In order to solve the problems of low operational efficiency, high operational danger and uneven quality of manual work in ship wall maintenance operations, a wall-climbing and obstacle-crossing robot with magnetic ad...
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ISBN:
(纸本)9798350344738;9798350344721
In order to solve the problems of low operational efficiency, high operational danger and uneven quality of manual work in ship wall maintenance operations, a wall-climbing and obstacle-crossing robot with magnetic adsorption was designed. Firstly, the mechanical structure of the robot was designed according to the design index summarized from the actual working conditions. Then, the real time controlsystem software of the robot is designed to realize the movement of the robot. Finally, comprehensive experiments were conducted on each of the robot's performances to determine if the robot met its design specifications. The purpose of this paper is making the robot to be a remote control tool to help workers finishing vertical metal wall maintenance operations.
This paper proposes a new approach to control system design through solving a Constraint Satisfaction Problem (CSP) using artificial intelligence, first using a genetic algorithm then using a Convolutional Neural Netw...
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ISBN:
(纸本)9789897585227
This paper proposes a new approach to control system design through solving a Constraint Satisfaction Problem (CSP) using artificial intelligence, first using a genetic algorithm then using a Convolutional Neural Network (CNN). The genetic algorithm determines the feasible controller parameters by minimizing a cost function subject to inequality design constraints. The CNN-finds the parameters by designing a deep neural network. It is shown that the evolutionary optimization algorithm converges almost surely to the optimal solution. To demonstrate the methodologies, they are applied to the design of PID controllers for linear and nonlinear systems. Two examples are presented, an armature-controlled DC motor and Bouc-Wen nonlinear hysteresis model. Simulations results show that the proposed methods yield solutions that satisfy design specifications.
This paper presents a control system design scheme based on a "smart model-based development" (Smart MBD) approach. Smart MBD is a concept of a control system design approach using models and data. In conven...
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This paper presents a control system design scheme based on a "smart model-based development" (Smart MBD) approach. Smart MBD is a concept of a control system design approach using models and data. In conventional model-based controls, the control performance depends on the accuracy of models used in the controller design. Therefore, in the case where modeling errors occur due to changes in environmental conditions and/or aging deterioration, the control performance is degraded. In the smart MBD approach, introducing a data-driven controller into the model-based controlsystem can prevent the degradation of the control performance caused by the model uncertainties. In this paper, a control system design scheme unifying a model predictive control and a data-driven control is proposed. The effectiveness of the proposed control scheme is evaluated by a numerical example on a vehicle yaw rate tracking control problem. Copyright (C) 2021 The Authors.
The development of research spacecraft systems has a significant impact on the preparation and simulation of future space missions. Hardware, software and operation procedures can be properly tested, validated and ver...
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ISBN:
(数字)9781624106095
ISBN:
(纸本)9781624106095
The development of research spacecraft systems has a significant impact on the preparation and simulation of future space missions. Hardware, software and operation procedures can be properly tested, validated and verified before they are deployed for an actual mission. In this paper, a spacecraft vehicle testbed named Extreme Access system is introduced. The system has been developed to support validation and verification of guidance, navigation and control algorithms. Description of the spacecraft testbed, subsystems and integration is presented in this paper along with an analysis of results from numerical simulation and actual implementation of control laws. An attitude control architecture based on a Quaternion Feedback Linearization based controller is also described and performance analysis in the compensation of undesired dynamics is presented to demonstrate capabilities and potential missions that can be simulated using this system.
The Brushless Doubly Fed Reluctance Machine (BDFRM) is an emerging alternative for variable speed drive systems, providing a significant downsizing of the power electronics converter. This paper proposes a new view on...
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The Brushless Doubly Fed Reluctance Machine (BDFRM) is an emerging alternative for variable speed drive systems, providing a significant downsizing of the power electronics converter. This paper proposes a new view on the machine equations, allowing the reuse of the standard control system design for conventional synchronous and asynchronous machines: a cascade controlsystem with an inner current control- and outer speed control loop. The assumptions and simplifications made on the machine model allow for a simple, model-based approach to set the controller gains in a brushless doubly fed machine drive system. The cascade control scheme is combined with an Unscented Kalman Filter as a state observer, capable of estimating the load torque and losses. The performance of the proposed control system design is checked in simulation and tested in real-time on a low power BDFRM prototype.
This article proposes an extension of the Total Energy controlsystem (TECS), originally developed in the early 1980s. It proposes modifications on the TECS flight control law throttle control channel in terms of its ...
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ISBN:
(数字)9781624105951
ISBN:
(纸本)9781624105951
This article proposes an extension of the Total Energy controlsystem (TECS), originally developed in the early 1980s. It proposes modifications on the TECS flight control law throttle control channel in terms of its command variable and feedback loops, accounting for integration aspects related to the flight and engine controlsystems, especially the consideration of engine related variables. This is achieved by adopting a two degree of freedom multivariable control law architecture. The methods used provide a systematic procedure for the TECS design problem and also allow for an extension of the original architecture preserving its core features. The controllers are computed using linear design methods issued from robust control theory. This paper presents how this framework allows for the consideration of control law robustness and performance properties as well as the evaluation of uncertainty regarding the plant modeling, when dealing with highly integrated controlsystems. The results are illustrated and discussed with the help of a set of simulations which accounts for dedicated aircraft and engine models.
In order to solve the problem of rust removal on the inner and outer surface of petrochemical storage tanks that consumes a lot of manpower and material resources during the operation, a derusting wall climbing robot ...
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ISBN:
(纸本)9781728176871
In order to solve the problem of rust removal on the inner and outer surface of petrochemical storage tanks that consumes a lot of manpower and material resources during the operation, a derusting wall climbing robot of permanent magnetic adsorption type was designed. Firstly, the mechanical structure design idea is carried out. Then, the force received by the robot which affects the stability of the robot movement is analyzed by the statics motion calculation formula. Finally, the real-time controlsystem software of the robot is designed to realize the movement of the robot. The purpose of this paper is making the robot to be a remote control tool to help workers finishing petrochemical storage tanks rust removal operation.
This paper presents a control system design scheme based on a “smart model-based development” (Smart MBD) approach. Smart MBD is a concept of a control system design approach using models and data. In conventional m...
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This paper presents a control system design scheme based on a “smart model-based development” (Smart MBD) approach. Smart MBD is a concept of a control system design approach using models and data. In conventional model-based controls, the control performance depends on the accuracy of models used in the controller design. Therefore, in the case where modeling errors occur due to changes in environmental conditions and/or aging deterioration, the control performance is degraded. In the smart MBD approach, introducing a data-driven controller into the model-based controlsystem can prevent the degradation of the control performance caused by the model uncertainties. In this paper, a control system design scheme unifying a model predictive control and a data-driven control is proposed. The effectiveness of the proposed control scheme is evaluated by a numerical example on a vehicle yaw rate tracking control problem.
Because of the robot's special application background, such as underwater, nuclear environments, space, and disaster sites, after Fukushima nuclear spill the robot for nuclear power station has become a hot spot i...
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ISBN:
(纸本)9781728140940
Because of the robot's special application background, such as underwater, nuclear environments, space, and disaster sites, after Fukushima nuclear spill the robot for nuclear power station has become a hot spot in the field of robotics research. A remote operation nuclear multifunction robot was designed by service for salvage operation in the nuclear reactor pool to replace operators' dangerous and complicated work. In order to meet the overall performance requirements of the robot, during the design phase of the complete machine, the designer selected hardware suitable for the robot's indicators and designed software that can apply the selected hardware. The grabbing foreign materials experiment was tested in order to verification the controlsystem development satisfies the design indexes. The result shows that the robot can grabbing foreign materials rapidly and exactly.
Developing a controlsystem that is tolerant to actuator and sensor faults is one of the major problems in flight control system design. In many failure scenarios, it is too dangerous to continue the mission and hence...
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ISBN:
(数字)9781624105784
ISBN:
(纸本)9781624105784
Developing a controlsystem that is tolerant to actuator and sensor faults is one of the major problems in flight control system design. In many failure scenarios, it is too dangerous to continue the mission and hence aircraft is ordered to perform an emergency landing. Thus, it is critical that an autonomous landing system should be capable of landing the aircraft under severe actuator and sensor failures and external disturbances such as wind. In this paper, based on previous work, we present a robust nonlinear dynamic inversion based landing controlsystem that can accommodate actuator failures and wind disturbances. We further improve the performance of the system by using a deep recurrent network to estimate the air-data parameters such as angle of attack, when the pitot tube measurements are unavailable/noisy. Simulation results show that the developed system is able to land the aircraft safely for a wide variety of failure and wind disturbance scenarios. In particular, use of a deep neural network makes a considerable difference in severe wind conditions.
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