Adaptive Nonlinear PD Controller of Two-Wheeled Self-Balancing Robot with External Force

This paper proposes an adaptive nonlinear proportional-derivative(ANPD)controller for a two-wheeled self-balancing robot(TWSB)modeled by the Lagrange equation with external forces.The proposed control scheme is designed based on the combination of a nonlinear proportional-derivative(NPD)controller and a genetic algorithm,in which the proportional-derivative(PD)parameters are updated online based on the tracking error and the preset error threshold.In addition,the genetic algorithm is employed to adaptively select initial controller parameters,contributing to system stability and improved control accuracy.The proposed controller is basic in design yet simple to implement.The ANPD controller has the advantage of being computationally lightweight and providing high robustness against external forces.The stability of the closed-loop system is rigorously analyzed and verified using Lyapunov theory,providing theoretical assurance of its robustness.Simulations and experimental results show that the TWSB robot with the proposed ANPD controller achieves quick balance and tracks target values with very small errors,demonstrating the effectiveness and performance of the proposed controller.The proposed ANPD controller demonstrates significant improvements in balancing and tracking performance for two-wheeled self-balancing robots,which has great applicability in the field of robot control systems.This represents a promising solution for applications requiring precise and stable motion control under varying external conditions.

Robust Tracking Control for Self-balancing Mobile Robots Using Disturbance Observer

In this paper,a robust tracking control scheme based on nonlinear disturbance observer is developed for the self-balancing mobile robot with external unknown disturbances.A desired velocity control law is firstly designed using the Lyapunov analysis method and the arctan function.To improve the tracking control performance,a nonlinear disturbance observer is developed to estimate the unknown disturbance of the self-balancing mobile robot.Using the output of the designed disturbance observer,the robust tracking control scheme is presented employing the sliding mode method for the selfbalancing mobile robot.Numerical simulation results further demonstrate the effectiveness of the proposed robust tracking control scheme for the self-balancing mobile robot subject to external unknown disturbances.

The Development of Self-Balancing Controller for One-Wheeled Vehicles

The purpose of this study is to develop a self-balancing controller (SBC) for one-wheeled vehicles (OWVs). The composition of the OWV system includes: a DSP motion card, a wheel motor, and its driver. In addition, a tilt and a gyro, for sensing the angle and angular velocity of the body slope, are used to realize self-balancing controls. OWV, a kind of unicycle robot, can be dealt with as a mobile-inverted-pendulum system for its instability. However, for its possible applications in mobile carriers or robots, it is worth being further developed. In this study, first, the OWV system model will be derived. Next, through the simulations based on the mathematical model, the analysis of system stability and controllability can be evaluated. Last, a concise and realizable method, through system pole-placement and linear quadratic regulator (LQR), will be proposed to design the SBC. The effectiveness, reliability, and feasibility of the proposal will be con- firmed through simulation studies and experimenting on a physical OWV.

Research on Self-balancing Two Wheels Mobile Robot Control System Analysis

The paper presents the research on self-balancing two-wheels mobile robot control system analysis with experimental studies.The research problem in this work is to stabilize the mobile robot with self-control and to carry the sensitive things without failing in a long span period.The main objective of this study is to focus on the mathematical modelling of mobile robot from laboratory scale to real world applications.The numerical expression with mathematical modelling is very important to control the mobile robot system with linearization.The fundamental concepts of dynamic system stability were utilized for maintaining the stability of the constructed mobile robot system.The controller design is also important for checking the stability and the appropriate controller design is proportional,integral,and derivative-PID controller and Linear Quadratic Regulator(LQR).The steady state error could be reduced by using such kind of PID controller.The simulation of numerical expression on mathematical modeling was conducted in MATLAB environments.The confirmation results from the simulation techniques were applied to construct the hardware design of mobile robot system for practical study.The results from simulation approaches and experimental approaches are matched in various kinds of analyses.The constructed mobile robot system was designed and analyzed in the control system design laboratory of Yangon Technological University(YTU).

Motor Learning Based on the Cooperation of Cerebellum and Basal Ganglia for a Self-Balancing Two-Wheeled Robot

A novel motor learning method is present based on the cooperation of the cerebellum and basal ganglia for the behavior learning of agent. The motor learning method derives from the principle of CNS and operant learning mechanism and it depends on the interactions between the basal ganglia and cerebellum. The whole learning system is composed of evaluation mechanism, action selection mechanism, tropism mechanism. The learning signals come from not only the Inferior Olive but also the Substantia Nigra in the beginning. The speed of learning is increased as well as the failure time is reduced with the cerebellum as a supervisor. Convergence can be guaranteed in the sense of entropy. With the proposed motor learning method, a motor learning system for the self-balancing two-wheeled robot has been built using the RBF neural networks as the actor and evaluation function approximator. The simulation experiments showed that the proposed motor learning system achieved a better learning effect, so the motor learning based on the coordination of cerebellum and basal ganglia is effective.

Derrick高频振动细筛在铁矿选矿作业中的应用

通过对美国 Derrick高频振动细筛的技术特征、设备性能及在铁矿选矿作业中的应用实例的介绍 。

Conversion factor analysis of self-balanced loading test of cast-in-situ piles based on analogue test method

Based on the characteristics of pile-soil interaction and the Mohr-Coulomb strength theory,a new method of determining the side friction at a pile-soil interaction is proposed.Combined with the actual engineering cases,the effectiveness of the analogue test method is verified by comparing it with the traditional anchor pile method and self-balanced method.Taking the self-balanced test of the bridge pile foundation in the Songhua River as an example,the conversion factor of sandy soil and weathered mudstone are confirmed by the analogue test method.The results show that the conversion factor of sandy soil and weathered mudstone in the Songhua River area should consider the geological conditions and the construction technology,etc.The standard values are relatively conservative.It is suggested that the engineering application should be properly revised.The recommended range of the conversion factor of sandy soil in this area is 0.65 to 0.85,and that of weathered mudstone is 1.0.

Research on image segmentation of weld seam of oil derrick welded by arc welding robot

This paper puts forward a new method of PCNN （pulse-coupled neural networks ） image segmentation, in which the binary matrix of the ignition frequency matrix is employed, for the first time, to act as the final result of image segmentation. It gives the principles of PCNN parameter selection under the guidance of this process. The new method reduces the dependence of PCNN on parameters, improves the effect of image segmentation, and produces good results after being applied to image recognition of weld seam of oil derrick welded by arc welding robot.

Self-Balanced Charge Pump with Fast Lock Circuit

A self-balanced charge pump （CP） with fast lock circuit to achieve nearly zero phase error is proposed and analyzed. The proposed CP is designed based on the SMIC 0.25μm 1P5M complementary metal oxide semiconductor （CMOS） process with a 2.5 V supply voltage, HSPICE simulation shows that even if the mismatch of phase/frequency detector （PFD） was beyond 10%, the charge pump could still keep nearly zero phase error, Incorporated fast lock circuit can shorten start-up time to below 300 ns.

An improved method of generating the self-balanced chaotic spread-spectrum code

An improved method of generating the self-balanced chaotic spread-spectrum code is presented. The chaotic-map pseudorandom sequence is used as the generated source. After a series of processing two-valued quantization, inversion, all upside down, radix-S block upside down and shift combination, the proposed code is achieved. Theory analysis and simulation performance of the improved code are illustrated. And the results indicate that the suggested method gains a better performance than the traditional one by reasonable choices of the initial value and the S parameter in the im- proved method. Meanwhile the chaotic sequence＇ s characteristic of large addresses is inherited when the chaotic-map is used as the source. This advantage makes this improved code very suitable for the multiple access application in communication system.

Modal Analysis of Drilling Machine Derrick

In this paper, the finite element analysis software (ANSYS) is applied to the modal analysis of a ZJ30/1700CZ's drilling machine derrick under a natural condition and a loaded condition, respectively. The preceding nine step natural frequencies and the corresponding mode shapes of the derrick are calculated. By means of the comparison of the natural frequency of the derrick with the design work frequency of the drilling machine and the analysis of the step mode shape of the derrick, the drilling machine derrick structure design is proved to be correct.

基于模拟退火算法的海洋修井机井架轻量化设计

海洋修井机是整个修井作业的必要设备,海洋修井机井架是修井机最关键的承载部分,所受到的载荷较大,常由于强度和稳定性不足造成严重的事故。基于修井机井架主要是以静力学性能作为设计准则,并未考虑井架的小模块化和轻量化要求,仅通过增加杆件材料用料来保证井架的安全性和可靠性,存在巨大的材料浪费。所以在保证井架的安全性和可靠性的同时,为实现海洋修井机井架轻量化设计,从而减少材料用量,具有十分重要的工程意义。通过模拟退火算法研究了井架轻量化,结果表明,轻量化后的井架静力学、动力学和稳定性均符合行业标准。可见海洋修井机井架轻量化研究的准确性较高,研究方法和结果可为修井机井架结构优化提供理论依据及数据参考。

柱脚不均匀沉降对单斜撑钢井架的影响与治理研究

长期的荷载作用可能导致矿井井架变形和不均匀沉降,甚至可能引起结构整体倾覆。针对童亭煤矿钢结构单斜撑井架的沉降和受力特点,采用ANSYS有限元软件构建了单斜撑井架结构模型,研究了斜撑基础不均匀沉降对井架结构内力的影响规律,并对井架内力受不均匀沉降影响机理进行分析。结果表明:①立架与斜撑间的沉降差值会引起立架C柱底和顶部横梁的应力呈线性增加,对斜撑影响较小;X方向沉降率达到2.04‰时,立架最大应力出现于C柱底,约为148 MPa,低于钢材设计强度的限值。②两斜撑基础间的不均匀沉降对单斜撑井架的不利影响更大,断绳工况下的Y方向沉降率为0.88‰时即发生应力超限破坏,略低于《矿山井架设计标准》中对单斜撑式钢井架斜撑基础间最大1‰的沉降差值限制。③不均匀沉降导致井架内力重分布,井架最大应力值和位移值均随沉降值增大而增大,其中立架C柱和斜撑上下天轮梁为最危险部位。针对井架沉降现状,提出了重点部位的加固和顶升方案,加固后井架内力和变形均大幅降低,静力性能提升30%。

K型井架悬挂机械手二层台结构设计与测试

钻机井架上的二层台增加悬挂式机械手可以提高钻采效率,但会导致二层台整体受力增大,而传统井架二层台结构设计时未考虑增加悬挂式机械手,需要改进其结构,提高二层台承载能力以满足加装二层台机械手后的井架整体承载要求。在现有二层台结构基础上,对普通井架二层台改进结构设计,优化力学结构,强化二层台承载性能,用Ansys软件对该设计模型进行了数值计算和结构分析。利用STS-WiFi无线结构测试系统对优化结构后的二层台进行现场应变测试,通过砝码施加阶梯载荷并实时监测二层台关键测试点的应力变化。整理分析测试数据并将现场测试结果与理论计算结果比较,研究表明现场测试结果与理论计算结果相吻合,该增加悬挂式机械手的二层台结构设计满足强度要求,可用于钻采作业。

小波包与遗传算法优化BP神经网络相结合的井架钢结构损伤识别

井架钢结构损伤影响其承载安全性,为快速、准确对损伤位置进行识别,提出小波包与遗传算法优化BP神经网络相结合的井架钢结构损伤识别方法。首先利用小波包处理非平稳振动信号的优良性能对原始振动信号进行特征提取,获得表征井架钢结构损伤的信息;再通过特征参数建立数据集训练并测试井架钢结构损伤识别模型,该模型结合遗传算法自身特点改善了传统BP神经网络的不足。本文识别方法不需要损伤前的数据特征进行对比,便可对损伤位置进行确定。经过对石油井架钢结构模型实验验证:该方法对井架钢结构损伤识别准确率超过90%,相对于BP网络识别准确率以及识别速度均有所提高。

基于APDL的船用电梯井架参数化建模与仿真

基于APDL软件,对船用电梯井架进行参数化建模和有限元分析,实现了电梯井架的快速设计、优化和分析。具体方法是采用多面体拼接法对电梯井架进行几何建模,然后定义参数化变量,通过改变参数化变量的值来实现电梯井架的参数化设计。最后利用有限元分析方法对电梯井架进行仿真分析。结果表明,该方法能够提高设计效率,减少制造成本,同时也能保证产品质量。因此,在电梯井架的设计和制造中具有一定的应用价值。通过调整参数、进行工程设计的优化,可以在设计阶段找到成本效益最佳的设计方案,从而避免了在后期制造和维护过程中出现意外的高成本,帮助预测维护成本和整个产品的生命周期成本。

强台风作用下海洋平台井架抗风性能

为研究在强台风作用下海洋平台井架的抗风性能,提出静力分析与瞬态动力学分析相结合的方法,综合考虑背向风、侧向风和45°向风等3种风向,利用Davenport功率谱,采取谐波叠加法和快速傅里叶技术模拟脉动风风场,用MATLAB编程得到相应的风速时程曲线,转化为风载加载到模型上,得出节点最大位移、轴向应力和弯矩的时程曲线。研究发现,45°向风为井架较不利风向,井架底部和根部受载较严重,并且在动力学分析中45°向风的位移和应力等结果都为静力分析的近3倍,因此在未来的生产实践中推荐使用瞬态分析方法。

池州长江大跨越超高输电塔高空摇臂抱杆吊装试验与数值分析

安徽省池州段长江大跨越345 m超高杆塔是国家“西电东送”工程中白鹤滩-浙江±800 kV特高压直流输电线线路的重点工程。在超高杆塔施工中对摇臂抱杆高空吊装全过程受力分析是保证施工安全、保障西电东送工程顺利竣工的重要手段。开展了模拟施工过程的摇臂抱杆调幅加载试验,明确了分级加载下摇臂抱杆的全过程受力特征,建立了考虑动力特性的摇臂抱杆高空吊装有限元分析模型,明晰了在实际荷载工况下结构重要杆件与节点的应力分布规律,并基于诸多关键工况分析优化了高空摇臂抱杆的设计方案。研究成果可为超高杆塔的摇臂抱杆吊装施工提供理论支撑。

中承式拱桥吊杆更换施工监控研究

吊杆是中承式拱桥的主要受力与传力结构,但易损坏,因此桥梁加固工程时常涉及到吊杆更换。为确保结构安全与更换质量控制,在吊杆更换施工时需对主体结构变形、吊杆力等进行监控。以一座中承式拱桥吊杆更换为例,采用位移影响矩阵法,通过仿真计算,对吊杆更换全过程进行监控,保证施工安全与质量,更换完成之后的结构线形、吊杆力等测量结果显示都满足相关要求,可为其他类似工程提供一定的参考。