Applied Mechanics and Materials Vols. 568-570

Abstract: This article is mainly based on the host parameters design a neural network controller, using neural networks enable from the machine's speed and torque have followed the host, so as to achieve a master-slave follow mode. And then, depending on the design parameters for simulation and operation, and puts forward the two coaxial motor control system speed concept ring adopts a master-slave control to achieve the same speed.

Abstract: In water polo competition of robotic fish, due to the influence of factors like ripple disturbance, target point drift and image acquisition delay, the angle between robotic fish and water polo that competition platform return has great error. To improve the shortage, this article put forward an optimal angle estimation algorithm based on Kalman filter. Let the angle go through Kalman filter to eliminate error interference in process and measurement. So that output angle approach truth value. Results of experiment prove that this method can effectively get the better angle between robotic fish and water polo.

Abstract: Based on improved A* algorithm, this paper proposes the optimal path planning of robot fish in globally known environment, so as to achieve better coordination between the robot fish by means of improving their path planning. In the known obstacle environment which is rasterized, target nodes are generated via smoothing A* algorithm. The unnecessary connection points are removed then and the path is smoothed at the turning points. That improved algorithm, in combination with distributed scroll algorithms, is applied to multi-robot path planning in an effort to optimize the path with the avoidance of collision. The experimental results on the 2D simulation platform have verified the feasibility of that method.

Abstract: Environmental disturbances lead to the reaction lag and precision drop of robotic fish in Chinese under-water robotic fish game. To resolve the problem, this paper proposes a new method combined Kalman filter and PID control algorithm for controlling robotic fish. The proposed approach was applied into the synchronized swimming competition of robotic fish. Simulation on two dimensional underwater robot game simulation platform shows that the method enhances the accuracy of the movement, shortens the time to the target, and improves the anti-interference ability of robotic fish. It is effective and reliable.

Abstract: The optimal design for the gliding trajectory is studied. The particle trajectory model in the longitudinal plane is established. Aiming at solving the problems in numerical solution ,the direct shooting method based on the interpolating function of Akima is put forward .In direct collocation method, the parameters of the trajectory with approximate maximum lift-drag ratio is adopted as the starting value of the optimal variables. The trajectory with approximate maximum lift-drag ratio could be obtained by the search method. The transfer approach of turning the problem of trajectory optimization to the problem of parameter optimization by the direct shooting method is illustrated. To one kind of guided vehicles in simulation, the simulation results prove the practicability of the direct shooting method.

Abstract: In order to understand control algorithm in servo system of servo aimable warhead present situation and the research emphasis, improve the competency of damage targets, its future research direction are put forward base on the summary of current research situation. For studying servo system control algorithm and improving the competency of servo aimable warhead has important guiding significance.

Abstract: Because of the quadrotor unmanned aerial vehicles (named as QUAV-X4) has numerous advantages, it attract more and more researchers to study it. The paper use QUAV-X4 as a object of studying, adopting Matlab as a simulation platform. According to QUAV-X4’s practical flight track, this method modularized QUAV-X4’s the whole process. Using geometric algorithms to describe QUAV-X4’s flight path to avoid calculation error when we adopt difference algorithm, realizing free combination of QUAV-X4’s flight path. Experimental results show that, this method can reflect the true QUAV-X4’s flight path.

Abstract: This study aims to design a kind of autonomous oil spill collection device, more exactly, which is a collecting platform based on catamaran for the spilled oil, as catamaran has great superiorities in wave resistance and water resistance. In the whole process, visual path following is necessary, which requires quite precise local navigation; the catamaran has been controlled to run along accurately with a pre-specified path by tracking the visual landmarks on the oil fence; the algorithm for detecting the path is based on an canny operator and a modified Hough transform, which could detect the color guide line more accurate and faster.

Abstract: This paper considers the problem of a polytopic approach for Linear parameter Variation network control system with the sensor failure case. Based on Bounded Real Lemma of control theory, the sufficient condition of robust stability of a LPV augmented network control system with tracking error and the sensor failure is addressed; Using Linear Matrix Inequality convex optimal technique, the feasible solution of state feedback controller is obtained. The simulation of a inverted pendulum model shows that the presented method is feasible and effective.

Abstract: The paper studies on wet flue gas desulfurization process and the factors of affecting the desulfurization efficiency, and analyses the control system of the absorber slurry pH value. The conventional PID control is difficult to achieve satisfactory control effect, so it puts forward the predictive control scheme based on Dynamic Matrix Control (DMC) algorithm to identify and control the change of pH value. Simulation results show that under the control of DMC algorithm, the slurry pH value has a good tracking for setting input and its changes , reflecting a high degree of adaptability. The control with low overshoot and good accuracy is better than conventional PID control and meets the requirements of real-time control.