This paper deals with fuzzy intelligent position control of electro-hydraulic activated robotic excavator for the control of boom, arm and bucket axes. Intelligent control systems are required to overcome unde- sirabl...This paper deals with fuzzy intelligent position control of electro-hydraulic activated robotic excavator for the control of boom, arm and bucket axes. Intelligent control systems are required to overcome unde- sirable stick-slip motion, limit cycles and oscillations. Models of electro-hydraulic servo controlled front end loader excavators are highly nonlinear. The nonlinear model accounts for fluid flow rate of valve, pump hydraulics, and friction forces. The friction forces are modelled by Coulomb, viscous and Stribeck function. Interval Type-2 Fuzzy Logic Controller （IT2FLC） is used to study the time-domain position responses of axes in the presence of external applied load. It has the ability to control the position of each of the three axes with minimum actuator position errors. Models presented are accurate and study the dynamics of the actuator and load. To improve the transient behaviour of the robotic excavator, we elim- inated iitter of the bucket movement in the presence of nonlinearities.展开更多
A fast generation method of fuzzy rules for flux optimization decision-making was proposed in order to extract the linguistic knowledge from numerical data in the process of matter converting. The fuzzy if-then rules ...A fast generation method of fuzzy rules for flux optimization decision-making was proposed in order to extract the linguistic knowledge from numerical data in the process of matter converting. The fuzzy if-then rules with consequent real number were extracted from numerical data, and a linguistic representation method for deriving linguistic rules from fuzzy if-then rules with consequent real numbers was developed. The linguistic representation consisted of The simulat two linguistic variables with the degree of certainty and the storage structure of rule base was described. on results show that the method involves neither the time-consuming iterative learning procedure nor the complicated rule generation mechanisms, and can approximate complex system. The method was applied to determine the flux amount of copper converting furnace in the process of matter converting. The real result shows that the mass fraction of Cu in slag is reduced by 0.5 %.展开更多
文摘This paper deals with fuzzy intelligent position control of electro-hydraulic activated robotic excavator for the control of boom, arm and bucket axes. Intelligent control systems are required to overcome unde- sirable stick-slip motion, limit cycles and oscillations. Models of electro-hydraulic servo controlled front end loader excavators are highly nonlinear. The nonlinear model accounts for fluid flow rate of valve, pump hydraulics, and friction forces. The friction forces are modelled by Coulomb, viscous and Stribeck function. Interval Type-2 Fuzzy Logic Controller （IT2FLC） is used to study the time-domain position responses of axes in the presence of external applied load. It has the ability to control the position of each of the three axes with minimum actuator position errors. Models presented are accurate and study the dynamics of the actuator and load. To improve the transient behaviour of the robotic excavator, we elim- inated iitter of the bucket movement in the presence of nonlinearities.
基金Project(50374079) supported bythe National Natural Science Foundation of China project(2002cB312200) supported bythe State Key Fundamental Research and Development Programof China
文摘A fast generation method of fuzzy rules for flux optimization decision-making was proposed in order to extract the linguistic knowledge from numerical data in the process of matter converting. The fuzzy if-then rules with consequent real number were extracted from numerical data, and a linguistic representation method for deriving linguistic rules from fuzzy if-then rules with consequent real numbers was developed. The linguistic representation consisted of The simulat two linguistic variables with the degree of certainty and the storage structure of rule base was described. on results show that the method involves neither the time-consuming iterative learning procedure nor the complicated rule generation mechanisms, and can approximate complex system. The method was applied to determine the flux amount of copper converting furnace in the process of matter converting. The real result shows that the mass fraction of Cu in slag is reduced by 0.5 %.
