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Control Strategy of Permanent Magnet Synchronous Motor and Brushed DC Servo Motor Based on ADRC 20

Control Strategy of Permanent Magnet Synchronous Motor and B...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Liu, Liang Liu, Haikui Nie, Guangyin Gao, Yang Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350320831

Adaptive disturbance rejection control (ADRC) is a rapidly evolving and promising control method that has been widely applied in various industrial fields and may yield better results than traditional method. In order to promote the controller performance, ADRC technology was employed to construct a three-loop structure for the controllers of permanent magnet synchronous motor (PMSM) and brushed DC Servo Motor (BDSM). Firstly, the mathematical models of the both kinds of motors were presented and combined with the ADRC, respectively. Secondly, the simulation models based on ADRC were constructed in MATLAB/SIMULINK, respectively. Finally, comparative experiments were carried out by ADRC and Proportional-Integral (PI) methods. The simulation results showed that ADRC outperforms PI control in terms of response speed, overshoot reduction, and anti-interference capability, which verified the proposed method can exhibit superior dynamic properties in the induction motor control. © 2023 IEEE.

关键词： Controllers

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A Control Method of Robotic Arm Based on Improved Deep Deterministic Policy Gradient 20

A Control Method of Robotic Arm Based on Improved Deep Deter...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Shao, Yanpeng Zhou, Haibo Zhao, Shuaishuai Fan, Xiaoyan Jiang, Jiayi Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China

ISBN: (纸本)9798350320831

With the continuous development of Machine Learning, Reinforcement Learning has achieved excellent results in many fields. An improved Deep Deterministic Policy Gradient (DDPG) algorithm is proposed in this paper to optimize Reinforcement Learning control performance, because of the issue of sparse rewards during training in continuous action spaces such as robotic arms, leading to slow convergence and low success rates. The algorithm merges the DDPG algorithm with the Hindsight Experience Relay (HER) algorithm, enabling the agent to learn from the failed experience when learning. Moreover, a double experience replay buffer is introduced, comprising a primary buffer and a secondary buffer containing high-reward experiences, which enhances the sampling probability of high-quality samples. At long last, a PyBullet simulation environment was utilized to execute a simulation experiment. The robotic arm using the improved DDPG algorithm achieved a success rate of nearly 100% in about 220 epochs of training, and the algorithm convergence speed was greatly improved. The trained robotic arm can reach any target point in the workspace. The efficacy of the improved DDPG algorithm is demonstrated by the outcomes, providing a valuable reference for further exploration into the intelligent control of robotic arms for object grasping. © 2023 IEEE.

关键词： Robotic arms

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Research on Control Strategy of Manipulator Based on Deep Reinforcement Learning 23

Research on Control Strategy of Manipulator Based on Deep Re...

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3rd International Conference on Artificial Intelligence, Automation and Algorithms, AI2A 2023

作者： Xu, Nuo Shao, Yanpeng Fan, Xiaoyan National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin University of Technology Tianjin300384 China Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9798400707605

Abstract: Today, the traditional control algorithm of the manipulator is difficult to meet in the complex and changing working environment, and the development of artificial intelligence has achieved remarkable results in the field of manipulator control. As a branch of artificial intelligence, deep reinforcement learning combines the perception ability of deep learning with the decision-making ability of reinforcement learning, which can greatly improve the work efficiency and adaptability of the manipulator. This paper expounds on the principle of deep reinforcement learning, compares and analyzes the application examples of the single manipulator and multi-manipulator control algorithms based on deep reinforcement learning, and demonstrates the achievements of deep reinforcement learning in the motion control of manipulators. The intelligent control research provides a reference. © 2023 ACM.

关键词： Reinforcement learning

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Dimensional synthesis and static/dynamic analysis of a robot in automobile hubs polishing 20

Dimensional synthesis and static/dynamic analysis of a robot...

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20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Chen, Long Xi, Manru Ma, Yue Li, Bin Liu, Qi Li, Changrui Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control School of Mechanical Engineering Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350320831

Focusing on the polishing operation of automobile hubs, this paper proposed a polishing robot by combining a 1T2R parallel mechanism (PM) and an X-Y worktable. The dimensional synthesis and static/dynamic performance analysis of the 1T2R PM are also presented with the key points as follows. Firstly, the inverse displacement model and velocity model of the PM are built to formulate the motion/force transmissibility indices on the basis of the generalized Jacobian matrix. Secondly, the dimensional synthesis problem is formulated to determine the optimized normalized dimensional parameters by maximizing the global force/motion transmissibility of the PM subject to geometric constraints without mechanical interference. Finally, the finite element (FE) model of the 1T2R PM is built with the aid of the SAMCEF, and the static stiffness and lower-order natural frequencies of the PM are evaluated. The research results of this paper provide dimensions and mechanical structures for developing the physical prototype of the automobile hub polishing robot. © 2023 IEEE.

关键词： Finite element method

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Automated Creation of Topological Structure Models of Parallel Mechanisms for Kinematic Performance Evaluation 8

Automated Creation of Topological Structure Models of Parall...

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8th IEEE International Conference on advanced Robotics and Mechatronics, ICARM 2023

作者： Wu, Hongye Lin, Ping Ma, Yue Li, Bin Liu, Qi Li, Hongqing School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control Tianjin300384 China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350300178

Considering the diversity of topological structures of parallel mechanisms (PMs), this paper presents an approach for the automated generation of topological structure models based on CAD technology. In this method, joints and links are treated as fundamental elements in the skeleton model of a mechanical system, leading to the development of a library of fundamental components readily available to compose a variety of limbs and PMs. A connection graph and its data structure are then developed for describing, in a hierarchical manner, the assembly information among the fundamental components. Equipped with the knowledge and information mentioned above, the limbs and PMs can finally be assembled automatically by identifying and imposing the geometrical constraints that have been already embedded in the models. The merit of this method lies in that 3D schematic diagrams (termed topological structure models) of various limbs and PMs can be created in an illustrative manner by properly selecting a set of fundamental components and then setting their connections, leading to the digitalized and visible topological structure models that are readily for kinematic performance evaluation. Combined with the CAD-CAE integration technology for the mechanical structure design and static/dynamic performance evaluation, a digital design and simulation framework can be formulated for the rapid design of parallel robotic equipment. © 2023 IEEE.

关键词： Topology

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Preassigned-Time Synchronization of Memristive Chaotic Circuit via Intermittent Control

Preassigned-Time Synchronization of Memristive Chaotic Circu...

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2023 International Conference on Neuromorphic Computing, ICNC 2023

作者： Wang, Qiming Wang, Leimin Wu, Genping China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan430074 China Wuhan Second Ship Design and Research Institute Wuhan430064 China

ISBN: (纸本)9798350316889

In this paper, the preassigned-time synchronization (PTS) problem for a fifth-order memristive chaotic circuit (MCC) is investigated by designing a time-dependent intermittent controller. First, the dynamic characteristics of the MCC, especially the existence and occurrence of chaos, are investigated by simulation experiments. Besides, the stability of the equilibrium points is discussed by using Routh-Hurwitz criterion. Then, a time-dependent intermittent controller is designed and the PTS of MCC is realized via the presented controller. Finally, the effectiveness of theoretical results is verified by means of numerical simulations. © 2023 IEEE.

关键词： Controllers

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Small-Target Infrastructure Detection with Spatial Tracking and Multi-Level Feature Extraction of Railway Track Scenes

Small-Target Infrastructure Detection with Spatial Tracking ...

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2024 International Conference on intelligent Communication, Sensing and Electromagnetics, ICSE 2024

作者： Du, Heng Cang, Huaiming Bai, Yiwen Wang, Xinyi Beijing Elephant Technology Co. Ltd Beijing China School of Transportation Science and Engineering Beihang University Beijing102206 China State Key Lab of Intelligent Transportation System Beijing100191 China School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory for Advanced Mechanical System Design and Intelligent Control Tianjin China National Demonstration Center for Experimental Mechanical and Electrical Engineering Education Tianjin300384 China

ISBN: (纸本)9798350354935

In the field of railway transportation, with the continuous improvement of train running speed and the continuous increase of operating mileage, it becomes particularly important to ensure the safety and integrity of small-Target infrastructure along the railway train. Although many small-Target detection methods have been proposed, the research on small-Target infrastructure detection along rail trains is very rare. To solve this problem, this paper proposes a small-Target infrastructure detection network with spatial tracking and multi-level feature extraction based on Yolov8n. The experimental results show that ST-YOLO has a 3.6% mAP improvement on the OSDaR23 dataset compared to the baseline Yolov8n, and shows significant advantages over other state-of-The-Art methods. © 2024 IEEE.

关键词： Railroads

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design of an Embedded Leg Capsule Robot 20

Design of an Embedded Leg Capsule Robot

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Wang, Yihui Xue, Tao Wang, Jing Yueliwasi, Yimuranjiang Tianjin University of Technology Tianjin Key Laboratory for Advanced Electromechanical System Design and Intelligent Control 391 Binshui Xidao Tianjin China Tianjin University of Technology National Demonstration Center for Experimental Mechanical and Electrical Engineering Education 391 Binshui Xidao Tianjin China

ISBN: (纸本)9798350320831

The capsule robot enters the patient's intestinal system directly by swallowing and takes continuous images using the miniature camera unit it carries, but during its travel, its own gravity and the peristaltic movement of the intestine make the physician limited in obtaining images of the intestine and making a diagnosis. In order to solve this problem, a capsule endoscope with an embedded leg mechanism is proposed. Compared to commercially available capsule robot. This capsule robot can easily move through the intestine autonomously by means of the relationship between the leg, the screw nut and the linkage, enabling forward, backward and stationary functions. The capsule robot has a diameter of 14 mm, a length of 30 mm and a maximum diameter of 26.66 mm with the legs spread out. The hollow space is allocated to include basic endoscopic components such as a miniature camera and a rotating motor. A series of tests, including in vitro tests, were carried out to test the feasibility of the leg mechanism of this capsule robot. Based on the results of the experiments, the proposed leg mechanism can effectively act on the Micro-capsule endoscope, and is able to move effectively through the intestine. © 2023 IEEE.

关键词： Machine design

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MBF-DTI: A Fused Multi-dimensional Biochemical Feature-Based Drug Target Prediction Method Based on Heterogeneous Graph Attention Networks 10th

MBF-DTI: A Fused Multi-dimensional Biochemical Feature-Based...

引用

10th China Health Information Processing Conference, CHIP 2024

作者： Zhao, Haixue Yao, Kui Liu, Yunjiong Che, Chao Tang, Lin Key Laboratory of Advanced Design and Intelligent Computing Ministry of Education Dalian University Dalian116622 China School of Software Engineering Dalian University Dalian116622 China

ISBN: (纸本)9789819637515

Drug-target interaction prediction help reduce the cost and time of drug development. However, existing research often overlooks the complexity of biological interactions. To address this issue, this paper proposes a DTI prediction model that integrates multi-dimensional biochemical features. Specifically, the model utilizes a heterogeneous graph attention network to capture the topological relationships among biological entities from diverse data, providing a deep understanding of the interactions among drugs, proteins, diseases, and side effects. A molecular attention Transformer network and a CBiNet module are used to extract the key structural features of drugs and targets. By automatically optimizing the weight distribution between drugs and targets, the model enhances the information transfer during network training, significantly improving model performance. Experimental results on real-world datasets demonstrate that the proposed model outperforms the current state-of-the-art methods in the field. Among the top 50 novel COVID-19 therapeutic drugs predicted by our model, 30 have been supported by clinical trials or scientific literature, further demonstrating the effectiveness of our proposed method in drug repurposing. Experimental data and supplementary materials are available online at: https://***/Eadog/MBF-DTI. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： COVID-19

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Numerical Simulation and Analysis of HLTZ60-LJ-233 Water Turbine Transformation 2

Numerical Simulation and Analysis of HLTZ60-LJ-233 Water Tur...

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2nd International Conference on Computational Modeling, Simulation and Data Analysis, CMSDA 2022

作者： Zhang, Meiping Wang, Shoujun Zhou, Xuejun Tianjin University of Technology Tianjin Key Laboratory of Advanced Electromechanical System Design and Intelligent Control Tianjin300384 China Tianjin Sino-German University of Applied Technology Tianjin300350 China

ISBN: (纸本)9798350345759

In order to study the internal flow state of the mixed-flow turbine, this paper takes the modified HLTZ60-LJ-233 model turbine as the research object, combines with the modeling software UG, uses the grid division software ICEM, and then imports the flow field analysis software Fluent, and the turbine full-flow flow field analysis based on the k-ω turbulence model. © 2022 IEEE.

关键词： Turbulence models

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