A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced...A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.展开更多
Using two typical types of polarization controller, this paper analyses theoretically and experimentally the fact that it is necessary to adjust at least three instead of two waveplates in order to transform any state...Using two typical types of polarization controller, this paper analyses theoretically and experimentally the fact that it is necessary to adjust at least three instead of two waveplates in order to transform any state of polarization to any other output covering the entire Poincar6 sphere. The experimental results are exactly in accordance with the theory discussed in this paper. It has corrected the conventional and inaccurate point of view that two waveplates of a polarization controller are adequate to complete the transformation of state of polarization.展开更多
According to the characteristics of the large time delay,nonlinearity and the great inertia of temperature control system in biomass pyrolysis reactor,a two-degree-of-freedom Smith internal model controller based on f...According to the characteristics of the large time delay,nonlinearity and the great inertia of temperature control system in biomass pyrolysis reactor,a two-degree-of-freedom Smith internal model controller based on fuzzy control is proposed.Firstly,the mathematical model of the temperature control system is established by using the step response method,and then the two-degree-of-freedom Smith internal model controller is designed,and the good tracking performance and disturbance suppression performance can be obtained by designing the set value tracking controller and interference rejection capability.Secondly,the fuzzy control algorithm is used to realize the on-line tuning of the control parameters of the two-degree-of-freedom Smith internal model algorithm.The simulation results show that,compared with the traditional internal model control,fuzzy internal model PID control and two-degree-of-freedom Smith internal model control,the algorithm proposed in this paper improves the influence of lag time on the control system,realizes the separation control of set point tracking and anti-jamming performance and the self-tuning of control parameters,and improves the control performance of the system.展开更多
This paper focuses on a new approach to design(possibly fractional) set-point filters for fractional control systems.After designing a smooth and monotonic desired output signal,the necessary command signal is obtaine...This paper focuses on a new approach to design(possibly fractional) set-point filters for fractional control systems.After designing a smooth and monotonic desired output signal,the necessary command signal is obtained via fractional input-output inversion.Then,a set-point filter is determined based on the synthesized command signal.The filter is computed by minimizing the 2-norm of the difference between the command signal and the filter step response.The proposed methodology allows the designer to synthesize both integer and fractional setpoint filters.The pros and cons of both solutions are discussed in details.This approach is suitable for the design of two degreeof-freedom controllers capable to make the set-point tracking performance almost independent from the feedback part of the controller.Simulation results show the effectiveness of the proposed methodology.展开更多
The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees of freedom and talented to accompl...The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees of freedom and talented to accomplish accurately simple tasks, such as light material handling, which will be integrated into a mobile platform that serves as an assistant for industrial workforce. The robot arm is equipped with several servo motors which do links between arms and perform arm movements. The servo motors include encoder so that no controller was implemented. To control the robot we used Labview, which performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the servo motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.展开更多
In this paper, programming method for industrial robot teaching and composing of robot language system is described. Through the RBT - 6T/S01S as an example,the program and instruction function of the robot language a...In this paper, programming method for industrial robot teaching and composing of robot language system is described. Through the RBT - 6T/S01S as an example,the program and instruction function of the robot language are summarized. The compo- sition of RBT - 6T/S01S robot system is studied,and the programming of robot clamping and assembly parts teaching is made.展开更多
The objective of this article is to make a contribution relating to the modeling, control, simulation and stabilization of a complex system, with six degrees of freedom of a particular drone which presents many advant...The objective of this article is to make a contribution relating to the modeling, control, simulation and stabilization of a complex system, with six degrees of freedom of a particular drone which presents many advantages and challenges. On the technological, military, political and other levels with an enormous and beneficial social contribution</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">it is a quadrotor which is a nonlinear, strongly coupled and unstable system. Such a structure is difficult to master</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">because the control is multivariable in the sense that six degrees of freedom are to be controlled simultaneously and operating in an environment subject to disturbances. Two commands, in particular Backstepping and </span><span style="font-family:Verdana;"></span><span style="font-family:Verdana;">PID, will be applied to obtain the stabilization of the quadcopter at the desired values, in attitude and in altitude. This article presents the comparative results of the performance of the quadcopter under the two controls. The effect of the parameters of each command on the response time of the system is elucidated under the Matlab/Simulink environment. For a simulation time of up to 10 seconds minimum with a less good response time of almost 2 seconds for the PID control</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">these results prove the robustness of the Backstepping command.展开更多
In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertaintie...In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.展开更多
In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented ...In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented two approaches for synthesis the proportional-integral-derivative controller to the models of objects with inertia, that offer the procedure of system performance optimization based on maximum stability degree criterion. The proposed algorithms of system performance optimization were elaborated for model of objects with inertia second and third order and offer simple analytical expressions for tuning the PID controller. Validation and verification are conducted through computer simulations using MATLAB, demonstrating successful performance optimization and showcasing the effectiveness PID controllers’ tuning. The proposed approaches contribute insights to the field of control, offering a pathway for optimizing the performance of second and third-order inertial systems through robust controller synthesis.展开更多
基金Sponsored by the Fundamental Research Funds for the Central Universities(Grant No.N110304008)the National Natural Science Foundation of China(Grant No.61374137)
文摘A modified two-degrees-of-freedom( M-TDOF) internal model control( IMC) method is proposed for non-square systems with multiple time delays and right-half-plane( RHP) zeros. In this method,pseudo-inverse is introduced to design the internal model controller,and a desired closed-loop transfer function is designed to eliminate the unrealizable factors of the derived controller. In addition,set-point tracking and load-disturbance rejection of each process are separately controlled by two controllers. The simulation results show that in addition to high decoupling performance and robustness,the proposed control method also effectively improves loaddisturbance rejection and simultaneously optimizes the input tracking performance and disturbance rejection performance by selecting the parameters of controllers. Furthermore,the higher tolerance of model mismatch is achieved in this paper.
基金supported by the National Natural Science Foundation of China (Grant No 60577046)the Corporative Building Project of Beijing Educational Committee of China (Grant No XK100130737) Shandong High Technology Project of China (Grant No 2006GG2201002)
文摘Using two typical types of polarization controller, this paper analyses theoretically and experimentally the fact that it is necessary to adjust at least three instead of two waveplates in order to transform any state of polarization to any other output covering the entire Poincar6 sphere. The experimental results are exactly in accordance with the theory discussed in this paper. It has corrected the conventional and inaccurate point of view that two waveplates of a polarization controller are adequate to complete the transformation of state of polarization.
基金financial support was given by Tianjin Technical Expert Project(19JCTPJC59300)
文摘According to the characteristics of the large time delay,nonlinearity and the great inertia of temperature control system in biomass pyrolysis reactor,a two-degree-of-freedom Smith internal model controller based on fuzzy control is proposed.Firstly,the mathematical model of the temperature control system is established by using the step response method,and then the two-degree-of-freedom Smith internal model controller is designed,and the good tracking performance and disturbance suppression performance can be obtained by designing the set value tracking controller and interference rejection capability.Secondly,the fuzzy control algorithm is used to realize the on-line tuning of the control parameters of the two-degree-of-freedom Smith internal model algorithm.The simulation results show that,compared with the traditional internal model control,fuzzy internal model PID control and two-degree-of-freedom Smith internal model control,the algorithm proposed in this paper improves the influence of lag time on the control system,realizes the separation control of set point tracking and anti-jamming performance and the self-tuning of control parameters,and improves the control performance of the system.
基金supported by the Australian Research Council(DP160104994)
文摘This paper focuses on a new approach to design(possibly fractional) set-point filters for fractional control systems.After designing a smooth and monotonic desired output signal,the necessary command signal is obtained via fractional input-output inversion.Then,a set-point filter is determined based on the synthesized command signal.The filter is computed by minimizing the 2-norm of the difference between the command signal and the filter step response.The proposed methodology allows the designer to synthesize both integer and fractional setpoint filters.The pros and cons of both solutions are discussed in details.This approach is suitable for the design of two degreeof-freedom controllers capable to make the set-point tracking performance almost independent from the feedback part of the controller.Simulation results show the effectiveness of the proposed methodology.
文摘The main focus of this work was to design, develop and implementation of competitively robot arm with en- hanced control and stumpy cost. The robot arm was designed with four degrees of freedom and talented to accomplish accurately simple tasks, such as light material handling, which will be integrated into a mobile platform that serves as an assistant for industrial workforce. The robot arm is equipped with several servo motors which do links between arms and perform arm movements. The servo motors include encoder so that no controller was implemented. To control the robot we used Labview, which performs inverse kinematic calculations and communicates the proper angles serially to a microcontroller that drives the servo motors with the capability of modifying position, speed and acceleration. Testing and validation of the robot arm was carried out and results shows that it work properly.
文摘In this paper, programming method for industrial robot teaching and composing of robot language system is described. Through the RBT - 6T/S01S as an example,the program and instruction function of the robot language are summarized. The compo- sition of RBT - 6T/S01S robot system is studied,and the programming of robot clamping and assembly parts teaching is made.
文摘The objective of this article is to make a contribution relating to the modeling, control, simulation and stabilization of a complex system, with six degrees of freedom of a particular drone which presents many advantages and challenges. On the technological, military, political and other levels with an enormous and beneficial social contribution</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">it is a quadrotor which is a nonlinear, strongly coupled and unstable system. Such a structure is difficult to master</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">because the control is multivariable in the sense that six degrees of freedom are to be controlled simultaneously and operating in an environment subject to disturbances. Two commands, in particular Backstepping and </span><span style="font-family:Verdana;"></span><span style="font-family:Verdana;">PID, will be applied to obtain the stabilization of the quadcopter at the desired values, in attitude and in altitude. This article presents the comparative results of the performance of the quadcopter under the two controls. The effect of the parameters of each command on the response time of the system is elucidated under the Matlab/Simulink environment. For a simulation time of up to 10 seconds minimum with a less good response time of almost 2 seconds for the PID control</span><span style="font-family:Verdana;">, </span><span style="font-family:Verdana;">these results prove the robustness of the Backstepping command.
基金supported by the National Natural Science Foundation of China(61803085,61806052,U1713209)the Natural Science Foundation of Jiangsu Province of China(BK20180361)
文摘In this paper, a study of control for an uncertain2-degree of freedom(DOF) helicopter system is given. The2-DOF helicopter is subject to input deadzone and output constraints. In order to cope with system uncertainties and input deadzone, the neural network technique is introduced because of its capability in approximation. In order to update the weights of the neural network, an adaptive control method is utilized to improve the system adaptability. Furthermore, the integral barrier Lyapunov function(IBLF) is adopt in control design to guarantee the condition of output constraints and boundedness of the corresponding tracking errors. The Lyapunov direct method is applied in the control design to analyze system stability and convergence. Finally, numerical simulations are conducted to prove the feasibility and effectiveness of the proposed control based on the model of Quanser's 2-DOF helicopter.
文摘In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented two approaches for synthesis the proportional-integral-derivative controller to the models of objects with inertia, that offer the procedure of system performance optimization based on maximum stability degree criterion. The proposed algorithms of system performance optimization were elaborated for model of objects with inertia second and third order and offer simple analytical expressions for tuning the PID controller. Validation and verification are conducted through computer simulations using MATLAB, demonstrating successful performance optimization and showcasing the effectiveness PID controllers’ tuning. The proposed approaches contribute insights to the field of control, offering a pathway for optimizing the performance of second and third-order inertial systems through robust controller synthesis.
