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Kinematic joint matrix and block diagram for a group of parallel manipulators

ROBOTICA 2023年第3期41卷 939-961页

作者： Zou, Qi Zhang, Dan Huang, Guanyu York Univ Lassonde Sch Engn Toronto ON Canada Zhejiang Lab Intelligent Robot Res Ctr Hangzhou Peoples R China

There are various matrices to represent parallel mechanisms. It is essential to design a kind of approach to not only denote the parallel structures but also disclose the joint directions. In this paper, a novel methodology called the kinematic joint matrix (KJM) is proposed. It possesses the mapping relations with parallel manipulators with three kinds of kinematic joints. The size of such matrix is smaller when compared with that of topology matrix. A series of two to six degrees-of-freedom parallel architectures is denoted by the KJM. A convenient approach using a special block diagram is introduced to distinguish various kinds of kinematic joint matrices. In addition, detailed comparisons between KJM and topology matrix are investigated. Three regulations are proposed for the latter to be applicable to parallel mechanisms.

关键词： parallel manipulator kinematic joint matrix block diagram topology matrix

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Modeling and Control of Irrational Fractional-Order System and Its block diagram Simulation 34

Modeling and Control of Irrational Fractional-Order System a...

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34th Chinese Control and Decision Conference (CCDC)

作者： Chen, Lanfeng Xue, Dingyu Cui, Xinshu Shenyang Normal Univ Coll Phys Sci & Technol Shenyang 110034 Peoples R China Northeastern Univ Sch Informat Sci & Engn Shenyang 110004 Peoples R China

ISBN: (纸本)9781665478960

The use of fractional-order to describe an actual system can better reveal its essential characteristics and its behavior. The description and analysis of an irrational fractional-order system are more complicated than that of a rational fractional-order system. To solve this difficulty, this paper studies its system identification and controller design for the characteristics of such systems. Firstly, based on the frequency domain response data of these systems, combined with the optimization algorithm to realize the rationalization of them, the curves fitting are used to illustrate the correctness and effectiveness of the identification algorithm. Then, based on the identified rational models, the optimum controllers are designed. Step response comparison shows that the performance of fractional-order controllers is superior to that of traditional integer-order controllers. Finally, through the block diagram implementation, the effectiveness and correctness of the fractional-order controller design are explained.

关键词： irrational fractional-order system frequency domain response data optimization algorithm optimum controllers block diagram

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Modeling and Control of Irrational Fractional-Order System and Its block diagram Simulation

Modeling and Control of Irrational Fractional-Order System a...

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第34届中国控制与决策会议

作者： Lanfeng Chen Dingyu Xue Xinshu Cui College of Physics Science and Technology Shenyang Normal University School of Information Science and Engineering Northeastern University

ISBN: (纸本)9781665478977

The use of fractional-order to describe an actual system can better reveal its essential characteristics and its *** description and analysis of an irrational fractional-order system are more complicated than that of a rational fractional-order *** solve this difficulty,this paper studies its system identification and controller design for the characteristics of such ***,based on the frequency domain response data of these systems,combined with the optimization algorithm to realize the rationalization of them,the curves fitting are used to illustrate the correctness and effectiveness of the identification ***,based on the identified rational models,the optimum controllers are *** response comparison shows that the performance of fractional-order controllers is superior to that of traditional integer-order ***,through the block diagram implementation,the effectiveness and correctness of the fractional-order controller design are explained.

关键词： irrational fractional-order system frequency domain response data optimization algorithm optimum controllers block diagram

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Improvement of Mason Rule for Solving the Complicated block diagram

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RECENT ADVANCES IN ELECTRICAL & ELECTRONIC ENGINEERING 2019年第6期12卷 543-553页

作者： Jiang, Wen-M Chen, Chung C. Chen, Yen T. Cao, Li J. Dongguan Univ Technol City Coll 1 Wenchang Rd Dongguan Guangdong Peoples R China Feng China Univ Dept Automat Control Engn 100 Wenhwa Rd Taichung 40724 Taiwan Natl Chung Hsing Univ Grad Sch Dept Elect Engn 145 Xingda Rd Taichung 402 Taiwan

Background: This study fast efficiently applies the previous result Chen Electrical Unifying Approach (CEUA) utilized in the basic circuit theory to construct the control system matrix equation of the complicated block diagram. Methods: Based on the simple matrix operations proposed in this study, we can easily derive the transfer function without using the traditional Mason rule and the reduced techniques of the block diagram. We have successfully proposed a unifying approach to improve the disadvantages of the Mason rule, in which all loops must be found out and only the transfer function between the input node and the output node is evaluated, and the shortcoming of the reduced techniques for the block diagram is that the calculating process is too complex to be accepted. Results: The salient features of the proposed method are that the transfer function of the complicated block diagram can be easily obtained without using traditional Mason rule and the transfer function of any two nodes is immediately derived within only one calculation. Conclusion: We compared some demonstrated examples with some traditional approaches. Moreover, to demonstrate the practical applicability, the study has investigated one practical example.

关键词： Mason rule reduced techniques block diagram transfer function Chen Electrical Unifying Approach (CEUA) PI controller

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Reliability block diagram Extensions for Non-Parametric Probabilistic Analysis 10

Reliability Block Diagram Extensions for Non-Parametric Prob...

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10th Annual IEEE International Systems Conference (SysCon)

作者： Davis, Philip C. Thornton, Mitchell A. Manikas, Theodore W. Southern Methodist Univ Darwin Deason Inst Cyber Secur Dallas TX 75205 USA

ISBN: (纸本)9781467395199

Multi-Valued Reliability block diagrams (MVRBD) are introduced as a generalization of classical reliability block diagrams (RBD) commonly used in system analysis. MVRBD offer the advantage of allowing systems and subsystem components to be modeled with arbitrary hazard failure rate relationships. MVRBD are based upon a multiple-valued discrete switching algebra that is functionally complete with constants thereby affording a corresponding model to be formulated for any system that is capable of being modeled in a reliability block diagram form. The utility of this new model is that system failure and reliability analysis can be performed without restricting component hazard rate relationships to the binary case of either "failure" or "fully operational." The incorporation of any desired number of "degraded" states into the MVRBD model allows for non-parametric probability mass functions (pmf) to be used. Any arbitrary number of intermediate system states of "degraded" may be incorporated into the MVRBD model without significant increase in the complexity of the analyses methodologies.

关键词： system reliability block diagram hazard rate reliability degraded system analysis multi-valued algebra non-parametric pmf

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Bstj 40: 3. May 1961: a block diagram Compiler. (Kelly, John L. Jr.;Lochbaum, Carol;Vyssotsky, V.A.)

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2016年

Bstj 40: 3. May 1961: a block diagram Compiler. (Kelly, John L. Jr.; Lochbaum, Carol; Vyssotsky, V.A.) by published by

关键词： (kelly, block block diagram blodi box carol circuit closed loop compiler compiler. delay input loop main loop object program output program signal signal number source program system technical tap gains telephone laboratories uncompiled boxes

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Bstj 45: 3. March 1966: Digital Computer Simulation of Sampled-Data Communication Systems Using the block diagram Compiler: Blodib. (Golden, Roger M.)

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2016年

Bstj 45: 3. March 1966: Digital Computer Simulation of Sampled-Data Communication Systems Using the block diagram Compiler: Blodib. (Golden, Roger M.) by published by

关键词： (golden, adb bandpass bell system block block diagram blodib blodib. coding communication communication system communication systems compiler: computer simulation digital digital computer excitation fraction expansion partial fraction simulation system system technical transfer functions vocoder

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Reliability block diagram Extensions for Non-Parametric Probabilistic Analysis

Reliability Block Diagram Extensions for Non-Parametric Prob...

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Annual IEEE International Systems Conference

作者： Philip C. Davis Mitchell A. Thornton Theodore W. Manikas Darwin Deason Institute for Cyber Security Southern Methodist University

ISBN: (纸本)9781467395205

关键词： System reliability block diagram Hazard rate Reliability Degraded system analysis Multi-valued algebra Non-parametric pmf block diagram system failures Probabilistic analysis Reliability analysis

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Research and Simulation Analysis of Fuzzy Intelligent Control System Algorithm for a Servo Precision Press

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APPLIED SCIENCES-BASEL 2024年第15期14卷

作者： He, Yanzhong Luo, Xiang Wang, Xingsong Southeast Univ Sch Mech Engn Nanjing 211102 Peoples R China

With the rapid development of the manufacturing industry toward intelligence and flexibility, traditional mechanical presses are unable to meet the increased stamping requirements due to the difficulties in achieving variable speed control and changing slide motion trajectories. Servo presses, driven directly by servo motors, can realize the flexible control of press movement and have become the trend in the industry for future development. The independent research and development of servo press control systems has become a popular topic and challenge in the domestic press industry. This paper proposes a new type of press transmission mechanism suitable for high-precision stamping, analyzes the working principle of its transmission mechanism, and provides a detailed analysis and discussion on the main research methods of fuzzy intelligent control for servo presses, including fuzzy model and basic control algorithms, fuzzy modeling and control of nonlinear systems, fuzzy predictive control, and stability analysis of fuzzy control systems. Based on the principle of the control scheme, a closed-loop control system block diagram and mathematical model for servo high-precision presses are established. Taking the physical prototype parameters of the STSZG1-250 as an example, the control system is dynamically simulated and verified using Simulink modules. Finally, their role and effects in intelligent control, and prospects for the development of fuzzy intelligent control, are discussed.

关键词： press high-precision servo controller intelligent algorithm fuzzy control stability block diagram Simulink simulation

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Power Transmission Rule Described by block diagram 3

Power Transmission Rule Described by Block Diagram

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3rd Asian Pacific Conference on Mechanical Components and Control Engineering (ICMCCE)

作者： Chen Yu Long Bao Hai North China Elect Power Univ Sch Elect & Elect Engn Beijing 102206 Peoples R China

ISBN: (纸本)9783038353126

Analytically describing the relationship among steady-state power flow numerical values is a significant proposition. Because the block diagram has the ability to describe the signal transmission analytically, we choose this method to study the steady-state grid's power transmission rule. Each node or branch is chosen as a basic power transmission unit, and the ratio between the unit's output power and input power is defined as power transmission gain. The power transmission relationship of each unit can be established according to the circuit analysis, and then the block diagram of each unit can be built on the basis of above relationship. Finally, a block of the whole power grid can be drawn according to the basic units' connection relationships. The transmission relationship of the whole power grid was analytically expressed by the block diagram simplification method.

关键词： steady state power transmission block diagram analytical description

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