In the movement control area, PID algorithm is an effective means to adjust the motor dynamic quality. the paper introduces the architecture of the motor speed control and the transfer function of the motor. In additi...
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ISBN:
(纸本)0780386531
In the movement control area, PID algorithm is an effective means to adjust the motor dynamic quality. the paper introduces the architecture of the motor speed control and the transfer function of the motor. In addition, a motor speed control using digital PID is modelled and simulated based on Ptolemy 11 in the paper. By optimal designing, the performance of the control using Integrator-disparted PID algorithm is better than that using other algorithms. the merit of the algorithm is verified in the digital PID control based on FPGA.
A new adaptive fuzzy sliding mode control scheme is proposed, which combines the fuzzy logic with sliding-mode control together using fuzzy logic system to approximate the difference of the equivalent control between ...
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ISBN:
(纸本)0780386531
A new adaptive fuzzy sliding mode control scheme is proposed, which combines the fuzzy logic with sliding-mode control together using fuzzy logic system to approximate the difference of the equivalent control between the nominal and the real system. Lyapunov stability theorem is used to prove the stability of the system and the adaptive laws are deduced which possess the characteristics of sliding-mode control. In addition, for better control performance, the upper bound of the uncertainty is estimated. Finally, the correctness and effectiveness of the method have been verified by simulation using nonlinear overload model of pitch channel of some BTT missile.
In this paper, we consider sampled-data control systems, which consist of an interconnection of a continuous-time nonlinear plant and a digital controller that has floating-quantization, along withthe required interf...
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ISBN:
(纸本)0780386531
In this paper, we consider sampled-data control systems, which consist of an interconnection of a continuous-time nonlinear plant and a digital controller that has floating-quantization, along withthe required interface elements. For the sampled-data control system with nonlinear plant and with floating-quantizers in the controller, we show that the solutions are uniformly ultimately bounded if the trivial solutions of the associated linear systems consisting of linearization of the plant and without quantizers in controller are exponentially stable.
3D vision technology is one important branch of machine vision, whose aim is to derive an accurate description and measurement of object in 3D scene from 2D image. At present, it is an important research domain in rob...
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ISBN:
(纸本)0780386531
3D vision technology is one important branch of machine vision, whose aim is to derive an accurate description and measurement of object in 3D scene from 2D image. At present, it is an important research domain in robot, measurement and artificial intelligent fields. the automatization, roboticization and intelligentization are the development trends of welding technology. the vision sensing method is the key to realize the automatic welding. the research of machine vision has been applied in welding field and made great progress. the 3D vision technology and its application research in welding are introduced in this paper. Finally the further development of 3D vision in welding is prospected.
We report a study of real time system for directivity control of Speaker array. this system has some features. First, the array is made of omnidirectional sound source arranged in same plane to controlthe two-dimensi...
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ISBN:
(纸本)0780386531
We report a study of real time system for directivity control of Speaker array. this system has some features. First, the array is made of omnidirectional sound source arranged in same plane to controlthe two-dimensional sound field. Next, the arrayed units are driven by adaptive FIR filters so that we can change the directivity of the composite source. And it is controlled in real time. In this paper, we report the results of experiments on off-line directivity control of speaker array which is composed of three speakers. We examined layout of the units and control set-up for efficient directivity control. the measurement results of directivity are fairly good if it considered that there were not many Sound sources.
A novel suboptimal control design is proposed for a class of multi-input nonlinear cascade systems. Combining the backstepping recursive design withthe SDARE technique, the analytic solution to suboptimal control for...
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ISBN:
(纸本)0780386531
A novel suboptimal control design is proposed for a class of multi-input nonlinear cascade systems. Combining the backstepping recursive design withthe SDARE technique, the analytic solution to suboptimal control for each subsystem can be on-line derived by designing state feedback control law. the resulting SDARE control law can make the original closed-loop system globally asymptotically stable (GAS). Furthermore, the designed control law is the optimal solution to the original system when the terminal time is equal to infinity. Finally, a numeric simulation example of the second-order system with two inputs is illustrated to verify the effectiveness of the backstepping based optimization design.
In this paper, the design problem of alpha-robust H-infinity state feedback controller for a class of linear parameter-varying (LPV) systems with time-delay is addressed. A sufficient condition for the existence of al...
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ISBN:
(纸本)0780386531
In this paper, the design problem of alpha-robust H-infinity state feedback controller for a class of linear parameter-varying (LPV) systems with time-delay is addressed. A sufficient condition for the existence of alpha-robust H-infinity state feedback controller is derived in terms of a new method and the corresponding design method of the controller is given. Furthermore, illustrative example is given to demonstrate the superiority of the presented method.
Ultrasonic motors (USM) possess heavy nonlinear, and load dependent characteristics such as dead-zone and saturation reverse effects, which vary with driving conditions. these properties have made the position/velocit...
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ISBN:
(纸本)0780386531
Ultrasonic motors (USM) possess heavy nonlinear, and load dependent characteristics such as dead-zone and saturation reverse effects, which vary with driving conditions. these properties have made the position/velocity control of USM a difficult and challenging task. In this paper, a generalized model predictive (GPC) controller for precise USM position control is suggested. Simulation results indicate improved performance of the motor for both set point tracking and disturbance rejection. Since the motor and the controller both are of type one, the applied saturation would cause in wind up phenomenon. this drawback is removed by implementing the Quadratic GPC controller.
Docking is an essential function for Reconfigurable Planetary Robot System (RPRS), it supports almost all metamorphic characteristics of the system. this paper presents a space docking method for self-reconfigurable m...
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ISBN:
(纸本)0780386531
Docking is an essential function for Reconfigurable Planetary Robot System (RPRS), it supports almost all metamorphic characteristics of the system. this paper presents a space docking method for self-reconfigurable modular robot system. the method adopts a Position Sensory Detector (PSD) to get the space geometrical relation between modular child robots. By using the kinematics and inverse kinematics modeling of the child robot, a docking control algorithm is developed to achieve space dock automatically. To validate the method, simulation experiments were done on a platform based on OPENGL, and the simulating results were given as well.
Following the recently developed strategies for the modelling and control for multi-input multi-output (MIMO) distribution control systems, this paper presents a dynamic model for the control of combined probability d...
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ISBN:
(纸本)0780386531
Following the recently developed strategies for the modelling and control for multi-input multi-output (MIMO) distribution control systems, this paper presents a dynamic model for the control of combined probability density function. A Multilayer Perceptron (MLP) neural network is used to approximate the probability density function (PDF) of the systems and a high-order dynamic nonlinear state-space model is obtained. then nonlinear principal component analysis (NLPCA) is adopted to reduce the obtained model order and a lower-order time-varying system is achieved. the controller design for the lower-order time-varying system is given. the effectiveness of the result has been demonstrated by two examples in the end.
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