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检索条件"机构=Tianjin Key Laboratory for Control Theory& Applications in Complicated System"

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Attitude control for a quadrotor base on ADRC with GSO parameter optimization

Attitude control for a quadrotor base on ADRC with GSO param...

引用

第30届中国控制与决策会议

作者： Jianfeng Che Dahua Li Yuehui Ji Qiang Gao Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

A kind of attitude control strategy for the quadrotor based on active disturbance rejection control(ADRC) is proposed in this ***,the dynamic model using Newton–Euler formula of the quadrotor helicopter is *** according to the order of dynamics equations design corresponding ***,in consideration of the characteristics of uncertain parameter of ADRC,the Glowworm Swarm Optimization(GSO) is designed to optimize the controller parameters so as to enhance the system ***,the comparative simulation for attitude of quadrotor is developed to verify the effectiveness of the proposed control *** results of simulations show that the proposed controller possesses strong robustness and high performances.

关键词： Quadrotor Attitude control ADRC Algorithm GSO Algorithm Parameter Optimize

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Trajectory Tracking control of Photovoltaic Cleaning Robot Based on Lyapunov theory and Barbalat Lemma

Trajectory Tracking Control of Photovoltaic Cleaning Robot B...

引用

第30届中国控制与决策会议

作者： Ji Li Peng Miao Lei Shao Hongli Liu Xiaoqi Chen Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

In order to solve the trajectory tracking control problem of photovoltaic cleaning robots, a universal crawler robot motion model was *** at the kinematics of the track-cleaning photovoltaic robot, a trajectory tracking error model of the tracked mobile robot is given and the error transformation equation is *** tracking robot control problem of the target robot is transformed into the stabilization problem of the error system. The Lyapunov theory and the Barbalat lemma are used to prove the existence of the global asymptotic tracking control *** global asymptotic tracking of track-cleaning photovoltaic cleaning robots is achieved by using appropriate control *** results show that the control law adopted is stable and effective.

关键词： Crawler robot Trajectory control Lyapunov theory Barbalat lemma

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Design of a novel drug-delivery module for active locomotive intestinal capsule endoscopy 15

Design of a novel drug-delivery module for active locomotive...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Bao, Zihong Guo, Shuxiang Fu, Qiang Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Current Wireless Capsule Endoscopic systems (WCE) provide only diagnostic tools, but in the future, advanced functionalities such as controllable drug delivery could be available for clinicians. This paper proposes a spiral capsule robot driven by external magnetic field control wireless targeted drug delivery module, the module includes two radial magnetizing magnetic ring and a simple plastic chain, and it has a volume of 1.15 ml medicine cavity integration within the interior space. The control system of the robot including the driven system, motion control and drug release of the robots was presented. The robot module has two spiral grooves outside the module, which can be controlled in the external magnetic field. The inner two ring magnets can be operated and closed under the control of external strong pulse magnetic field. Then the robot was driven by a three-axis Helmholtz coil system. Finally, the feasibility of the function of drug release is verified. The developed capsule robot can be used to improve the capsule robot system, increase the function of the capsule robot, and can be used in the future medical treatment. © 2018 IEEE.

关键词： Robots

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Application of the hybrid algorithm in path planning of the spherical mobile robot 15

Application of the hybrid algorithm in path planning of the ...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Jian Li, Chunying Guo, Shuxiang Yang, Xujie Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

Genetic algorithms (GA) and ant colony algorithm (ACO) are computational models that simulate the process of biological evolution and are widely applied to problems related to path planning. This paper proposes a path planning algorithm which combines the genetic algorithm and the ant colony algorithm. The hybrid algorithm overcomes the problem of genetic algorithm's poor ability in local search, and overcomes the slow convergence speed, local optimal solution of ant colony algorithm's in the process of convergence. The effectiveness and rapidity of the proposed hybrid algorithm is verified by simulation and experiment. The overall performance is better than the genetic algorithm and the ant colony algorithm. Finally, we carried out the experiments to verify the effectiveness of the proposed hybrid algorithm which could avoid collision and reach the target safely, and the proposed hybrid algorithm was compared with ACO and GA respectively. The experimental results showed that the proposed hybrid algorithm overcame the defects of ACO and GA, verified the effectiveness and rapidity of the proposed hybrid algorithm. © 2018 IEEE.

关键词： Genetic algorithms

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Influences of Electric Vehicles on Power system

Influences of Electric Vehicles on Power System

引用

Chinese control Conference (CCC)

作者： Youjie Ma Long Tao Xuesong Zhou Zhiqiang Gao Key Research Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin

The electric vehicle has brought fluctuation to the power system. The wide use of electric vehicles(EVs) has exacerbated this challenge. Firstly, the mathematical model of electric vehicles under random charging mode is given. Secondly, the power electronics charger topology is introduced. This paper analyzed the changes of the power system reliability when the proportion of electric vehicles increased, which shows the increase of electric vehicles under random charging mode poses a great threat to the reliability.

关键词： Power system stability Topology Power system reliability Electric vehicle charging Vehicle-to-grid

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Reactive Power Compensation Method for Distribution Network from Electric Vehicles

Reactive Power Compensation Method for Distribution Network ...

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Chinese control Conference (CCC)

作者： Youjie Ma Chang Liu Xuesong Zhou Zhiqiang Gaol Key Research Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin

As Plug-in hybrid electric vehicles (PHEVs), dips usually occur on the bus because multiple PHEVs are connected to the same bus simultaneously. In view of the flaws of the existing traditional compensators and their extra cost, the grid -side reactive power compensation by the chargers of PHEVs during charging is expected to address this issue. To provide such compensation during charging, it is necessary that PHEVs incorporate bidirectional chargers. Among different types of bidirectional chargers, the DC voltage controller is unable to compensate voltage. Alternatively, the chargers with active power controllers regulate active power as well as reactive power independently, which is effective and convenient. In this paper, we propose a PR control strategy for the PHEV s chargers to tune reactive power online and to increase power factor. The simulation examples are given to verify the effectiveness of the proposed strategy.

关键词： Reactive power Batteries Vehicle-to-grid Topology Voltage control Mathematical model control systems

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Design of the speech control system for a upper limb rehabilitation robot based on wavelet de-noising 15

Design of the speech control system for a upper limb rehabil...

引用

15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Guo, Shuxiang Wang, Zhi Guo, Jian Fu, Qiang Li, Nan Tianjin Key Laboratory for Control Theory and Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin300384 China Intelligent Mechanical Systems Engineering Department Faculty of Engineering Kagawa University Takamatsu Kagawa Japan

ISBN: (纸本)9781538660720

In order to help stroke patients to go on rehabilitation training, a new type of exoskeleton upper limb rehabilitation robot based on biomechanics has been designed in this paper, and speech control has been implemented. The speech control is suitable for patients who can speak. Doctors or family members can also assist patients in training. The system can help patients with hemiplegia to recover the upper limbs and fingers movement function, at the same time, it has the characteristics of small size, more portable and convenient operation. It can also effectively solve the shortage of traditional doctors and patients' one to one rehabilitation training. It is convenient for patients to use in the family. Anybody can help patients with rehabilitation training and has a broad application prospect in the field of rehabilitation. Finally, the speech control system was tested and the master-slave control experiment was implemented. In order to better perform speech recognition and further reduce the noise in the environment, the original speech signals have been de-noised with wavelet transform . The experimental results showed that the success rate of post-noise speech control system rehabilitation training is higher, and the average correct recognition rate of speech control is 94%, thus the feasibility of the speech control system is verified. © 2018 IEEE.

关键词： control systems

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Research on Online Testing system of Flow Characteristics for Vehicle Electronic Fuel Injector

Research on Online Testing System of Flow Characteristics fo...

引用

IEEE International Conference on Mechatronics and Automation

作者： Yanhao Li Bin Liu Jianwen Li Yan Zhao Wei Lei Tianjin Key Laboratory for Control Theory & Applications in Complicated System Tianjin University of Technology Tianjin China Military Transportation University Tianjin China

Complied with relevant standards, a novel on-line testing system for flow characteristics of electronic fuel injector was proposed in this paper. The designed structure of the system was described in details, as well as the composition and principle of the control unit. The testing process on the dynamic flow and the static flow of the port fuel injectors driven by voltage was implemented. According to the experimental results, the error of the on-line system is less than 4%, which can meet the requirements on flow characteristics test of fuel injectors. At the same time, the on-line system has practical application values.

关键词： Fuels Testing Valves Vehicle dynamics Standards Solenoids Flowmeters

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Design of A Novel Drug-delivery Module for Active Locomotive Intestinal Capsule Endoscopy

Design of A Novel Drug-delivery Module for Active Locomotive...

引用

IEEE International Conference on Mechatronics and Automation

作者： Jian Guo Zihong Bao Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin China

关键词： Drug delivery module Wireless capsule robot Ring-shaped magnet Helmholtz coils

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Reactive Power Compensation Method for Distribution Network from Electric Vehicles

Reactive Power Compensation Method for Distribution Network ...

引用

第37届中国控制会议

作者： Youjie Ma Chang Liu Xuesong Zhou Zhiqiang Gao Key Research Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology

As Plug-in hybrid electric vehicles(PHEVs), dips usually occur on the bus because multiple PHEVs are connected to the same bus simultaneously. In view of the flaws of the existing traditional compensators and their extra cost, the grid-side reactive power compensation by the chargers of PHEVs during charging is expected to address this issue. To provide such compensation during charging, it is necessary that PHEVs incorporate bidirectional chargers. Among different types of bidirectional chargers, the DC voltage controller is unable to compensate voltage. Alternatively, the chargers with active power controllers regulate active power as well as reactive power independently, which is effective and convenient. In this paper, we propose a PR control strategy for the PHEVs chargers to tune reactive power online and to increase power factor. The simulation examples are given to verify the effectiveness of the proposed strategy.

关键词： PHEV Charger V2G Reactive power compensation

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