To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a use...
详细信息
ISBN:
(纸本)9781509046584
To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a useful framework to provide robot's leg *** conventional impedance control employs second-order mass-damping-spring system as a force disturbance *** this paper,position-based impedance control is applied to legged locomotion of the wheel-legged robot and a novel impedance controller with fractional order form is put forward to increase the system degrees of freedom for *** simulation tests of electric cylinder actuator and leg systems are carried out to demonstrate the effectiveness of the proposed algorithm.
Traditional forest fire detection methods based on flame are subject to detection delays due to the later appearrance of flame than smoke. When the flame is detected, the fire might have already been spread and out of...
详细信息
Traditional forest fire detection methods based on flame are subject to detection delays due to the later appearrance of flame than smoke. When the flame is detected, the fire might have already been spread and out of ***, the objective of this paper is to study new fire detection method based on smoke. First a quadrotor unmanned aerial vehicle(UAV) is adopted to capture the fire video;then the collected video sequence will be processed by a series of preprocessing including filtering and image enhancement;finally a new significance detection algorithm is investigated for early and efficient smoke detection. Experimental results show that the algorithm can detect smoke effectively.
For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture accordi...
详细信息
ISBN:
(纸本)9781538629185
For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture according to ZMP theory is put *** problem that robot can easily tip during trotting is solved by selecting landing *** structure of the parallel quadruped wheel-foot robot is *** planning algorithm is shown in *** prototyping based on Matlab and Adams integrated simulation platform is *** simulation results show the effectiveness of the new control algorithm.
The saturation phenomenon often happens to the regulator in the start-up procedure of electric vehicles. And the dynamic and static performance of the motor will be worse while this phenomenon lasts longer. In this pa...
The saturation phenomenon often happens to the regulator in the start-up procedure of electric vehicles. And the dynamic and static performance of the motor will be worse while this phenomenon lasts longer. In this paper, firstly we will analyze the causes of this phenomenon, and then propose an effective method to solve the regulator saturation. Based on traditional double-loop vector control, this method increased the voltage cut-off negative feedback and combined the state feedback linearization to realize the dynamic decoupling between currents and solve the current regulator saturation problem which happens during start-up procedure. Finally, the feasibility and effectiveness of the proposed method were verified by simulation experiments, and the comprehensive performance of the motor, including speed range, speed tracking performance and dynamic response, was improved.
As a non-linear underactuated system, the tower crane should be controlled to transport the load to reference position quickly and smoothly. The actual tower crane is susceptible to the environment interference during...
详细信息
As a non-linear underactuated system, the tower crane should be controlled to transport the load to reference position quickly and smoothly. The actual tower crane is susceptible to the environment interference during operation. Conventional Proportion Integral Derivative（PID） controller cannot deal with this interference. Sliding mode control（SMC） is robust to system uncertainties and external disturbances, but it needs to know the upper bounds of uncertainties and external perturbations, which are usually unknown in practical systems. Adaptive backstepping sliding mode control（ABSMC） is used to adaptively estimate the uncertainties and external disturbances, and the stability of the system is proved based on Lyapunov theory. Compared with SMC, the proposed ABSMC has strong robustness.
For the requirements of the laser temperature in additive manufacturing, there is a high precision and high heat need in the industry. The method is proposed to estimate the temperature of laser point, which is based ...
For the requirements of the laser temperature in additive manufacturing, there is a high precision and high heat need in the industry. The method is proposed to estimate the temperature of laser point, which is based on CNN. In this method, a model of CNN is carried out. The collected laser thermal radiation images are used to train the model. Image recognition and isotherm estimation can be obtained by the trained model. The conclusion can be verified by the experiment. The isotherm and temperature of the laser can be measured efficiently in this method.
Aiming at the high demands of temperature and precision in the aspect of additive manufacturing, a method based on CNN was proposed for estimating measurement. The network was trained through the collected laser therm...
Aiming at the high demands of temperature and precision in the aspect of additive manufacturing, a method based on CNN was proposed for estimating measurement. The network was trained through the collected laser thermal radiation images for image recognition and isotherm estimation after modeling a CNN. The experimental conclusion verifies that the isotherm detection and temperature estimation of the laser point can be efficiently implemented in proposed method.
Aiming at the effect of selective laser sintering technology used in 3D printing, the recursive least squares method was applied to fitting a controlsystem model for quantification the relationship between laser powe...
Aiming at the effect of selective laser sintering technology used in 3D printing, the recursive least squares method was applied to fitting a controlsystem model for quantification the relationship between laser power and corresponding temperature in this paper. The internal model control method is considered based on the establishing model. The controller is put into the actual 3D printing power controlsystem for controlling the laser power. In the experiment, both internal model controller and the PID controller for the 3D printer are researched and deployed for comparing the their effects in the paper. The experimental result illustrates that the IMC based on the recursive least squares method is of effectiveness.
A 3D printer system for selective laser sintering technology is used to establish a mathematical model of the relationship between laser power and temperature by using the recursive least squares method. Based on this...
A 3D printer system for selective laser sintering technology is used to establish a mathematical model of the relationship between laser power and temperature by using the recursive least squares method. Based on this model, the internal model control method is used to design the controller to realize the actual 3D printer. Temperature control, simulation analysis of internal model control and traditional PID control effects. The experimental results show that the feasibility, accuracy and internal model control of the recursive least squares identification model are fast, easy to implement, robust, and only one adjustable parameter, easy to adjust.
This paper investigates the stabilization problem of a class of fractional order chaotic systems with unknown modeling uncertainties and external perturbations. A fractional nonlinear sliding surface is proposed, and ...
详细信息
This paper investigates the stabilization problem of a class of fractional order chaotic systems with unknown modeling uncertainties and external perturbations. A fractional nonlinear sliding surface is proposed, and a reaching control law is obtained to guarantee the stability of the fractional chaotic system in finite time with just a single control input. And the simulation results are given to demonstrate the efficacy of the proposed nonlinear sliding mode control method.
暂无评论