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IEEE International Conference on Mechatronics & Automation

作者： Wang Hongyu Qiao Yunqian Fang Yong Li Zhiming Yuwen Zhiqiang Weichai Power CO LTD 197 AFushou East St Weifang Peoples R China

ISBN: (纸本)9781479970988

This paper is aimed to study on engine start-stop control strategy in series-parallel hybrid system. Firstly, working principle of hybrid vehicle is introduced, especially on series-parallel hybrid system and engine start-stop technology. Secondly, control algorithm of engine start-stop is developed;we discuss different transition conditions in engine states. The control algorithm is validated on a hybrid electric vehicle, and test results show that the engine can start or stop rightly when conditions satisfy, and engine also works in the high efficiency area.

关键词： hybrid electric vehicle start-stop control algorithm

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Real-time control of a Force Feedback Haptic Interface via EtherCAT fieldbus

Real-time control of a Force Feedback Haptic Interface via E...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Dang, Q. V. Allouche, B. Dequidt, A. Vermeiren, L. Dubreucq, V. Univ Valenciennes & Hainaut Cambresis UMR CNRS 8201 Lab Automat Mecan & Informat Ind & Humaines LAMIH F-59313 Le Mt Houy 9 Valenciennes France

ISBN: (纸本)9781479978007

This paper is to present a technological solution for implementing a force feedback haptic interface in the context of virtual reality interaction applications. The real-time haptic algorithms are implemented in TwinCAT runtime environment to control drivers via EtherCAT fieldbus. A 3-dimensional visualization model for the virtual reality interaction is developed through Virtual Reality Toolbox in Matlab/Simulink and interconnected with TwinCAT software through the Automation Device Specification communication protocol. The using of Matlab/Simulink with model-based programming method instead of the C++ programming language allows researchers in haptic domain to focus more on the control engineering issues than programming skills. Some experimental tests and verification of the haptic algorithms with visualization model are presented.

关键词： force feedback haptic interface virtual reality control algorithm EtherCAT fieldbus 3D visualization Matlab/Simulink

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An efficient one-step-ahead optimal control for urban signalized traffic networks based on an averaged Cell-Transmission model

An efficient one-step-ahead optimal control for urban signal...

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European control Conference (ECC)

作者： Grandinetti, Pietro de Wit, Carlos Canudas Garin, Federica NeCS Team Grenoble France GIPSA Lab St Martin Dheres France CNRS Res F-75700 Paris France Inria Rhone Alpes Montbonnot St Martin France

ISBN: (纸本)9783952426937

This paper presents a model for large urban traffic networks, based on the well-known macroscopic Cell Transmission Model. We start by describing the dynamics of traffic flow at signalized intersections. Then we develop an average-based approximation of such a system, that we use to build our control algorithm as a linear optimization problem. Simulation results validate the averaged approach and show the effectiveness of the proposed control strategy.

关键词： approximation theory linear systems optimal control optimisation road traffic control average-based approximation averaged cell-transmission model control algorithm linear optimization problem macroscopic cell transmission model one-step-ahead optimal control traffic flow urban signalized traffic networks Approximation methods Computational modeling Mathematical model Optimization Roads Vehicle dynamics Vehicles

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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 ...

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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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Automatic control of supplying the uninterrupted action loading machine at casual outside influence

Automatic control of supplying the uninterrupted action load...

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International Conference on Industrial Engineering (ICIE)

作者： Khazanovich, G. S. Otrokov, A. V. Breusov, A. N. Platov South Russian State Polytech Univ NPI Shakhty Inst Branch 1 Lenin Sq Shakhty Rostov Region Russia

ISBN: (纸本)9781510816879

The condition of the loading process research, working out the principles and installations of automatic control of supplying the loading machines with grabbing claws is considered. The experience of application of discrete control system with regulated upper and lower levels of turning in the adjusters of loading the grabbing part engines is based. The task of automatic control providing, with the consideration of occasional character of forming the load with the grabbing claws, the achievement of maximum productivity at keeping power and energy limits, is formulated. The necessary mathematical models and control algorithms, the peculiarity of which is preliminary modeling of the process, putting the results into the system of microprocessing control and consideration of deviations from the standard variant, are worked out. Using the offered system provides with the productivity increase up to 15 %, increasing the reliability and reducing labour capacity in the machine control. (C) 2015 The Authors. Published by Elsevier Ltd.

关键词： loading machine of uninterrupted action productivity of the machine automatic supply to the pile mechatronic system of control occasional character of loading to the drive maximum frequency of the drive switching on sensors of the main parameters defence from overloading turning in the adjuster of current level control algorithm

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DSP based proportional integral sliding mode controller for photo-voltaic system

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2015年第Oct.期71卷 123-130页

作者： Bhat, Subramanya Nagaraja, H. N. VTU Canara Engn Coll Dept E&C Mangalore Belgaum India Indus Univ Ahmadabad Gujarat India

The buck-boost converter is controlled using different algorithms like voltage mode control, current mode control, V-2 control, enhanced V-2 control, Sliding Mode control (SMC), and Proportional Integral (PI) control. In all these algorithms the steady state error is more. On combining PI control and sliding mode control the steady error can be minimized. In industry and commercial applications involving Photo-Voltaic (PV) systems, uses buck-boost converter. In this converter above control algorithms are implemented using hardware circuitry or microcontroller. In industry and commercial applications Digital Signal Processor (DSP) is used for automation purposes and the same DSP can be used to implement control algorithms so as to get maximum electrical energy from solar energy. The efficient utilization of resources such as DSP is achieved as we are using the same DSP for implementing control algorithm. In the proposed study, PI control method and sliding mode control methods are combined to obtain a Proportional Integral Sliding Mode control (PISMC) and it is used to control the buck-boost converter which is used to drive the electrical loads from solar energy. The buck-boost converter is designed, simulated and implemented. The algorithms PI, SMC and PISMC are simulated in using MATLAB simulink and then implemented in DSP TMS 320 2808. In the proposed study PISMC, a stable and efficient output voltage is obtained in which the steady state error and maximum overshoot are minimum. The PISMC is better in terms of transient and steady state performances as validated by our experiments. The proposed study will work in real-time since DSP is used for implementing the control algorithms and found to be better in terms of speed and regulation. The proposed DSP based PISMC can also be used to control other types of DC-DC converters. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Steady state error control algorithm DC loads Regulation

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Comparison of Preshaping Profilers for Reducing Residual Vibrations After Rest-to-Rest Maneuvers

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JOURNAL OF GUIDANCE control AND DYNAMICS 2015年第5期38卷 874-885页

作者： Kamiya, Toshio Maeda, Ken Sakai, Shin-ichiro NEC Corp Ltd Div Space Syst Fuchu Tokyo 1838501 Japan Japan Aerosp Explorat Agcy Inst Space & Astronaut Sci Sagamihara Kanagawa 2298510 Japan

Generally, spacecraft with large flexible structures have multiple flexible modes with large effective masses and various mode shapes;therefore, the presence of uncertain high-order flexible modes should be considered in high-accuracy controller design. However, most researchers have proposed input preshaping algorithms that are valid only for a few flexible modes. Consequently, when these algorithms are applied to a flexible spacecraft having uncertain high-order flexible modes, residual vibrations might not be reduced sufficiently. This paper presents a smooth feedforward control algorithm for rest-to-rest maneuvers that significantly reduces residual vibrations at the endpoint of a maneuver. The new preshaping profiler is based on a filtering technique that combines a pair of sinc functions. The new profiler is compared to several conventional preshaping profilers. In addition, residual vibrations at the endpoint of maneuvers in the presence of unknown higher modes are found to be much smaller than those in other techniques. Only a hybrid-type profiler shows similar level of small residual vibrations comparable with the new profiler. The new profiler is suitable for rest-to-rest rotational maneuvers of a flexible spacecraft, especially when fine pointing accuracy is required at the endpoint of maneuvers;such accuracy is sometimes required for missions involving scientific observations.

关键词： Flexible Structures Feedforward control algorithm Flexible Spacecrafts Satellites Structural Vibration Shape Functions Time Optimal control Frequency Domain control Moment Gyros

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Fast Three-Axis Constrained Attitude Pathfinding and Visualization Using Minimum Distortion Parameterizations

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JOURNAL OF GUIDANCE control AND DYNAMICS 2015年第12期38卷 2324-2336页

作者： Tanygin, Sergei Analyt Graph Exton PA 19341 USA

A new algorithm for designing attitude maneuver paths in the presence of multiple three-axis attitude constraints is presented. The algorithm projects the full three-axis attitude representation into a three-dimensional space using a new distortion-minimizing transformation. The projected representation is discretized on a three-dimensional Cartesian grid and the admissible regions emerge in the projected space from the discretized representation via interpolation of the constraint satisfaction across the grid points. The points are enumerated and graph search algorithms are employed to find minimum cost paths using the appropriately selected cost definitions. The paths are then smoothed and visualized alongside with the admissible regions in three dimensions. Ultimately, the paths can serve as targets for attitude tracking control algorithms.

关键词： Search algorithm control algorithm Attitude Tracking Quaternions Tracking control Communications Antenna Ground Station MATLAB Spacecraft Attitude Nonlinear control

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A Coordinated control Framework and algorithm Used for Relieving Traffic Congestion in the Scope of Exit-Ramp of the Expressway and Its Downstream Intersection

A Coordinated Control Framework and Algorithm Used for Relie...

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9th World Congress on Intelligent control and Automation (WCICA)

作者： Li, Honghai Yuan, Changliang Zhang, Jisheng Highway Minist Transport Res Inst XiTuCheng Rd 8 Beijing Peoples R China

ISBN: (纸本)9781612847009

The paper proposed a new coordinated control framework and algorithm used for relieving traffic congestion in the scope of exit-ramp of the expressway and its downstream intersection. The queue of auxiliary convergence road is selected as monitoring variable in the coordinated control algorithm, and downstream intersection cycle, split and auxiliary road green time are calculated. The control variables small-step adjustment algorithm is presented. The throughput flow duration of exit-ramp by the coordinated control strategy decreases at least 10% than by the fixed control algorithm. Combined with road network delay data, the simulation results show the effectiveness of the coordinated control algorithm.

关键词： Coordinated control control algorithm Exit-ramp queue Cycle adjustment

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Generation of a Class of Proportional Navigation Guided Interceptor Phantom Tracks

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JOURNAL OF GUIDANCE control AND DYNAMICS 2015年第11期38卷 2206-2214页

作者： Dhananjay, N. Ghose, D. Kuduvalli, A. Indian Inst Sci Dept Aerosp Engn Guidance Control & Decis Syst Lab Bangalore 560012 Karnataka India Indeed Com Online Mkt Austin TX 78731 USA

A study is conducted to obtain sufficient conditions for the existence of feasible electronic combat aerial vehicles (ECAVs) trajectories in a planar engagement scenario and then extended to the more general three-dimensional framework. The line-of-sight guidance (LOSG) law is employed to generate the feasible ECAV trajectory for implementation. The study presents a new performance index to evaluate the coherency of the phantom track. The sufficient conditions obtained for the planar case is also applicable for this general three-dimensional scenario. This extension ensures a feasible path for the ECAVs in three-dimensional (3-D), and a line-of-sight (LOS) guidance algorithm can be implemented to control the ECAVs.

关键词： Proportional Navigation RADAR Flight Path Angle Beam Rider Guidance Guidance algorithms Guidance Laws Command to Line of Sight Lead Lag Compensator control algorithm Yaw

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