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Stability modelling and control algorithm of electric vehicle power steering

INTERNATIONAL JOURNAL OF HEAVY VEHICLE SYSTEMS 2022年第6期29卷 596-613页

作者： Guo, Jianwei Lv, Yongbo Zhang, Han Beijing Jiaotong Univ Sch Traff & Transportat Beijing 100044 Peoples R China

In the traditional proportion integral differential (PID) power steering stability modelling and control algorithm, the road control process lacks auxiliary control, the real-time performance is poor, and the stability is low. In view of this situation, a stability modelling and control algorithm of electric vehicle steering system is proposed. The simulation models of steering system, motor system and frame system are established by using the simulation tools of MATLAB software. The test results show that the lateral acceleration control algorithm of electric vehicle is -0.4 to -0.72 g, 17.5 degrees/s and 22 degrees/s respectively under the control of input angle of 3 degrees/s to 17.5 degrees/s, stability of 22 degrees/s, stability of 0.4 to -0.3 g and -0.33 to -0.72 g.

关键词： control algorithm electric power steering the steering gear auxiliary control PID proportion integral differential EPS real-time performance

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Construction of control algorithm in the problem of the planar motion of a friction-powered robot with a flywheel and an eccentric weight

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APPLIED MATHEMATICAL MODELLING 2021年第Part2期89卷 1517-1527页

作者： Dosaev, Marat Samsonov, Vitaly Hwang, Shyh-Shin Lomonosov Moscow State Univ Inst Mech Michurinsky Prosp 1 Moscow 119192 Russia Chien Hsin Univ Sci & Technol Dept Mech Engn 229 Chien Hsin Rd Jhong Li Dist 32097 Taoyuan County Taiwan

A robot supported by two points on a supporting rough plane is considered. The robot is driven by displacement of internal masses and friction against the surface of the support. The robot body contains two motors that rotate one unbalanced rotor (eccentric weight) and one flywheel. A mathematical model of a plane-parallel robot motion is constructed. Friction is modeled using Coulomb's law. The angular accelerations of the rotor and the fly-wheel are used as control functions. A technique is proposed for evaluating the coefficient of friction between the robot body and the supporting plane. An algorithm for controlling the motion of the robot body in the desired direction using the obtained value of the coefficient of friction is proposed. An estimate of the implementation time of the algorithm is given. To assess the achievable body speed, a numerical calculation is implemented. The rectilinear translational motion of the body is carried out for the selected set of parameters in a wide range of friction coefficients. It is shown that an increase in friction increases the acceleration efficiency. (C) 2020 Elsevier Inc. All rights reserved.

关键词： Vibration robot Dry friction Mathematical model control algorithm

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A control algorithm for a centrifuge motion simulator

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ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING 2014年第4期30卷 399-412页

作者： Kvrgic, Vladimir M. Vidakovic, Jelena Z. Lutovac, Maja M. Ferenc, Goran Z. Cvijanovic, Vojkan B. Lola Inst Belgrade 11030 Serbia

Pilots of modern combat aircraft are exposed to the devastating effects of high acceleration forces. The pilots' ability to perform tasks under these extreme flight conditions must be examined. A centrifuge motion simulator for pilot training is designed as a 3DOF manipulator with rotational axes. Through rotations about these axes, acceleration forces that act on aircraft pilots are simulated. Because of the possibilities of present actuators, it is notably difficult to produce a centrifuge that can realise all of the desired changes of the acceleration forces completely accurately. For this reason, it is necessary to make a compromise in the centrifuge's design with regard to the motor choices and link designs. A new control algorithm that contains a new algorithm for the inverse dynamics of the robots (based on the recursive Newton-Euler algorithm) and that accounts for the possible motor actions has been developed in this study. This algorithm first calculates the successive actuator torques of the links, which are required for the given motion during each interpolation period. Next, the algorithm checks whether actuators can achieve these torques, and if they cannot, it calculates the maximal successive link angular accelerations that motors can achieve. Based on this, control unit sends appropriate control inputs. As a result, the quality of the motion control is improved, and a precise calculation of the forces and the moments that act on the centrifuge links (which is necessary to calculate the link strengths) is performed. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Centrifuge flight simulator Kinematics Dynamics control algorithm Robotics

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Robust individual blade control algorithm for a dissimilar rotor

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JOURNAL OF GUIDANCE control AND DYNAMICS 2002年第5期25卷 915-923页

作者： Roget, B Chopra, I Univ Maryland Dept Aerosp Engn College Pk MD 20742 USA Univ Maryland Alfred Gessow Rotorcraft Ctr College Pk MD 20742 USA

A new control methodology is formulated for vibration reduction at the rotor hub by controlling trailing-edge flaps. The novelty of the proposed methodology lies in its ability to control each rotor blade separately and optimally, taking into account blade-to-blade dissimilarities, while using exclusively fixed-frame measurements. The controller is formulated in the time domain and adaptively generates in real time individual control inputs to the trailing-edge flaps to achieve vibration reduction. Numerical simulations using a hingeless rotor model show that the controller generates control inputs to each blade, taking blade dissimilarities into account, and successfully minimizes hub vibrations.

关键词： control algorithm Closed Loop control Helicopter Rotor Rotor Blades Optimal control Aerodynamic Properties Angle of Attack Airframes Wind Tunnel Tests Vibration Absorbers

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Grid Synchronization and Islanding Detection control algorithm for Two-stage Three-phase SPV System

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IETE JOURNAL OF RESEARCH 2023年第4期69卷 2106-2119页

作者： Gupta, Nikita Garg, Rachana Kumar, Parmod Himachal Pradesh Univ Univ Inst Technol Dept Elect Engn Shimla India

Integration of distributed energy sources (DER) with the conventional grid through power electronic interface has emerged as a boon for reliable and good quality power to end-users. The existing control algorithms for the power electronic interface are normally feedback algorithms which help in grid synchronization and effective power dispatch. In this work, an adaptive feedforward-feedback control algorithm is proposed for optimal solar power management of two-stage three-phase grid-integrated solar photovoltaic (SPV) system. Proposed control algorithm enables feeding of SPV energy to load and into the grid, and also act to balance grid currents, compensates reactive power, eliminates harmonics and protect load and source during adverse islanding condition. Phase-locked loop (PLL) used in the feedback part of the algorithm facilitates the effective synchronization of the SPV system. Asymmetric fuzzy logic control (FLC) is used for DC-link voltage stabilization during load variation. Feedforward algorithm ensures fast dynamic response for variable atmospheric and grid operating conditions. Moreover, for protection of SPV arrays and the loads coupled at point of common coupling (PCC), islanding detection followed by interfacing inverter shutdown feature is added in the proposed algorithm. Quantitative analysis of the system is provided in order to investigate the effectiveness of the proposed algorithm. The effectiveness of the algorithm is evaluated using simulation studies performed on MATLAB/ Simulink software.

关键词： control algorithm distributed energy sources (DER) grid-integration phase-locked loop solar photovoltaic (SPV)

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A new control algorithm for increasing efficiency of PEM fuel cells - Based boost converter using PI controller with PSO method

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INTERNATIONAL JOURNAL OF HYDROGEN ENERGY 2024年 75卷 1-11页

作者： Yakut, Yurdaguel Bentesen Dicle Univ Engn Fac Elect & Elect Engn Dept TR-21280 Diyarbakir Turkiye

The single-stack fuel cell system is utilized extensively in several industries. Unfortunately, the main problems are its low efficiency and durability, and unsatisfied reliability, especially in the high-power situation. Due to its significant performance, which includes high output power, durability, and reliability, multi-stack fuel cell systems (MFCS) are becoming more and more attractive. In this study, it is aimed to develope a control algorithm in parallel structure in the Matlab/Simulink software for the efficient use of hydrogen fuel consumption of PEM fuel cells - based boost converter using PI controller with PSO method. Models of both single and parallel connected PEM fuel cells were created in Matlab using mathematical equations in this paper. The analysis made in the study were applied for both models. PEMFCs were connected in parallel and only one DC-DC converter was used for the entire system. According to the load change, the required number of cells are activated due to control algorithm to provide the required power. As a result, the proposed method reduces hydrogen consumption by approximately 5 times under the same load, while optimized parameters reduce output voltage oscillation.

关键词： PEM fuel cell control algorithm Parallel structure Hydrogen fuel consume PSO

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A novel control algorithm for static series compensators by use of PQR instantaneous power theory

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2004年第3期19卷 814-827页

作者： Lee, SJ Kim, H Sul, SK Blaabjerg, F Seoul Natl Univ Sch Elect Engn & Comp Sci Seoul South Korea Cheonan Natl Tech Coll Dept Control Engn Chungnam 330717 South Korea Aalborg Univ Inst Energy Technol Aalborg Denmark

This paper describes an algorithm and the related implementations to control static series compensators (SSCs). Directly sensed three-phase voltages are transformed to p-q-r coordinates without time delay, then the reference voltages in p-q-r coordinates become very simple form: single dc value. The controller in p-q-r coordinates is very simple and clear, has better steady state and dynamic performance. The controlled variables in p-q-r coordinates are then inversely transformed to the original a-b-c coordinates without time delay, generating control signals to SSCs. The control algorithm can be used for various kinds of SSCs such as dynamic voltage restorer (DVRs), series active filters (SAFs), synchronous static series compensators (SSSCs), bootstrap variable inductances (BVIs). The control algorithm was applied to a DVR system. The experimental results verified the performance of the proposed control algorithm.

关键词： control algorithm PLL PQR instantaneous power theory reference wave generator static series compensator voltage sags

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Development of a control algorithm for a Static VAR Compensator Used in Industrial Networks

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JOURNAL OF POWER ELECTRONICS 2014年第4期14卷 754-763页

作者： Spasojevic, Ljubisa Papic, Igor Blazic, Bostjan Univ Ljubljana Fac Elect Engn Ljubljana Slovenia

In this paper a method for the development of a static VAR compensator (SVC) control algorithm is presented. The proposed algorithm has been designed with the objective of eliminating the negative impact of electric arc furnaces on the power system. First, a mathematical model of the proposed SVC controller in the d-q synchronous rotating coordinate system is developed. An analysis under dynamic and steady state conditions is also carried out. The efficiency of the presented controller is demonstrated by means of computer simulations of an actual steel-factory network model. The major advantages of the proposed controller are better flicker compensation, increased ability to regulate voltage and the need for only one-point network measurements.

关键词： control algorithm Electric arc furnaces Flicker SVC TCR Voltage fluctuation

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Projectile Fire-control algorithm in a Spatially Varying Wind Field

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JOURNAL OF AEROSPACE INFORMATION SYSTEMS 2013年第11期10卷 497-512页

作者： Kaviratna, Lakmal Costello, Mark Slegers, Nathan Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA Georgia Inst Technol Sch Aerosp Engn Sch Mech Engn Atlanta GA 30332 USA Univ Alabama Dept Mech & Aerosp Engn Huntsville AL 35899 USA

The fire-control solution is an important element of any modern weapon system, providing precise aiming of the gun to enable highly accurate projectile impact. To be practical, the fire-control solution must be computed rapidly and reliably while simultaneously including all pertinent physical effects that can alter the trajectory and impact point. Current fire-control solutions account for the effect of atmospheric wind in a rudimentary manner, typically assuming a constant crosswind that is estimated in the field or measured at the firing site. With the advent of advanced wind-measurement systems (light detection and ranging, for example), it is now possible to accurately measure three-dimensional wind velocities at numerous points approximately along the path of a direct-fire projectile. This article first shows the importance of wind knowledge along the line of fire for accuracy, particularly for long-range direct-fire shots. Then, a method to compute the fire-control solution of a projectile is defined, including the effect of exactly known spatially varying winds. By using a modified form of projectile linear theory that incorporates three-dimensional linearly varying atmospheric winds, a closed-form fire-control solution is obtained. Moreover, the solution can be rapidly computed. The key to the algorithm is partitioning the projectile linear-theory state-transition matrix in an input-output form that enables the aiming solution to be computed in terms of a desired impact point and measured atmospheric winds. The application of this algorithm is restricted to flat-fire trajectories where the angle of attack of the projectile remains low throughout because this is the key limitation of the projectile linear theory that must be maintained. The proposed algorithm is exercised on an example fire-control problem for such flat-fire trajectories with excellent results.

关键词： Fin Stabilized Projectiles control algorithm Aerodynamic Angle Light Detection and Ranging System Modern Weapon Systems Three Degrees of Freedom Aerodynamic Coefficients Monte Carlo Simulation Yaw Damping Coefficient

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A control algorithm for a vertical five-axis turning centre

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2012年第5-8期61卷 569-584页

作者： Kvrgic, Vladimir Dimic, Zoran Cvijanovic, Vojkan Ilic, Dragomir Bucan, Mirko Lola Inst Belgrade 11030 Serbia

It is very useful to accomplish turning and five-axis milling, drilling and boring in only one setup, which is possible on five-axis turning centres. In this paper, we present a control algorithm for this machine with two translational and three rotational axes. The turning centre has a two rotary axis head with axes that do not intersect. This increases the possibility of machining and allows for certain types of machining without the machine taking the singular positions. The high angular speed of the table required for turning causes heating of the table-bearing support and base thermal deflection. If milling or drilling is done immediately after turning, the motion of the machine axis should be corrected to eliminate the error in machining that arises because of the deflection, a correction that has been done in this paper. The solution for the forward and inverse kinematics for this type of machine allows for programming the machine motion as if the machining were performed on a five-axis gantry milling machine. This has essentially facilitated machine programming.

关键词： Vertical five-axis turning centres control algorithm Thermal errors

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