A predictive parallel search algorithm,the fuzzy match inference strategy,is implemented ina prototype expert system.Selection of separation technologies and sequencing of separators are beingapproached in an integrat...A predictive parallel search algorithm,the fuzzy match inference strategy,is implemented ina prototype expert system.Selection of separation technologies and sequencing of separators are beingapproached in an integrated manner.The fuzzy match mechanism results in a relatively smaller subsetof favored schemes,constituting a hyperstructure for further quantitative evaluation and combinationoptimization.An industrial application example of aromatics extraction separation is presented.展开更多
With the development of industrial production modernization, FMS and CIMS will become more and more popularized. For its control system is increasingly modeled, intellectualized and automatized, in order to raise the ...With the development of industrial production modernization, FMS and CIMS will become more and more popularized. For its control system is increasingly modeled, intellectualized and automatized, in order to raise the reliability and stability in the manufacturing process, the comprehensive monitoring and diagnosis aimed at cutting tool wear and chatter become more and more important and get rapid development. The paper tried to discuss of the intellectual status identification method based on acoustics-vibra characteristics of machining process, and propose that the working conditions may be taken as a core, complex fuzzy inference neural network model based on artificial neural network theory, and by using various kinds of modernized signal processing method to abstract enough characteristics parameters which will reflect overall processing status from machining acoustics-vibra signal as information source, to identify different working condition, and provide guarantee for automation and intelligence in machining process. The complex network is composed of NNw and NNs, Each of them is composed of BP model network, NNw is weight network at rule condition, NNs is decision-making network of each status. Y out is final inference result which is to take subordinate degree as weight from NNw, to weight reflecting result from NNs and obtain status inference of monitoring system. In the process of machining, the acoustics-vibor signal were gotten by the acoustimeter and the acceleration piezoelectricity detector, the date is analysed by the signal processing software in time and frequency domain, then form multi feature parameter vector of criterion pattern samples for the different stage of cutting chatter and acoustics-vibra multi feature parameter vector. The vector can give a accurate and comprehensive description for the cutting process, and have the characteristic which are speediness of time domain and veracity of frequency domain. The research works have been practically applied in identification of tool wear, cutting chatter, experiment results showed that it is practicable to identify the cutting chatter based on fuzzy neural network, and the new method based on fuzzy neural network can be applied to other state identification in machining process.展开更多
A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle...A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.展开更多
It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on l...It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.展开更多
The performance of any fuzzy logic controller (FLC) is greatly dependent on its inference rules. In most cases, the closed-loop control performance and stability are enhanced if more rules are added to the rule base o...The performance of any fuzzy logic controller (FLC) is greatly dependent on its inference rules. In most cases, the closed-loop control performance and stability are enhanced if more rules are added to the rule base of the FLC. However, a large set of rules requires more on-line computational time and more parameters need to be adjusted. In this paper, a robust PD-type FLC is driven for a class of MIMO second order nonlin- ear systems with application to robotic manipulators. The rule base consists of only four rules per each de- gree of freedom (DOF). The approach implements fuzzy partition to the state variables based on Lyapunov synthesis. The resulting control law is stable and able to exploit the dynamic variables of the system in a lin- guistic manner. The presented methodology enables the designer to systematically derive the rule base of the control. Furthermore, the controller is decoupled and the procedure is simplified leading to a computationally efficient FLC. The methodology is model free approach and does not require any information about the sys- tem nonlinearities, uncertainties, time varying parameters, etc. Here, we present experimental results for the following controllers: the conventional PD controller, computed torque controller (CTC), sliding mode con- troller (SMC) and the proposed FLC. The four controllers are tested and compared with respect to ease of design, implementation, and performance of the closed-loop system. Results show that the proposed FLC has outperformed the other controllers.展开更多
From the perspective of geological zone selection for coalbed methane(CBM) development, the evaluation parameters(covering geological conditions and production conditions) of geological sweetspot for CBM development a...From the perspective of geological zone selection for coalbed methane(CBM) development, the evaluation parameters(covering geological conditions and production conditions) of geological sweetspot for CBM development are determined, and the evaluation index system of geological sweetspot for CBM development is established. On this basis, the fuzzy pattern recognition(FPR) model of geological sweetspot for CBM development is built. The model is applied to evaluate four units of No.3 Coal Seam in the Fanzhuang Block, southern Qinshui Basin, China. The evaluation results are consistent with the actual development effect and the existing research results, which verifies the rationality and reliability of the FPR model. The research shows that the proposed FPR model of geological sweetspot for CBM development does not involve parameter weighting which leads to uncertainties in the results of the conventional models such as analytic hierarchy process and multi-level fuzzy synthesis judgment, and features a simple computation without the construction of multi-level judgment matrix. The FPR model provides reliable results to support the efficient development of CBM.展开更多
μ-synthesis is a practical design approach and has been applied successfully to achieve a nominal and robust performance objectives. However, this design method suffers from the complexity of its practical implementa...μ-synthesis is a practical design approach and has been applied successfully to achieve a nominal and robust performance objectives. However, this design method suffers from the complexity of its practical implementation and high computational demand due to its high order dynamics. To overcome this problem, the interaction between fuzzy logic control which is a part of intelligence control theory and p-synthesis controller is carried out. This is called integrated fuzzy robust controller in this paper. It is obtained by coupling fuzzy pd with p-synthesis controller through the outer loop. Using this design strategy, we can keep the system performance and robustness even a high order p-synthesis controller is reduced into second order model. In order to test the effectiveness of this design method, the linear simulation results for a launch vehicle＇s attitude control motion are presented at the end of this paper.展开更多
Adaptive control for a class of nonlinear systems is discussed in this paper.We use fuzzy systems to approximate the ideal optimal controller by adjusting the parameters of fuzzy systems.In order to tune these paramet...Adaptive control for a class of nonlinear systems is discussed in this paper.We use fuzzy systems to approximate the ideal optimal controller by adjusting the parameters of fuzzy systems.In order to tune these parameters,linear relationship between approximation error and parameters is established first.Then we design the adaptive laws of these parameters based on Lyapunov synthesis approach.The advantage of our method is that we can tune not only the parameters of the consequences of fuzzy rules,but also the parameters of the membership functions.As a result,a stable and more flexible controller is achieved.The performance of the adaptive scheme is demonstrated through the longitudinal vehicle control.展开更多
基金Supported in parts by the National Natural Science Foundation of China, the state Commission of Education of China
文摘A predictive parallel search algorithm,the fuzzy match inference strategy,is implemented ina prototype expert system.Selection of separation technologies and sequencing of separators are beingapproached in an integrated manner.The fuzzy match mechanism results in a relatively smaller subsetof favored schemes,constituting a hyperstructure for further quantitative evaluation and combinationoptimization.An industrial application example of aromatics extraction separation is presented.
文摘With the development of industrial production modernization, FMS and CIMS will become more and more popularized. For its control system is increasingly modeled, intellectualized and automatized, in order to raise the reliability and stability in the manufacturing process, the comprehensive monitoring and diagnosis aimed at cutting tool wear and chatter become more and more important and get rapid development. The paper tried to discuss of the intellectual status identification method based on acoustics-vibra characteristics of machining process, and propose that the working conditions may be taken as a core, complex fuzzy inference neural network model based on artificial neural network theory, and by using various kinds of modernized signal processing method to abstract enough characteristics parameters which will reflect overall processing status from machining acoustics-vibra signal as information source, to identify different working condition, and provide guarantee for automation and intelligence in machining process. The complex network is composed of NNw and NNs, Each of them is composed of BP model network, NNw is weight network at rule condition, NNs is decision-making network of each status. Y out is final inference result which is to take subordinate degree as weight from NNw, to weight reflecting result from NNs and obtain status inference of monitoring system. In the process of machining, the acoustics-vibor signal were gotten by the acoustimeter and the acceleration piezoelectricity detector, the date is analysed by the signal processing software in time and frequency domain, then form multi feature parameter vector of criterion pattern samples for the different stage of cutting chatter and acoustics-vibra multi feature parameter vector. The vector can give a accurate and comprehensive description for the cutting process, and have the characteristic which are speediness of time domain and veracity of frequency domain. The research works have been practically applied in identification of tool wear, cutting chatter, experiment results showed that it is practicable to identify the cutting chatter based on fuzzy neural network, and the new method based on fuzzy neural network can be applied to other state identification in machining process.
文摘A new method of desired gait synthesis for biped walking robot based on the ground reaction force was proposed. The relation between the ground reaction force and joint motion is derived using the D’Almbert principle. In view of dynamic walking with high stability, the ZMP(Zero Moment Point)stability criterion must be considered in the desired gait synthesis. After that, the joint trajectories of biped walking robot are decided by substituting the ground reaction force into the aforesaid relation based on the ZMP criterion. The trajectory of desired ZMP is determined by a fuzzy logic based upon the body posture of biped walking robot. The proposed scheme is simulated and experimented on a 10 degree of freedom biped walking robot. The results indicate that the proposed method is feasible.
文摘It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.
文摘The performance of any fuzzy logic controller (FLC) is greatly dependent on its inference rules. In most cases, the closed-loop control performance and stability are enhanced if more rules are added to the rule base of the FLC. However, a large set of rules requires more on-line computational time and more parameters need to be adjusted. In this paper, a robust PD-type FLC is driven for a class of MIMO second order nonlin- ear systems with application to robotic manipulators. The rule base consists of only four rules per each de- gree of freedom (DOF). The approach implements fuzzy partition to the state variables based on Lyapunov synthesis. The resulting control law is stable and able to exploit the dynamic variables of the system in a lin- guistic manner. The presented methodology enables the designer to systematically derive the rule base of the control. Furthermore, the controller is decoupled and the procedure is simplified leading to a computationally efficient FLC. The methodology is model free approach and does not require any information about the sys- tem nonlinearities, uncertainties, time varying parameters, etc. Here, we present experimental results for the following controllers: the conventional PD controller, computed torque controller (CTC), sliding mode con- troller (SMC) and the proposed FLC. The four controllers are tested and compared with respect to ease of design, implementation, and performance of the closed-loop system. Results show that the proposed FLC has outperformed the other controllers.
基金Key Project of China National Natural Science Foundation (42230814,52234002)Research Program Foundation of Key Laboratory of Tectonics and Petroleum Resources (China University of Geosciences),Ministry of Education (TPR-2022-17)。
文摘From the perspective of geological zone selection for coalbed methane(CBM) development, the evaluation parameters(covering geological conditions and production conditions) of geological sweetspot for CBM development are determined, and the evaluation index system of geological sweetspot for CBM development is established. On this basis, the fuzzy pattern recognition(FPR) model of geological sweetspot for CBM development is built. The model is applied to evaluate four units of No.3 Coal Seam in the Fanzhuang Block, southern Qinshui Basin, China. The evaluation results are consistent with the actual development effect and the existing research results, which verifies the rationality and reliability of the FPR model. The research shows that the proposed FPR model of geological sweetspot for CBM development does not involve parameter weighting which leads to uncertainties in the results of the conventional models such as analytic hierarchy process and multi-level fuzzy synthesis judgment, and features a simple computation without the construction of multi-level judgment matrix. The FPR model provides reliable results to support the efficient development of CBM.
文摘μ-synthesis is a practical design approach and has been applied successfully to achieve a nominal and robust performance objectives. However, this design method suffers from the complexity of its practical implementation and high computational demand due to its high order dynamics. To overcome this problem, the interaction between fuzzy logic control which is a part of intelligence control theory and p-synthesis controller is carried out. This is called integrated fuzzy robust controller in this paper. It is obtained by coupling fuzzy pd with p-synthesis controller through the outer loop. Using this design strategy, we can keep the system performance and robustness even a high order p-synthesis controller is reduced into second order model. In order to test the effectiveness of this design method, the linear simulation results for a launch vehicle＇s attitude control motion are presented at the end of this paper.
文摘Adaptive control for a class of nonlinear systems is discussed in this paper.We use fuzzy systems to approximate the ideal optimal controller by adjusting the parameters of fuzzy systems.In order to tune these parameters,linear relationship between approximation error and parameters is established first.Then we design the adaptive laws of these parameters based on Lyapunov synthesis approach.The advantage of our method is that we can tune not only the parameters of the consequences of fuzzy rules,but also the parameters of the membership functions.As a result,a stable and more flexible controller is achieved.The performance of the adaptive scheme is demonstrated through the longitudinal vehicle control.
