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UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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A review of active yaw control system for vehicle handling and stability enhancement

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International Journal of Vehicular Technology 2014年第unknown期2014卷 1-15页

作者： Aripin, M.K. Md Sam, Yahaya Danapalasingam, Kumeresan A. Peng, Kemao Hamzah, N. Ismail, M.F. Control Instrumentation and Automation Department Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka 76100 Durian Tunggal Melaka Malaysia Department of Control and Mechatronics Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 UTM Johor Bahru Johor Malaysia Temasek Laboratories National University of Singapore 117411 Singapore 5A Engineering Drive 1 Singapore Faculty of Electrical Engineering UiTM Pulau Pinang 13500 Permatang Pauh Pulau Pinang Malaysia Industrial Automation Section Universiti Kuala Lumpur Malaysia France Institute 43650 Bandar Baru Bangi Selangor Jalan Teras Jernang Malaysia

Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system;the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control. © 2014 M. K. Aripin et al.

关键词： AUTOMOBILES -- Automatic systems DYNAMICAL systems AUTOMOBILES -- Performance COMPARATIVE studies SURFACES (Technology)

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Dynamic scheduling of AGVS for tobacco automatic warehouse: A case study

Dynamic scheduling of AGVS for tobacco automatic warehouse: ...

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43rd International Conference on Computers and Industrial engineering 2013, CIE 2013

作者： Lu, Shao P. Kong, Xiang T.R. Luo, Hao Wong, Wen R. Luo, Kai B. Department of Transport Economy and Logistics Management College of Mechatronics and Control Shenzhen University Shenzhen China Department of Industrial and Manufacturing Systems Engineering University of Hong Kong Hong Kong Hong Kong Contemporary Logistics Centre College of Control Science and Engineering Shandong University Jinan China

ISBN: (纸本)9781629934372

This paper studies the scheduling of automated guided vehicles (AGVs) for the material distribution from a tobacco accessory storage area to the machines in a flexible manufacturing plant. Firstly, we illustrate the operational processes, facility layout and AGVS composition to meet the total material requirements of all the machining units in the shop floor;secondly, input/output parameters, decision variables, comprehensive optimization objectives associated with scheduling rules has been discussed.

关键词： Tobacco

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Three-degree-of-freedom dynamic model based IT2RFNN control for gantry position stage

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9th International Symposium on Linear Drives for Industry Applications, LDIA 2013

作者： Chou, Po Huan Lin, Faa Jeng Chen, Chin Sheng Lee, Feng Chi Department of Mechatronics Control Industrial Technology Research Institute Taiwan Department of Electrical Engineering National Central University Taiwan Graduate Institute of Automation Technology National Taipei University of Technology Taiwan

ISBN: (纸本)9783037858639

A three-degree-of-freedom (3-DOF) dynamic model based interval type-2 recurrent fuzzy neural network (IT2RFNN) control system is proposed in this study for a gantry position stage. To consider the effect of inter-axis mechanical coupling, a Lagrangian equation based 3-DOF dynamic model for gantry position stage is derived first. Then, to minimize the synchronous error and tracking error of the gantry position stage, the 3-DOF dynamic model based IT2RFNN control system is proposed. In this approach, the adaptive learning algorithms of the IT2RFNN on-line are derived from the Lyapunov stability theorem. Finally, some experimental results of optical inspection application are illustrated to show the validity of the proposed control approach. © (2013) Trans Tech Publications, Switzerland.

关键词： Dynamic models

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Coordination of multiple autonomous intersections by using local neighborhood information

Coordination of multiple autonomous intersections by using l...

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International Conference on Connected Vehicles and Expo (ICCVE)

作者： Chairit Wuthishuwong Ansgar Traechtler Control Engineering and Mechatronics Department University Paderborn Paderborn Germany

Traffic congestion is considered one of the most important problems of road transportation. The concept of Intelligent Transportation System (ITS) has been introduced to improve the efficiency of the traffic flow. The autonomous vehicle technology is slowly becoming a reality, alongside wireless communication technology, which is becoming a major role in vehicle communication. Wireless communication devices will be generally used in vehicles for the future road transportation. The purpose of this research work is to use the local traffic information to reduce delay time of a vehicle at an intersection. In this paper, the fully autonomous intersection system is represented as a single intersection model. In addition, the multiple intersections are created based on the connection of a single autonomous intersection agent. The communication topology of the intersection network is modeled by using the undirected graph. The traffic information in the network is able to be exchanged by Infrastructure-to-Infrastructure (I2I) communication. This discrete consensus algorithm is implemented for coordinating the local traffic information and the neighborhood intersection. The proposed method works, based on the concept Green Wave, which maximizes the throughput, as well as minimizing the delay time. It maintains the traffic density of every intersection in the network to manage every vehicle for a continuous drive with a minimal delay time. The simulation of variable traffic flow rate of multiple autonomous intersections is implemented based on the proposed method.

关键词： Vehicles Wireless communication Mathematical model Roads Mobile robots Equations

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Design of fuzzy parallel distributed compensation controller for magnetic levitation system

Design of fuzzy parallel distributed compensation controller...

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13th Iranian Conference on Fuzzy Systems, IFSC 2013

作者： Gholami, Milad Aliyari Shoorehdeli, M. Dashti, Zohreh Alzahra Sanai Teshnehlab, M. Department of Electrical Engineering Qazvin Branch Islamic Azad University Qazvin Iran Mechatronics Department Electrical Engineering Faculty K. N. Toosi University Tehran Iran Control Department Electrical Engineering Faculty K. N. Toosi University Tehran Iran

ISBN: (纸本)9781479912285

This study applies technique PDC (parallel distributed compensation) for position control of a Magnetic levitation system. PDC method is based on nonlinear Takagi-Sugeno (T-S) fuzzy model. It is shown that this technique can be successfully used to stabilize any chosen operating point of the system. All derived results are validated by computer simulation of a nonlinear mathematical model of the system. The controllers which introduced have big range for control the system. © 2013 IEEE.

关键词： Position control

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Short-Range detection system with polarized laser and polarization characteristics of typical targets

Short-Range detection system with polarized laser and polari...

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3rd International Conference on Materials Science and Information Technology, MSIT 2013

作者： Yang, Yu Ying Chen, Hui Min Chen, He Jiao Yang, Yu Ying Shao, Yun Feng State Key Lab of Mechatronics Engineering and Control Beijing Institute of Technology Beijing 100081 China Department of Arms Engineering Academy of Armored Force Engineering Beijing 100072 China Nanjing Artillery Academy Langfang Campus Langfang 065000 China

ISBN: (纸本)9783037857700

In view of using only the intensity information of retroreflection light and poor capacity of anti-interference in laser short-range detection, this paper presents a short-range detection method based on laser polarization properties of targets, designs the polarization detection model and constructs the polarization detection system. Through the analysis and the comparison of data which is obtained from the polarization characteristic and intensity characteristic experiments of five different targets, the conclusion that the detection method based on the laser polarization characteristics can effectively distinguish target is achieved. Meanwhile, the analysis of detection model in this paper can also provide certain theory significance for further research on polarization detection. © (2013)Trans Tech Publications, Switzerland.

关键词： Polarization

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Speed control of a Digital Servo System using parallel distributed compensation controller and Neural Adaptive controller

Speed control of a Digital Servo System using parallel distr...

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13th Iranian Conference on Fuzzy Systems, IFSC 2013

作者： Dashti, Zohreh Alzahra Sanai Jafari, Mohammad Gholami, Milad Aliyari Shoorehdeli, M. Teshnehlab, M. Department of Electrical Engineering Qazvin Branch Islamic Azad University Qazvin Iran Mechatronics Department Electrical Engineering Faculty K. N. Toosi University Tehran Iran Control Department Electrical Engineering Faculty K. N. Toosi University Tehran Iran

ISBN: (纸本)9781479912285

This study applies technique PDC (parallel distributed compensation) for speed control of a Digital Servo System. PDC method is based on nonlinear Takagi-Sugeno (T-S) fuzzy model. Also in this study Neural Adaptive is used for velocity control and identification of a Digital Servo System. It is shown that these techniques can be successfully used to stabilize any chosen operating point of the system. All derived results are validated by experimental and computer simulation. The controllers which introduced have big range for control the system. We compare PDC controller with Neural Adaptive controller results and PID controller. © 2013 IEEE.

关键词： Servomechanisms

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Variable Structure System with Sliding Mode controller

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Procedia engineering 2013年 53卷 441-452页

作者： A.A. Ahmed R.B. Ahmad Abid Yahya Hazim H. Tahir James Quinlan School of Computer and Communication Engineering University Malaysia Perlis Malaysia Mechatronics Department Control and Mechatronics Research MST Technology Baghdad Iraq Mathematics Department at the University of New England

This paper describes the application of sliding mode variable structure control (SMVSC) concept for DC motor position control. A mathematical procedure for determining the values of the gains of variable structure system (VSS) controller (a, P) and the slope of switching line (c) are mentioned and obtained mathematically but optimized values, also, achieved by using MATLAB/Simulink design optimization toolbox - signal constraint by applying gradient descent optimization method. The proposed control scheme is derived, simulated and tested thoroughly by using MATLAB/Simulink package software Ver. 7.10/Version 7.5 (R2010a) respectively. The control-system schematics are given and sample results are shown for three types of controllers (Proportional (P), three terms PID and sliding mode variable structure controllers). The SMVSC simulation should be of interest to design engineers who wish to demonstrate and investigate sophisticated position-control methods and their applications. This simulation may also serve as a basis for further applications of SMVSC in other engineering fields.

关键词： DC Motor MATLAB/Simulink Sliding Mode Variable structure control/System

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Advanced condition monitoring of epicyclic gearboxes

Advanced condition monitoring of epicyclic gearboxes

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10th International Conference on Condition Monitoring, CM 2013 and Machinery Failure Prevention Technologies 2013, MFPT 2013

作者： Lahdelma, Sulo Juuso, Esko Immonen, Jussi Department of Mechanical Engineering Mechatronics and Machine Diagnostics Laboratory P.O.Box 4200 FI-90014-University-of-Oulu Finland Department of Process and Environmental Engineering Control Engineering Laboratory P.O.Box 4300 FI-90014-University-of-Oulu Finland

ISBN: (纸本)9781629939926

Epicyclic gearing or planetary gearing is a gear system that consists of one or more outer gears, or planet gears, revolving around a central, or sun gear. Typically, the planet gears are mounted on a movable arm or carrier, which itself may rotate relative to the sun gear. The complex structure consisting of many rolling elements and versatile components results in a long stoppage if a failure occurs. Therefore, it is important to detect incipient faults at an early stage. In this paper, vibration analysis is used for the condition monitoring of an epicyclic gearbox at a water power station. Because of the quite high rotational speed of the output, acceleration and its higher order derivatives should be used in order to obtain good responsiveness to changes in the conditions. Complex models based on mechanisms are needed in order to calculate the vibration components in the frequency range and to identify the possible faulty components. There was also one vibration component in the gear the source of which could not be discovered with certainty. A combined signal processing and feature extraction approach based on generalised moments and norms provides efficient indicators for condition monitoring. The features defined by the order of derivation, the order of the norm and the sample time are used in dimensionless indices, which are calculated by dividing the feature value with a reference value corresponding to the normal operation. The indices are calculated for different real order derivatives and weighted lp norms to form S-surfaces, which are used in selecting suitable orders.

关键词： Condition monitoring

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