Abstract: In the exoskeleton robot motion capture system, the sensor characteristics not only should be small in size, light in weight, low power consumption, but also requires easy to wear, reliable real-time. In this article, an exoskeleton robot real-time control system is designed based on the existing fiber-optic sensor. The experimental data is analyzed by hidden Markov model. The system can distinguish between the human bodies six sports: rest, walk, run, squat, stand , on the slope, and it can realize the real-time control on the exoskeleton robot.
Abstract: This Temperature control system of aircraft cabin is a complex system with nonlinear, time-varying, model inaccurate and work environment uncertain. According to the system control requirements, the fuzzy controller with the characteristic of fast response speed, good stability and strong resistance to interference is used in the study. The system error is adjusted constantly by using fuzzy control algorithm and simulation study is conducted in the software Matlab. The results are showed that control effect of control method used in this study is better than the traditional PID control method, and dynamic performance, steady state accuracy and robustness of system is effectively improved.
Abstract: This paper presents a nonlinear excitation controller for transient stability combined differential geometry theory with PID technology. The controller ties the output of linear multi-variable excitation controller with the output of PID. Exact feedback linearization theory of differential geometry is applied to the design of linear multi-variable excitation controller for the single machine infinite system. Simulation results show that, compared with the general differential geometric controller, the proposed controller has the better control effect on power system and which remarkably improves the terminal voltage deficiencies in the control of generator.
Abstract: BCI and exoskeleton robots were introduced respectively in the first, and then the advantage of BCI in the exoskeleton control compared with other control method was described. Hardware and software was designed respectively in the paper: in order to achieve the hardware portable that used for gaining EEG, Emotiv collecting device and radio devices was used in the designed; a new way to judge the intentions of human body movement based on cumulative average method and nonlinear dependent method was put forward. Furthermore, a variable factor- was proposed to realize the motion models prediction of different accuracy requirements.
Abstract: Reinforcement learning algorithm for multi-robot may will become very slow when the number of robots is increasing resulting in an exponential increase of state space. A sequential Q-learning base on knowledge sharing is presented. The rule repository of robots behaviors is firstly initialized in the process of reinforcement learning. Mobile robots obtain present environmental state by sensors. Then the state will be matched to determine if the relevant behavior rule has been stored in database. If the rule is present, an action will be chosen in accordance with the knowledge and the rules, and the matching weight will be refined. Otherwise the new rule will be joined in the database. The robots learn according to a given sequence and share the behavior database. We examine the algorithm by multi-robot following-surrounding behavior, and find that the improved algorithm can effectively accelerate the convergence speed.
Abstract: In intelligent lunar vehicle’s infrared tracing automatic control, reflective infrared sensor array is adopted for detecting the path. By processing the sensor data and relative error through the detection of nonlinear analog A/D sampling, real-time processing and non-linearizing the control parameters in the PID variable scale incremental control algorithm, closed-loop control would be realized. In addition, incremental PD formula can be derived by fuzzy control technology, while the sensitivity and stability of the vehicle tracing can be improved by adjusting parameters in programming. It proved that this method can effectively shorten response time, reduce random interference, optimize the tracing line, eliminate oscillation and improve the mobility.
Abstract: In this paper, a kind of constant temperature control system of air source water heater will be shown, which is mainly consist of FPGA, temperature sensor, cold and hot water electromagnetic valve, and the parts setting temperature and displaying real-time temperature. FPGA is used to implement PID algorithm and produce PWM wave to control the rotation rate and finally adjust the opening of regulating valve. The experiments show that FPGA has a very good real-time performance and reliability in constant temperature control system.
Abstract: An NN-based output feedback stabilization problem is studied via passivation of a class of multi-input multi-output nonlinear systems with unknown nonlinear input matrix and unknown parameters. Neural networks are used to identify unknown nonlinearities, and the update laws of weight parameters are proposed. The design methods of the adaptive passive controllers for this class of systems are discussed in the paper. The corresponding adaptive passive controllers and parametric adaptive laws are designed and presented respectively. It is proved that the closed-loop system composed of the original system and the designed controller is stable by the Lyapunov method, and the controller designed can render the closed system adaptive passive. Finally, a simulation example is given to prove the effectiveness and feasibility of the proposed method.
Abstract: Proportional-resonant is introduced in PFC controller design and the coefficients are easy to tune. Zero-tracking-error can be achieved for the fundamental frequency and selective harmonic compensation can be achieved as well. Also a novel Phase-Loop-Lock controller is given based on which a self-adaptive proportional resonant PFC controller is induced at last.
Abstract: Bellows is a thin-walled metal cylindrical with folds, as a pipeline connection and compensation device, it has the feature such as reliable and compact. Now Bellows is widely used in the produce of aerospace engines and the relative industries. In order to solve the load life test problem of bellows, the squeezing and twisting process after the long time loading is simulated by swinging and pressing it rapidly in a short time. Adopting NI Real-Time Hypervisor，a real-time monitor and test system is built by Windows operation system. According to the real twist data of bellows,the dynamic equation of swing platform for two cylinder is constructed, by the real-time and a high precsion control of the motion of two cylinders, the bellows which is full of liquid has been squeezed and twisted with a high frequency, and loading test of the mechanical properties, strength and lifetime for bellows is achieved in an automatic way.