Both the principle of operation and the motion-control system of a suspended robot for surface cleaning in silos are presented in this paper. The mechanical design is a reasonable compromise between basically contradi...
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Both the principle of operation and the motion-control system of a suspended robot for surface cleaning in silos are presented in this paper. The mechanical design is a reasonable compromise between basically contradictory factors in the design: the small entrance and the large surface of the confined space, and the suspension and the stabilization of the robot. The design consists of three main parts: a support unit, the cleaning robot and a cleaning mechanism. The latter two parts enter the silo in a folded form and, thereafter, the robot's arms are spread in order to achieve stability during the cleaning process. The vertical movement of the robot is achieved via sequential crawling motions. The control system is divided into two separate subsystems, the robot's control subsystem and a support-unit control subsystem, in order to facilitate different operational modes. The robot has three principle motion-control tasks: positioning the robot inside the silo, holding a vertical position during the cleaning process and a crawling movement. A scaled prototype of the robot has been implemented and tested to prove the concept, in order to make certain that the mechanical design suits the main functions of the robotic system, to realize the robot's design in an industrial version and to test it in a realistic environment.
Automotive Idle speed control is a landmark application of feedback control in automotive vehicles that continues to be of significant interest to automotive industry practitioners, since improved idle performance and...
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Automotive Idle speed control is a landmark application of feedback control in automotive vehicles that continues to be of significant interest to automotive industry practitioners, since improved idle performance and robustness translate into better fuel economy, emissions and drivability. As the typical automotive transient operation, the quality of the ISC has a significant impact on fuel economy, emission levels, combustion stability, transient response, and noise, vibration, and harshness characteristics. This paper reviews the current various working condition of the engine idle speed control method, including the now widespread use of classical control, modern control and intelligent control.
In this study proposed, for voltage sag mitigation an estimation method based on Extended Kalman Filter (EKF) is suggested. The suggested EKF based estimation technique is applied to help the control algorithm for pro...
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In this study proposed, for voltage sag mitigation an estimation method based on Extended Kalman Filter (EKF) is suggested. The suggested EKF based estimation technique is applied to help the control algorithm for producing reference signals of Voltage Source Converter (VSC) of DVR. DVR offers the compensation voltage as output which is inserted in the connected line. With this estimation method, voltage sag issues are found out with precision and faster performance to revoke out the sag appearance in sensitivity load connected distribution systems. The presentation of the suggested estimation technique is examined in terms of presenting the fundamental sinusoidal waveform to the nonlinear sensitive load. The confirmation of the suggested estimation algorithm is carried out on MATLAB working platform. Simulation effects are inspected and suggested one is compared with Linear Kalman Filter (LKF).
Virtual laboratories and remote laboratories have been a great complement of traditional laboratories in the last few decades. Virtual laboratories, which use computer technology to perform experiments utilizing virtu...
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Virtual laboratories and remote laboratories have been a great complement of traditional laboratories in the last few decades. Virtual laboratories, which use computer technology to perform experiments utilizing virtual instrumentation instead of physical devices, are warmly welcomed for its low-cost advantage, 24/7 operation, remotely accessibility and sharing features. In this paper, a DC motor control system which can be used to carry out the experiments of position control in real time based on NCSLab framework is presented. After describing the process of 3D modelling, rendering in Flash 3D engine and control algorithms that are generated using Matlab Real-Time Workshop, a position control experiment is conducted and the experimental results are demonstrated as an example. For most virtual control laboratories, users are only allowed to design the algorithms and then monitor the control results. However, wiring process which is also an important part of practical control experiments cannot be emulated. To address this problem, a new experiment modelling method which allows the users to do the wiring in the 3D real-time virtual laboratory is proposed in this paper. It could make users feel more sense of reality and immersion when performing the virtual experiments.
Implementation of advanced control algorithms can result in improved drive performance, reliability and efficiency, but may increase embedded system hardware requirements. Through use of tunable automated optimization...
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Our goal in this study is to develop the supervisory control strategy for a hybrid bus system, which is able to control the power distribution between an engine and an electric motor more efficiently, because the fuel...
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ISBN:
(纸本)9789889968496
Our goal in this study is to develop the supervisory control strategy for a hybrid bus system, which is able to control the power distribution between an engine and an electric motor more efficiently, because the fuel economy of hybrid system could change depending on the supervisory control of hybrid control unit. In case of the bus transporting system, there is some information that can be used to optimize the fuel economy on a supervisory controller like altitude, vehicle speed and set routes recorded from a GPS receiver. In this paper, we present the supervisory control algorithm for the parallel hybrid bus, which is using the Power Split Ratio (PSR) between two power sources. The PSR line can be derived from the analysis results of Dynamic Programming theory that is one of the optimal control concepts. The fuel economy saving results shows that the parallel hybrid bus can save its fuel consumption about 15-40% compared with the conventional bus system.
Based on a certain type of single rotor full authority digital electronic control system of auxiliary power unit, this type of APU's structure and working principle are analyzed;the main fuel control system's ...
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Based on a certain type of single rotor full authority digital electronic control system of auxiliary power unit, this type of APU's structure and working principle are analyzed;the main fuel control system's mechanism of the structure and working principle are researched. The main fuel flow control law and control algorithm are deduced by reverse analysis method. The PI algorithm and parameters limited algorithm in main fuel flow control system control algorithm are analyzed and designed. The design principle of main fuel flow control law and control algorithm for this type of auxiliary power unit is mastered. It's a valuable reference for the future design of the control system of both aero-engine and auxiliary power unit.
On the basis of results of previous studies, this paper overviews several kinds of typical artificial muscles' structural principle, the technological study condition and application status in main fields, and cla...
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ISBN:
(纸本)9781424458479
On the basis of results of previous studies, this paper overviews several kinds of typical artificial muscles' structural principle, the technological study condition and application status in main fields, and classifies artificial muscles. This paper mainly summarizes domestic and foreign scholars' research results on the control technology of artificial muscles, including neural network control, H infinity control, parameter self-adaptive control, variable structure control, single neuron self-adaptive PID control, pole-placement and adaptive digital control, two-layer sliding mode' fuzzy variable structure control, fuzzy immune PD control algorithm with fixed gravity compensation and so on. Finally, it prospects the trend of research and development of artificial muscles.
This paper describes the mathematical modeling and control algorithms of an unmanned underwater vehicle (UUV) named Minekiller. This UUV has two longitudinal thrusters, one vertical thruster, and an internal mass movi...
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This paper describes the mathematical modeling and control algorithms of an unmanned underwater vehicle (UUV) named Minekiller. This UUV has two longitudinal thrusters, one vertical thruster, and an internal mass moving system, which can control the pitch rate. The UUV is equipped with a movable mass for pitch control. It is different from other common UUVs, in that it can maintain a static pitch angle. The UUV's 6-DOF (Degrees of Freedom) dynamics model is derived from the hydrodynamic forces and moments acting on it. We applied these hydrodynamic coefficients to dynamic modeling for numerical simulations by MATLAB/SIMULINK (c). To compare the performance in various cases, we used a PID controller for depth and heading control. Also, the navigation controller can analyze the way-point tracking performance. These simulation results show the performance of the control algorithms and maneuvering performance of the underwater vehicle.
The continuous growth of electric vehicles has caused electric power shortages in conventional utilities owing to the charging of electric-vehicle batteries. In order to increase the capacity of these utilities, photo...
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The continuous growth of electric vehicles has caused electric power shortages in conventional utilities owing to the charging of electric-vehicle batteries. In order to increase the capacity of these utilities, photovoltaic systems may be an appropriate solution because of their benefits. However, a large amount of loss is generated in a conventional charging structure using photovoltaic sources owing to the many power conversion processes. This paper describes a simple integrated battery charger that utilizes a PV generation system. Moreover, the system control algorithm is deduced by analyzing the operation modes in order to control the proposed integrated system. The proposed system and algorithm are verified by a 3.3-kW prototype, resulting in an increase in the efficiency of approximately 7% to 15% compared with the conventional system. And, to examine the feasibility of the proposed system, the simulation for multi-charger with various conditions are progressed.
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