This paper describes a new approach to intelligent model based predictive control scheme for deriving a complex system. In the control scheme presented, the main problem of the linear model based predictive control th...This paper describes a new approach to intelligent model based predictive control scheme for deriving a complex system. In the control scheme presented, the main problem of the linear model based predictive control theory in dealing with severe nonlinear and time variant systems is thoroughly solved. In fact, this theory could appropriately be improved to a perfect approach for handling all complex systems, provided that they are firstly taken into consideration in line with the outcomes presented. This control scheme is organized based on a multi-fuzzy-based predictive control approach as well as a multi-fuzzy-based predictive model approach, while an intelligent decision mechanism system (IDMS) is used to identify the best fuzzy-based predictive model approach and the corresponding fuzzy-based predictive control approach, at each instant of time. In order to demonstrate the validity of the proposed control scheme, the single linear model based generalized predictive control scheme is used as a benchmark approach. At last, the appropriate tracking performance of the proposed control scheme is easily outperformed in comparison with previous one.展开更多
Aiming at the issue of yaw and rollover stability control for off-road vehicles with non-pneumatic mechanical elastic wheel(MEW),an integrated control system based on fuzzy differential braking is developed.By simplif...Aiming at the issue of yaw and rollover stability control for off-road vehicles with non-pneumatic mechanical elastic wheel(MEW),an integrated control system based on fuzzy differential braking is developed.By simplifying the structure of the MEW,a corresponding fitting brush tire model is constructed and its longitudinal and lateral tire force expressions are set up,respectively.Then,a nonlinear vehicle simulation model with MEW is established to validate the proposed control scheme based on Carsim.The designed yaw and rollover control system is a two-level structure with the upper additional moment controller,which utilizes a predictive load transfer ratio(PLTR)as the rollover index.In order to design the upper integrated control algorithm,fuzzy proportional-integral-derivative(PID)is adopted to coordinate the yaw and rollover control,simultaneously.And the lower control allocator realizes the additional moment to the vehicle by differential braking.Finally,a Carsim-simulink co-simulation model is constructed,and simulation results show that the integrated control system could improve the vehicle yaw and roll stability,and prevent rollover happening.展开更多
为提高全向智能轮椅床运动的平稳性和方向控制的准确性,研发了一种能护理失能老人的全向智能轮椅床。通过对移动平台进行力学和运动学分析,设计了一种精准的双闭环直流调速系统,实现了对全向智能轮椅床4个麦克纳姆轮转速的精确控制,解...为提高全向智能轮椅床运动的平稳性和方向控制的准确性,研发了一种能护理失能老人的全向智能轮椅床。通过对移动平台进行力学和运动学分析,设计了一种精准的双闭环直流调速系统,实现了对全向智能轮椅床4个麦克纳姆轮转速的精确控制,解决了全向智能轮椅床运动不稳定和方向控制偏离等问题。期望转速值确定后,通过对比经典比例积分微分(proportional integral differential, PID)算法和模糊PID算法的转速输出曲线,表明模糊PID算法更能满足全向智能轮椅床的使用要求。展开更多
文摘This paper describes a new approach to intelligent model based predictive control scheme for deriving a complex system. In the control scheme presented, the main problem of the linear model based predictive control theory in dealing with severe nonlinear and time variant systems is thoroughly solved. In fact, this theory could appropriately be improved to a perfect approach for handling all complex systems, provided that they are firstly taken into consideration in line with the outcomes presented. This control scheme is organized based on a multi-fuzzy-based predictive control approach as well as a multi-fuzzy-based predictive model approach, while an intelligent decision mechanism system (IDMS) is used to identify the best fuzzy-based predictive model approach and the corresponding fuzzy-based predictive control approach, at each instant of time. In order to demonstrate the validity of the proposed control scheme, the single linear model based generalized predictive control scheme is used as a benchmark approach. At last, the appropriate tracking performance of the proposed control scheme is easily outperformed in comparison with previous one.
基金Project(11672127)supported by the National Natural Science Foundation of ChinaProject(NHAl3002)supported by the Major Exploration Project of the General Armaments Department of China+1 种基金Project(KYCX17_0240)supported by the Postgraduate Research&Practice Innovation Program of Jiangsu Province,ChinaProjects(NP2016412,NP2018403,NT2018002)supported by the Fundamental Research Funds for the Central Universities,China
文摘Aiming at the issue of yaw and rollover stability control for off-road vehicles with non-pneumatic mechanical elastic wheel(MEW),an integrated control system based on fuzzy differential braking is developed.By simplifying the structure of the MEW,a corresponding fitting brush tire model is constructed and its longitudinal and lateral tire force expressions are set up,respectively.Then,a nonlinear vehicle simulation model with MEW is established to validate the proposed control scheme based on Carsim.The designed yaw and rollover control system is a two-level structure with the upper additional moment controller,which utilizes a predictive load transfer ratio(PLTR)as the rollover index.In order to design the upper integrated control algorithm,fuzzy proportional-integral-derivative(PID)is adopted to coordinate the yaw and rollover control,simultaneously.And the lower control allocator realizes the additional moment to the vehicle by differential braking.Finally,a Carsim-simulink co-simulation model is constructed,and simulation results show that the integrated control system could improve the vehicle yaw and roll stability,and prevent rollover happening.
文摘为提高全向智能轮椅床运动的平稳性和方向控制的准确性,研发了一种能护理失能老人的全向智能轮椅床。通过对移动平台进行力学和运动学分析,设计了一种精准的双闭环直流调速系统,实现了对全向智能轮椅床4个麦克纳姆轮转速的精确控制,解决了全向智能轮椅床运动不稳定和方向控制偏离等问题。期望转速值确定后,通过对比经典比例积分微分(proportional integral differential, PID)算法和模糊PID算法的转速输出曲线,表明模糊PID算法更能满足全向智能轮椅床的使用要求。
