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检索条件"主题词=PID Algorithm"

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Research on Four Axis Aircraft Based on STM32 6

Research on Four Axis Aircraft Based on STM32

引用

6th International Conference on Smart Grid and Electrical Automation (ICSGEA)

作者： Su, Jie Zheng, Jijun Jiang, Zhenhai Liu, Shaoshuai Dalian Neusoft Univ Informat Dalian 116021 Liaoning Peoples R China Dalian 4810 Shipyard Dalian 116023 Liaoning Peoples R China

ISBN: (纸本)9781665432634

Four axis aircraft is a new type of unmanned aerial vehicle. Different from the traditional single axis aircraft, four propellers can reverse the anti-torque torque of each other without the need for the anti-torque , so its structure is more compact and its lift is greater. In order to control the flight attitude of the four axis aircraft effectively, this paper uses STM32 as the main controller, carries MPU6050 inertial measurement unit with three axis accelerometer and three axis gyroscope integration as the attitude Euler angle measurement unit, further uses the extended Kalman filter algorithm to calculate the attitude of the four axis aircraft accurately, and uses pid algorithm to realize the attitude control of the aircraft. Finally, the smooth flight of the aircraft is realized with multiple system tests and debugging.

关键词： STM32 pid algorithm Kalman Filter algorithm

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A course control system of unmanned surface vehicle (USV) using back-propagation neural network (BPNN) and artificial bee colony (ABC) algorithm 8th

A course control system of unmanned surface vehicle (USV) us...

引用

8th International Conference on Advances in Information Technology (IAIT)

作者： Fang, Yang Pang, Muye Wang, Biao Wuhan Univ Technol Sch Automa Wuhan 430070 Hubei Peoples R China

Course control is the basis of Unmanned Surface Vehicle (USV) control system, largely determines the performance of USV. Because of some uncontrollable factors such as wind, wave and other random disturbances, the course control of an Unmanned Surface Vehicle (USV) is always difficult. In recent years, there have been some studies of adaptive course control system for USV, but they are not precise enough for engineering practice. In this paper, we propose a novel adaptive course control method based on Back-propagation Neural Network (BPNN) and Artificial Bee Colony (ABC) algorithm. We use classic pid algorithm as the main course control algorithm, and back-propagation neural network (BPNN) is also utilized to achieve more effective self-adaptive pid control. At the same time, in order to improve the convergence speed and precision of BPNN, we bring in Artificial Bee Colony (ABC) algorithm to minimize the error of system and adjust the weight of BPNN. The system has been proven in simulation that it can accurately output the rudder angle according to the input course angle and can perform better than that without ABC algorithm optimization. The error of parameters obtained by this method is within the acceptable range, which can provide reference for engineering practice. (C) 2017 The Authors. Published by Elsevier B.V.

关键词： Course control system Back-propagation Neural Network Artificial Bee Colony algorithm pid algorithm

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Application of a Laser Scanner on Edge Alignment Detection Based on a Bending Robot

Application of a Laser Scanner on Edge Alignment Detection B...

引用

International Conference on Computer Systems, Electronics and Control (ICCSEC)

作者： Ge, Yiwei Li, Hao Weng, Lianggui Wuhan Univ Technol Sch Automat Wuhan 430070 Hubei Peoples R China

ISBN: (纸本)9781538635735

If the suckers and mechanical arms of conventional bending robot are connected rigidly, then these errors will affect quality of bended steel plate, which will lead to the waste of material. Based on ARM series chips, a laser scanner is applied on the bending robot to detect the edge of steel plate, at the same time the messy stacked steel plates are stacked neatly, so that we could solve the problems that conventional bending robots may meet. Moreover, laser scanner detects fast, it judges whether steel plates are aligned within detecting distance, so it can work in the dusky environment.

关键词： Laser scanner Steel plate edge alignment detection ARM series singlechip control pid algorithm

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A Dual Camera System for Moving Objects Close-up Tracking

A Dual Camera System for Moving Objects Close-up Tracking

引用

Chinese Intelligent Systems Conference (CISC)

作者： Chen, Peng Cao, Yuexiang Deng, Peiliang Yin, Hongpeng Chongqing Univ Sch Automat Chongqing 400044 Peoples R China Minist Educ Key Lab Dependable Servise Comp Cyber Phys Soc Chongqing 400030 Peoples R China

ISBN: (纸本)9783662483657;9783662483633

A single camera cannot provide a broad perspective and provide the details of monitoring targets at the same time. This paper design a dual camera system based on a wide-angle camera used to provide a wide-angle visual field and a close-up camera used to provide the details of moving targets. The real-time video data are firstly acquired based on DirectShow. Secondly, a Gaussian mixture model and Kalman filter are used to detect and track the moving targets, respectively. In order to realize the collaborative relationship among the dual camera, the conversion model among coordinate systems is established. Finally, the pid algorithm is used to driver the close-up camera to make the target locate in the center of its visual field. Experimental results demonstrate the effectiveness of the proposed method.

关键词： Dual camera Gaussian mixture Kalman filter Correlation pid algorithm

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Target tracking system based on preliminary and precise two-stage compound cameras 10

Target tracking system based on preliminary and precise two-...

引用

10th International Symposium on Multispectral Image Processing and Pattern Recognition (MIPPR) - Automatic Target Recognition and Navigation

作者： Shen, Yiyan Hu, Ruolan She, Jun Luo, Yiming Zhou, Jie Huazhong Univ Sci & Technol Natl Key Lab Sci & Technol Multispectral Informat Wuhan Hubei Peoples R China Hubei Sanjiang Space Hongfeng Control Equipment C Xiaogan Peoples R China

ISBN: (数字)9781510617209

ISBN: (纸本)9781510617209;9781510617193

Early detection of goals and high-precision of target tracking is two important performance indicators which need to be balanced in actual target search tracking system. This paper proposed a target tracking system with preliminary and precise two - stage compound. This system using a large field of view to achieve the target search. After the target was searched and confirmed, switch into a small field of view for two field of view target tracking. In this system, an appropriate filed switching strategy is the key to achieve tracking. At the same time, two groups pid parameters are add into the system to reduce tracking error. This combination way with preliminary and precise two-stage compound can extend the scope of the target and improve the target tracking accuracy and this method has practical value.

关键词： target tracking camera calibration field of view switching pid algorithm Stable tracking

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A Steering Wheel System and Controller for the Driving Simulator

A Steering Wheel System and Controller for the Driving Simul...

引用

International Conference on Advanced Engineering Materials and Technology (AEMT2011)

作者： Xie, Mingxiang Wei, Yanding Zhou, Xiaojun Wei, Chunyu Tang, Fang Li, Peixin Zhejiang Univ State Key Lab Fluid Power Transmiss & Control Hangzhou 310003 Zhejiang Peoples R China

ISBN: (纸本)9783037851944

In driving simulator, the driver manipulating the steering wheel can not only be feeling authentic as the real vehicle but also get additional information of the vehicle state and road conditions. For this purpose, a steeling wheel system was detailed designed. A bicycle model was used to analyze the dynamic behaviour of a simplified four-wheel vehicle model and applied to compute the reaction torque. After modeling the steering column and the feedback motor, the state equation of the steering wheel was deduced. The control without pid, with ordinary pid and RBF network pid were adopted to control the feedback motor to generate desired torque. Simulation in matlab/simulink shows that the steering wheel has good performance and the RBF network pid controller has better performance and can satisfy the requirement of the reaction torque. This study will be a guide research for future driving simulator.

关键词： reaction torque dynamic modeling pid algorithm driving simulator

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Design and Implementation of Cholecystolithiasis Automatically Perfusion-dissolved Instrument

Design and Implementation of Cholecystolithiasis Automatical...

引用

International Conference on Measurement, Instrumentation and Automation (ICMIA 2012)

作者： Zhou, Tianshui Ling, Zhenbao Wang, Jun Jilin Univ Coll Instrumentat & Elect Engn Changchun 130061 Peoples R China

ISBN: (纸本)9783037855461

In view of the difficulty to operate, low efficiency, and easy to leak of the manual perfusion method for dissolving cholecystolithiasis, an automatically perfusion-dissolved instrument is designed. By means of collecting and analysing the pressure data being outputted from pressure sensor in real time, and adjusting speed and direction of peristaltic pumps automatically to control quantity of dissolvent, so as to achieve the goal of litholysis under constant pressure in the gallbladder. The instrument has function of automatic heating and controlling temperature. Double controllers are used in the design, slave computer controls the running of each module of the instrument, and master computer is used to real-time display operation state and set parameters. Experimental results indicate that the system is stable and reliable, and with high efficiency for dissolving cholecystolithiasis, which provides a new and effective method for cholelithiasis medical treatment.

关键词： MSP430 cholecystolithiasis perfusion-dissolved pressure detection pid algorithm

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A kind of Landing Control Technology Used for Deep-sea Equipment 16

A kind of Landing Control Technology Used for Deep-sea Equip...

引用

IEEE 16th International Conference on Communication Technology (ICCT)

作者： Zhang, Xueting Wei, Handong Zhang, Ming Hangzhou Dianzi Univ Hangzhou 310018 Peoples R China

ISBN: (纸本)9781467370059

For the application of deep-sea equipment in Marine scientific research and in the field of resources exploration, a kind of landing control technology used for deep-sea equipment was developed and implemented, and a principle prototype was also completed. The principle prototype takes STM32 processor as the core and combines with altimeter, inclinator and step motor. Then with the adoption of innovative mechanism of "secondary leveling", the principle prototype realized the complex terrain of smooth landing and the leveling function in the environment of the laboratory pool. After the test, it can accomplish those functions in a reliable way and meet the requirements of the design.

关键词： underwater landing technology secondary leveling STM32 pid algorithm

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Design of automatic parts monitoring system based on capacitance method

Design of automatic parts monitoring system based on capacit...

引用

Chinese Automation Congress (CAC)

作者： Lv, Xiaotian Zhang, Qingyong Li, Zhiyong Wuhan Univ Technol Automated Inst Wuhan Peoples R China Wuhan Univ Technol Automated Inst Xinxiang Henan Peoples R China

ISBN: (纸本)9781728140940

In the production practice, in order to complete the task of parts inspection with higher precision, higher efficiency, faster and more economical, a fully automatic part detection system based on capacitance method is designed. The mechanical structure of the system includes a degree of freedom motion unit and a part classification unit;the hardware part is composed of a main control module, an identification module, a motion control module, and a human-machine interaction module, and the main control module uses STM32VGT6 as a main controller;the software part is used. The pid algorithm and the Kalman filter algorithm enable the parts to accurately reach the measurement position and accurately measure the parts. The test results show that the automatic parts inspection system can accurately test the test parts by pre-recording the standard part specifications and the number of test parts, and separating the qualified parts through the part classification unit. The system is easy to implement and has the advantages of high test accuracy and fast test speed.

关键词： Capacitance method part detection pid algorithm

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The Design of Intelligent Vehicle Based on Electromagnetic Tracing 18

The Design of Intelligent Vehicle Based on Electromagnetic T...

引用

2nd International Conference on Computer Science and Application Engineering (CSAE)

作者： Huang, Xi-xi Wang, Feng Chen, Lu-Wei Wenzhou Univ Coll Math Phys & Elect Informat Engn Chashan Univ Town 325035 Wenzhou Peoples R China

ISBN: (纸本)9781450365123

This(1) paper designs an intelligent car system controlled by MC9S12XS128 MCU according to the electromagnetic tracking of the road. This system based on generic alternating current enameled wire guides line and there is 100mA alternating current with the frequency of 20kHz in the wire, with electromagnetic induction sensor automatic detecting of alternating magnetic field, with a steering drive actuator controlling the angular direction and angle of the intelligent car, and with two DC motors controlling the traveling speed, makes intelligent vehicle tracking along the solenoid automatically. The system mainly includes a power control module, a data acquisition module, and a speed and direction control module.

关键词： MC9S12XS128 The electromagnetic sensor Path identification pid algorithm

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