The exact solutions for active instability control of strut is demonstratedin this Note by using displacement and velocity feedback methods. A comparative study of thecombined displacement and velocity feedback method...
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The exact solutions for active instability control of strut is demonstratedin this Note by using displacement and velocity feedback methods. A comparative study of thecombined displacement and velocity feedback method is shown with respect to energy *** feedback increases the effective stiffness of the structure and velocity feedbackaugments its damping. Hence, displacement feedback is necessary to reduce the amplitude of vibrationand velocity feedback is necessary to attenuate it more rapidly. A judicious selection ofdisplacement and velocity feedback is required for optimum energy consumption in control.
The paper discusses the development of an associative, neural network as an on-line algorithm to train and control a fire-fighting robot. Learning is externally supervised with encoded target actions. The robot acquir...
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The paper discusses the development of an associative, neural network as an on-line algorithm to train and control a fire-fighting robot. Learning is externally supervised with encoded target actions. The robot acquires basic navigation skills as well as the ability to detect a fire and to extinguish it.
It will be shown that optimal control techniques can be employed to drive the numerical error (truncation, roundoff, commutation) in computing the quaternion vector to zero. It is also interesting to note that the nor...
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It will be shown that optimal control techniques can be employed to drive the numerical error (truncation, roundoff, commutation) in computing the quaternion vector to zero. It is also interesting to note that the normalization of the quaternion can be carried out by suitable choice of a performance index, which can be optimized. The method of normalization presented here can also be easily implemented if one simulates the quaternion differential equation on an analog computer.
This paper considers the design of control feedforward histories to obtain desired outputs, using inverse and optimal control methods. Some advantages and disadvantages of both methods are presented. The slow roll man...
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This paper considers the design of control feedforward histories to obtain desired outputs, using inverse and optimal control methods. Some advantages and disadvantages of both methods are presented. The slow roll maneuver of an aircraft is used as an example. A nonlinear inverse solution for this example was given previously;for apparently reasonable specified outputs, namely a roll angle history and a straight flight path, the control inputs and the aircraft sideslip are infeasible and the maneuver is not coordinated (large sideforce). Using optimal control, the mean square control inputs are minimized with only the final roll angle specified. The result is a well-coordinated maneuver with small sideslip, reasonable control amplitudes, and small deviations from the straight flight path.
It was established that the dynamics of an evaporator show markedly asymmetric responses. These phenomena are closely related to the response of the liquid level which directly affects the heat capacity. What is more,...
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It was established that the dynamics of an evaporator show markedly asymmetric responses. These phenomena are closely related to the response of the liquid level which directly affects the heat capacity. What is more, the time constants of an evaporator are so large that the transfer functions expressing uranium product evaporator are better approximated by a form representing no self-regulation. Examination of the controllability aspects of three different control algorithms, i. e. control by boiling point raising, cascade control and multivariable control, resulted in the conclusion that the last-mentioned algorithm is superior to the two others for controlling the uranium concentration which is the most important element in uranium product evaporation.
The problem of adaptive control over multidimensional nonlinear dynamic objects with the use of a neural network model is considered. To train the model, a recurrent least-squares method with exponential weighing of i...
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The problem of adaptive control over multidimensional nonlinear dynamic objects with the use of a neural network model is considered. To train the model, a recurrent least-squares method with exponential weighing of information and, to control an object, the multidimensional Kaczmarz algorithm are used. The results of an experimental investigation of the approach proposed are given.
Ocean wave propagation is slow, visible and measurable, so a wave theory can be used to approximately predict the imminnent wave force on an offshore structure based on measured, real-time wave elevation near the stru...
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Ocean wave propagation is slow, visible and measurable, so a wave theory can be used to approximately predict the imminnent wave force on an offshore structure based on measured, real-time wave elevation near the structure. This predictability suggests the development of a more efficient algorithm, than those that have been developed for structures under wind and seismic loads, for the active vibration control of offshore structures. The present study delveops a mutiple-step predictive optimal control (MPOC) algorithm that accounts for multiple step external loading in the determination of optimal control forces. The control efficiency of the newly developed MPOC algorithm has been Investigated under both regular (single-frequency) and irregular (multiple-frequency) wave loads, and compared with that of two other well-known optimal control algorithms: classical linear optimal control(CLOC) and instantaneous optimal control(IOC).
This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-b...
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This paper describes the development of a hybrid-powered wheelchair (HPW) for the elderly. The proposed HPW has novel mechanical and control features compared with conventional powered wheelchairs. An ergonomic back-braking mechanism was designed in order to stop the wheels easily. In terms of control features, the HPW remarkably reduces the muscle power required by combining various assistive functions, such as wheel torque assistance, friction/inertia compensation, gravity compensation, and the one-hand driving algorithm. For wheel torque assistance, strain gauges were attached to the hand-rim in order to measure the wheel torque applied by a human. Gyroscopes and an accelerometer were attached to the wheel and chair respectively for friction and inertia compensation. An inclinometer was attached for gravity compensation and the one-hand driving algorithm was included for patients who can only use one hand. The one-hand driving algorithmcontrols the angular velocity of the uncontrolled wheel by using a gyroscope and pressure sensors attached to the bottom of the seat. Finally, the performance of the proposed motion assisted algorithm was verified through various experiments.
The construction of fuzzy control rules has been mainly based on the operator's control experience or actions. However, there exist obvious weaknesses about it: (1) It is not easy to obtain the experience. (2) The...
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The construction of fuzzy control rules has been mainly based on the operator's control experience or actions. However, there exist obvious weaknesses about it: (1) It is not easy to obtain the experience. (2) The control algorithms can not always be optimal. (3) There is no quantity relation between the controller and the object, which is not helpful for solving problems such as stability and optimal control. This paper gives a new method of constructing the fuzzy controller which is based on the fuzzy mathematical model of the object. In a laboratory example, the control of the temperature of an electrical furnace, this approach was used. The result demonstrates its feasibility and effectiveness.
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