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MOTOR control algorithm FOR AN OPTIMAL ENGINE OPERATION OF POWER SPLIT HYBRID ELECTRIC VEHICLE

INTERNATIONAL JOURNAL OF AUTOMOTIVE TECHNOLOGY 2015年第1期16卷 97-105页

作者： Hong, S. Kim, H. Kim, J. Sungkyunkwan Univ Dept Mech Engn Gyeonggi 440746 South Korea Andong Natl Univ Dept Mech & Automot Engn Gyeongbuk 760749 South Korea

In the power split hybrid electric vehicle(HEV), since the two motors are used to assist the engine or to charge the battery, it is essential how to control the two motors while minimizing the fuel consumption and satisfying the driver's demand. In this paper, a motor torque control algorithm of a power split HEV is investigated for optimal engine operation. The control algorithm is designed in such a way that it could control the torques of two motors, MG1 and MG2 to enable the engine to operate on the optimal operation line according to the engine power and battery power that can be determined from the driver's acceleration intention. To verify the performance of the proposed control algorithm, a dual mode power split REV is designed using two planetary gears. It is verified that the engine could be in operation at around the optimal operation line while satisfying the desired battery power limitation, using the MG1 and MG2 torque control algorithm proposed in this study.

关键词： Hybrid electric vehicle Power split Planetary gear Engine optimal operation line control algorithm

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Fault-Tolerant control algorithm for a Four-Corner Closed-Loop Air Suspension System

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2011年第10期58卷 4866-4879页

作者： Kim, Hyunsup Lee, Hyeongcheol Hanyang Univ Dept Elect Engn Seoul 133791 South Korea

This paper presents a new systematic control and fail-safe design methodology for a four-corner closed-loop air suspension (CLAS) system. The proposed control algorithm consists of "system control" determining the target heights of the four corners of the vehicle body from driving conditions and from the driver's commands and "actuator control" achieving the target heights by controlling actuators. A sliding-mode control with phase-compensated feedback signal is applied as the main part of the system control. With the use of the sliding-mode control, the proposed system control can improve control accuracy and robustness against delays and disturbances as well as reduce the bounce oscillation of the vehicle body. This paper proposes a stepwise height control as the actuator control to overcome the limited power of the production CLAS system. The stepwise height control adjusts the front corners and the rear corners alternately until the four corners reach their corresponding target heights. A fail-safe algorithm (FA) is also proposed to provide the fault detection (FD), diagnosis, and management of the CLAS. In particular, a model-based FD method for the pressure sensor and the height sensors, which are critical components in the CLAS control system, has been proposed. A mathematical model of a CLAS system is developed for algorithm development and simulation. The proposed control algorithm and FA are verified by simulations and actual vehicle tests.

关键词： Air suspension control algorithm fail-safe height control vehicle suspension

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Research on the control algorithm of Full Sea Heavy Load Proportional Seven-Function Hydraulic Manipulator Based on Load Sensing

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MARINE TECHNOLOGY SOCIETY JOURNAL 2023年第1期57卷 105-121页

作者： Peng, Xiaoqing Chen, Jiawang Zhou, Qixiao Jin, Zhangyong Ren, Xueyu Dai, Wendi Huang, Congchi Zhejiang Univ Ocean Coll 1 Zheda Rd Hangzhou Peoples R China Zhejiang Univ Hainan Inst Hangzhou Peoples R China

An underwater manipulator is one of the most commonly used tools in off-shore operations. In the face of the unknown environment of the deep sea and the uncertainty of the operation target, the underwater manipulator needs good con-trol stability and higher control efficiency to prevent accidents, which puts forward higher requirements for the control of the manipulator. Underwater manipulators often need to work under heavy loads and to perform tasks efficiently under light loads, which is crucial for efficient control under load. In this paper, a control algorithm based on proportion and derivative feedback control for an all sea depth load proportional hydraulic manipulator is proposed. The feasibility and progressiveness of this algorithm are verified by building kinematic and dynamic models, building physical platforms for tests, and building sea trial acceptance.

关键词： full sea heavy load proportional manipulator control algorithm and derivative

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A simulation study of the control algorithm for a ball screw type motor-driven power steering system

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING 2002年第D1期216卷 11-22页

作者： Yun, SC Cho, NG Han, CS Hanyang Univ Dept Mech Engn Ansan 425791 Kyonggi Do South Korea

The power steering system for vehicles is becoming essential for supporting the driver's steering efforts, especially for manoeuvring in parking lots. Although hydraulic power steering has been widely used for years, it is not efficient enough. The problems associated with a hydraulic power steering system can be solved by using a motor-driven power steering (MDPS) system. In this study, a dynamic model and a control algorithm for a ball screw type MDPS system have been derived and analysed by using discrete modelling technology. To improve the comfort level while steering and power steering characteristics, an additional scheme is added to the conventional power boosting control algorithm. Through simulations, the effects of the control gain on the steering angle gain in the frequency domain were verified. The steering returnability and steering torque phase lag in on-centre handling tests were also verified.

关键词： motor-driven power steering (MDPS) ball screw control algorithm steering angle gain returnability phase lag

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A Novel control algorithm of a Three-phase Four-wire PV Inverter with Imbalance Load Compensation Function

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JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY 2018年第3期13卷 1131-1137页

作者： Dinh-Vuong Le Kim, Chang-Soon Go, Byeong-Soo Park, Minwon Yu, In-Keun Changwon Natl Univ Dept Elect Engn Chang Won South Korea

In this paper, the authors suggest a new control algorithm for a three-phase four-wire photovoltaic (PV) inverter with imbalance load compensation function using conventional proportional-integral (PI) controllers. The maximum power of PV panel is calculated by the MPPT control loop. The reference varying signals of current controllers are transformed to two different rotating frames where they become constant signals. Then simple PI controllers are applied to achieve zero steady-state error of the controllers. The proposed control algorithm are modeled and simulated with imbalance load configuration to verify its performance. The simulation results show that the maximum PV power is transferred to the grid and the imbalance power is compensated successfully by the proposed control algorithm. The inverter has a fast response (similar to 4 cycles) during the transient period. The proposed control algorithm can be effectively utilized to the three-phase four-wire inverter with imbalance load compensation function.

关键词： Imbalance load control algorithm PI controller Three-phase four-wire inverter

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On delay robustness analysis of a simple control algorithm in high-speed networks

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AUTOMATICA 2002年第5期38卷 885-889页

作者： Niculescu, SI Univ Technol Compiegne HEUDIASYC UMR CNRS 6599 F-60205 Compiegne France

This paper focuses on the robustness analysis of a simple (second-order) control algorithm for data transfer in high-speed networks. The model under consideration (derived using a fluid approximation technique) can be found in lzmailov (SIAM J. Contr. Optimiz. 34 (1996) 1767). The novelty of the approach lies in characterizing the stability of the scheme in the delay-parameter space (where the delays correspond to the control-time interval, and to the round-trip time, respectively). Thus, we shall compute some delay-insensitive measures for the algorithm which give upper and lower bounds for the uncertainty in the knowledge of the round-trip times. (C) 2002 Published by Elsevier Science Ltd.

关键词： delays stability upper/lower bounds control algorithm robustness

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Reinforcement learning and neural network-based artificial intelligence control algorithm for self-balancing quadruped robot

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JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY 2021年第1期35卷 307-322页

作者： Lee, Chenghwa An, Dawn Korea Inst Ind Technol Safety Syst R&D Grp Daegyeong Div Yeongcheon Si 38822 Gyeongbuk Do South Korea

This paper proposes an artificial intelligence (AI)-based new control algorithm for a self-balancing quadruped robot. A quadruped robot is a good example of a redundant degree-of-freedom (DOF) system and is designed for locomotion over extreme terrain conditions. Even though a relevant control algorithm exerts a great effect on the performance of the locomotion control of quadruped robots, controlling them is difficult and complex because of the redundant DOF and interlocked movement of their four legs. This paper presents an effective control algorithm that can replace the typical analysis-based control theory, including inverse kinematics, differential equations of motion, and governing equations, which is based on reinforcement learning (RL) and artificial neural network (ANN). RL generates the training data to train the ANN model, and the trained ANN model is finally used to control a quadruped robot. The proposed AI-based robot-control algorithm is validated experimentally using a customized test-bed and a self-balancing quadruped robot. The results show that the proposed method is a promising new control algorithm that can replace the mathematically incomprehensible robot-control system.

关键词： Artificial intelligence (AI) Artificial neural network (ANN) control algorithm Quadruped robot Reinforcement learning (RL) Self-balancing

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Preliminary study of the X-points control algorithm for advanced divertor configuration on HL-2M

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FUSION ENGINEERING AND DESIGN 2018年 131卷 135-140页

作者： Li, J. X. Zheng, G. Y. Song, X. M. Zhang, J. H. Ma, R. Pan, Y. D. Southwestern Inst Phys Chengdu Sichuan Peoples R China

In order to study the advanced divertor physics and support the high performance plasma operation, a new control algorithm has been developed for the advanced divertor configuration (snowflake and tripod) on HL-2M. The response of the PF currents due to the change of the X-points positions has been established in this algorithm. The two X-points of the snowflake or tripod configuration can be independently controlled both at the radial and the vertical direction by this control algorithm. With this control algorithm, the preliminary simulation results have been achieved. Furthermore, with this algorithm the exact snowflake configuration can be obtained from the tripod configuration by control the X-points positions.

关键词： Snowflake X-points control HL-2M control algorithm

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Robust control algorithm designed for robotic legs of lunar-based equipment: Modeling and experiment

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ADVANCES IN SPACE RESEARCH 2024年第8期74卷 3945-3957页

作者： Chen, Zheng-Han Xu, Zhao-Dong Wang, Rui-Heng Lu, Hong-Fang Yu, Deng-Yun Yang, Jian-Zhong Zhao, Xue-Liang Hu, Zhong-Wei Zhen, Sheng-Chao Southeast Univ China Pakistan Belt & Rd Joint Lab Smart Disaster Si Pai Lou Rd 2 Nanjing 210096 Peoples R China China Aerosp Sci & Technol Corp You Yi Rd 104 Beijing 100098 Peoples R China BeiHang Univ Sch Automat Sci & Elect Engn Xue Yuan Rd 37 Beijing 100191 Peoples R China Hefei Univ Technol Sch Mech Engn Tun Xi Rd 193 Hefei 230009 Peoples R China

In lunar exploration, lunar-based equipment assumes the responsibility of mobility and transportation during the construction of unmanned lunar base. Legged robots are an important form of the lunar-based equipment due to their mobility and terrain adaptability. However, the influence of lunar terrain and lunar soil cannot be ignored when it comes to studying the mobile stability of lunar-based equipment. Utilizing the dynamic model of the robotic leg, this study proposes a new robust control algorithm, MBC (Model-Based with Continuous expression) algorithm, for lunar-based equipment's robotic leg, and its effectiveness is established through experimentation and theoretical validation with the Lyapunov second method. In the design and verification, the contact force of lunar soil and the lunar environment with low gravity are considered, indicating the applicability of the proposed MBC method in special lunar scenarios. Compared to the conventional PD (Proportional-Differential) and MPD (Model-Based Proportional-Differential) techniques, MBC robust algorithm ultimately demonstrates superior stability and rapidity with a smaller steady state error. (c) 2024 COSPAR. Published by Elsevier B.V. All rights are reserved, including those for text and data mining, AI training, and similar technologies.

关键词： Unmanned lunar based Lunar-based equipment Legged robot Dynamics control algorithm

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A control algorithm for improving the accuracy of five-axis machine tools

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INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 2014年第10期52卷 2983-2998页

作者： Kvrgic, Vladimir Dimic, Zoran Cvijanovic, Vojkan Vidakovic, Jelena Kablar, Natasa Lola Inst Belgrade 11030 Serbia

An algorithm for reducing the influence of geometrical, thermal, kinematic and stiffness errors in five-axis machine tool components on the desired tool position and orientation is given. This new algorithm is based on the calculation of the cutting tool error matrix for orthogonal machine tools. In the new model of this matrix, all angular errors of the machine links are considered as infinitesimal rotations. The error matrix is a function of the commanded machine component positions and the errors in these positions. To correct errors in the three translational and two angular tool positions, a matrix of commanded tool position and orientation is multiplied by the inverse error matrix in every period of the tool trajectory interpolation. This corrected matrix of the tool position and orientation provides the inverse kinematics used for calculation of the successive links positions required for achieving the given tool trajectory. The control algorithm for five-axis machine tools with the error compensation is implemented both in the CNC system and in the postprocessor. The proposed algorithm is applied on a vertical five-axis turning centre with two translational and three rotational axes. Twenty-four errors that could cause inaccurate machining are recognised on this machine. The machine links and their coordinate frames are denoted using the Denavit-Hartenberg parameters.

关键词： control algorithm five-axis machine tools error compensation

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