Papers by Keyword: Motion Control

Abstract: We solve the problem of choosing the speed of a mobile robot with ahybrid drive. Hybrid drive consists of an internal combustion engine and anelectric torque drive. We are interested in the modes, which provide the mostefficient process for energy recuperation. We present the mathematicaldependences that describe the process of energy recuperation. We offersuggestions on the choice of the speed of the robot, including taking intoaccount the limitations of current battery charge. It is necessary to note thatthese researches were financed by Ministry of Science of Russia Federationwithin the state task in the sphere of scientific activity

Abstract: Expounds the independent design automatic glue machine, separately introduces the two parts of the design of servo dispensing machine in detail,which is the upper machine and the lower machine.its characteristic is set motion control and dispensing control at an organic whole,solved the four shaft synergy control,real-time,coordinate display time-sharing reuse the technical difficulties. The human-computer interface of the upper machine is mainly described, The lower machine design is divided into hardware and software: For the hardware, the intelligent motion controller of the dispensing machine is introduced, For the software, the transplant of the real-time operating system μC/OS-Ⅱ and the realization of the function module protocol are introduced.The functions of the dispensing machine such as data input, data transmission, the dispensing operation, data feedback are realized in the design through the field test and operation.The system is characterized by stable operation, reliable data. And low cost,convenient in maintenance,from the control accuracy,speed,dispending thythm watch,already reach automatic glue machine intelligent motion control performance.

Abstract: This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

Abstract: This study mainly focuses on the synchronization problems of whole-body CT scanner. A master-slave synchronous control method is used to achieve synchronism between the gantry rotation motor and the bed moving motor in helical scanning mode, while the cascade control method is used to enhance the stability of each motor. In order to keep synchronous control, a control law is designed by the eigenstructure assignment method, which insures the accuracy of the signal tracking of the periodic load disturbance during the dual-motor synchronous control, and eliminates the adverse effects brought by periodic load. The proposed algorithm is simulated on MATLAB, and compared with the traditional PID algorithm. In addition, the algorithm is implemented on ARM9 and evaluated on a realistic synchronization control experimental platform designed by us. Both the simulation and realistic experimental results indicate that the algorithm is feasible for helical scanning.

Abstract: In this paper, based on fuzzy PID controller, a fuzzy inference method is utilized to realize automatic regulating PID parameter, and the application of the controller in motion control system is studied with Matlab Simulink. The results of simulation indicate that the cont roller gives a good control performance and has a high reference value for further applications..

Abstract: An improved controller based on ADRC is proposed for motion control with high frequency disturbance. Firstly, relationship between bandwidth of LESO and its parameters was mentioned, and bandwidth limitation come from the sensor noise is presented, indicating weakness of traditional LESO on compensation high frequency disturbance. Based on such analysis, two FIR filters is designed and added into the control loop, which compensated the specified high frequency disturbance and expanded bandwidth of LESO, acquiring a better motion control result. Simulations are taken, showing validity of the improved controller.

Abstract: From the analysis of vibration generating machines, made on the basis of experimental data and virtual models, closed cyclic trajectories had been obtained. In this case the motion is produced using two generators with non-equilibrated masses while the machine body is supported by special rubber elastic elements with fixed mechanical characteristics. In order to increase the domain of operation of such machines and also to improve their functional capabilities the authors propose a new machine structure which uses pneumatic cylinders as actuators but in the same time as supporting elements with controllable mechanical characteristics. A virtual model of this structure had been developed and tested, and the test results are presented together with conclusions on the new structure’s behavior. The virtual model, allows the analysis of mechanical parameters (rigidity) of a pneumatic cylinder in order to establish the controllability of the supporting element. In order to obtain the desired cyclic trajectories the inverse kinematic analysis had been developed, obtaining the displacements at pneumatic cylinder level.

Abstract: Due to the nonholonomic and underactutated properties of spherical robot, to realize its steady motion control is usually difficult. This paper presents a linear motion control method for an underactuated spherical robot. The linear motion dynamic model of the spherical robot is deduced with Euler-Lagrange method, which is a second order, nonlinear differential system with two coupled variables. Without any linearization a single-input multiple-output PID controller to realize the position control and pendulum angle control simultaneously is designed. Simulation results about the position stabilization and path tracking control are provided separately to show the control effects of the proposed controller.

Abstract: mechanical arm is an essential replaced tool in the operations under heavy, dangerous and harsh environment (such as nuclear radiation, toxic and hazardous, etc.), but also a key technical equipment in the development of the country. Mechanical arm motion system is a very complex time-varying, strong coupling, highly nonlinear system. This paper presents a model of the robot visual tracking. Through the computer vision track the mechanical arm motion process to make the mechanical arm movement to become more intelligent, more environmentally friendly. Experiments show that the method can complete the mechanical arm intelligent trajectory tracking, and the tracking effect is better. 1 Introduction

Abstract: This paper describes the composition and working principle of aircraft parts flexible automatic assembly platform, and gives the detailed analysis and design of flexible automatic assembly platform of mechanical structure and motion adjusting control system. The two types of multi plane assembly shows that automatic assembly platform automatic adjusting is reliable, operation control system and motion mechanism runs stable, this system can meet the various needs of automatic assembly platform of aircraft components, and it realizes the work mode of assembly and products in one to many during the aircraft components Assembly process.