System Identification and Parameter Self-Tuning Controller on Deep-Sea Mining Vehicle

System identification is a quintessential measure for real-time analysis on kinematic characteristics for deep-sea mining vehicle, and thus to enhance the control performance and testing efficiency. In this study, the system identification algorithm, recursive least square method with instrumental variables(IV-RLS), is tailored to model ‘Pioneer I’, a deep-sea mining vehicle which recently completed a 1305-meter-deep sea trial in the Xisha area of the South China Sea in August, 2021. The algorithm operates on the sensor data collected from the trial to obtain the vehicle’s kinematic model and accordingly design the parameter self-tuning controller. The performances demonstrate the accuracy of the model, and prove its generalization capability. With this model, the optimal controller has been designed, the control parameters have been self-tuned, and the response time and robustness of the system have been optimized,which validates the high efficiency on digital modelling for precision control of deep-sea mining vehicles.

Dynamic simulation analysis of molten salt reactor-coupled air-steam combined cycle power generation system

A nonlinear dynamic simulation model based on coordinated control of speed and flow rate for the molten salt reactor and combined cycle systems is proposed here to ensure the coordination and stability between the molten salt reactor and power system.This model considers the impact of thermal properties of fluid variation on accuracy and has been validated with Simulink.This study reveals the capability of the control system to compensate for anomalous situations and maintain shaft stability in the event of perturbations occurring in high-temperature molten salt tank outlet parameters.Meanwhile,the control system’s impact on the system’s dynamic characteristics under molten salt disturbance is also analyzed.The results reveal that after the disturbance occurs,the controlled system benefits from the action of the control,and the overshoot and disturbance amplitude are positively correlated,while the system power and frequency eventually return to the initial values.This simulation model provides a basis for utilizing molten salt reactors for power generation and maintaining grid stability.

Combined blasting for protection of gob-side roadway with thick and hard roof

The deformation control of surrounding rock in gobside roadway with thick and hard roof poses a significant challenge to the safety and efficiency of coal mining.To address this issue,a novel approach combining directional and non-directional blasting techniques,known as combined blasting,was proposed.This study focuses on the experimental investigation of the proposed method in the 122108 working face in Caojiatan Coal Mine as the engineering background.The initial phase of the study involves physical model experiments to reveal the underlying mechanisms of combined blasting for protecting gob-side roadway with thick and hard roof.The results demonstrate that this approach effectively accelerates the collapse of thick and hard roofs,enhances the fragmentation and expansion coefficient of gangue,facilitates the filling of the goaf with gangue,and provides support to the overlying strata,thus reducing the subsidence of the overlying strata above the goaf.Additionally,the method involves cutting the main roof into shorter beams to decrease the stress and disrupt stress transmission pathways.Subsequent numerical simulations were conducted to corroborate the findings of the physical model experiments,thus validating the accuracy of the experimental results.Furthermore,field engineering experiments were performed,affirming the efficacy of the combined blasting method in mitigating the deformation of surrounding rock and achieving the desired protection of the gob-side roadway.

Region coverage control for multiple stratospheric airships with combined self-/event-triggered mechanism

The region coverage control problem of multiple stratospheric airships system is firstly addressed in this paper.Towards it,we propose a two-layer control framework with the artificial potential field(APF)-based region coverage control law and the adaptive tracking control law.The APF-based region coverage control law ensures the coverage task is achieved until every single stratospheric airship ends up performing station keeping where near the respective global minimum point,in which an innovative solution to the local minimum problem is put forward.The adaptive tracking control law is designed to realize motion control using tracking the desired velocity and angular velocity given by coverage control law,with the consideration of several practical control problems as unknown individual differences and external disturbances.To save resources,the combined self-/event-triggered mechanism designed therein significantly reduces the times of state information transmission and control law calculation.The effectiveness of the proposed control framework is verified through simulations.

The effect of controllable train-tail devices on the longitudinal impulse of the combined trains under initial braking

The 20,000-ton combined train running has greatly promoted China’s heavy-haul railway transportation capability. The application of controllable train-tail devices could improve the braking wave of the train and braking synchronism, and alleviate longitudinal impulse.However, the characteristics of the controllable train-tail device such as exhaust area, exhaust duration and exhaust action time are not uniform in practice, and their effects on the longitudinal impulse of the train are not apparent,which is worth studying. In this work, according to the formation of the Datong-Qinhuangdao Railway, the train air brake and longitudinal dynamics simulation system(TABLDSS) is applied to establish a 20,000-ton combined train model with the controllable train-tail device, and the braking characteristics and the longitudinal impulse of the train are calculated synchronously with changing the air exhaust time, exhaust area, and action lag time under initial braking. The results show that the maximum coupler force of the combined train will decrease with the extension of the continuous exhaust time, while the total exhaust time of the controllable train-tail device remains unchanged;the maximum coupler force of the combined train reduces by32.5% with the exhaust area increasing from 70% to 140%;when the lag time between the controllable train-tail device and the master locomotive is more than 1.5 s, the maximum coupler force of the train increases along with the time difference enlargement.

Position Control of a Flexible Manipulator Using a New Nonlinear Self-Tuning PID Controller

In this paper, a new nonlinear self-tuning PID controller(NSPIDC) is proposed to control the joint position and link deflection of a flexible-link manipulator(FLM) while it is subjected to carry different payloads. Since, payload is a critical parameter of the FLM whose variation greatly influences the controller performance. The proposed controller guarantees stability under change in payload by attenuating the non-modeled higher order dynamics using a new nonlinear autoregressive moving average with exogenous-input(NARMAX) model of the FLM. The parameters of the FLM are identified on-line using recursive least square(RLS) algorithm and using minimum variance control(MVC) laws the control parameters are updated in real-time. This proposed NSPID controller has been implemented in real-time on an experimental set-up. The joint tracking and link deflection performances of the proposed adaptive controller are compared with that of a popular direct adaptive controller(DAC). From the obtained results, it is confirmed that the proposed controller exhibits improved performance over the DAC both in terms of accurate position tracking and quick damping of link deflections when subjected to variable payloads.

A Real Time Self-Tuning Motion Controller for Mobile Robot Systems

This paper proposes an intelligent controller for motion control of robotic systems to obtain high precision tracking without the need for a real-time trial and error method.In addition, a new self-tuning algorithm has been developed based on both the ant colony algorithm and a fuzzy system for real-time tuning of controller parameters. Simulations and experiments using a real robot have been addressed to demonstrate the success of the proposed controller and validate the theoretical analysis. Obtained results confirm that the proposed controller ensures robust performance in the presence of disturbances and parametric uncertainties without the need for adjustment of control law parameters by a trial and error method.

Kinematics/Fuzzy Logic Combined Controller for Formation Control of Mobile Robots

A kinematics and fuzzy logic combined formation controller was proposed for leader-follower based formation control using backstepping method in order to accommodate the dynamics of the robot.The kinematics controller generates desired linear and angular velocities for follower robots,which make the configuration of follower robots coverage to the desired.The fuzzy logic controller takes dynamics of the leader and followers into consideration,which is built upon Mamdani fuzzy model.The force and torque acting on robots are described as linguistic variables and also 25 if-then rules are designed.In addition,the fuzzy logic controller adopts the Centroid of Area method as defuzzification strategy and makes robots’actual velocities converge to the expected which is generated by the kinematics controller.The innovation of the kinematics and fuzzy logic combined formation controller presented in the paper is that the perfect velocity tracking assumption is removed and realtime performance of the system is improved.Compared with traditional torque-computed controller,the velocity error convergence time in case of the proposed method is shorter than traditional torque-computed controller.The simulation results validate that the proposed controller can drive robot members to form the desired formation and formation tracking errors which can coverage to a neighborhood of the origin.Additionally,the simulations also show that the proposed method has better velocity convergence performance than traditional torque-computed method.

Stabilization of CSTR w ith Self-tuning Sliding Mode Controller Using T-S Fuzzy Linearization

A self-tuning reaching law based sliding mode control(SMC)theory is proposed to stabilize the nonlinear continuous stirred tank reactor(CSTR).T-S fuzzy logic is used to build a global fuzzy state-space linear model.Combing the traits of SMC and CSTR,three fuzzy rules can meet the requirements of controlled system.The self-tuning switch control law which can drive the state variables to the sliding surface as soon as possible is designed to ensure the robustness of uncertain fuzzy system.Lyapunov equation is applied to proving the stability of the sliding surface.The simulations show that the proposed approach can achieve desired performance with less chattering problem.

A Design of a PID Self-Tuning Controller Using LabVIEW

In this paper a trial has been made to design a simple self-tuning LabVIEW-based PID controller. The controller uses an open-loop relay test, calculates the tuned parameters in an open loop mode of operation before it updates controller parameters and runs the process as a closed-loop system. The controller reacts on a persistent offset error value as a result of load disturbance or a set point change. Practical results show that such a controller may be recommended to control a variety of industrial processes. A GUI was developed to facilitate control-mode selection, the setting of controller parameters, and the display of control system variables. GUI makes it possible to put the controller in manual or self-tuning mode.

Intelligent Controller for UPQC Using Combined Neural Network

The Unified Power Quality Conditioner (UPQC) plays an important role in the constrained delivery of electrical power from the source to an isolated pool of load or from a source to the grid. The proposed system can compensate voltage sag/swell, reactive power compensation and harmonics in the linear and nonlinear loads. In this work, the off line drained data from conventional fuzzy logic controller. A novel control system with a Combined Neural Network (CNN) is used instead of the traditionally four fuzzy logic controllers. The performance of combined neural network controller compared with Proportional Integral (PI) controller and Fuzzy Logic Controller (FLC). The system performance is also verified experimentally.

Development of an Enhanced Self-Tuning RBF-PID Controller for Achieving Higher Energy-Efficient Process Control

Proportional, integral and derivative (PID) control strategy has been widely applied in heating systems in decades. To improve the accuracy and the robustness of PID control, self-tuning radial-basis-function neural network PID (RBF-PID) is developed and used. Even though being popular, during the control process both of PID and RBF-PID control strategy are inadequate in achieving simultaneous high energy-efficiency and good control accuracy. To address this problem, in this paper we develop and report an enhanced self-tuning radial-basis-function neural network PID (e-RBF-PID) controller. To identify the superiority of e-RBF-PID, following works are conducted and reported in this paper. Firstly, four controllers, i.e., on-off, PID, RBF-PID and e-RBF-PID are designed. Secondly, in order to test the performance of the e-RBF-PID controller, an experimental water heating system is constructed for being controlled. Finally, the energy consumption for the four controllers under the three control scenarios is investigated through experiments. The experimental results indicate that in the three scenarios, the developed e-RBF-PID controller outperforms on-off controller as having higher accuracy. Compared to the PID controller, the e-RBF-PID controller has higher speed in control, and the experimental results show that settling time savings is between 12.6% - 49.0%. Most importantly, less control energy consumption is obtained if using the e-RBF-PID controller. It is found that up to 28.5% energy consumption can be saved. Therefore, it is concluded that the proposed e-RBF-PID is capable of enhancing energy efficiency during control process.

Adaptive Fuzzy Control System of Servomechanism for Electro-Discharge Machining Combined with Ultrasonic Vibration

For electro-discharge machining, only in the optimum state could the highest material removal rate be realized. In practical machining process, the timely elevation of the tool electrode is needed to eliminate chipping, which ordinarily occupies quite a lot of time. Therefore, besides the control of the machining parameters, the control of the optimum discharge gap and the conversion of different machining states is also needed. In this paper, the adaptive fuzzy control system of servomechanism for EDM combined with ultrasonic vibration is studied, the servomechanism of which is composed of the stepping motor comprising variable steps and the inductive synchronizer. The fuzzy control technology is used to realize the control of the frequency and the step of the servomechanism. The adaptive fuzzy controller has three inputs and two outputs, which can well meet the actual control requirements. The constitution of the fuzzy control regulation for the step frequency is the key to the design of the whole fuzzy control system of the servomechanism. The step frequency is mainly determined by the position error and the change rate of the position error. When the value of the position error is high or medium, the controlled parameters are selected to eliminate the error; when the position error is lower, the controlled parameters are selected to avoid the over-orientation and thus keep the stability of the system. According to these, a fuzzy control table is established in advanced, which is used to express the relations between the fuzzy input parameters and the fuzzy output parameters. The input parameters and the output parameters are all expressed by the level-values in fuzzy field. Therefore, the output parameters used for control can be obtained for the fuzzy control table according to the detected actual input parameters, by which the EDM combined with ultrasonic vibration is improved and the machining efficiency is increased. In addition, a stimulation program is designed by means of Microsoft Visual Basic

Fuzzy self-tuning PID control of the operation temperatures in a two-staged membrane separation process

A two-staged membrane separation process for hydrogen recovery from refinery gases is introduced. The principle of the gas membrane separation process and the influence of the operation temperatures are analyzed. As the conventional PID controller is difficult to make the operation temperatures steady, a fuzzy self-tuning PID control algorithm is proposed. The application shows that the algorithm is effective, the operation temperatures of both stages can be controlled steadily, and the operation flexibility and adaptability of the hydrogen recovery unit are enhanced with safety. This study lays a foundation to optimize the control of the membrane separation process and thus ensure the membrane performance.

RESEARCH ON ACTIVE VIBRATION CONTROL BASED ON COMBINED MODEL FOR COUPLED SYSTEMS

A novel combined model of the vibration control for the coupled flexiblesystem and its general mathematic description are developed. In presented model, active and passivecontrols as well as force and moment controls are combined into a single unit to achieve theefficient vibration control of the flexible structures by multi-approaches. Considering thecomplexity of the energy transmission in the vibrating system, the transmission channels of thepower flow transmitted into the foundation are discussed, and the general forces and thecorresponding velocities are combined into a single function, respectively. Under the controlstrategy of the minimum power flow, the transmission characteristics of the power flow areinvestigated. From the presented numerical examples, it is obvious that the analytical model iseffective, and both force and moment controls are able to depress vibration energy substantially.

Combined indirect and direct method for adaptive fuzzy output feedback control of nonlinear system

A novel control method for a general class of nonlinear systems using fuzzy logic systems （FLSs） is presertted. Indirect and direct methods are combined to design the adaptive fuzzy output feedback controller and a high-gain observer is used to estimate the derivatives of the system output. The closed-loop system is proven to be semiglobally uniformly ultimately bounded. In addition, it is shown that if the approximation accuracy of the fuzzy logic system is high enough and the observer gain is chosen sufficiently large, an arbitrarily small tracking error can be achieved. Simulation results verify the effectiveness of the newly designed scheme and the theoretical discussion.

A Stable Fuzzy-Based Computational Model and Control for Inductions Motors

In this paper,a stable and adaptive sliding mode control(SMC)method for induction motors is introduced.Determining the parameters of this system has been one of the existing challenges.To solve this challenge,a new self-tuning type-2 fuzzy neural network calculates and updates the control system parameters with a fast mechanism.According to the dynamic changes of the system,in addition to the parameters of the SMC,the parameters of the type-2 fuzzy neural network are also updated online.The conditions for guaranteeing the convergence and stability of the control system are provided.In the simulation part,in order to test the proposed method,several uncertain models and load torque have been applied.Also,the results have been compared to the SMC based on the type-1 fuzzy system,the traditional SMC,and the PI controller.The average RMSE in different scenarios,for type-2 fuzzy SMC,is 0.0311,for type-1 fuzzy SMC is 0.0497,for traditional SMC is 0.0778,and finally for PI controller is 0.0997.

Internal phase control of fiber laser array based on photodetector array

Coherent beam combining(CBC) of fiber laser array is a promising technique to realize high output power while maintaining near diffraction-limited beam quality. To implement CBC, an appropriate phase control feedback structure should be established to realize phase-locking. In this paper, an innovative internal active phase control CBC fiber laser array based on photodetector array is proposed. The dynamic phase noises of the laser amplifiers are compensated before being emitted into free space. And the static phase difference compensation of emitting laser array is realized by interference measurement based on photodetector array. The principle of the technique is illustrated and corresponding simulations are carried out, and a CBC system with four laser channels is built to verify the technique. When the phase controllers are turned on, the phase deviation of the laser array is less than λ/20, and ~ 95% fringe contrast of the irradiation distribution is obtained. The technique proposed in this paper could provide a reference for the system design of a massive high-power CBC system.

ARMA-GM combined forewarning model for the quality control

Three forecasting models are set up: the auto\|regressive moving average model, the grey forecasting model for the rate of qualified products P t, and the grey forecasting model for time intervals of the quality catastrophes. Then a combined forewarning system for the quality of products is established, which contains three models, judgment rules and forewarning state illustration. Finally with an example of the practical production, this modeling system is proved fairly effective.

Combined deformation of filament-wound cylinder and application to torsion vibration control

The combined deformation and mechanical properties of filament-wound cylinder of filament reinforced composite materials are investigated. A method of using filament-winding composites to reduce the amplitude of torsion vibration in the case of special stimulated vibration is established. A design formula of anisotropic filament-wound cylinder to reduce the torsion vibration of axle components is obtained. The results indicate that by putting the filament-wound cylinder on an axis, the torsion vibration of the axis can be reduced effectively.