Stability Control and Simulation of Wheel-Legged Mobile Robot in Mechanical Engineering

2013 ◽  
Vol 644 ◽  
pp. 123-128
Author(s):  
Ling Yu Sun ◽  
Jian Hua Zhang ◽  
Xiao Jun Zhang
Keyword(s):  
Mobile Robot ◽  
Pid Control ◽  
Control Method ◽  
Three Dimensional ◽  
Stability Domain ◽  
Stability Control ◽  
Terrestrial Environment ◽  
The Stability ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

The wheel-legged mobile robot in a complex three-dimensional environment has strong through capacity .Study is very critical for the stability of the control of their body systems. In this paper , based on analysis of the structure of wheel-legged mobile robot designed, the stability is evaluated by the use of (Effective Mass Center) EMC , and the stability domain is established accordingly. A fuzzy adaptive PID control method is created , and verified by ADAMS and MATLAB co-simulation . Simulation results show that the robot in different terrestrial environment, can maintain good stability.

Pressing speed stability control of a special ceramic roller bearing press based on fuzzy adaptive PID

2021 ◽  
pp. 1-16
Author(s):  
Lijie Yang ◽  
Guimei Wang ◽  
Huadong Zhang ◽  
Jiehui Liu ◽  
Yachun Zhang
Keyword(s):  
Pid Control ◽  
Simulation Analysis ◽  
Roller Bearing ◽  
Speed Control ◽  
Stability Control ◽  
Interference Signal ◽  
Ceramic Roller ◽  
Speed Stability ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

A special ceramic roller bearing press (SCRBP) is developed to press two bearings efficiently and precisely at the same time. A speed control mathematical model of the bearing press is built to obtain stability bearing pressing speed. The fuzzy adaptive PID controller of the bearing pressing speed of SCRBP is designed. The simulation model is also built. Fuzzy adaptive PID control is compared with conventional PID control. By simulation analysis, the simulation results show that adjusting time of fuzzy adaptive PID control is short, and its overshoot is very small, almost coincides with the set pressing speed. Moreover, fuzzy adaptive PID is suitable for the pressing speed control of the bearing pressing speed system with step interference signal. The pressing stability speed is obtained by fuzzy adaptive PID control.

Research of Autonomous Navigation Path Planning Based on the Sage_Husa Adaptive Filter for Mobile Robot

2013 ◽  
Vol 433-435 ◽  
pp. 1567-1571 ◽  
Author(s):  
Yun Liu ◽  
Dean Zhao ◽  
Jun Zhang ◽  
Yun Zhang
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Autonomous Navigation ◽  
Dynamic Performance ◽  
Matlab Simulation ◽  
Navigation Path ◽  
Control Command ◽  
The Stability ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

By applying data fusions from GPS and MEMS sensors to plan and track path, and achieve the goal of mobile robot autonomous navigation. An improved filtering method based on Sage_Husa filtering is described, which can effectively restrain the filtering divergence, improve dynamic performance of filter, enhance stability and adaptability of filter, and improve navigation precision. With fuzzy adaptive PID control, the stability of control system is guaranteed with control strategy adjustment in real time. Finally, it is programmed that converting the fusion of high-precision GPS and attitude information into control command so as to succeed in robot navigation and real-time display on map. The feasibility and effectiveness of methods described above are verified and proved by experiments and MATLAB simulation.

Trajectory Tracking Control of Mobile Robot Based on Self-Adaptive PID Combined with Preview and Fuzzy Logic

2012 ◽  
Vol 590 ◽  
pp. 268-271 ◽  
Author(s):  
Da Lei Li ◽  
Zhan Shu He ◽  
Yue Feng Yin
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Mobile Robot ◽  
Trajectory Tracking ◽  
Pid Control ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Tracking Control ◽  
Adaptive Pid Control ◽  
Self Adaptive

A new method for controlling the steering and trajectory of the electric mobile robot is proposed. In order to control the robot’s position and heading, the path error and the heading error of the robot are taken into the control closed loop. On the basis of the self-adaptive PID control method combined with preview theory and fuzzy logic, a trajectory tracking control system is designed. Finally, experiments and simulation are conducted to test the control system. Both experimental and simulation results show that the mobile robot can approach the target trajectory quickly and then move along it, which confirm the validity and the efficiency of the trajectory tracking control system.

Fuzzy Adaptive PID Control of Indoor Temperature in VAV System

2014 ◽  
Vol 638-640 ◽  
pp. 2092-2096 ◽  
Author(s):  
Jian Bo Bai ◽  
Yang Li ◽  
Meng Wang
Keyword(s):  
Pid Control ◽  
Air Conditioning ◽  
Large Time ◽  
Control Method ◽  
Setting Time ◽  
Control Object ◽  
Indoor Temperature ◽  
Air Conditioning Systems ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

VAV (VAV) air-conditioning systems always have the characteristics of nonlinear, strong coupling, large time delay, thus the conventional PID control method can't meet the requirement of control performance. In order to adapt to the changes of the load in air-conditioning systems, and make an accurate rapid response, this paper proposes a fuzzy adaptive PID control method. The temperature control by terminal air valves in VAV air-conditioning systems was selected as a control object, through collecting the deviation between setting value and room temperature, the parameters of the PID controller were selected to realize the accurate control of the temperature. In order to evaluate the effectiveness of the proposed control method, it was compared with conventional PID control method by simulation experiment, the results show that the proposed Fuzzy adaptive PID control method has more shorter setting time, less overshoot and more steady state performance than the latter.

Research on Intelligent Soft Starting Method for Three-Phase Asynchronous Motor Based on MATLAB

2011 ◽  
Vol 299-300 ◽  
pp. 828-831
Author(s):  
Yan Feng Zhu
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Design Method ◽  
Asynchronous Motor ◽  
Control Effect ◽  
Starting Current ◽  
Soft Starter ◽  
Three Phase ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

Considering the very large direct starting current of three-phase asynchronous motor, this paper presents a design method of asynchronous motor soft starter based on a intelligent control- fuzzy adaptive PID control. The simulation model of the soft starting control system is established with the power system blockset in MATLAB/SIMULINK software. The simulation results show that the fuzzy adaptive PID control method can effectively limit the motor starting current and it is better than the control effect of traditional PID control. Therefore, the fuzzy adaptive PID control scheme presented in this paper is correct and feasible.

Research on Control Method of a Novel Type of Excavator Based on Multi Degree-Of-Freedom Controllable Mechanism

2011 ◽  
Vol 201-203 ◽  
pp. 1949-1954 ◽  
Author(s):  
Gan Wei Cai ◽  
Du Chao Wu ◽  
Yu Chen Pan ◽  
Xi Yong Xu ◽  
Zhuan Zhang
Keyword(s):  
Pid Control ◽  
Pid Controller ◽  
Control Method ◽  
Mimo System ◽  
Degree Of Freedom ◽  
New Type ◽  
Actual Response ◽  
Adaptive Pid Control ◽  
Logic Inference ◽  
Fuzzy Adaptive

The new type of excavator based on multi degree-of-freedom controllable mechanism is a typical nonlinear multi-input-multi-output (MIMO) system, of which the closed chain constraints make it with strong coupling relationships. Consequently, the classic PID control method is not able to satisfy the control demands of the system. This paper introduces a fuzzy adaptive PID control method focusing on the improvement of the control accuracy of the excavator based on fuzzy logic inference according to the actual response of the control system, aiming at the automatically online adjusting of the PID parameters. A simulation study is also proposed. The correctness and validity of the project is verified by comparing the simulation results of the fuzzy adaptive PID controller with those of the classic PID controller. Results show that the former one designed for the new mechanical excavator has shorter settling time, and with less overshoot, than the latter one.

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.

Research on Adaptive PID Control for Load Simulator with Varying Load

2014 ◽  
Vol 568-570 ◽  
pp. 1031-1035
Author(s):  
Ju Tian ◽  
Yao Chen
Keyword(s):  
Pid Control ◽  
Simple Structure ◽  
Control Method ◽  
Parameter Tuning ◽  
Hardware In The Loop ◽  
Tuning Method ◽  
Hydraulic Load ◽  
Variation Characteristics ◽  
Load Simulator ◽  
Adaptive Pid Control

The electro-hydraulic load simulator is an important equipment for aircraft hardware-in-the-loop simulation. An adaptive PID control method for compensating extraneous torque with simple structure and easy to implement is proposed according to the variation characteristics of load gradient in the load simulator. The control parameter tuning method is also given.

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