液压支架自动化智能化跟机控制系统探析

为使液压支架实现自动化和智能化跟机,介绍了液压支架跟机控制原理,分析了跟机过程中现存问题,并设计了跟机控制系统。通过在晋煤集团试验该跟机控制系统,结果表明应用该液压支架跟机控制系统,能使液压支架实现自动及时跟机,有助于促进综采工作面实现无人化开采。

大柳塔煤矿厚煤层综采自动化系统应用

综采自动化系统是煤矿生产数字化、智能化、信息化、自动化的发展需求,也是实现减员增效的必经途径。为探究厚煤层自动化开采的应用方式,本着"减员提效、无人则安"的原则,对大柳塔煤矿厚煤层综采自动化系统中马蹄尔处"三岗合一"集控系统、煤机自动化割煤、跟机自动拉架等技术进行了研究。在明确集控系统现状及解决方案的基础上,从设备选型、工作原理、参数设置等方面出发,分析了自动化割煤系统及液压支架自动化跟机系统的应用方式。综采自动化系统的运用,实现了减员提效,同时节约了生产成本,可以为其他矿井厚煤层自动化开采提供一定借鉴。

Active Tracking with Pan-Tilt-Zoom Camera

This paper intends to introduce the active vision system with autonomous robot competition in the background. It presents some characteristics of the human oculomotor system in active ma-chine vision svstem: smooth pursuit and saccade. Besides, zoom tracking is used to continuous ad-justment of a camera's focal length to keep a constant sized image of an object moving along the camera's optical axis. Experiments indicate the technology to be efficient for tracking the bail in the robot competition.

Path-tracking Control of a Tractor-aircraft System

An aircraft tractor plays a significant role as a kind of important marine transport and support equipment. It＇s necessary to study its controlling and manoeuvring stability to improve operation efficiency. A virtual prototyping model of the tractor-aircraft system based on Lagrange＇s equation of the first kind with Lagrange mutipliers was established in this paper, According to the towing characteristics, a path-tracking controller using fuzzy logic theory was designed. Direction control herein was carried out through a compensatory tracking approach. Interactive co-simulation was performed to validate the path-tracking behavior in closed-loop, Simulation results indicated that the tractor followed the reference courses precisely on a flat ground.

Optimal Decoupling Control Method and Its Application to a Ball Mill Coal-pulverizing System

Abstract-The conventional optimal tracking control method cannot realize decoupling control of linear systems with a strong coupling property. To solve this problem, in this paper, an optimal decoupling control method is proposed, which can simultaneousiy provide optimal performance. The optimal decoupling controller is composed of an inner-loop decoupling controller and an outer-loop optimal tracking controller. First, by introducing one virtual control variable, the original differential equation on state is converted to a generalized system on output. Then, by introducing the other virtual control variable, and viewing the coupling terms as the measurable disturbances, the generalized system is open-loop decoupled. Finally, for the decoupled system, the optimal tracking control method is used. It is proved that the decoupling control is optimal for a certain performance index. Simulations on a ball mill coal-pulverizing system are conducted. The results show the effectiveness and superiority of the proposed method as compared with the conventional optimal quadratic tracking （LQT） control method.

Visual Tracking System for Welding Seams

To track the narrow butt welding seams in container manufacture, a visual tracking system based on smart camera is proposed in this paper. A smart camera is used as the sensor to detect the welding seam. The feature extraction algorithm is designed with the consideration of the characteristics of the smart caraera, which is used to compute the error between the welding torch and the welding seam. Visual control system based on image is preseated, which employs a programmable controller to control a stepper motor to eliminate the tracking error detected by the smart camera. Experiments are conducted to demonstrate the effectiveness of the vision system.

Simulation of Maximum Power Point Tracking for Photovoltaic Systems

A PV （photovoltaic） solar panels exhibit non-linear current--voltage characteristics, and according to the MPT （maximum power transform） theory, it can produce maximum power at only one particular OP （operating point）; namely, when the source impedance matches with the load impedance, a match which cannot be guaranteed spontaneously. Furthermore, the MPP （maximum power point） changes with temperature and light intensity variations. Therefore, different algorithms have been developed for finding MPPT （maximum power point tracking） based on offline and online methods. Evaluating the performance of these algorithms for various PV systems operating under highly dynamic environments are essentials to ensure producing reliable, efficient, cost-effective and high performance systems. One possible approach for system evaluation is to use computer simulation. This paper addresses the use of Matlab software as a simulation tool for evaluating the performance of PV solar systems and finding the MPPT.

Distributed coordinated adaptive tracking in networked redundant robotic systems with a dynamic leader

Distributed coordinated control of networked robotic systems formulated by Lagrange dynamics has recently been a subject of considerable interest within science and technology communities due to its broad engineering applications involving complex and integrated production processes,where high flexibility,manipulability,and maneuverability are desirable characteristics.In this paper,we investigate the distributed coordinated adaptive tracking problem of networked redundant robotic systems with a dynamic leader.We provide an analysis procedure for the controlled synchronization of such systems with uncertain dynamics.We also find that the proposed control strategy does not require computing positional inverse kinematics and does not impose any restriction on the self-motion of the manipulators;therefore,the extra degrees of freedom are applicable for other sophisticated subtasks.Compared with some existing work,a distinctive feature of the designed distributed control algorithm is that only a subset of followers needs to access the position information of the dynamic leader in the task space,where the underlying directed graph has a spanning tree.Subsequently,we present a simulation example to verify the effectiveness of the proposed algorithms.

FINITE-TIME TRACKING CONTROL FOR MOTOR SERVO SYSTEMS WITH UNKNOWN DEAD-ZONES

A finite-time tracking control scheme is proposed in this paper based on the terminal sliding mode principle for motor servo systems with unknown nonlinear dead-zone inputs.By using the differential mean value theorem,the dead-zone is represented as a time-varying system and thus the inverse compensation approach is avoided.Then,an indirect terminal sliding mode control(ITSMC)is developed to guarantee the finite-time convergence of the tracking error and to overcome the singularity problem in the traditional terminal sliding mode control.In the proposed controller design,the unknown nonlinearity of the system is approximated by a simple sigmoid neural network,and the approximation error is diminished by employing a robust term.Comparative experiments on a turntable servo system are conducted to show the superior performance of the proposed method.

OPTIMAL TRACKING FOR BILINEAR STOCHASTIC SYSTEM DRIVEN BY FRACTIONAL BROWNIAN MOTIONS

This paper discusses a problem of optimal tracking for a linear control system driven by fractional Brownian motion.An equation is obtained for the linear Markov feedback control.The existence and uniqueness of the solution to the equation are also studied.