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检索条件"任意字段=3rd International Conference on Robotics, Control and Automation Engineering, RCAE 2020"

共 544 条记录，以下是201-210 订阅

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Cascade Model Predictive control of Permanent Magnet Synchronous Motor for Industrial Robot

Cascade Model Predictive Control of Permanent Magnet Synchro...

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Advanced Electrical and Energy Systems (AEES), international conference on

作者： Peng Li Xiaosu Xu Zhijian Wei Xuefeng Jiang School of Instrument Science and Engineering Southeast University Nanjing China School of Automation Nanjing University of Science and Technology Nanjing China

With the development of industrial automation and robotics, the permanent magnet synchronous motor (PMSM) system, as the actuator of industrial robots, often works in high-precision occasions with strict requirements for control accuracy. At present, the traditional vector control and direct torque control are difficult to meet the high-performance control objectives. As an advanced control strategy, model predictive control (MPC) is easy to realize optimal control. Model predictive current control eliminates the integral influence of current proportional integral controller and improves the dynamic response effect of current. However, its speed outer loop generally still adopts speed proportional integral controller, resulting in the unsatisfactory dynamic effect of motor speed. At present, most of the research on MPC of PMSM is carried out for a certain link of the control system, and the advantages of MPC performance are not given full play. Therefore, this paper applies the MPC strategy to the current control and speed control of PMSM for industrial robots to improve the dynamic and static performance of the system.

关键词： Current control Service robots Velocity control Predictive models Permanent magnet motors Regulation Torque measurement

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Application of Artificial Intelligence in Electrical automation control 3

Application of Artificial Intelligence in Electrical Automat...

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3rd international conference on Mechatronics and Intelligent robotics (ICMIR)

作者： Yang, Li Bo Guangdong Univ Sci & Technol Dongguan 523083 Peoples R China

With the development of modern science and technology, artificial intelligence technology has increasingly affected all aspects of people's lives, especially in the field of industrial electrical automation control, which has achieved good results. Artificial intelligence technology has changed the traditional technology mode and injected new force into the field of electrical automatic control. Firstly, this paper briefly expounds the artificial intelligence technology, and points out the value of artificial intelligence technology in electrical automation control. Then, combined with the value of the article, the application of artificial intelligence technology in electrical automation control is classified and explained, which provides a theoretical reference for future research in related fields. (C) 2020 The Authors. Published by Elsevier B.V.

关键词： artificial intelligence automatic control control application

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A CNN Approach to Assess Environment Complexity for robotics Autonomous Navigation 3

A CNN Approach to Assess Environment Complexity for Robotics...

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IEEE 3rd international conference on Mechatronics, robotics and automation (ICMRA)

作者： Sartori, Daniele Ermacora, Gabriele Pei, Ling Zou, Danping Yu, Wenxian Shanghai Jiao Tong Univ Inst Sensing & Nav 800 Dongchuan Rd Shanghai 200240 Peoples R China

ISBN: (纸本)9781728190327

Growing interest exists in the evaluation of mobile robots performing autonomous navigation. The environment where the robot operates plays an important role in the successful execution of its autonomous mission. It is therefore crucial to assess the complexity of the environment where the vehicle is deployed. In this paper, we identify two parameters which represent meaningful metrics for the evaluation of how challenging a 2D environment is for autonomous navigation. We show how these two parameters can be estimated with a CNN architecture, given as input only a map of the environment. The method is validated on two different datasets and proves successful in achieving very accurate prediction results.

关键词： robot navigation environment evaluation CNN

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Design and Implementation of Industrial Real-Time Ethernet Redundant Network Based on Parallel Redundancy Protocol

Design and Implementation of Industrial Real-Time Ethernet R...

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Computer Science, Electronic Information engineering and Intelligent control Technology (CEI), IEEE international conference on

作者： Mingxu Gang Bingjun Yan Bo Hu Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (数字)9798350372052

ISBN: (纸本)9798350372069

Industrial real-time Ethernet technology is widely used in modern industrial control systems due to its high communication rate and low application cost. However, in complex network environments, industrial real-time Ethernet may encounter data collisions, data loss, and other issues, which reduce the overall reliability of industrial control systems. To address these issues, a method for designing and implementing industrial real-time Ethernet redundancy networks based on parallel redundancy protocols is proposed. The method first analyzes the redundant data frame structure, dual-connected node (DANP) structure, and redundancy implementation principle of parallel redundancy protocols (PRP). Then, aiming at the standard redundancy discard algorithm principle and its shortcomings, an improved sliding window redundancy discard algorithm is proposed to adapt to complex network environments. Based on the discard algorithm, dual-connected redundancy nodes are designed and implemented. Finally, the dual-connected redundancy nodes are used as the core to construct industrial real-time Ethernet redundancy networks. The test results show that in a PRP-based industrial real-time Ethernet redundant network, when a single redundant network fails, the system can switch without delay, greatly improving the reliability of the industrial control system communication network

关键词： Protocols Industrial control Computer network reliability Redundancy Ethernet Complex networks Reliability engineering

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Improved droop control of DC microgrid based on virtual impedance 3

Improved droop control of DC microgrid based on virtual impe...

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2020 3rd international Symposium on Power Electronics and control engineering, ISPECE 2020

作者： Yuan, Yizhe Deng, Yanni College of Automation Wuhan University of Technology Wuhan Hubei China

In order to solve the problem of distributed energy generation, microgrid has been proposed as one of the options. Compared with AC microgrid, DC microgrid is more suitable for many current distributed power equipments. In order to ensure the stable operation of the DC microgrid, it is necessary to develop an effective energy management strategy. As a typical method of current distribution, droop control has been widely studied and discussed. Traditional droop control has inherent limitations, so this paper proposes an improved method for droop control. © Published under licence by IOP Publishing Ltd.

关键词： Energy management

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A NDO Based Attack Detection Observer and Isolation Strategy in Distributed DC Microgrid with FDIA 3

A NDO Based Attack Detection Observer and Isolation Strategy...

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2020 3rd international Symposium on Power Electronics and control engineering, ISPECE 2020

作者： Zhang, Daming Zhang, Chuanlin Collage of Automation Engineering Shanghai University of Electric Power Shanghai200090 China Collage of Automation Engineering Shanghai University of Electric Power Shanghai200090 China

In this paper, an isolation scheme is proposed to mitigate adverse effects of false data injection attack (FDIA) in cyber layer of distributed DC microgrids. Firstly, the attack signal in communication link is effectively estimated by the nonlinear disturbance observer (NDO). Secondly, an isolation mechanism is designed to distributively insulate the misbehaving agent of cooperative control, and further to mitigate adverse effects on voltage regulation and power sharing in DC microgrids. Thirdly, considering the changes in load distribution during the process of isolation, a domination controller for stabilizing DC/DC boost converter is introduced to ensure the rapid voltage convergence with accurate tracking over a wide operating range. Simulation results are conducted on an islanded DC MG test system to verify the effectiveness of the proposed scheme. © Published under licence by IOP Publishing Ltd.

关键词： Voltage regulators

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Relative Stability Analysis Method of Systems Based on Goal Seek 3

Relative Stability Analysis Method of Systems Based on Goal ...

引用

3rd international conference on Industrial Artificial Intelligence, IAI 2021

作者： Zhao, Yuan Ying, Du Liu, Yefeng Wentao, Ren Shenyang Institute of Technology Liaoning Key Laboratory of Information Physics Fusion and Intelligent Manufacturing for CNC Machine Liaoning Fushun113122 China Shenyang Agricultural University Engineering College Shenyang China

ISBN: (纸本)9781665435178

In the design and analysis of the automatic control system, it is difficult to analyze the relative stability of system because of the complexity of calculating the gain and phase-crossover frequencies. The analysis of the influence of open-loop gain on the relative stability of system needs to solve many more complex equations, which is more difficult. This paper explores a method of system stability analysis based on the goal seek method, and studies the operation steps and points for attention in application of this method. The feasibility and convenience of the method are verified by the analysis of a complex third-order control system. The results show that this method can be used to find out the gain-crossover frequency and the phase-crossover frequency easily, meanwhile the phase margin and gain margin can be obtained easily too. The influence of open-loop gain on them can also be analyzed, and the optimum parameters of open-loop gain can be found. This method will provide a basis for the research of multi-process dynamic collaborative optimization manufacturing under the environment of the workshop Internet of Things. © 2021 IEEE.

关键词： automation

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Collision Detection of Industrial automation 3

Collision Detection of Industrial Automation

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IEEE 3rd international conference on Mechatronics, robotics and automation (ICMRA)

作者： Lin, Jhe-Wei Siao, Cheng-Yan Lin, Chia-Hsuan Chang, Rong-Guey Natl Chung Cheng Univ Dept Comp Sci & Informat Engn Chiayi Taiwan

ISBN: (纸本)9781728190327

At present, most anti-collision mechanisms use graphics processing unit (GPU) for operations and object simulations are drawn using polygonal meshes. However, their costs are always very high. Therefore, we propose a novel approach to improve the anti-collision mechanism for robotic arms. We apply the octree algorithm to decompose the object model and cooperate with the Bounding Box technology to form the object into a covering box. In this manner, the computation space will be reduced and simplify the calculation of the anti-collision. Finally, the proposed work has been implemented on Rhino to construct a simulation system for industrial manufacturing production lines.

关键词： anti-collision detection robotic arm polygon mesh octree algorithm

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Retrofitting a Conventional Lathe Machine Type BV20-1L to a Semi CNC Lathe Machine 3

Retrofitting a Conventional Lathe Machine Type BV20-1L to a ...

引用

3rd international Symposium on Material and Electrical engineering conference, ISMEE 2021

作者： Erdani, Yuliadi Abadi, Sarosa Castrena Hidayatulloh, Firdaus Jaya Politeknik Manufaktur Bandung Automation Engineering Department Bandung Indonesia

ISBN: (纸本)9781665423625

Retrofit is one of methods to apply new technology and functionality in improving the performance and security of outdated systems. The application of retrofit can be done on conventional lathes because the machining process takes a long time. Furthermore in the operation of this conventional lathe the results of the work piece depend on the ability of the operator so the results are less consistent. Therefore, there is an innovation to this lathe that can control it automatically. The process of retrofitting this lathe used two stepper motors to move the carriage on the X axis (diameter feeding) and Z (depth of cut). The stepper motor is driven by TB6600 driver module that will be controlled via raspberry pi 3 B+ with python programming language. The control and monitoring process of cut tool movements can be done through the interface that has been created using the LabVIEW 2020 application. There were two tests conducted, namely step work piece feeding testing and average total delay testing. Testing of the feeding of the work piece is carried out using the type of aluminum material as work piece. Based on the results of the test of the feeding of the work piece called Step, it came to the conclusion that the accuracy rate on the X axis is 99.37% and on the Z axis is 98.68%. The different accuracy rate is caused by the mechanical backlash and the quality of DDA program. Testing on the delay time process depicts that the average delay value is around 11.7 seconds. © 2021 IEEE.

关键词： Retrofitting

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Optimal control for Acrobot with Two-link Manipulators 3

Optimal Control for Acrobot with Two-link Manipulators

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2020 3rd international conference on Modeling, Simulation and Optimization Technologies and Applications, MSOTA 2020

作者： Liu, Weicai Zhang, Zhifei School of Mechatronic Engineering and Automation Foshan University Foshan China

This paper presents a unified treatment of the optimal control of under-Actuated two-link manipulators. Firstly, a nonlinear invertible transfer is introduced to simplify design of controller, then several optimal control laws are established by maximum principle. controller for swing-up area is based on performance index, while controller for attractive area is based on LQR (linear quadric regulator). It is proved that optimal control is not singular, invariant sets are obtained by theoretical analysis. The strategy for Acrobat is to use optimal control law to pump manipulators into linearizable area, then switch control law to LQR, which drives system to up-straight position. Local and global stability were analyzed in detail under control strategy using LaSalle's invariance principle and WCLF (non-smooth control Lyapunov function). Simulation and comparison with previous results show that the proposed approach here is valid and of advantages. © Published under licence by IOP Publishing Ltd.

关键词： controllers

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