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检索条件"主题词=Control Algorithm"

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Online control and Moment of Inertia Estimation of Tethered Debris

Online Control and Moment of Inertia Estimation of Tethered ...

引用

AIAA SciTech Forum

作者： Field, Liam Bourabah, Derek Botta, Eleonora M. Mech & Aerosp Engn 211 Bell Hall Buffalo NY 14260 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

Tethered capture of space debris is a promising method of active debris removal (ADR), but has numerous well-known challenges in the post-capture phase. control of the system in this phase is complicated by nonlinear dynamics with the potential of chaotic motion, unknown debris parameters, and debris tumbling. The inherent uncertainty present in the system and the need for control often necessitate the estimation of debris states and parameters such that the post-capture system can remain controlled. To this end, a relative distance ProportionalIntegral-Derivative (PID) control and an Unscented Kalman Filter (UKF) are implemented during the post-capture phase of an ADR mission. It is assumed that some debris (target) states and properties are unknown to the chaser, requiring the estimation of the attitude, angular rates, and principal moments of inertia of the target. For estimating these states, the UKF uses measurements of the tether tension magnitude and pixel coordinates of feature points on the target provided by a camera mounted on the chaser. Both estimation and control are done simultaneously, simulating online estimation and control of an ADR mission. The PID control was found to maintain safe conditions when using the estimated states in two separate Monte-Carlo simulations, differing in the measurement frequency of the pixel coordinates, while the estimation of the principal moments of inertia of the debris was satisfactory.

关键词： Monte Carlo Simulation Space Debris Nonlinear Dynamics Proportional Integral Derivative control algorithm Attitude control Robots Extended Kalman Filter Particle Swarm Optimization Attitude Kinematics

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Research on LED lighting control method for railway vehicle carriage

Research on LED lighting control method for railway vehicle ...

引用

3rd International Conference on Advanced Engineering Materials and Technology (AEMT 2013)

作者： Zhang, Bangcheng Yin, Xiaojing Jiang, Yanqing Hu, Yanjuan Changchun Univ Technol Changchun 130012 Jilin Peoples R China

ISBN: (纸本)9783037857649

Because of the communication distance, the more nodes, the requirements of high real-time, LED lighting control system for railway vehicle carriage chooses controller Area Network (CAN) as the communication mode to achieve centralized control in all carriages. Illuminance gathered from multi-sensors which were installed on the surface of the carriages was feed back to the Industrial Personal Computer (IPC). And then, through the incremental PID control algorithm, the IPC achieve the brightness of the lighting system intelligent control for vehicle consulting brightness intensity which according to the external environment. Experiment shows that this method is practical and effective.

关键词： CAN bus control algorithm intelligent control

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control of Repetition Frequency of a Femtosecond Laser by an External Cavity Working as the Length Sensor 7

Control of Repetition Frequency of a Femtosecond Laser by an...

引用

7th Mediterranean Conference on Embedded Computing (MECO)

作者： Cip, Ondrej Pravdova, Lenka Cizek, Martin Hucl, Vaclav Hrabina, Jan Rerucha, Simon Helan, Radek Inst Sci Instruments CAS ISI Kralovopolska 147 Brno 61264 Czech Republic Network Grp Sro Olomoucka 91 Brno 62700 Czech Republic

ISBN: (纸本)9781538656839

New lasers, special digital signal processing electronics, algorithms and new materials for optics enabled development of new absolute distance measurement methods. The phenomenon of the mode-lock of the femtosecond pulse laser increased a number of potential applications with distance surveying where a stable generator of very short and periodically repeated coherent pulses can be used. The aim of the work is a presentation of our unique control algorithm for measuring the length of unknown distance with direct traceability to a time standard. The principle is based on a passive optical cavity with mirrors keeping distance to be measured. Time spacing of short femtosecond pulses generated by femtosecond laser is optically phase locked to the cavity free spectral range. A value of the repetition frequency of the laser determines the measured distance in that case.

关键词： control algorithm femtosecond laser optical cavity length sensing

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Experimental Evaluation of an Adaptive PI Rate controller for Congestion control

Experimental Evaluation of an Adaptive PI Rate Controller fo...

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IEEE International Conference on System, Man, and Cybernetic

作者： Yu, Li Ma, Maode Tianjin Univ Dept Comp Sci Tianjin 300072 Peoples R China Nanyang Technol Univ Sch Elect & Elect Engn Singapore 639798 Singapore

ISBN: (纸本)9781424423835

In order to eliminate oscillation arisen from AIMD window control strategy in TCP, an adaptive PI rate controller (PI-RCA) was proposed to smooth the traffic and to prevent network from congestion. Theoretical analysis and simulation evaluation showed that PI-RCA can make flow control system achieve stability robustness and adapt to sudden changes in network environment, thus providing the network with good transient behaviors. In this paper, we present an implemental evaluation of PI-RCA. We first implemented PI-RCA in the Linux kernel and solved various system issues. Second, we conducted some experiments to validate the previous simulation results. Compared with TCP, the experimental results show that the PI-RCA is much more easily to maximize link/per-flow utilization, to achieve fairness and nearly zero packet drops rate.

关键词： congestion control active queue management control algorithm proportional-integral control experiment

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Combustion process diagnosis and control using optical methods 5th

Combustion process diagnosis and control using optical metho...

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5th National Congress of Environmental Engineering

作者： Gromaszek, K. Kotyra, A. Wojcik, W. Imanbek, B. Asembay, A. Orakbayev, Y. Kalizhanova, A. Lublin Univ Technol Fac Elect Engn & Comp Sci Lublin Poland Kazakh Natl Tech Univ Alma Ata Kazakhstan

ISBN: (纸本)9781138031630

The paper discusses the conditions for diagnosis of combustion process using additional signals from non-invasive optical methods. This approach allows to obtain additional information about the ongoing process in an non-invasive way. The radiation emitted by the flame is a reflection of the chemical and physical reactions, occurring in the combustion process. The changes of the flame position in space results in shape fluctuations that can be interpreted as disruption of the balance results. The authors assumed that under certain conditions the shape of the flame can be an important indicator. Considering adequate emission flame spectrum, it is possible to determine the content appropriate process parameters. The optical methods based control seems to be particularly important for effective combustion and co-combustion, considering both economical and ecological factors in sense of industrial ecology.

关键词： combustion diagnosis optical methods control algorithm industrial ecology

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Improved PID algorithms with Application to Excimer Laser Temperature control 2

Improved PID algorithms with Application to Excimer Laser Te...

引用

2nd International Conference on Systems and Informatics (ICSAI)

作者： Hu, Mingqing Han, Xiaoquan Feng, Zebing Zhou, Yi Zhou, Weihu Bai, Lujun Li, Bing Chinese Acad Sci Acad Optoelect Beijing 100094 Peoples R China Hefei Univ Technol Sch Instrument Sci & Optoelect Engn Hefei 230009 Anhui Peoples R China

ISBN: (纸本)9781479954582

The stability of temperature in the chamber of excimer laser has a great effect on working performance of the excimer especially for the energy stability and useful life. So it is very important to keep the chamber temperature constantly. Based on that, a high precision temperature control system of excimer laser and two improved PID control algorithms were designed. Experimental results indicate that the designed system runs reliably and has superior control precision which provides a favorable temperature environment for the laser's operation.

关键词： excimer laser temperature control system control algorithm

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A Study on Robust Motion control of Humanoid Type Robot for Cooperative Working 15

A Study on Robust Motion Control of Humanoid Type Robot for ...

引用

15th International Conference on control, Automation and Systems (ICCAS)

作者： Hwang, Won-Jun Ha, Eun-Tae Yang, Jun-seok Lee, Hee-Seob Baek, Seung-Hack Han, Sung-Hyun Gyeongnam Technopk Co Ltd Chang Won 641465 South Korea Future Technol Inst Co Ltd Chang Won 642939 South Korea Kyungnam Univ Dept Adv Engn Chang Won 631701 South Korea Doosan Infracore Co Ltd Chang Won South Korea Doosan Heavy Ind & Construct Co Ltd Chang Won 642792 South Korea Kyungnam Univ Sch Mech Engn Chang Won 631701 South Korea

ISBN: (纸本)9788993215090

We present a new technology for real-time walking of a humanoid robot. A humanoid robot necessitates achieving stabilization for real time walking since it has basic problems such as structural stability. In this paper, a robust control algorithm for stable walking is proposed based the ground reaction forces, which are measured using force sensors during walking, and the environmental conditions are estimated from these situation. From this information the robot selects the proper motion and overcomes ground irregularities effectively. In order to generate the proper angel of the joint. The performance of the proposed algorithm is verified by simulation and experiments for a 20-DOFs humanoid robot.

关键词： Stable Walking control algorithm Humanoid Robot Robust Walking

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control Performance Evaluation to Avoid Pounding of Bridges

引用

10th International Conference on Damage Assessment of Structures (DAMAS)

作者： Heo, Gwanghee Kim, Chunggil Jeon, Seunggon Kim, Eunji Konyang Univ Dept Civil Engn Nonsan 320711 Chungnam South Korea Chungnam Natl Univ Civil Engn Dept Daejeon South Korea

ISBN: (纸本)9783037857960

Earthquake inflicts damage on bridges in various ways. In this research an experimental study was carried out to decrease the damage caused by the pounding of bridges as earthquake load was added. For the experiment, we designed a model of successive bridge composed of a reinforced concrete bridge top and I section steel. At each bridge pier was placed a rubber bearing which was frequently used for seismic isolation. As for damper, we ourselves designed and produced a MR damper of 30 KN. Five experimental conditions were given ranging from without damper, with damper but no electricity input, with damper and electricity input, each with two different algorithms. For the experiment, we inflicted a 50% reduced wave of Kobe earthquake horizontally on the model, and compared the displacements and power data under each condition. The result proved that the MR damper of our own design was effective to prevent the successive bridge model from colliding by exerting a sizable amount of influence on its displacement and power data.

关键词： Pounding of Bridge Feedback control control algorithm MR Damper

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In-Space Demonstration of Model Predictive control Approaches for Space Towing of Uncertain Loads

In-Space Demonstration of Model Predictive Control Approache...

引用

AIAA SciTech Forum

作者： Basnayake, Isuru Park, Hyeongjun Kohler, Jonathan Hudson, Jennifer Romano, Marcello New Mexico State Univ Dept Mech & Aerosp Engn 1040 S Horseshoe St Las Cruces NM 88001 USA Seoul Natl Univ Dept Aerosp Engn 1 Gwanak Ro Seoul 08826 South Korea Naval Postgrad Sch Dept Mech & Aerosp Engn 1 Univ Circle Monterey CA 93943 USA

ISBN: (数字)9781624107115

ISBN: (纸本)9781624107115

In this paper, model predictive control (MPC) approaches are implemented to deal with spacecraft maneuvering problems for cargo carrying with an uncertain load for future in-space servicing and assembly missions. First, a tube-based robust MPC approach is tested using Astrobee robots onboard the International Space Station (ISS). Its performance and capability are demonstrated when an active Astrobee moves an inactive Astrobee as an unknown object to a desired position. Second, a decentralized MPC framework is exploited to transport an unknown object to a desired location using two active Astrobees. Based on a leader-follower strategy using a virtual leader and formation constraints, the two robots can maintain a specific formation and achieve multi-agent cooperative transportation tasks. Simulation and experimental results are compared to demonstrate the decentralized MPC approach's capability.

关键词： State Space Representation Robots International Space Station Spacecraft Maneuvers NASA ames research center Finite Horizon Optimal control Reduced Order Modelling control algorithm Astronaut Unmanned Aerial Vehicle

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An Advanced control Method of Manipulator Based on Visual Servo control 35

An Advanced Control Method of Manipulator Based on Visual Se...

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35th Chinese control and Decision Conference (CCDC)

作者： Wu, Gui Zeng, Peng Jianghan Univ Educ Adm Off Wuhan Peoples R China Jianghan Univ Sch Artificial Intelligence Wuhan Peoples R China

ISBN: (纸本)9798350334722

At present, because of the shortcomings of traditional visual servo control methods, such as slow convergence speed and camera calibration, an advanced visual servo control method is based on the combination of fuzzy logic and Kalman filter, which is proposed in the paper. In the control method, Kalman filter algorithm is used to estimate image Jacobian matrix online, and fuzzy logic control algorithm is used to design variable control coefficient instead of traditional fixed control coefficient, which not only reduces convergence time of visual servo control system, but also avoids complex phase machine calibration, saves a lot of time, and improves work efficiency. Finally, the effectiveness and superiority of the proposed control method are verified by experiment simulation.

关键词： Visual Servo control control algorithm Kalman Filter Fuzzy Logic

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