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检索条件"任意字段=9th International Conference on Informatics in Control Automation and Robotics, ICINCO 2012"

共 366 条记录，以下是221-230 订阅

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control and parameters matching of straight running for high speed tracked vehicle with hydrostatic drive

Control and parameters matching of straight running for high...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhang, HaiLing Li, Heyan Ma, Biao Gao, Zhifeng Research Institution of Off-road Vehicle Beijing Institute of Technology Beijing 100081 China SAIC Motor Technical Center Shanghai 201804 China

ISBN: (纸本)9781467312776

the control strategy and parameters matching is critical for the performance of high-speed tracked vehicle with hydrostatic drive that is composed of engine, hydraulic pumps and motors. Based on the analysis of characteristic of engine and pump working together, the pump displacement control strategy is proposed and applied in order to accomplish the aim torque and power of engine. Motor displacement is controlled by engine speed and system pressure so as to realize mobility of vehicle and cooperate with pump control. With the results of parameters calculation and matching, the vehicle and its driving system are modeled in Matlab/Simulink and system simulation under different typical work conditions are achieved with the driver's inputs and control algorithm in-loop. Validity and effectiveness of control strategy and parameters matching are approved by simulation and the field experiments. © 2012 IEEE.

关键词： Tracked vehicles

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Kinematics analysis and sensor calibration of a wormlike crawling robot

Kinematics analysis and sensor calibration of a wormlike cra...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Wang, Weiqiang Zhu, Xinglong Gao, Longqin Zhang, Ying College of Mechanical Engineering Yangzhou University Yangzhou Jiangsu Province China Department of Mechanical and Electrical Engineering College of Nantong Agricultural Vocational Technology Nantong Jiangsu Province China

ISBN: (纸本)9781467312776

the first generation wormlike crawling robot has 8 ropes providing pulling force to change relative position of segments and to accomplish crawling movements. In order to solve problems of rope breaking, force control and length control of ropes appear in trails, the characteristic of pure rolling is studied and kinematics equations are established firstly. the relationship of length and force of rope is described in the kinematics equations, which lays a theoretical foundation for the control of force sensor. Proper force sensor is selected. Moreover, the software and hardware of calibration system are designed. Finally, the trail result of force sensor validates the feasibility of force feedback control system. © 2012 IEEE.

关键词： Adaptive control systems

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A special terrain-following system based on flash LIDAR

A special terrain-following system based on flash LIDAR

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Pan, Hai-Yang Liu, Shun-An Mechanical Science and Engineering Institute Jilin University Changchun Jilin Province China Department of Aviation Control Engineering Aviation University of Air Force Changchun Jilin Province China

ISBN: (纸本)9781467312776

Tight control or compensation of terrain and flight height is an important search area in airborne gravimetry and gradiometry surveys. A special terrain-following system based on flash LIDAR is presented. In order to keep constant height flight, the front propagation and Binary approach algorithm based on range information are employed to discriminate vegetation, buildings and so on from the bare earth. Since the gravity gradient signal falls off rapidly (1/R3) as a function of distance from the source, the method can eliminate the survey errors induced by terrain and flight height to some degree. © 2012 IEEE.

关键词： Landforms

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Reliable attitude stability control of quad-rotor based on fault-tolerant approach

Reliable attitude stability control of quad-rotor based on f...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Gong, Xun Peng, Cheng Tian, YanTao Bai, Yue Zhao, Changjun Gao, Qingjia Xu, Zhijun School of Telecommunication Engineering Jilin University Changchun Jilin Province China Changchun Institute of Optics Fine Mechanics and Physics Chinese Academy of Sciences Changchun Jilin Province China

ISBN: (纸本)9781467312776

the reliability flight property has received much attention within the aircraft control community throughout the last decades. In this paper, the fault-tolerant control technique is introduced into the attitude stability control system of a quadrotor UAV in order to compensate the influence of the actuators fault of the aircraft. this control scheme is composed of two components: a robust fault detection module using the modelbased observation approach and a reconfigurable controller. Besides the designing procedure, the theoretical analysis of robustness and stability of the designed FTC scheme are also contained in this article. And finally, the availability of the proposed scheme is verified through numerical simulation. © 2012 IEEE.

关键词： Fault detection

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Real-time generation of a continuous acceleration trajectory for mobile robots

Real-time generation of a continuous acceleration trajectory...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Yin, Penghui Xiong, Rong Wu, Jun Wu, Yonghai State Key Laboratory of Industrial Control Technology Zhejiang University No. 38 Zheda Road Hangzhou 310027 China Zhejiang Guozi Robot Technology Co. Ltd. No. 309 Liuhe Road Hangzhou 310052 China

ISBN: (纸本)9781467312776

this paper presents an algorithm for solving realtime trajectory generation for mobile robots with parameterized control method. A double-S velocity profile is extended by a bisection technique to get free initial acceleration. By introducing this extended double-S velocity profile with limited jerk for transitional velocity control and a polynomial function for rotational velocity control, the algorithm achieves continuous acceleration control in a smooth manner. the algorithm can be used as a part of high-level path planner with low computational complexity. the implementation on a real vehicle verifies the feasibility and efficiency of the proposed algorithm. © 2012 IEEE.

关键词： Mobile robots

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Automatic function-isomorphic configuration recognition and control for UBot modular self-reconfigurable robot

Automatic function-isomorphic configuration recognition and ...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhu, Yanhe Li, Ge Wang, Xiaolu Cui, Xindan State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

Versatility of configurations is a significant feature for modular self-reconfigurable robots. For an arbitrarily assembled typical configuration, it is not easy to find the control method quickly in case of the symmetries of the configuration and module shape. To solve this problem, a database with lots of known configurations has been established. All the configurations in the database have their own control methods which have been studied before. therefore, the way for matching the new configuration to one existing configuration in the database is quite important in locomotion and self-reconfiguration control of the self-reconfigurable robotic system. A combined configuration recognition method based on Matlab graphisomorphism function and improved three-dimensional linked list of modules algorithm was proposed. Firstly we use graphisomorphism function to find the configurations sharing the same underlying graph structure, then use improved three-dimensional linked list algorithm to acquire the ID and gait mappings. the method has been verified by simulation and experiment. © 2012 IEEE.

关键词： Modular robots

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Study on launch control strategies of dual clutch transmission

Study on launch control strategies of dual clutch transmissi...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhang, Jinle Guo, Jing Gui, Lin Science and Technology on Vehicle Transmission Laboratory China North Vehicle Research Institute Beijing China

ISBN: (纸本)9781467312776

A simulation model was built by means of Matlab/Simulink in order to study the launch process for a heavy duty truck equipped with a dual clutch transmission (DCT). Clutch thermal problem is a challenge for further application of DCT on heavy duty vehicles. A fuzzy control method with full consideration of clutch critical thermal energy value was proposed. In order to further reduce the friction work on the clutch during launch process, an improved control method was proposed, which involves two clutches participation during launch process. Two clutches participation can share the total friction work, thus decreases the risk of clutch warping, deformation and erosion. Simulation results show that this control method can result into better launch quality. the simulation model and proposed control strategies can provide a useful engineering tool for further development of such transmission. © 2012 IEEE.

关键词： Simulink

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A PD control scheme for passive dynamic walking based on series elastic actuator

A PD control scheme for passive dynamic walking based on ser...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhao, Jie Liu, Xinyu Zang, Xizhe Wu, Xiaoguang Department of Mechanical Engineering Harbin Institute of Technology Harbin Harbin Heilongjiang Province China

Using a complaint actuator is necessary and one of the most important factor for a passive biped robot to get a natural gait which is an unique feature of 9;passive dynamic walking9;, so how to control the compl... 详细信息

ISBN: (纸本)9781467312776

Using a complaint actuator is necessary and one of the most important factor for a passive biped robot to get a natural gait which is an unique feature of 'passive dynamic walking', so how to control the complaint actuator well is very important. In this paper we choose the Series Elastic Actuator (SEA) as our complaint actuator, improve its structure, and propose a PD control scheme based on the SEA to obtain a higher control accuracy of the swing-leg's desired angle and a more natural gait of the walking. We built a passive biped robot prototype with an upper body that is fully passive by using bisecting mechanism, and finally the PD control scheme was proved effective by both simulation and prototype experiment. © 2012 IEEE.

关键词： Actuators

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A new DMOC-based approach to solve Goddard rocket problem

A new DMOC-based approach to solve Goddard rocket problem

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Zhang, Jiawei Zhang, Weizhong Shan, Jiayuan Key Laboratory of Dynamic and Control of Flight Vehicle Beijing Institute of Technology Haidian District Beijing China

A new methodology - DMOC (Discrete Mechanics and Optimal control) is presented to solve the classic Goddard rocket problem. this method firstly discretizes the Lagrange-d9;Alembert principle for the rocket system, ... 详细信息

ISBN: (纸本)9781467312776

A new methodology - DMOC (Discrete Mechanics and Optimal control) is presented to solve the classic Goddard rocket problem. this method firstly discretizes the Lagrange-d'Alembert principle for the rocket system, the resulting forced discrete Euler-Lagrange equations then serve as constraints for the optimization of a given cost functional. therefore the optimal control problem is converted into a nonlinear programming (NLP) problem, which is modelled in AMPL (Advanced Mathematical Programming Language) and solved in a solver named as IPOPT (Interior Point Optimizer). Finally, the DMOC-based approach successfully solves the Goddard rocket problem, which is a terminal free, singular optimal control problem with path constrain;the results are proved reliable and effective by comparison with the results of conventional solution and statistical analysis. © 2012 IEEE.

关键词： Equations of motion

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Robust adaptive backstepping path tracking control for cable laying vessel based on guidance strategy

Robust adaptive backstepping path tracking control for cable...

引用

2012 9th IEEE international conference on Mechatronics and automation, ICMA 2012

作者： Fu, Mingyu Zhang, Aihua Xu, Jinlong College of Automation Harbin Engineering University Harbin Heilongjiang Province China

ISBN: (纸本)9781467312776

In order to ensure the cables are laid on set paths during offshore cable laying and burying operations, a novel control method with adaptive robustness for dynamic positioning cable laying vessels is proposed. A guidance strategy used to calculating the vessel desired position vector from set cable laying paths is proposed. the uncertain parameters matrix of the vessel without extra sensors on cable laying equipment is estimated, and disturbances from environment and cable plough are compensated for by the nonlinear adaptive method. the global asymptotic stability of the closed-loop system is proved. Simulation results show that, with the proposed control method, the closed-loop system has stability and robustness to large disturbances, the position and speed response of the vessel is fast, and cables are laid on the set paths accurately. © 2012 IEEE.

关键词： Electric cable laying

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