As the long transmission line, complex mechanism, poor performance of regulation and control and low sensitivity of mechanical let-off, so it can not meets the requirements of stable tension. Therefore, the let-off me...
详细信息
ISBN:
(纸本)9783037852897
As the long transmission line, complex mechanism, poor performance of regulation and control and low sensitivity of mechanical let-off, so it can not meets the requirements of stable tension. Therefore, the let-off mechanical was improved. This paper takes let-off system of SAURER400 rapier loom as experimental subject, mathematical modeling to every parts of loom, and takes simulation and comparison. The simulation results show the improvement of mechanical can meet the basic requirements of weaving, and it indicates the works that done former are effective and correct.
A major obstacle to path-planning and formation-control algorithms in multivehicle systems is strong flows in which the flow speed is greater than the vehicle speed relative to the flow. This challenge is especially p...
详细信息
A major obstacle to path-planning and formation-control algorithms in multivehicle systems is strong flows in which the flow speed is greater than the vehicle speed relative to the flow. This challenge is especially pertinent in the application of unmanned aircraft used for collecting targeted observations in a hurricane. The presence of such a flowfield may inhibit a vehicle from making forward progress relative to a ground-fixed frame, thus limiting the directions in which it can travel. This paper presents results for motion coordination in a strong, known flowfield using a self-propelled particle model of vehicle motion in which each particle moves at a constant speed relative to the flow. A new formulation of the particle model with respect to a rotating reference frame is provided along with a set of conditions on the flowfield that ensures trajectory feasibility. Results from the Lyapunov-based design of decentralized control algorithms are presented for circular, folium, and spirograph trajectories, which are selected for their potential use as hurricane sampling trajectories. The theoretical results are illustrated using numerical simulations in an idealized hurricane model.
The wastewater treatment process has the character of nonlinear, time-varible, uncertain and hysteresis and control process is very complex, the traditional control methods are difficult to carry out real-time control...
详细信息
The wastewater treatment process has the character of nonlinear, time-varible, uncertain and hysteresis and control process is very complex, the traditional control methods are difficult to carry out real-time control. This paper focuses on the characteristics of the urban sewage treatment to put forward a sort of the control strategy based on the intelligent fusion for the sewage parameter. The paper analyzed the key parameter needed to be controlled and the process characteristic of polluted water treatment, discussed the fusion strategy for the polluted water parameter control, constructed the structure model of controller, studied the control algorithm, and made the contrast research on simulation experiment based on the control model. The simulation experiment verified that the fusion control strategy proposed by the paper would be better in dynamic and static quality by than PID control strategy. The Simulation results show that the fusion control strategy has strong robustness. Its control quality is relatively good.
The paper presents the hardware structure of an original hydraulic positioning system based on a mechatronic approach. Dedicated control algorithms are also presented.
ISBN:
(纸本)9783037854440
The paper presents the hardware structure of an original hydraulic positioning system based on a mechatronic approach. Dedicated control algorithms are also presented.
The hardware-in-the-loop simulation plays an important role in aerocraft design. In hardware-in-the-loop simulation on launch vehicle, some hardware components are connected to the simulation loop and then work driven...
详细信息
The hardware-in-the-loop simulation plays an important role in aerocraft design. In hardware-in-the-loop simulation on launch vehicle, some hardware components are connected to the simulation loop and then work driven by data from the running computer which yield different operand quantities in different coordinate frames. According to the analysis on characteristic of the ballistics in the inertial launch reference frame, a hardware-in-the-loop simulation system for a small launch vehicle containing IMU, rocket-borne computer and rudder is established. Simulation results indicate the control scheme is accurate, the algorithm of navigation, guidance and attitude control are valid, and the calculation reduction quantity benefited from using the data in the inertial launch reference frame rather than in launch reference is worked out.
The minimum-energy trajectory planning and control algorithm on a straight line with rotation is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). In order to lengthen the operation ti...
详细信息
ISBN:
(纸本)9781467317375
The minimum-energy trajectory planning and control algorithm on a straight line with rotation is proposed for battery-powered three-wheeled omni-directional mobile robots (TOMRs). In order to lengthen the operation time of a mobile robot with carried batteries, we have chosen a practical cost function as the energy from the batteries to actuation motors. The optimal control theory using a Hamiltonian function is used to solve the minimum-energy trajectory, which gives the rotational velocity profile in analytic form and the translational velocity profile by numerical method. We also establish search algorithm to find the minimum-energy trajectory. These minimum-energy velocity trajectories are compared to the conventional trapezoidal velocity profiles via simulation to analyze actuation energy consumption, which reveal energy savings up to 4.76 %. Also a trajectory following control system is implemented to validate the actual performance.
Traditional development tools using assembly language takes a long time to accomplish the real-time control program. This paper presents a new platform for control system based on Matlab-DSP integrated development env...
详细信息
Traditional development tools using assembly language takes a long time to accomplish the real-time control program. This paper presents a new platform for control system based on Matlab-DSP integrated development environment. The process of system design, simulation and experiment could be conducted smoothly in one integration platform. The hardware is based on DSP C2000 and the software based on the Matlab-DSP development environment needs to build the module and create custom device drive modules according to the hardware. algorithm researchers can apply Simulink tools build Matlab algorithm, and then RTW (Real-Time Windows) can automatically generate code for DSP C2000 board.
The collinear equilibrium three-craft-formation charge feedback control problem is investigated. Given a charged-equilibrium collinear configuration of spacecraft flying in deep space, a nonlinear charge feedback cont...
详细信息
The collinear equilibrium three-craft-formation charge feedback control problem is investigated. Given a charged-equilibrium collinear configuration of spacecraft flying in deep space, a nonlinear charge feedback control algorithm is developed to stabilize the formation to the desired shape and size. The Coulomb forces are assumed to be acting along the line-of-sight directions between the bodies and thus do not provide general vehicle position controllability. A study of the charged collinear three-craft formation shows that there exists an infinite number of equilibrium charge solutions for any collinear configuration. Given a real value of one spacecraft charge, the required equilibrium charges of the remaining two vehicles are solved analytically. A Lyapunov-based nonlinear control algorithm is developed to stabilize the configuration to the equilibrium state using only the spacecraft charges as the control states. Real charge solutions are ensured by using the one-dimensional solution null-space. Numerical simulations illustrate the new charge feedback control performance. In contrast to earlier efforts, collinear configurations are stabilized even in the presence of very large initial position errors.
This paper studies a three-body Coulomb virtual structure control problem. For a formation of three spacecraft flying freely in deep space, actively controlled Coulomb forces are used to stabilize the formation to a s...
详细信息
This paper studies a three-body Coulomb virtual structure control problem. For a formation of three spacecraft flying freely in deep space, actively controlled Coulomb forces are used to stabilize the formation to a shape-fixed triangular configuration. The control problem is challenging because the system is nonlinear and nonaffine, while the direct control of all three sides at the same time is often not implementable using only real charges. Firstly, a two-side switched control strategy is developed to control the two sides with the worst shape errors such that the implementable charge control solution is guaranteed. However, analytical and practical stability issues arise due to the discrete control time steps. Using the multiple Lyapunov functions analysis tool, a stable switched control strategy is set up in a manner such that the activated error function is decreasing rapidly enough to compensate for a potentially increased amount during the last uncontrolled control cycle. Thus all the error functions are made Lyapunov-like and the global stability of the switched control strategy is guaranteed. Perfect convergence to desired triangular shape is not physically achievable with Coulomb forces alone because the general triangular shape is not a natural equilibrium solution. Numerical simulations illustrate the effectiveness of the stable switched control strategy.
暂无评论