications. However, the interactions between the systems and the human users are usually not satisfactory because human features are not included in the control design. In this paper, we present the development of a 1-DOF power assist system for horizontal transfer of objects. We included human features such as weight perception in the system dynamics and control. We then simulated the system using MATLAB/Simulink for transferring objects with it and (i) determined the optimum maneuverability conditions for object transfer, (ii) determined psychophysical relationships between actual and perceived weights, and (iii) analyzed load forces and motion features. We then used the findings to design a novel adaptive control scheme to improve the interactions between the user and the system. We implemented the novel control (simulated the system again using the novel control), the subjects evaluated the system, and the results showed that the novel control reduced the excessive load forces and accelerations and thus improved the human-system interactions in terms of maneuverability, safety, and so forth. Finally, we proposed to use the findings to develop power assist systems for manipulating heavy objects in industries that may improve interactions between the systems and the users.

Sign in / Sign up

Export Citation Format

Share Document