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移动机器人模糊PID运动控制技术研究 被引量:8
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作者 徐建安 邓云伟 张铭钧 《哈尔滨工程大学学报》 EI CAS CSCD 北大核心 2006年第B07期115-119,共5页
针对轮式移动机器人系统的非线性和常规PID控制方法的不足,将模糊推理与常规PID控制相结合,设计了一种基于参数自整定的模糊PID运动控制系统,给出了参数自整定规律,给出了以参数分配器实现移动机器人线速度和角速度的双闭环控制方... 针对轮式移动机器人系统的非线性和常规PID控制方法的不足,将模糊推理与常规PID控制相结合,设计了一种基于参数自整定的模糊PID运动控制系统,给出了参数自整定规律,给出了以参数分配器实现移动机器人线速度和角速度的双闭环控制方法.在自行研制的移动机器人上进行了运动控制实验研究.结果表明,该运动控制系统比常规PID控制方法相比的机器人响应速度快,线速度和角速度控制的超调量及稳态误差等控制品质得到了明显改善,同时该运动控制系统具有较强的抗干扰能力. 展开更多
关键词 移动机器人 模糊PID 参数分配器 运动控制
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Effects of sintered metal distributor on fluidization quality of the air dense medium fluidized bed 被引量:4
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作者 Yang Xuliang Zhao Yuemin Luo Zhenfu Chen Zengqiang Song Shulei 《Mining Science and Technology》 EI CAS 2011年第5期681-685,共5页
Dry coal beneficiation using an air dense medium fluidized bed (ADMFB) requires the formation of a sta- ble and uniform bed from the dense medium. Others have shown that the structure and geometric parameters of the a... Dry coal beneficiation using an air dense medium fluidized bed (ADMFB) requires the formation of a sta- ble and uniform bed from the dense medium. Others have shown that the structure and geometric parameters of the air distributor have a significant influence on the experimentally observed fluidization quality. In this study we used a sintered metal distributor (SMD) in the ADMFB separator and study its effect on the fluidization quality. The results show that for the same open area ratio (OAR), a smaller aper- ture in the SMD will provide improved fluidization quality. If aperture size is held constant bigger open area ratios result in improved fluidization quality. And, the fluidization quality also improves when the pressure drop across the SMD increases. A model relating distributor pressure drop and the geometric parameters of the SMD is also proposed. 展开更多
关键词 Sintered metal distributorAir distributorAir dense medium fluidized bedDry coal beneficiation
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