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Engineering-oriented simulation platform for laminar cooling process of hot rolled strips

International Journal of Simulation and Process Modelling 2015年第4期10卷 327-333页

作者： Pian, Jinxiang Wang, Zhen Zhu, Yunlong Chai, Tianyou Li, Jiejia Faculty of Information and Control Engineering Shenyang Jianzhu University 9 Hunnan East Road Hunnan New District Shenyang Liaoning110168 China Key Laboratory of Networked Control System CAS Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang Liaoning110016 China State Key Laboratory of Synthetical Automation for Process Industries Northeastern University No. 3-11 Wenhua Road Heping District Shenyang Liaoning110819 China

Because the new approach cannot be applied directly in the hot-rolled strip laminar cooling process, a simulation is necessary to verify the new approach effectively which can improve the strip quality and production yields. In order to make sure simulation platform is similar to the practical industrial process as much as possible, we proposed an engineering-oriented distributed simulation platform for laminar cooling process, integrating part of physical equipment (such as PLC). Additionally, there is physical signals exchange among the controller and virtual sensors in the platform. The simulation platform consists of four parts, including virtual object, virtual instruments and actuators, loop controller and process monitoring computer, and setting controller. The virtual object reflects the actual input and output characteristics of laminar cooling process. Virtual instruments and actuators can simulate the field instruments and actuators. Loop controller and process monitoring show the device operating conditions, the control performance, and give alarm signals in time. Setting controller performs setting control procedures. The experimental results indicate that simulation platform has powerful ability to evaluate the new approach in light of the engineering, which can reduce the live-fire testing cost and meet the requirements of repeated trials. Copyright © 2015 Inderscience Enterprises Ltd.

关键词： controllers

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Neural Network control Using Composite Learning for USVs with Output Error Constraints

Neural Network Control Using Composite Learning for USVs wit...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Puyong Xu Chenguang Yang Shi-Lu Dai Zhaoyong Mao Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and Engineering South China University of Technology Guangzhou China Unmanned System Research Institute Northwestern Polytechnical University Xi'an China

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

In this paper, by focusing on trajectory tracking control of unmanned surface vessel (USV), we present a control method considering uncertain dynamics and output error constrains. Firstly, by using the properties of tan-type barrier Lyapunov function (BLF), the output tracking error can be constrained. Secondly, we use radical basis function neural network (RBF NN) to approximate the uncertain dynamics. Considering that the estimated parameters convergence cannot be achieved in the absence of persistent excitation (PE) conditions, the composite learning update law of the weight matrix in the NN is adopted to guarantee the parameters convergence under interval excitation (IE) conditions which is easier to reach. In simulation studies, it is proven that the USV have good ability to follow the pre-designed trajectory with small tracking error and the parameters convergence can be ensured.

关键词： unmanned surface vessel (USV) barrier Lyapunov function neural network composite learning Unmanned Surface Vessel Neural network outlet error network control control Methods neural network control follow error Converge Learning

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Attitude synchronization of multiple rigid bodies in SE(3) over proximity networks

Attitude synchronization of multiple rigid bodies in SE(3) o...

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第35届中国控制会议

作者： Juan Deng Zhixin Liu Lin Wang John S.Baras Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceCAS Department of Automation Shanghai Jiao Tong Universityand the Key Laboratory of System Control and Information ProcessingMinistry of Education Department of Electrical and Computer Engineering and the Institute for Systems Research University of MarylandCollege Park

ISBN: (纸本)9781509009107

This paper investigates the attitude synchronization of a group of moving rigid bodies whose states including positions and rotation matrices evolve in the Lie group SE(3).The commonly used circular neighborhood is adopted,and the neighbor graphs are described by proximity *** order to avoid introducing discussions on the abrupt changes of neighbor graphs,a dwell time is *** distributed sampled-data control law for the angular velocity is *** the assumptions on the initial states,we provide sufficient conditions for the attitude synchronization of multiple rigid body *** with the existing results,our condition depends only on the neighborhood radius,the moving velocity and the dwell time.

关键词： rigid body SE(3) attitude synchronization sampled-data control proximity network

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A Fast Conversion Method of Tube Coordinates

A Fast Conversion Method of Tube Coordinates

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作者： Hao Zhao Renbo Xia Yueling Chen Liming Tao Daixian Zhao Tianyu Zhang Key Laboratory of Networked Control System Chinese Academy of Sciences Shenyang Institute of Automation Chinese Academy of Sciences Institute of Robotics and Intelligent Manufacturing Innovation Chinese Academy of Sciences University of Chinese Academy of Sciences

Inspired by the idea of the coordinate transformation of the robot arm, the tube structure is analogized to the robot arm structure, and the conversion method of the tube bend processing parameters LRA to the three-dimensional coordinate points is obtained. The method first regards the tube as a "mechanical arm";then, using the similarity of the LRA processing parameters and DH parameters, all the LRA parameters are converted into D-H parameters;finally, the D-H parameter method is applied to calculate the distance between each axis of the " mechanical arm ". If the first space coordinate point is defined as the origin of the base coordinate system (0, 0, 0), then the position of the origin of other coordinate systems in the base coordinate system can be obtained;It has been proved by experiments that this method fast and feasible.

关键词： Tube Coordinates Fast Conversion Method Mechanical Arm D-H Parameter Method

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Robot Teaching by Teleoperation Based on Visual Interaction and Neural Network Learning

Robot Teaching by Teleoperation Based on Visual Interaction ...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Yang Xu Chenguang Yang Junpei Zhong Hongbin Ma Lijun Zhao Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology National Institute of Advanced Industrial Science and Technology School of Automation Beijing Institution of Technology State Key Laboratory of Robotics and System Harbin Institute of Technology

Traditional methods of Robot teaching require human demonstrators to program with a teaching pendant,which is a complex and time-consuming *** this paper,we propose a novel method based on teleoperation which allows a demonstrator to train robot in an intuitive *** specifically,at the beginning the demonstrator controls a robot by visual *** then a learning algorithm based on radial basis function(RBF) network is used to transfer the demonstrator's motions to the *** verify the effectiveness of this developed methods,several simulation experiments have been carried out which based on Microsoft Kinect Sensor and the Virtual Robot Experimentation Platform(V-REP).The experimental results show that this method has achieved satisfactory *** the help of this method,the robot can not only complete the task autonomously after teaching,but also can learn the details of demonstrator's behavior.

关键词： Robot Teaching Teleoperation radial basis function(RBF) network

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A simulator for swarm AUVs acoustic communication networking 11

A simulator for swarm AUVs acoustic communication networking

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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Li, Guannan Liu, Jun Wang, Xue Xu, Hongli Cui, Jun-Hong Shenyang Institute of Automation CAS University of Chinese Academy of Sciences No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Changchun China Shenyang Institute of Automation CAS Northeast University No. 114 Nanta Street Shenhe District Shenyang China Shenyang Institute of Automation CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States

ISBN: (纸本)9781450346375

This paper presents a simulator for swarm operations designed to verify algorithms for a swarm of autonomous underwater robots (AUVs), specifically for constructing an underwater communication network with AUVs carrying acoustic communication devices. This simulator consists of three nodes: a virtual vehicle node (VV), a virtual environment node (VE), and a visual showing node (VS). The modular design treats AUV models as a combination of virtual equipment. An expert acoustic communication simulator is embedded in this simulator, to simulate scenarios with dynamic acoustic communication nodes. The several simulations we have performed demonstrate that this simulator is easy to use and can be further improved.

关键词： Simulators

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator system

Robot-CT Scanning Oriented Synchronous Trajectory Planning o...

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Chinese control Conference (CCC)

作者： Shuaikang Zhang Mingxing Yuan Xuebo Zhang Tianjin Key Laboratory of Intelligent Robotics Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin P. R. China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing P. R. China

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator.

关键词：

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Solving online for time-varying pth root via ZD from real domain to complex domain

Solving online for time-varying pth root via ZD from real do...

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International Conference on Information Science and Technology (ICIST)

作者： Yunong Zhang Deyang Zhang Zhengli Xiao Hongzhou Tan Zhen Li Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou China

In this paper, continuous-time Zhang dynamics (CTZD) models and discrete-time Zhang dynamics (DTZD) models are proposed to solve in real time for the time-varying pth root, from real domain to complex domain. In addition, the convergence properties of the proposed Zhang dynamics (ZD) models are discussed and proved. Furthermore, exploiting different parameters in the proposed ZD models is investigated in order to achieve superior convergence and better accuracy. Computer-simulation and experiment results further substantiate the efficacy of the proposed ZD models. Moreover, the superiority of DTZD models is verified by comparing with Newton-Raphson iteration (NRI).

关键词： Computational modeling Polynomials Force Lead Convergence Logic gates

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The study on fracture energy release rate G∼C of the reservoir ice layer in different loading rate

The study on fracture energy release rate G∼C of the reserv...

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International Conference on Electronics, Communications and control (ICECC)

作者： Xiao-zhou Liu Qiao Sun State Key Laboratory of Frozen Soil Engineering Cold and Arid Regions Environmental & Engineering Research Institute Chinese Academy of Sciences (CAS) Lanzhou China Key Laboratory for Prediction & Control on Complicated Structure System of Liaoning Province Dalian University Dalian China

The fracture energy release rate G ~ C , which is the important parameter of ice pressure calculation model that is built on energy balance method, is the fracture mechanics performance of ice material. It is related with these factors such as ice material loading rate Ṗ, which must be measured by experiment. It is the experimental method of fracture mechanics used in this paper. These ice specimens on the different thickness loading rate Ṗ were tested with fracture mechanics method at low-temperature testing machine, to obtain the fracture flexibility change rate d/da(1/M) of ice body which contains pre-crack and the values of P - Δ under different conditions of Ṗ, which could determine fracture energy release rate G ~ C of ice body during the ice pressure generated, which provide the necessary experimental data to establish ice layer pressure calculation model for the application of energy balance method.

关键词： Ice Materials Loading Force Soil Testing Temperature control

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ZG control for 2-output tracking of 3-input nonlinear system with GD used additionally twice more

ZG control for 2-output tracking of 3-input nonlinear system...

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International Conference on Information and Automation (ICIA)

作者： Yunong Zhang Ming Liu Yinyan Zhang Zeqi Chen Hongzhou Tan Key Laboratory of Autonomous System and Networked Control Ministry of Education Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou China

ISBN: (纸本)9781467391054

In this paper, the Zhang-gradient (ZG) method, which is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods, is proposed for solving the tracking control problem of the multiple-input multiple-output (MIMO) system. Different from the traditional ZG method, GD is used additionally twice more in this paper to get through the derivation procedure. Moreover, each GD parameter is tunable for each GD design formula instead of being traditionally assigned the same value, which is the key point in this research for making simulations successful. Besides, simulation verifications further illustrate that the proposed controller group based on the ZG method achieves not only satisfactory tracking accuracy but also rapid tracking rate.

关键词： Trajectory Nonlinear systems MIMO Accuracy Automation Linear systems

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