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Fuzzy pid control applied in evaporator of organic rankine cycle system

Fuzzy pid control applied in evaporator of organic rankine c...

Geothermal Resources Council 2016 Annual Meeting - Geothermal Energy Here and Now: Sustainable, Clean, Flexible, GRC 2016

作者： Li, Xiuli Wang, Zhigang Wang, Yan Fu, Wencheng Tianjin Key Laboratory for Control Theory and Applications in Complicated System Tianjin China School of Electrical Engineering Tianjin University of Technology Tianjin China

ISBN: (纸本)0934412219

In this paper, the organic Rankine cycle (ORC) in waste heat utilizing process is investigated. In order to study the performance of the ORC system, the method of mechanism analysis is applied in modeling. In order to achieve both transient performance and steady-state energy saving, a control strategy is proposed for the system by incorporating a Fuzzy control with a PID controller. MATLAB software of Simulink toolbox is applied in this system to study the dynamic characteristics of the object to adapt to parameter changes and anti-interference of control object. Simulations demonstrate that the proposed strategy can obtain satisfactory performance.

关键词： Rankine cycle

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system simulation of an untreated sewage source heat pump

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International Journal of Simulation: systems, Science and Technology 2016年第29期17卷 27.1-27.9页

作者： Qin, Na Hao, Zhipeng Thermal Engineering Department Control Theory and Applications of Complex Systems Tianjin Key Laboratory Tianjin University of Technology Tianjin300384 China

The paper studies the characteristics of heat pumps used in untreated-sewage source where the matter enters the heat pump directly in winter. The system model is established first. Then the changes of the variable parameters, including the sewage and water temperatures at the inlets of the heat pump and the compressor frequency, are simulated to assess their influence on the system performance. Then, the system is compared with those used in indirect mode to observe the different heating capacities. The results show that most parameters, except the condensation heat transfer coefficient, change as a sine wave, the same as the sewage and water temperatures at the inlets of the heat pump. COP is about 3.75 in the range of the temperature fluctuation of 1℃. The heating capacity and consumed power are 12.9 and 3.45kW when the sewage temperature is 13℃ at the inlet. When the compressor frequency increases from 25Hz, and the sewage and water temperatures at the inlet take on impulse signals, the system parameters produce rapid changes at the impulse point, and become unstable in a short time. By comparison with the indirect-mode system, it is shown that the heating capacity of direct-mode system increases by 7~8%, showing greater advantage of energy conservation. © 2016, UK Simulation Society. All rights reserved.

关键词： Compressors

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Temperature Prediction Model of Cement Rotary Kiln Based on MPGA-LSSVM

Temperature Prediction Model of Cement Rotary Kiln Based on ...

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2016 2nd International Conference on Electronics,Network and Computer Engineering(ICENCE 2016)

作者： Hui Zhao Yu Wang Hongjun Wang Youjun Yue Tianjin Key Laboratory of Control Theory& Applications in Complicated System Tianjin University of Technology Tianjin Agricultural University

ISBN: (纸本)9781510830073

The burning zone temperature(BZT) in cement rotary kiln is a mostly important index which affects the quality of produced cement. In rotary kiln, the bilateral movements of air and complex chemical reactions take place. Thus, traditional modeling methods can not predict the BZT effectively. In order to improve the prediction accuracy, the temperature prediction model was established by least square support vector machine(LSSVM). The input variables of this model were selected by the gray correlation analysis method and mechanism analysis. The parameters of the LSSVM were optimized by multi population genetic algorithm(MPGA). The final simulation results show that the prediction accuracy is improved obviously. The effectiveness of the proposed method is verified.

关键词： Cement rotary kiln Temperature prediction Least square support vector machine Multiple population genetic algorithm MPGA-LSSVM

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Study on prediction model of blast furnace hot metal temperature

Study on prediction model of blast furnace hot metal tempera...

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IEEE International Conference on Mechatronics and Automation

作者： Youjun Yue An Dong Hui Zhao Hongjun Wang Tianjin Key laboratory for Control Theory and Applications in Complicated System Tianjin University of Technology Tianjin China Tianjin Agricultural University Tianjin China

ISBN: (纸本)9781509023974

In order to improve the accuracy of blast furnace hot metal temperature prediction in iron and steel enterprises, the Grey Relational Analysis and Support Vector Machine optimized by Genetic Algorithm Optimization method is proposed to solve this. Firstly, the main factors which influence the blast furnace hot metal temperature are determined by the Grey Relational Analysis, and then the prediction model is established by the support vector machine based on Genetic Algorithm Optimization. This method is compared with other prediction methods. The simulation result indicates GRA-GA-SVM have higher prediction accuracy. A new and more effective method is put forward for blast furnace hot metal temperature of prediction.

关键词： Predictive models Support vector machines Genetic algorithms Metals Blast furnaces Temperature Analytical models

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Realization of biped robot gait planning based on NAO robot development platform

Realization of biped robot gait planning based on NAO robot ...

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IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Dandan Wang Chao Chen Jigang Tong Complex system control theory and application key laboratory School of Electrical Engineering Tianjin University of Technology (TJUT)

ISBN: (纸本)9781509023974

In this paper, the research object is NAO robot, and for the instability problem of motion of biped robot, the NAO robot deep development platform is set up, the prototype and simulator are controlled real-time and the data is collected by using the control platform, So many experiments are completed by the development platform, to improve the stability of the simulator and the prototype. The theoretical value are obtained by the variable length inverted pendulum model, and through the comparison of theoretical and actual value of the joints angle sequence, the validity of method is verified. Firstly, the walking process of robot is analysed, the variable length inverted pendulum model is built;Then combined with the geometric constraints method, according to the NAO robot lower leg intrinsic parameters and experiments parameters, the motion trajectories of centroid and joints angle sequence are obtained respectively by using the kinematics, inverse kinematics and smooth function fitting method;Finally, obtained the joint angle sequence is the premise, in this paper, the stable gait walking is realized respectively on the simulator and NAO robot prototype based on the development platform, compared to the joints angle sequence trajectories of the actual waking and the theory calculation, the validity of the above research is verified.

关键词： NAO biped robot deep development platform inverted pendulum model geometric constraint method joint angle sequence

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An EOG Signals Recognition Method Based on Improved Threshold Dual Tree complex Wavelet Transform

An EOG Signals Recognition Method Based on Improved Threshol...

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IEEE International Conference on Mechatronics and Automation

作者： Enzeng Dong Changhai Li Chao Chen Complex system control theory and application key laboratory School of Electrical Engineering Tianjin University of Technology (TJUT)

ISBN: (纸本)9781509023974

Human Machine Interface (HMI) system can effectively detect Electrooculogram (EOG) signals of eye movements, extract intension of users, and convert them into control commands of computer or rehabilitation aid devices. Thus, HMI system is easily accepted by the majority of persons with disabilities. Discrete Wavelet Transform (DWT) method was mainly used in feature extraction of EOG signals, but Traditional DWT method was always suffered from severe frequency aliasing and poor shift invariant. In this paper, Dual-tree complex Wavelet Transform (DTCWT) with a novel threshold calculation method was proposed for feature selection of EOG signals. To verify the proposed method, The EOG signal was collected from 5 normal subjects in the laboratory, and featured selected. Then, Support Vector Machine (SVM) was applied for classification. The average correct detection rate of proposed method was 96.11%, which was higher than Traditional DWT method. These results demonstrate that the DTCWT-SVM algorithm provides high classification accuracy, and suitable for clinical medicine field.

关键词： Human Machine Interface (HMI) Electrooculogram (EOG) Discrete Wavelet Transform (DWT) Dual-tree complex Wavelet Transform (DTCWT) Threshold Support Vector Machine (SVM)

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Design of the structural optimization for the upper limb rehabilitation robot

Design of the structural optimization for the upper limb reh...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Jiange Gao Jian Guo Weijie Zhang Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The exoskeleton robotic rehabilitation training system is a branch of the field of robotics, it is the external mechanical system that is consistent with the similar joints of the human body, and attached to the human body. With the development of exoskeleton rehabilitation robotic system, the biomechanics influence of device should be considered in rehabilitation training. This paper proposes a novel upper limb exoskeleton rehabilitation device based on biomechanics, which can be used in rehabilitation of upper limb for hemi paralysis patients. This system aims at helping hemi paralysis patients recover motor function of upper limb; in addition it is suitable for variety of patients. This system is portable and wearable, which consists of exoskeleton device, hepatic device (PHANTOM Premium), motor controllers and work station (computer). This paper proposes a structural optimization scheme in order to solve some problems of bowl's structure of the rehabilitation robot. The Pro/ENGINEER Wildfire (Pro/E) software is applied to get a three-dimensional modelling, kinematics simulation and dynamic analysis of the rehabilitation robot. From the analysis, the robot end motion simulation curves were obtained to verify the optimization structure reasonable and better motion characteristics. In the future, this structure will have a wide application prospect in the rehabilitation therapy field.

关键词： Robots Exoskeletons Wrist Jacobian matrices Gears Optimization Acceleration

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Design and kinematic simulation of a novel exoskeleton rehabilitation hand robot

Design and kinematic simulation of a novel exoskeleton rehab...

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IEEE International Conference on Mechatronics and Automation

作者： Shuxiang Guo Weijie Zhang Jian Guo Jiange Gao Yuye Hu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Biomedical Robot Laboratory Tianjin University of Technology Tianjin China Intelligent Mechanical Systems Engineering Department Kagawa University Takamatsu Japan Tianjin Key Laboratory of the Design and Intelligent Control of the Advanced Mechatronical System Tianjin China

ISBN: (纸本)9781509023974

The rehabilitation exoskeleton robot is more and more used in the assisting stroke patients in implementing rehabilitation training. In this paper, a novel exoskeleton hand robot which was driven by cable has been proposed to aim at helping varieties of paralyses patients recover motor function. This exoskeleton hand rehabilitation robot system mainly consists of exoskeleton hand robot, EEG system, motor controllers unit, some sensors and a workstation. And the hand exoskeleton mechanism was portable, wearable and adjustable for patients doing home rehabilitation training. Based on the parameters from human hand, the kinematic model of hand robot was established to be used in designing and the kinematic simulation experiments about this exoskeleton hand robot were done. Through the simulation software ADAMS (Automatic Dynamic Analysis of Mechanical systems), the parameters of position, angle velocity and angle accelerated velocity (PVA) of proximate inter-phalanger (DIP) distal inter-phalanger joint were simulated. And then, the movement situation of the DIP joint was obtained according to the data from the position encoder. So the velocity curve and accelerated velocity curve were obtained by calculating the actual position function derivation. The simulated results showed that this exoskeleton hand robot has high movement ability to finish the continuous passive motion (CPM). Beside that, a comparison test was done to verify whether there were some motion blocks in wearing exoskeleton robot. Through analyzing the experimental data, the error between the actual position and the simulated position of the PIP joint of the finger was very small which verified the small interference of robot. These experiments demonstrated that the exoskeleton hand robot has high efficiency movement ability for stroke patients who need to do the finger rehabilitation training. In the future, the optimization design of the exoskeleton hand robot will be done in order to improve more mov

关键词： Exoskeletons Thumb Robot sensing systems Joints Training

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String stability of heterogeneous leader-following vehicle platoons based on constant spacing policy

String stability of heterogeneous leader-following vehicle p...

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IEEE Symposium on Intelligent Vehicle

作者： Xiang-Gui Guo Jian-Liang Wang Fang Liao Rodney Swee Huat Teo Tianjin Key Laboratory for Control Theory & Applications in Complicated System Tianjin University of Technology Tianjin China School of Electrical and Electronic Engineering Nanyang Technological University Singapore Temasek Laboratories National University of Singapore Singapore Temasek Laboratories National University of Singapore Singapore SG

ISBN: (纸本)9781509018222

This paper is concerned with a leader-follower problem for a heterogeneous vehicle platoon subject to external bounded unknown acceleration disturbances. Distributed controller based on sliding mode control (SMC) approach are designed for the second-order follower-vehicles under the common assumption that the initial spacing and velocity errors are zero. The constant spacing policy known to have high traffic density and thus have high traffic flow is applied to design distributed controller. In addition, adaptive compensation technique is applied to compensate the time-varying effect of external disturbances. It is worth mentioning that the upper and lower bounds of the disturbances are not required to be known in advance. Furthermore, with the help of an explicitly constructed Lyapunov function, it is proved that the string stability of the vehicle platoon can be guaranteed. At the same time, the reduction of the chattering in sliding mode is achieved by introducing continuous function in control. Finally, a numerical example is given for illustration.

关键词： Vehicles Numerical stability Safety Stability analysis Acceleration Sliding mode control Lyapunov methods

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Design and Implementation of LED Intelligent Lighting system Based on the Technology of PoE

Design and Implementation of LED Intelligent Lighting System...

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第27届中国控制与决策会议

作者： Qiang Gao Xiangyu Li Yuxian Sui Haiqing Gu Zhizhong Yu Qing Zhang Peng Li Tianjin key laboratory for Control Theory and Applications in Complicated System Tianjin University of technology

With the development of Internet of Things,technology of Power over Ethernet can take enough electricity to LED lighting *** on the sensed information of the current brightness and the number of persons in a room,the system can automatically identify and apply a predefined ***,it overcomes the disadvantages of traditional light control systems,for example,inefficient management,uncomfortable,waste of energy and *** the same time system can transfer DC power and data through Ethernet,reduce the power adapter failure which caused by data network failure and promote the application of the low power network *** addition,it has a wireless control function and makes the system more humanized.

关键词： Po E technology,Intelligent Lighting system,LED

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