A multi-mode adaptive controller was proposed. The controller features in thecombination of Bang-bang and Fuzzy PID controls with state predictor. When large error exists, thecontroller operates in Bang-bang mode, oth...A multi-mode adaptive controller was proposed. The controller features in thecombination of Bang-bang and Fuzzy PID controls with state predictor. When large error exists, thecontroller operates in Bang-bang mode, otherwise it works as a fuzzy PID controller. For only fewparameters to be adjusted, the real time controlled system achieveed good stability and fastresponse. Furthermore, the introduction of state observer was also discussed to extend thecapability of the proposed controller to the plant with time-delay factors. The classical PIDcontroller and the multi-mode controller were applied to the same second-order system successively.By comparison of the simulation results, the effectiveness of the controller were shown. At last, onelectric-wire production line, this approach was practiced to control electric-wire diameter withan additive random disturbance signal. The test result further proved the effectiveness of themulti-mode controller.展开更多
A fuzzy control algorithm of asymmetric fuzzy strategy is introduced for a servo-pneumatic position system. It can effectively solve the difficult problems of single rod low friction cylinders, which are mainly caused...A fuzzy control algorithm of asymmetric fuzzy strategy is introduced for a servo-pneumatic position system. It can effectively solve the difficult problems of single rod low friction cylinders, which are mainly caused by asymmetric structures and different friction characteristics in two directions. On the basis of this algorithm, a traditional PID control is used to improve dynamic performance. Furthermore, a new asymmetric fuzzy PID control with α factor is advanced to improve the self-adaptability and robustness of the system. Both the theoretical analyses and experimental results prove that, with this control strategy, the dynamic performance of the system can be greatly improved. The system using this control algorithm has strong robustness and it obtains desired overshoot and repeatability in both transient and steady-state responses.展开更多
Based on Matlab/Simulink and Fuzzy Logic toolboxes, the altitude control system is designed and simulated. The validity of conventional PID control method and adaptive fuzzy PID control method is compared. It can be d...Based on Matlab/Simulink and Fuzzy Logic toolboxes, the altitude control system is designed and simulated. The validity of conventional PID control method and adaptive fuzzy PID control method is compared. It can be drawn out that the adaptive fuzzy PID control method is superior to the conventional PID in rising time and overshoot etc. The effectiveness of a fuzzy PID controller shows potential application in the future, especially in the presence of model uncertainty or changing dynamics and time-varying parameters.展开更多
The welding wire feed mechanism is an important component of welding equipment, both reliability and stabilization are the premise that the welding quality can be ensured. The PID is currently adapted to control the w...The welding wire feed mechanism is an important component of welding equipment, both reliability and stabilization are the premise that the welding quality can be ensured. The PID is currently adapted to control the welding wire feed mechanism, although the fuzzy PID has advantage of fast response and adaptation, the precision of fuzzy PID is lower. Accordingly, the fuzzy self-adaptive PID controller was proposed through changing fuzzy input variables and output variables based on variable universe, simple furwtion is adopted as scaling factor, the fuzzy PID controller parameters are adjusted to improve the precision and adjustment range. Simulation results show that control effects of fuzzy self-adaptive PID adopted by the welding wire feed mechanism have good adaptive ability and robustness based on variable universe, the welding experiments indicate that the welding quality met the requirements actually.展开更多
The omnidirectional mobile platform has three degrees of freedom that make it widely applicable to all areas of industry, while the Mecanum wheel has the disadvantages wheel omnidirectional mobile platform is always d...The omnidirectional mobile platform has three degrees of freedom that make it widely applicable to all areas of industry, while the Mecanum wheel has the disadvantages wheel omnidirectional mobile platform is always difficult in of large vibration, the trajectory precision of Mecanum the omnidirectional mobile platform. To control the trajectory of the omnidirectional mobile platform better, this paper proposes a fuzzy self-tuning PID control model, through establishing the motion model of omnidirectional mobile platform in Adams software, then combined with Simulink simulation, analysis of fuzzy PID controller to improve the accuracy of the speed control of omnidirectional mobile platform, improve the control method of a precise trajectory of the omnidirectional mobile platform motion.展开更多
Aiming at the problem of poor uniformity of maize sowing caused by ground wheel slip,an electronic control seed-metering system(ECSMS)for maize single seed precision sowing was designed and a mathematical model for mo...Aiming at the problem of poor uniformity of maize sowing caused by ground wheel slip,an electronic control seed-metering system(ECSMS)for maize single seed precision sowing was designed and a mathematical model for motor control of the ECSMS was determined.The PID parameters were set by Z-N method and fuzzy control.The fuzzy PID control design and Simulink simulation were completed by MATLAB,which reduced response time of the system by 0.23 s and improved the control accuracy.Experiments on the JPS-12 test bench show that the qualification index(QI)of maize seed-metering device with the ECSMS increases by 4.47%,the multiples index(MI)decreases by 1.96%,the miss index(MIX)decreases by 2.81%,and the coefficient of variation(CV)of qualified seed spacing decreases by 5.06%,and the sowing uniformity has been greatly improved.Test results of the soil-tank test bench show that the system has good sowing uniformity and stability.And the QI is 96.74%,the MI is 2.15%,the MIX is 1.10%,and the CV of qualified seed spacing is 16.24%.Under different setting seed spacing and different sowing operation speed,the change range of seeding quality index was within 10%.The results of field sowing test show that the QI was 84.21%,the MI was 2.63%,the MIX was 7.89%,and the CV of qualified seed spacing was 22.15%,which meet the requirements of JB/T 10293-2013‘Specification for single seed planters(precision planters)’and the agronomic requirements for maize precision sowing.The system runs stably and reliably in practical operation and has good operation performance.展开更多
Traditional passive ground wheel drive of peanut planters has displayed poor high-speed seeding performance and the slippage caused in case of sticky and wet soil.Given this,an integrated electric-driven precision see...Traditional passive ground wheel drive of peanut planters has displayed poor high-speed seeding performance and the slippage caused in case of sticky and wet soil.Given this,an integrated electric-driven precision seed metering device and controller were designed,which features the application of improved fuzzy PID algorithm.Based on a small peanut planter with one ridge width and duplicate rows,the servo motor drive is used to replace the traditional passive ground wheel.In addition,the satellite speed measurement is employed to complete the electric driving and controlling modification of the seed meter and precise seeding control.A working process mathematical model for the peanut metering device was established to conduct motor speed and field tests which aim at comparing performances between the conventional and the improved fuzzy PID controls.The motor speed trial shows that the average error of the actual speed of the improved fuzzy PID motor was±1 rad/min,and the coefficient of variation was less than 1%.Against the conventional one,it can better suppress overshoot and improve the response speed.The stable output speed can still be obtained even in case of step changes.Field tests show that when working at medium and low speeds,the qualified rate of plant spacing was greater than 98%,and the rate of missed sowing is<2%;while working at high speed,the qualified rate was greater than 94%,and the rate of missed sowing was less than 4%.The average plant spacing qualification rate of the seed device increased by 6.72%;compared with other electric-driven peanut seed meters,the plant spacing qualification rate increased by 4%during high-speed sowing.In summary,this study has provided an effective technical reference for high-speed precision planting of peanuts.展开更多
Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close t...Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative （PID）-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error （MAE） of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.展开更多
We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and rescue.Our third-generation bionic small amphibious spheri...We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and rescue.Our third-generation bionic small amphibious spherical robots have many disadvantages,such as the lack of maneuverability and a small operating range.It is difficult to accomplish underwater autonomous motion control with these robots.Therefore,we proposed a fourth-generation amphibious spherical robot.However,the amphibious spherical robot developed in this project has a small and compact design,with limited sensors and external sensing options.This means that the robot has weak external information collection capabilities.We need to make the real time operation of the robot's underwater motion control system more reliable.In this paper,we mainly used a fuzzy Proportional-Integral-Derivative(PID)control algorithm to design an underwater motion control system for a novel robot.Moreover,we compared PID with fuzzy PID control methods by carrying out experiments on heading and turning bow motions to verify that the fuzzy PID is more robust and exhibits good dynamic performance.We also carried out experiments on the three-dimensional(3D)motion control to validate the design of the underwater motion control system.展开更多
基金This research was financially supported by the Open Fund of the Fieldbus tech& Automation Beijing Key Lab (No.2002.19-21).
文摘A multi-mode adaptive controller was proposed. The controller features in thecombination of Bang-bang and Fuzzy PID controls with state predictor. When large error exists, thecontroller operates in Bang-bang mode, otherwise it works as a fuzzy PID controller. For only fewparameters to be adjusted, the real time controlled system achieveed good stability and fastresponse. Furthermore, the introduction of state observer was also discussed to extend thecapability of the proposed controller to the plant with time-delay factors. The classical PIDcontroller and the multi-mode controller were applied to the same second-order system successively.By comparison of the simulation results, the effectiveness of the controller were shown. At last, onelectric-wire production line, this approach was practiced to control electric-wire diameter withan additive random disturbance signal. The test result further proved the effectiveness of themulti-mode controller.
文摘A fuzzy control algorithm of asymmetric fuzzy strategy is introduced for a servo-pneumatic position system. It can effectively solve the difficult problems of single rod low friction cylinders, which are mainly caused by asymmetric structures and different friction characteristics in two directions. On the basis of this algorithm, a traditional PID control is used to improve dynamic performance. Furthermore, a new asymmetric fuzzy PID control with α factor is advanced to improve the self-adaptability and robustness of the system. Both the theoretical analyses and experimental results prove that, with this control strategy, the dynamic performance of the system can be greatly improved. The system using this control algorithm has strong robustness and it obtains desired overshoot and repeatability in both transient and steady-state responses.
基金Sponsored by the Ministerial Level Foundation(K130506)
文摘Based on Matlab/Simulink and Fuzzy Logic toolboxes, the altitude control system is designed and simulated. The validity of conventional PID control method and adaptive fuzzy PID control method is compared. It can be drawn out that the adaptive fuzzy PID control method is superior to the conventional PID in rising time and overshoot etc. The effectiveness of a fuzzy PID controller shows potential application in the future, especially in the presence of model uncertainty or changing dynamics and time-varying parameters.
文摘The welding wire feed mechanism is an important component of welding equipment, both reliability and stabilization are the premise that the welding quality can be ensured. The PID is currently adapted to control the welding wire feed mechanism, although the fuzzy PID has advantage of fast response and adaptation, the precision of fuzzy PID is lower. Accordingly, the fuzzy self-adaptive PID controller was proposed through changing fuzzy input variables and output variables based on variable universe, simple furwtion is adopted as scaling factor, the fuzzy PID controller parameters are adjusted to improve the precision and adjustment range. Simulation results show that control effects of fuzzy self-adaptive PID adopted by the welding wire feed mechanism have good adaptive ability and robustness based on variable universe, the welding experiments indicate that the welding quality met the requirements actually.
文摘The omnidirectional mobile platform has three degrees of freedom that make it widely applicable to all areas of industry, while the Mecanum wheel has the disadvantages wheel omnidirectional mobile platform is always difficult in of large vibration, the trajectory precision of Mecanum the omnidirectional mobile platform. To control the trajectory of the omnidirectional mobile platform better, this paper proposes a fuzzy self-tuning PID control model, through establishing the motion model of omnidirectional mobile platform in Adams software, then combined with Simulink simulation, analysis of fuzzy PID controller to improve the accuracy of the speed control of omnidirectional mobile platform, improve the control method of a precise trajectory of the omnidirectional mobile platform motion.
基金supported by Hebei Agriculture Research System(HBCT2024020205)The State Key Laboratory of North China Crop Improvement and Regulation(Grant No.NCCIR2024ZZ-12)+1 种基金The Sci-Tech Program of Hebei(Grant No.23567601H)The Central Government Guides Local Funds for Scientific and Technological Development(Grant No.236Z7202G).
文摘Aiming at the problem of poor uniformity of maize sowing caused by ground wheel slip,an electronic control seed-metering system(ECSMS)for maize single seed precision sowing was designed and a mathematical model for motor control of the ECSMS was determined.The PID parameters were set by Z-N method and fuzzy control.The fuzzy PID control design and Simulink simulation were completed by MATLAB,which reduced response time of the system by 0.23 s and improved the control accuracy.Experiments on the JPS-12 test bench show that the qualification index(QI)of maize seed-metering device with the ECSMS increases by 4.47%,the multiples index(MI)decreases by 1.96%,the miss index(MIX)decreases by 2.81%,and the coefficient of variation(CV)of qualified seed spacing decreases by 5.06%,and the sowing uniformity has been greatly improved.Test results of the soil-tank test bench show that the system has good sowing uniformity and stability.And the QI is 96.74%,the MI is 2.15%,the MIX is 1.10%,and the CV of qualified seed spacing is 16.24%.Under different setting seed spacing and different sowing operation speed,the change range of seeding quality index was within 10%.The results of field sowing test show that the QI was 84.21%,the MI was 2.63%,the MIX was 7.89%,and the CV of qualified seed spacing was 22.15%,which meet the requirements of JB/T 10293-2013‘Specification for single seed planters(precision planters)’and the agronomic requirements for maize precision sowing.The system runs stably and reliably in practical operation and has good operation performance.
基金supported by the Key Research and Development Program of Shandong Province(Grant No.2018YF008-02)the Introduction and Education Program for young Talents in Shandong Colleges and universities.
文摘Traditional passive ground wheel drive of peanut planters has displayed poor high-speed seeding performance and the slippage caused in case of sticky and wet soil.Given this,an integrated electric-driven precision seed metering device and controller were designed,which features the application of improved fuzzy PID algorithm.Based on a small peanut planter with one ridge width and duplicate rows,the servo motor drive is used to replace the traditional passive ground wheel.In addition,the satellite speed measurement is employed to complete the electric driving and controlling modification of the seed meter and precise seeding control.A working process mathematical model for the peanut metering device was established to conduct motor speed and field tests which aim at comparing performances between the conventional and the improved fuzzy PID controls.The motor speed trial shows that the average error of the actual speed of the improved fuzzy PID motor was±1 rad/min,and the coefficient of variation was less than 1%.Against the conventional one,it can better suppress overshoot and improve the response speed.The stable output speed can still be obtained even in case of step changes.Field tests show that when working at medium and low speeds,the qualified rate of plant spacing was greater than 98%,and the rate of missed sowing is<2%;while working at high speed,the qualified rate was greater than 94%,and the rate of missed sowing was less than 4%.The average plant spacing qualification rate of the seed device increased by 6.72%;compared with other electric-driven peanut seed meters,the plant spacing qualification rate increased by 4%during high-speed sowing.In summary,this study has provided an effective technical reference for high-speed precision planting of peanuts.
基金co-supported by the National Natural Science Foundation of China (61175104)National Science and Technology Support Program of China (2012BA114B01)
文摘Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative （PID）-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error （MAE） of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.
基金supported by National Natural Science Foundation of China(Nos.61773064 and 61503028)National Key Research and Development Program of China(2017YFB1304404)National Hightech Research and Development Program(863 Program)of China(No.2015AA043202).
文摘We proposed and developed a small bionic amphibious spherical robot system for tasks such as coastal environment monitoring and offshore autonomous search and rescue.Our third-generation bionic small amphibious spherical robots have many disadvantages,such as the lack of maneuverability and a small operating range.It is difficult to accomplish underwater autonomous motion control with these robots.Therefore,we proposed a fourth-generation amphibious spherical robot.However,the amphibious spherical robot developed in this project has a small and compact design,with limited sensors and external sensing options.This means that the robot has weak external information collection capabilities.We need to make the real time operation of the robot's underwater motion control system more reliable.In this paper,we mainly used a fuzzy Proportional-Integral-Derivative(PID)control algorithm to design an underwater motion control system for a novel robot.Moreover,we compared PID with fuzzy PID control methods by carrying out experiments on heading and turning bow motions to verify that the fuzzy PID is more robust and exhibits good dynamic performance.We also carried out experiments on the three-dimensional(3D)motion control to validate the design of the underwater motion control system.
