In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corr...
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In order to compromise the conflicts between control accuracy and system efficiency of conventional electro-hydraulic servo systems,a novel pump-valve coordinated electro-hydraulic servo system was designed and a corresponding control strategy was *** system was constituted of a pumpcontrolled part and a valve-controlled part,the pump controlled part is used to adjust the flow rate of oil source and the valve controlled part is used to complete the position tracking control of the hydraulic *** on the system characteristics,a load flow grey prediction method was adopted in the pump controlled part to reduce the system overflow losses,and an adaptive robust control method was adopted in the valve controlled part to eliminate the effect of system nonlinearity and parametric uncertainties due to variable hydraulic parameters and system loads on the control *** experimental results validated that the adopted control strategy increased the system efficiency obviously with guaranteed high control accuracy.
In order to solve the linear variable differential transformer (LVDT) displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for pie...
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In order to solve the linear variable differential transformer (LVDT) displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.
The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is propo...
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The position tracking control problem of an electrical cylinder in the presence of dynamic friction nonlinearities in its transmission process is addressed in this paper. First, a torque decou- piing approach is proposed to formulate the dynamic model. Secondly, to compensate the friction in the case of servo motion, a modified LuGre model is designed to make a continuous transition be- tween a static model at a high speed and a LuGre model at a low speed to avoid instability due to dis- cretization with a finite sampling rate. To accelerate the speed of estimating time-varying parame- ters, a fast adaption law is proposed by designing an attraction domain around a rough value related to the load force. Finally, a discontinuous projection based adaptive robust controller is synthesized to effectively handle parametric uncertainties for ensuring a guaranteed robust performance. A Lya- punov stability analysis demonstrates that all signals including tracking errors have the guaranteed convergent and bounded performance. Extensive comparative simulations with sinusoidal and point- point tracks are obtained respectively in low and high speeds. The results show the effectiveness and the achievable control performance of the proposed control strategy.
Demand response has gained significant attention recently with the increasing penetration of renewable energy sources in power systems. Air conditioning loads are typical thermostatically controlled loads which can pl...
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Demand response has gained significant attention recently with the increasing penetration of renewable energy sources in power systems. Air conditioning loads are typical thermostatically controlled loads which can play an active role in ancillary services by regulating their aggregated power consumption. The aggregation of air conditioners is essential to the control of air conditioning loads. In this paper, linear state equations are proposed to aggregate air conditioning loads by solving coupled Fokker–Planck equations(CFPEs) using the finite difference method. By analyzing the numerical stability and convergence of the difference scheme, the grid spacings, including temperature step and time step, are properly determined according to the maximal principle. Stationary solutions of the CFPEs are obtained by analytical and numerical methods. Furthermore, a classification method using dimension reduction is proposed to deal with the problem of heterogeneous parameters and interval estimation is applied to describe the stochastic behavior of air conditioning loads. The simulation results verify the effectiveness of the proposed methods.
Motivated by the latest research on feasible space monitoring of multiple control barrier functions (CBFs) as well as polytopic collision avoidance, this paper studies the Polytope Volume Monitoring (PVM) problem, who...
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In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed i...
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In order to solve kinematic redundancy problems of a hydraulic quadruped walking robot,which include leg dragging,sliding,impingement against the ground,an improved gait planning algorithm for this robot is proposed in this ***,the foot trajectory is designated as the improved composite cycloid foot ***,the landing angle of each leg of the robot is controlled to satisfy friction cone to improve the stability performance of the *** with the controllable landing angle of quadruped robot and a geometry method,the kinematic equation is derived in this ***,agait planning method of quadruped robot is proposed,a dynamic co-simulation is done with ADAMS and MATLAB,and practical experiments are *** validity of the proposed algorithm is confirmed through the co-simulation and *** results show that the robot can avoid sliding,reduce impingement,and trot stably in trot gait.
A novel approach was proposed to allocate spinning reserve for dynamic economic *** proposed approach set up a two-stage stochastic programming model to allocate *** model was solved using a decomposed algorithm based...
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A novel approach was proposed to allocate spinning reserve for dynamic economic *** proposed approach set up a two-stage stochastic programming model to allocate *** model was solved using a decomposed algorithm based on Benders' *** model and the algorithm were applied to a simple 3-node system and an actual 445-node system for verification,*** results show that the model can save 84.5 US $ cost for the testing three-node system,and the algorithm can solve the model for 445-node system within 5 *** test results also illustrate that the proposed approach is efficient and suitable for large system calculation.
In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping (SLAM) algorithm, which uses a VoxelGrid filter to down sample the point cloud data, ...
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In order to meet the application requirements of autonomous vehicles, this paper proposes a simultaneous localization and mapping (SLAM) algorithm, which uses a VoxelGrid filter to down sample the point cloud data, with the combination of iterative closest points (ICP) algorithm and Gaussian model for particles updating, the matching between the local map and the global map to quantify particles' importance weight. The crude estimation by using ICP algorithm can find the high probability area of autonomous vehicles' poses, which would decrease particle numbers, increase algorithm speed and restrain particles' impoverishment. The calculation of particles' importance weight based on matching of attribute between grid maps is simple and practicable. Experiments carried out with the autonomous vehicle platform validate the effectiveness of our approaches.
Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots' ability of walking on rough terrain is of great importance but is seldo...
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Most existing legged robots are developed under laboratory environments and, corre- spondingly, have good performance of locomotion. The robots' ability of walking on rough terrain is of great importance but is seldom achieved. Being compliant to external unperceived impacts is cru- cial since it is unavoidable that the slip, modeling errors and imprecise information of terrain will make planned trajectories to be followed with errors and unpredictable contacts. The impedance control gives an inspiration to realize an active compliance which allows the legged robots to follow reference trajectories and overcome external disturbances. In this paper, a novel impedance force/ position control scheme is presented, which is based on Cartesian force measurement of leg' s end effector for our hydraulic quadruped robot The simulation verifies the efficiency of the impedance model, and the experimental results at the end demonstrate the feasibility of the proposed control scheme.
A plant-friendly proportional-integral-derivative (PID) controller optimization framework is proposed to make tradeoffs among set-point response,controller output variations and *** objective function is chosen as t...
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A plant-friendly proportional-integral-derivative (PID) controller optimization framework is proposed to make tradeoffs among set-point response,controller output variations and *** objective function is chosen as the weighted sum of the integral of squared time-weighted error and the integral of squared timeweighted derivative of the control variable with respect to set-point response,while the robustness of the system is guaranteed by constraints on gain and phase *** to the complex structure of the constraints,the problem is solved by genetic *** analysis show the proposed method could efficiently reduce the controller output variations while maintaining a short settling *** on the simulation results,iterative tuning rules for the weighting factor in the objective function are obtained,which allows efficient simple proportional-integral(PI) tuning formulae to be derived.
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