Papers by Keyword: Control Design

Abstract: The inverted pendulum is one of the most common experimental devices used to illustrate nonlinear control techniques, and various studies have been conducted on its swing-up and stabilization control from different perspectives. In real-world inverted pendulums, there are limitations on the displacement and velocity of the fulcrum, making it crucial to consider these constraints in control strategies.In this study, we propose a new swing-up and stabilization control method for the inverted pendulum that allows independent setting of the displacement and velocity limits of the fulcrum. The effectiveness of this method is verified through simulations and experimental tests.

Abstract: In this paper, we propose a swing-up control law for the Pendubot, a type of two-joint, two-link, underactuated robot in which the shoulder joint is actuated and the elbow joint is unactuated, maintaining the elbow joint fully extended as much as possible. The proposed control law is designed by the energy-based method. Using the phase plane trajectories obtained from the angular and angular velocity oscillatory motion of the forearm, the target trajectory of the shoulder joint is calculated so that the trajectory is a small phase advance from the forearm. We design a tracking control law for the shoulder joint so that the forearm and the upper arm behave as a single pendulum. The effectiveness of the proposed method is verified by numerical simulation and actual experiments.

Abstract: In this paper, we propose a swing-up control law for the Pendubot, a type of two-joint, two-link, underactuated robot in which the shoulder joint is actuated and the elbow joint is unactuated, considering the restricted angular movement of the shoulder joint. The proposed control law is designed by the energy-based method. Using the phase plane trajectories obtained from the angular and angular velocity oscillatory motion of the forearm, a target trajectory of the shoulder joint is calculated such that the mechanical energy of the forearm motion increases. We design a tracking control law for the shoulder joint with respect to a target trajectory. The maximum amplitude of the target trajectory directly restricts the angular motion of the actuator. The effectiveness of the proposed method is verified by numerical simulation and actual experiments.

Abstract: In recent years, our country south parts of the rain and snow freeze disaster occurred frequently, which resulted in increased surface of the transmission line icing, gravity, high voltage transmission line widespread damage. In order to avoid the high tension line crushed, to guarantee the normal electricity, you need to clear the ice on the high tension line in time. Through the analysis of all kinds of existing de-icing technology advantages and disadvantages, put forward in this paper, the high tension line of mechanical deicing unit. Paper first puts forward the overall scheme of deicing unit needed to solve in the design of the main problems, and then expounds the axis and in addition to the design and calculation of the ice skates finally, and locking mechanism and regulating mechanism and so on the design of mechanical parts.

Abstract: Interchange entrance area is the key point which affects the overall operational reliability of an Interchange. In order to alleviate the crowded ramp merging area, improve the overall reliability of the interchange and improve traffic safety, when traffic demand increases to a certain extent, traffic control strategies should be used. According of the characteristics of the interchange ramp entrance area, the control strategy of interchange and the mainline which affect the reliability of high-speed road network most has been researched. Analyzing the geometric and traffic characteristics of the ramp merging area, different control strategies on the ramp and the mainline are proposed, that is ramp access control strategy and the main line lane running constraint strategy.

Abstract: This paper presents the design of an embedded control system for insulin pump. The insulin pump is an integrated component in any closed loop insulin delivery system for type 1 diabetes. The pump consists of three main components: micro-needles, insulin reservoir(syringe), and piezoelectric (PZT) linear servo motor. The actuated syringe has an injection back pressure that resists the linear motion of the driving PZT motor. This back pressure acts as a disturbance and leads to in accurate position and consequently an imprecise insulin dosage. Therefore, a highly precise positioning control on the pump is required to control the insulin dosage and to maintain the blood glucose level in its safe range. The proposed controller is designed using fuzzy logic as a nonlinear controller to compensate any non-modeled nonlinear ities in the system.The embedded controller for the PZT motor can be implemented using FPGA or microcontroller chip. This controller acts as a slave and responds to its master controller which controls the complete closed loop insulin delivery system.

Abstract: Since electro-hydraulic servo system has fast response and highest control accuracy, it has been widely used in industrial application, including aircraft, mining, manufacturing, and agriculture, etc. With the fast development of computer science, it is feasible and available to evaluate the performance of the designed control system via virtual simulation before the practical usage of the system. In order to optimize the design procedure of the electro-hydraulic proportional controller, the co-simulation design method based on AMESim-Matlab is presented for the electro-hydraulic servo system in this paper. High accuracy of the mathematical model of electro-hydraulic servo system was full-fitted by the use of AMESim, and the advantage of high solving precision for large amount of calculation was full played using Matlab. The PID controller was employed to realize the efficient control of the motion of the hydraulic cylinder. The united simulation technique was adopted to verify the good performance of the designed control system. The simulation results suggest that the proposed method is effective for the design of electro-hydraulic servo systems and thus has application importance.

Abstract: This paper discusses some issues which are relevant when addressing the design and the implementation of control algorithms for smart structures: (1) the model of the closed control loop; (2) the control strategy; (3) the control methodology; (4) the feedback information constraints; and (5) the digital implementation. A case study is used to illustrate some of these issues.

Abstract: The goal of this research is to develop a design and optimization methodology for the mechatronic modules of machine tools by treating all important characteristics from all involved engineering domains in one single process. In this study, a mechatronic system of machine tools was broken into a structure and control two-level systems. In the first stage for structure design process, the Pro/E was used to build up the 3D models and the AnSys was employed to design the mechanical structure and select the optimal components for the machine tools. Next, in the control design process, a common controller type was designed by MATLAB in this stage. Then, three important parameters were established for the machine tools design to achieve the overall system performance.