The paper presents a systematic method of stability analysis for automatic steering system involving a time delay and some external disturbances. The analysis focuses on the stability of automatic steering system with...
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The paper presents a systematic method of stability analysis for automatic steering system involving a time delay and some external disturbances. The analysis focuses on the stability of automatic steering system with increase of the time delay from zero to infinity. Firstly, the structure and dynamic model of automatic steering system are briefly introduced, and pd control algorithm is adopted to further analysis the time delay mechanism of control system of automatic steering system. Then the time delay dynamic models of automatic steering system with pd control algorithm are derived, the time delay stability interval and critical time delay of automatic steering system are calculated by using the generalized Sturm criterion method. Finally, the accuracy of critical time delay calculation by proposed method, and the stability and accuracy of automatic steering system with time delay and external disturbance are illustrated by numerical simulations. (C) 2020 ISA. Published by Elsevier Ltd. All rights reserved.
This paper is an experimental research of vehicle-platoon coordination control based on TORCS platform (The Open Racing Vehicle Simulator). First, the experiment platform is established according to research requireme...
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ISBN:
(纸本)9789881563910
This paper is an experimental research of vehicle-platoon coordination control based on TORCS platform (The Open Racing Vehicle Simulator). First, the experiment platform is established according to research requirements. Then, an experiment method is used to find out the practical algorithms of team coordination control. Finally, the combination of pd control algorithm and the algorithm that the parameters of the differentiation element change along with the derivation of distance between two vehicles is able to control a vehicle platoon successfully.
This paper is an experimental research of vehicle-platoon coordination control based on TORCS platform(The Open Racing Vehicle Simulator).First,the experiment platform is established according to research ***,an exper...
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ISBN:
(纸本)9781509009107
This paper is an experimental research of vehicle-platoon coordination control based on TORCS platform(The Open Racing Vehicle Simulator).First,the experiment platform is established according to research ***,an experiment method is used to find out the practical algorithms of team coordination ***,the combination of pd control algorithm and the algorithm that the parameters of the differentiation element change along with the derivation of distance between two vehicles is able to control a vehicle platoon successfully.
In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative (pd) algorithm is proposed. A digital low...
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ISBN:
(纸本)9781479948086
In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative (pd) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.
In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative(pd) algorithm is proposed. A digital low-...
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In this paper, a semi-physical simulation platform of robot teleoperation system is designed, and a combined control approach using Jacobian matrix and Proportional-Derivative(pd) algorithm is proposed. A digital low-pass filter is designed to eliminate noise signal caused by hand-vibration of surgeons. The advantages of the proposed approach include easy implementation, real-time response and accurate master-slave tracking. The results of semi-physical simulation validated that the proposed approach realized accurate master-slave tracking for puncture surgery and the noise caused by hand-vibration was eliminated effectively.
At present, cantilever structure used widely in civil structures will generate continuous vibration by external force due to their low damping characteristic, which leads to a serious impact on the working performance...
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ISBN:
(纸本)9780819494757
At present, cantilever structure used widely in civil structures will generate continuous vibration by external force due to their low damping characteristic, which leads to a serious impact on the working performance and service time. Therefore, it is very important to control the vibration of these structures. The active vibration control is the primary means of controlling the vibration with high precision and strong adaptive ability. Nowadays, there are many researches using piezoelectric materials in the structural vibration control. Piezoelectric materials are cheap, reliable and they can provide braking and sensing method harmless to the structure, therefore they have broad usage. They are used for structural vibration control in a lot of civil engineering research currently. In traditional sensor applications, information exchanges with the monitoring center or a computer system through wires. If wireless sensor networks(WSN) technology is used, cabling links is not needed, thus the cost of the whole system is greatly reduced. Based on the above advantages, a wireless control system is designed and validated through preliminary tests. The system consists of a cantilever, PVDF as sensor, signal conditioning circuit(SCM), A/D acquisition board, control arithmetic unit, D/A output board, power amplifier, piezoelectric bimorph as actuator. DSP chip is used as the control arithmetic unit and pd control algorithm is embedded in it. PVDF collects the parameters of vibration, sends them to the SCM after A/D conversion. SCM passes the data to the DSP through wireless technology, and DSP calculates and outputs the control values according to the controlalgorithm. The output signal is amplified by the power amplifier to drive the piezoelectric bimorph for vibration control. The structural vibration duration reduces to 1/4 of the uncontrolled case, which verifies the feasibility of the system.
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