This paper presents an experimental study to compare the performance of model-free control strategies for pneumatic soft robots.Fabricated using soft materials,soft robots have gained much attention in academia and in...This paper presents an experimental study to compare the performance of model-free control strategies for pneumatic soft robots.Fabricated using soft materials,soft robots have gained much attention in academia and industry during recent years because of their inherent safety in human interaction.However,due to structural flexibility and compliance,mathematical models for these soft robots are nonlinear with an infinite degree of freedom(DOF).Therefore,accurate position(or orientation)control and optimization of their dynamic response remains a challenging task.Most existing soft robots currently employed in industrial and rehabilitation applications use model-free control algorithms such as PID.However,to the best of our knowledge,there has been no systematic study on the comparative performance of model-free control algorithms and their ability to optimize dynamic response,i.e.,reduce overshoot and settling time.In this paper,we present comparative performance of several variants of model-free PID-controllers based on extensive experimental results.Additionally,most of the existing work on modelfree control in pneumatic soft-robotic literature use manually tuned parameters,which is a time-consuming,labor-intensive task.We present a heuristic-based coordinate descent algorithm to tune the controller parameter automatically.We presented results for both manual tuning and automatic tuning using the Ziegler-Nichols method and proposed algorithm,respectively.We then used experimental results to statistically demonstrate that the presented automatic tuning algorithm results in high accuracy.The experiment results show that for soft robots,the PID-controller essentially reduces to the PI controller.This behavior was observed in both manual and automatic tuning experiments;we also discussed a rationale for removing the derivative term.展开更多
In order to study the application of dual clutch transmission （DCT） on tracked vehicles, a simulation moclel and two control methods were performed for starting analysis. Based on a certain transmission of an existi...In order to study the application of dual clutch transmission （DCT） on tracked vehicles, a simulation moclel and two control methods were performed for starting analysis. Based on a certain transmission of an existing tracked vehicle, a DCT structure was proposed. Matlab/Simulink was a dopted as a platform to develop the simulation model. The engine speed was controlled to follow the target speed as a launch strategy. Two control methods, a proportional integral derivative （ PID ） control method and a fuzzy control method, were proposed to control the engine throttle and oil pressure in order to track the target engine speed. Simulation results show that either the PID control or fuzzy control method can improve the starting performance compared with no loop control meth od. Fuzzy control method can lead a better starting quality compared with PID control method.展开更多
The large current generated by starting directly of super large capacity and high voltage induction motor would have a huge impact on the grid as well as the motor itself.The variation of the power factor and electrom...The large current generated by starting directly of super large capacity and high voltage induction motor would have a huge impact on the grid as well as the motor itself.The variation of the power factor and electromagnetic torque during direct start of motors with different capacity and voltage levels are obtained.Aiming at the problem that the secondary impact of auto-transformer starter is too large and the cost of magnetic control starter is too high,the auto-transformer and magnetic control soft start method of super large capacity and high voltage motor is proposed and the basic working principle is analyzed.The calculation formula of cost for magnetic control soft starter and auto-transformer and magnetic control soft starter is deduced,and specific examples are analyzed and compared.It is concluded that the choice of auto-transformer with appropriate tapping ratio can greatly reduce the cost of auto-transformer and magnetic control soft starter compared with the other one.Finally,the simulation and experiment results show that the start method can effectively avoid secondary current impact and constrain the motor starting current to less than 2.5 times the rated current.展开更多
文摘This paper presents an experimental study to compare the performance of model-free control strategies for pneumatic soft robots.Fabricated using soft materials,soft robots have gained much attention in academia and industry during recent years because of their inherent safety in human interaction.However,due to structural flexibility and compliance,mathematical models for these soft robots are nonlinear with an infinite degree of freedom(DOF).Therefore,accurate position(or orientation)control and optimization of their dynamic response remains a challenging task.Most existing soft robots currently employed in industrial and rehabilitation applications use model-free control algorithms such as PID.However,to the best of our knowledge,there has been no systematic study on the comparative performance of model-free control algorithms and their ability to optimize dynamic response,i.e.,reduce overshoot and settling time.In this paper,we present comparative performance of several variants of model-free PID-controllers based on extensive experimental results.Additionally,most of the existing work on modelfree control in pneumatic soft-robotic literature use manually tuned parameters,which is a time-consuming,labor-intensive task.We present a heuristic-based coordinate descent algorithm to tune the controller parameter automatically.We presented results for both manual tuning and automatic tuning using the Ziegler-Nichols method and proposed algorithm,respectively.We then used experimental results to statistically demonstrate that the presented automatic tuning algorithm results in high accuracy.The experiment results show that for soft robots,the PID-controller essentially reduces to the PI controller.This behavior was observed in both manual and automatic tuning experiments;we also discussed a rationale for removing the derivative term.
基金Supported by Defense Advanced Research Support Project(62301030303)111 Project(B08043)
文摘In order to study the application of dual clutch transmission （DCT） on tracked vehicles, a simulation moclel and two control methods were performed for starting analysis. Based on a certain transmission of an existing tracked vehicle, a DCT structure was proposed. Matlab/Simulink was a dopted as a platform to develop the simulation model. The engine speed was controlled to follow the target speed as a launch strategy. Two control methods, a proportional integral derivative （ PID ） control method and a fuzzy control method, were proposed to control the engine throttle and oil pressure in order to track the target engine speed. Simulation results show that either the PID control or fuzzy control method can improve the starting performance compared with no loop control meth od. Fuzzy control method can lead a better starting quality compared with PID control method.
基金This work was supported in part by the National Key Research and Development Program of China under Grant 2017YFB0902904,in part by the Natural Science Foundation of Hubei Province under Grant 2016CFB448,and in part by the Shenzhen City Science and Technology Innovation Plan under Grant JCYJ20170306170937861,and in part by Wuhan City Science and Technology Program under Grant 2016070204020165.
文摘The large current generated by starting directly of super large capacity and high voltage induction motor would have a huge impact on the grid as well as the motor itself.The variation of the power factor and electromagnetic torque during direct start of motors with different capacity and voltage levels are obtained.Aiming at the problem that the secondary impact of auto-transformer starter is too large and the cost of magnetic control starter is too high,the auto-transformer and magnetic control soft start method of super large capacity and high voltage motor is proposed and the basic working principle is analyzed.The calculation formula of cost for magnetic control soft starter and auto-transformer and magnetic control soft starter is deduced,and specific examples are analyzed and compared.It is concluded that the choice of auto-transformer with appropriate tapping ratio can greatly reduce the cost of auto-transformer and magnetic control soft starter compared with the other one.Finally,the simulation and experiment results show that the start method can effectively avoid secondary current impact and constrain the motor starting current to less than 2.5 times the rated current.
