A novel control method has been proposed by using the genetic algorithm (GA) for nonlinear and complex plants. The proposed control strategy is based on a variable structure control, it overcomes the defects of othe...A novel control method has been proposed by using the genetic algorithm (GA) for nonlinear and complex plants. The proposed control strategy is based on a variable structure control, it overcomes the defects of other adaptive methods such as strong dependence to the system. A GA is used to learn to optimally select integral coefficient C. Simulation results verified the effectiveness of the controller. For position control of Direct Current (DC) motor in practice, this method has good performance and strong robustness, and both dynamic and steady performances were improved.展开更多
The mobility of the targets asks for high requirements of the locating speed in indoor positioning systems.The standard medium access control(MAC)algorithm will often cause lots of packet conflicts and high transmissi...The mobility of the targets asks for high requirements of the locating speed in indoor positioning systems.The standard medium access control(MAC)algorithm will often cause lots of packet conflicts and high transmission delay if multiple users communicate with one beacon at the same time,which will severely limit the speed of the system.Therefore,an optimized MAC algorithm is proposed based on channel reservation to enable users to reserve beacons.A frame threshold is set to ensure the users with shorter data frames do not depend on the reservation mechanism,and multiple users can achieve packets switching with relative beacon in a fixed sequence by using frequency division multiplexing technology.The simulation results show that the optimized MAC algorithm proposed in this paper can improve the positioning speed significantly while maintaining the positioning accuracy.Moreover,the positioning accuracy can be increased to a certain extent if more channel resources can be obtained,so as to provide effective technical support for the location and tracking applications of indoor moving targets.展开更多
Purpose–The purpose of this paper is to present a control strategy which uses two independent PID controllers to realize the hovering control for unmanned aerial systems(UASs).In addition,the aim of using two PID con...Purpose–The purpose of this paper is to present a control strategy which uses two independent PID controllers to realize the hovering control for unmanned aerial systems(UASs).In addition,the aim of using two PID controller is to achieve the position control and velocity control simultaneously.Design/methodology/approach–The dynamic of the UASs is mathematically modeled.One PID controller is used for position tracking control,while the other is selected for the vertical component of velocity tracking control.Meanwhile,fuzzy logic algorithm is presented to use the actual horizontal component of velocity to compute the desired position.Findings–Based on this fuzzy logic algorithm,the control error of the horizontal component of velocity tracking control is narrowed gradually to be zero.The results show that the fuzzy logic algorithm can make the UASs hover still in the air and vertical to the ground.Social implications–The acquired results are based on simulation not experiment.Originality/value–This is the first study to use two independent PID controllers to realize stable hovering control for UAS.It is also the first to use the velocity of the UAS to calculate the desired position.展开更多
A hybrid position/force controller is designed for the joint 2 and the joint 3 of thePUMA 560 robot.The hybrid controller includes a multilayered neural network,which canidentify the dynamics of the contacted environm...A hybrid position/force controller is designed for the joint 2 and the joint 3 of thePUMA 560 robot.The hybrid controller includes a multilayered neural network,which canidentify the dynamics of the contacted environment and can optimize the parameters of PIDcontroller.The experimental results show that after having been trained,the robot has sta-ble response to the training patterns and strong adaptive ability to the situation between thepatterns.展开更多
Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot. However, in this method, a large amount of fuel will be consume...Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot. However, in this method, a large amount of fuel will be consumed, and it will shorten the on orbit life span of space robot, it also vibrate the system and make the system unsteady. The restricted minimum disturbance map (RMDM) based algorithm of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator. In this method it is realized by planning motion trajectory of the end effector of manipulator without using reaction wheel or reaction thruster. In order to verify the feasibility and effectiveness of the algorithm attitude control presented in this paper, computer simulation experiments have been made and the experimental results demonstrate that this algorithm is feasible.展开更多
温度控制在生产生活中发挥着举足轻重的作用。位式控制算法在调节具有滞后性的水暖床垫温度控制系统时容易导致温度在目标值上下波动,控制效果不理想。为了解决此问题,设计了一种基于位置式PID的水暖床垫温度控制系统,系统以51内核的微...温度控制在生产生活中发挥着举足轻重的作用。位式控制算法在调节具有滞后性的水暖床垫温度控制系统时容易导致温度在目标值上下波动,控制效果不理想。为了解决此问题,设计了一种基于位置式PID的水暖床垫温度控制系统,系统以51内核的微处理器为核心控制器、以负温度系数热敏电阻(Negative Temperature Coefficient,NTC)为温度传感器、以PTC为加热器、以直流电机作为循环水泵。经实际测试结果表明,该系统运行稳定,控温精度在±0.5℃以内,达到了理想的温度控制效果。展开更多
An unmanned aerial vehicle(UAV)is a small,fast aircraft with many useful features.It is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application a...An unmanned aerial vehicle(UAV)is a small,fast aircraft with many useful features.It is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application and development prospects.Since the UAV’s flight orientation is easily changeable,its orientation and flight path are difficult to control,leading to its high damage rate.Therefore,UAV flight-control technology has become the focus of attention.This study focuses on simulating a UAV’s flight and orientation control,and detecting collisions between a UAV and objects in a complex virtual environment.The proportional-integral-derivative control algorithm is used to control the orientation and position of the UAV in a virtual environment.A version of the bounding-box method that combines a grid with a k-dimensional tree is adopted in this paper,to improve the system performance and accelerate the collision-detection process.This provides a practical method for future studies on UAV flight position and orientation control,collision detection,etc.展开更多
The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual- Stage Actuator (DSA) proposed i...The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual- Stage Actuator (DSA) proposed in this paper can replace the single actuator to achieve the high speed and high precision positioning by cooperative control. The relative model and control algorithm of motion trajectory (CAMT) are designed and validated, which proves that the method proposed in this paper is effective.展开更多
基金This paper is supported by Young Teacher Foundation of Xi'an University of Technology.
文摘A novel control method has been proposed by using the genetic algorithm (GA) for nonlinear and complex plants. The proposed control strategy is based on a variable structure control, it overcomes the defects of other adaptive methods such as strong dependence to the system. A GA is used to learn to optimally select integral coefficient C. Simulation results verified the effectiveness of the controller. For position control of Direct Current (DC) motor in practice, this method has good performance and strong robustness, and both dynamic and steady performances were improved.
基金Supported by the National Natural Science Foundation of China(No.61771186)Outstanding Youth Project of Heilongjiang Natural Science Foundation(No.YQ2020F012)Undergraduate University Project of Young Scientist Creative Talent of Heilongjiang Province(No.UNPYSCT-2017125)。
文摘The mobility of the targets asks for high requirements of the locating speed in indoor positioning systems.The standard medium access control(MAC)algorithm will often cause lots of packet conflicts and high transmission delay if multiple users communicate with one beacon at the same time,which will severely limit the speed of the system.Therefore,an optimized MAC algorithm is proposed based on channel reservation to enable users to reserve beacons.A frame threshold is set to ensure the users with shorter data frames do not depend on the reservation mechanism,and multiple users can achieve packets switching with relative beacon in a fixed sequence by using frequency division multiplexing technology.The simulation results show that the optimized MAC algorithm proposed in this paper can improve the positioning speed significantly while maintaining the positioning accuracy.Moreover,the positioning accuracy can be increased to a certain extent if more channel resources can be obtained,so as to provide effective technical support for the location and tracking applications of indoor moving targets.
文摘Purpose–The purpose of this paper is to present a control strategy which uses two independent PID controllers to realize the hovering control for unmanned aerial systems(UASs).In addition,the aim of using two PID controller is to achieve the position control and velocity control simultaneously.Design/methodology/approach–The dynamic of the UASs is mathematically modeled.One PID controller is used for position tracking control,while the other is selected for the vertical component of velocity tracking control.Meanwhile,fuzzy logic algorithm is presented to use the actual horizontal component of velocity to compute the desired position.Findings–Based on this fuzzy logic algorithm,the control error of the horizontal component of velocity tracking control is narrowed gradually to be zero.The results show that the fuzzy logic algorithm can make the UASs hover still in the air and vertical to the ground.Social implications–The acquired results are based on simulation not experiment.Originality/value–This is the first study to use two independent PID controllers to realize stable hovering control for UAS.It is also the first to use the velocity of the UAS to calculate the desired position.
基金Supported by the National Defence Science & Technology Pre-research Fund of China.
文摘A hybrid position/force controller is designed for the joint 2 and the joint 3 of thePUMA 560 robot.The hybrid controller includes a multilayered neural network,which canidentify the dynamics of the contacted environment and can optimize the parameters of PIDcontroller.The experimental results show that after having been trained,the robot has sta-ble response to the training patterns and strong adaptive ability to the situation between thepatterns.
文摘Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free flying space robot. However, in this method, a large amount of fuel will be consumed, and it will shorten the on orbit life span of space robot, it also vibrate the system and make the system unsteady. The restricted minimum disturbance map (RMDM) based algorithm of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator. In this method it is realized by planning motion trajectory of the end effector of manipulator without using reaction wheel or reaction thruster. In order to verify the feasibility and effectiveness of the algorithm attitude control presented in this paper, computer simulation experiments have been made and the experimental results demonstrate that this algorithm is feasible.
文摘温度控制在生产生活中发挥着举足轻重的作用。位式控制算法在调节具有滞后性的水暖床垫温度控制系统时容易导致温度在目标值上下波动,控制效果不理想。为了解决此问题,设计了一种基于位置式PID的水暖床垫温度控制系统,系统以51内核的微处理器为核心控制器、以负温度系数热敏电阻(Negative Temperature Coefficient,NTC)为温度传感器、以PTC为加热器、以直流电机作为循环水泵。经实际测试结果表明,该系统运行稳定,控温精度在±0.5℃以内,达到了理想的温度控制效果。
基金This work was supported by the National Key Technology Research and Development Program of China(Nos.2015BAK01B06,2017YFB1002705,2017YFB1002601,and 2017YFB0203002)the National Marine Public Service Project(No.201505014-3)+1 种基金the National Natural Science Foundation of China(NSFC)(Nos.61472010 and 61661146002)the Equipment Development Project(No.315050501).
文摘An unmanned aerial vehicle(UAV)is a small,fast aircraft with many useful features.It is widely used in military reconnaissance,aerial photography,searches,and other fields;it also has very good practical-application and development prospects.Since the UAV’s flight orientation is easily changeable,its orientation and flight path are difficult to control,leading to its high damage rate.Therefore,UAV flight-control technology has become the focus of attention.This study focuses on simulating a UAV’s flight and orientation control,and detecting collisions between a UAV and objects in a complex virtual environment.The proportional-integral-derivative control algorithm is used to control the orientation and position of the UAV in a virtual environment.A version of the bounding-box method that combines a grid with a k-dimensional tree is adopted in this paper,to improve the system performance and accelerate the collision-detection process.This provides a practical method for future studies on UAV flight position and orientation control,collision detection,etc.
文摘The automatic positioning control of mooring system for deepwater semi-submersible platform has become a key issue in the research and development field of deep-sea resources. The Dual- Stage Actuator (DSA) proposed in this paper can replace the single actuator to achieve the high speed and high precision positioning by cooperative control. The relative model and control algorithm of motion trajectory (CAMT) are designed and validated, which proves that the method proposed in this paper is effective.