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2022 4th International Conference on Intelligent Control, Measurement and Signal Processing (ICMSP)最新文献

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Design of soil respiration monitoring system based on TDLAS technology 基于TDLAS技术的土壤呼吸监测系统设计
Liangquan Jia, Xiangge Li, T. Zhu, Ying Zang, Xu Huang, Huanan Leng, Lu Gao
In view of the problems of low detection accuracy, inability to monitor real-time and high cost of measuring instruments in the traditional soil respiratory CO2 concentration detection method, a soil respiratory CO2 concentration online monitoring system is designed by using tunable laser diode absorption spectroscopy technology, which uses the optical path of the three-channel White pool as a CO2 sensor, the DFB laser as the light source, and the real-time inversion processing of the concentration data by the host computer. The host computer software is written by LabViewsoftware, which mainly includes modules such as data acquisition and control, spectral processing, concentration inversion, data and function display, and storage. The system was tested and calibrated in the experimental environment, and the test results showed that the concentration calibration linearity of the three sensors reached more than 0.99. Finally, the actual test verification was carried out in the soil environment of the campus, and the results showed that the change in the relationship between the concentration gradient and the height of the three sensors in the instrument was in line with expectations.
针对传统土壤呼吸性CO2浓度检测方法存在检测精度低、无法实时监测、测量仪器成本高等问题,采用可调谐激光二极管吸收光谱技术,采用三通道白池光路作为CO2传感器,DFB激光器作为光源,设计了土壤呼吸性CO2浓度在线监测系统。并由上位机对浓度数据进行实时反演处理。上位机软件采用LabViewsoftware编写,主要包括数据采集与控制、光谱处理、浓度反演、数据与函数显示、存储等模块。在实验环境下对系统进行了测试和校准,测试结果表明,三种传感器的浓度校准线性度均达到0.99以上。最后,在校园土壤环境中进行了实际测试验证,结果表明,仪器中三个传感器浓度梯度与高度的关系变化符合预期。
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引用次数: 1
Simulation of Permanent Magnet Synchronous Motor Vector Control Based on Power Law of Approach 基于逼近幂律的永磁同步电机矢量控制仿真
Jie Wu, Zheng Li
In recent years, the development of emerging fields has received more attention. such as: Unmanned aerial vehicle (uav), new energy, electric vehicles, robots, etc. so as also drive their motor's researchers attention, motor control performance will directly affect the characteristics of the industrial control system, the permanent magnet synchronous motor and stand out with its own merits, permanent magnet synchronous motor is a nonlinear and strong coupling system, When the internal control systems affected by external disturbances or motor parameter changes, the traditional PI control can not meet the actual demand, therefore in order to improve the dynamic performance of the permanent magnet synchronous motor vector control system, based on the sliding mode theory, a power law of approach sliding mode controller is proposed to replace PI controller to improve the efficiency of system control, The feasibility of this method is proved in Simulink.
近年来,新兴领域的发展受到越来越多的关注。如:无人机(uav)、新能源、电动汽车、机器人等也因此带动了其电机研究者的关注,电机的控制性能将直接影响到工业控制系统的特性,而永磁同步电机又以其自身的优点脱颖而出,永磁同步电机是一个非线性强耦合系统,当内部控制系统受到外界干扰或电机参数变化的影响时,传统的PI控制已不能满足实际需求,因此为了提高永磁同步电机矢量控制系统的动态性能,基于滑模理论,提出了一种幂律逼近滑模控制器来取代PI控制器,提高系统控制效率,并在Simulink中验证了该方法的可行性。
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引用次数: 0
Modelling and tolerant control of the time-delay networked control system based on pole configuration 基于极点组态的时延网络控制系统建模与容限控制
Housheng Xu, Jimeng Li
For networkeded control systems with time delays, while considering the influence of external disturbances, a criterion is derived to ensure that the actuator is robust when a fault occurs, and a robust $H_{infty}$ fault-tolerant controller design method is given. A fault diagnosis system is designed and fault-tolerant control is implemented using the closed-loop poles as fault information. The closed-loop system poles are used as input to an Extreme Learning Machine (ELM) fault diagnosis model to achieve fault-tolerant control of the different channels of the system actuator. Finally, a simulation example is used to verify the effectiveness of the described method.
对于具有时滞的网络化控制系统,在考虑外部干扰影响的情况下,推导了执行器发生故障时的鲁棒性准则,给出了一种鲁棒$H_{infty}$容错控制器设计方法。利用闭环极点作为故障信息,设计了故障诊断系统,实现了容错控制。将闭环系统极点作为极限学习机(ELM)故障诊断模型的输入,实现对系统执行器不同通道的容错控制。最后,通过仿真算例验证了该方法的有效性。
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引用次数: 0
Design and Application of Torque Measurement and Analysis System for Iron Roughneck 铁钻工扭矩测量与分析系统的设计与应用
Fei Li, Hao Wu, Ge Lei, Fangxing Lyu, L. Fan, Xiaoxiang Zhang
Torque measurement and analysis system for iron roughnecks are designed to solve the problems of low accuracy by using pressure sensors and no torque data storage. Firstly, this paper analyzed the reasons for the low accuracy of torque calculation by using a pressure sensor. According to the iron roughneck's mechanical structure and motion characteristics, a force sensor was designed to replace the pressure sensor. The accuracy of torque measurement is improved by electrical measurement, and the torque is transmitted and recorded digitally through the user interface. The installation method has been tested on a universal testing machine, and the measurement error of the system less than 1%, which meets the design requirements. Finally, through the field application, this method can accurately identify the operation status of the iron roughneck, and the user interface can completely record the production data of the iron roughneck, and the waveform record is complete. The practical application shows that this method realizes the digital display and data storage of torque and has certain practical value.
为解决钻工扭矩测量精度低、使用压力传感器、无扭矩数据存储等问题,设计了钻工扭矩测量与分析系统。首先,分析了压力传感器计算扭矩精度低的原因。根据铁钻工的机械结构和运动特点,设计了力传感器代替压力传感器。通过电气测量提高扭矩测量精度,并通过用户界面数字化传输和记录扭矩。该安装方法已在通用试验机上进行了测试,系统测量误差小于1%,满足设计要求。最后,通过现场应用,该方法能够准确识别铁钻工的作业状态,且用户界面能够完整记录铁钻工的生产数据,波形记录完整。实际应用表明,该方法实现了转矩的数字化显示和数据存储,具有一定的实用价值。
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引用次数: 0
Study of Drilling Parameter Effects on Downlink Command Signal Transmission using the DOE Method 采用DOE方法研究钻井参数对下行指令信号传输的影响
Fei Li, Yu Mei, Yuan Liu, Rui Zhang
In the rotary steering drilling process, directional drilling engineers use downlink commands to control the drilling tool according to the wellbore trajectory, and actual downlink commands are affected by various transmission processes. To further investigate the effect of drilling parameters on downlink command transmission, shorten the drilling cycle, and improve the drilling efficiency by building a downlink command simulation model in Simulink to simulate the actual transmission process of the downlink signal in the well. The decoding correlation rate of downlink commands received by downhole tools was used as a measure for DOE tests. The Box-Behnken experimental design method was used to investigate the effect of drilling parameters on the magnitude of the decoding correlation rate of downlink command signals. After response surface analysis, the factors that significantly affect the decoding correlation of downlink commands are obtained. And the optimal solutions of each parameter are obtained when the decoding correlation rate reaches 0.96.
在旋转导向钻井过程中,定向钻井工程师根据井眼轨迹使用下行指令控制钻井工具,实际下行指令受到各种传输过程的影响。为进一步研究钻井参数对下行指令传输的影响,缩短钻井周期,提高钻井效率,在Simulink中建立下行指令仿真模型,模拟下行信号在井内的实际传输过程。以井下工具接收下行指令的解码相关率作为DOE测试的衡量指标。采用Box-Behnken实验设计方法,研究钻孔参数对下行命令信号译码相关率大小的影响。通过响应面分析,得到了对下行命令解码相关性有显著影响的因素。在解码相关率达到0.96时,得到了各参数的最优解。
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引用次数: 0
Continuous Prediction of Lower-Limb Joint Torque Based on IPSO-LSTM 基于IPSO-LSTM的下肢关节力矩连续预测
Yingxin Liu, Yali Liu, Qiuzhi Song
Predicting joint torque is increasingly important for wearable devices, especially exoskeleton robots. Continuous joint torque prediction based on surface electromyography (sEMG) signals and joint angles can be used for human-machine cooperative control of exoskeletons. Improved particle swarm optimization (IPSO) algorithm was proposed to optimize long short-term memory (LSTM) neural network, which was trained with lower-limb joint angles and sEMG signals of ten muscles to predict hip flexion/extension, knee flexion/extension and ankle dorsiflexion/plantarflexion torques. We used root mean square error (RMSE) and coefficient of determination between predicted and measured joint torques to evaluate the prediction performance. According to the results, compared with LSTM and PSO-LSTM (Particle Swarm Optimization-based LSTM) model, the mean RMSE of IPSO-LSTM (Improved Particle Swarm Optimization-based LSTM) decreases by 21.5% and 12.7%, respectively, and the mean coefficient of determination increases 0.013 and 0.0057, respectively. Therefore, IPSO-LSTM has higher accuracy in continuous prediction of joint torque of lower limbs.
对于可穿戴设备,尤其是外骨骼机器人来说,关节扭矩预测变得越来越重要。基于表面肌电信号和关节角度的关节力矩连续预测可用于外骨骼的人机协同控制。提出了改进粒子群优化算法(IPSO)来优化长短期记忆(LSTM)神经网络,该神经网络使用下肢关节角度和10块肌肉的表面肌电信号进行训练,预测髋部屈伸、膝关节屈伸和踝关节背屈/跖屈扭矩。我们使用预测和测量关节扭矩之间的均方根误差(RMSE)和决定系数来评估预测性能。结果表明,与LSTM和PSO-LSTM (Improved Particle Swarm optimization based LSTM)模型相比,IPSO-LSTM模型的平均RMSE分别降低了21.5%和12.7%,平均决定系数分别提高了0.013和0.0057。因此,IPSO-LSTM在连续预测下肢关节扭矩方面具有更高的精度。
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引用次数: 1
Study of Flow Measurement Based on Parallel Duct 基于并联管道的流量测量研究
Zugen Lin, Qing Li
In order to realize real-time online monitoring of airflow in ventilation ducts and change the status of traditional intrusive air measurement equipment, which may not be reasonably used in actual industrial production. In this paper, the existing circular air ducts are modified into the form of parallel air ducts, and suitable air measurement segments are selected to measure the air volumes of both the secondary and primary air ducts at the same moment. After getting the air volume of each pipeline in the parallel duct through the measurement cylinder experiment, the air volume of the secondary duct and the total air volume data of the main duct were fitted, and the fitting formula between them was obtained. At the same time, the total air volume of each pipeline in the parallel duct before and after the summation of air flow was compared, and the average error was 2.29%. This shows that the parallel duct wind measurement method proposed in this paper has certain feasibility and provides some reference significance for some working conditions where the operating equipment in the duct cannot be operated reasonably due to the limitations of traditional invasive measuring instruments.
为了实现对通风管道内气流的实时在线监测,改变传统侵入式空气测量设备在实际工业生产中可能无法合理使用的现状。本文将现有的圆形风管改造成平行风管的形式,并选择合适的测风段,同时测量二次风管和一次风管的风量。通过测量筒实验得到平行风管中各管道风量后,拟合二次风量与主管道总风量数据,得到两者之间的拟合公式。同时对风量总和前后并联风管中各管道总风量进行比较,平均误差为2.29%。这说明本文提出的平行风道风测量方法具有一定的可行性,对于传统侵入式测量仪器的局限性导致风道内操作设备无法合理操作的一些工况,具有一定的参考意义。
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引用次数: 0
Ultra Wideband indoor positioning method based on Kalman filter and Taylor algorithm 基于卡尔曼滤波和泰勒算法的超宽带室内定位方法
Ningmeng Lu, Zhi Gao
So as to solve the problem that the non-line-of-sight (NLOS) error caused by the indoor complicated environment affects the positioning accuracy of Ultra Wideband (UWB) technology, an indoor collaborative positioning algorithm supported by Kalman and Taylor algorithm is proposed during this paper. Firstly, the ranging value obtained by UWB technology is filtered by incremental Kalman filter to eliminate the influence of NLOS error and measurement system error. Then, taking the calculation result of the least square method (LSM) as the initial value, the Taylor algorithm is used for iteration to realize the positioning. The experimental results show that the method can effectively eliminate the interference of complex environment in the positioning system, decrease the NLOS error and improve the precision of positioning.
为了解决室内复杂环境导致的非视距误差影响超宽带(UWB)技术定位精度的问题,本文提出了一种基于卡尔曼和泰勒算法的室内协同定位算法。首先,通过增量卡尔曼滤波对超宽带技术获得的测距值进行滤波,消除非近距离误差和测量系统误差的影响;然后,以最小二乘法(LSM)的计算结果为初始值,采用泰勒算法进行迭代,实现定位。实验结果表明,该方法能有效地消除定位系统中复杂环境的干扰,减小NLOS误差,提高定位精度。
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引用次数: 0
Time optimal trajectory planning of five degrees of freedom manipulator based on PSO algorithm 基于粒子群算法的五自由度机械臂时间最优轨迹规划
Zhengshuai Jiang, Qizhi Zhang
According to the kinematic constraints of the manipulator, a time-optimized 3-5-3 polynomial interpolation algorithm based on particle swarm optimization in joint space is proposed, which solves the shortcomings of polynomial interpolation trajectory planning with high order and no convex hull. Particle swarm optimization is simple in structure, easy to implement, and easy to adjust parameters. It directly selects the polynomial interpolation time as a variable, searches in the target space, and obtains the shortest interpolation time under the specified speed constraint. The simulation is carried out on the experimental platform, and compared with the traditional 3-5-3 polynomial interpolation of position, velocity and acceleration curves, it is proved that the method can achieve shorter running time and better stability of the manipulator.
根据机械臂的运动约束,提出了一种基于粒子群优化的关节空间时间优化3-5-3多项式插补算法,解决了多项式插补轨迹规划高阶且无凸包的缺点。粒子群算法具有结构简单、易于实现、参数易于调整等特点。它直接选择多项式插补时间作为变量,在目标空间中搜索,得到在指定速度约束下最短的插补时间。在实验平台上进行了仿真,并与传统的3-5-3多项式位置、速度和加速度曲线插补方法进行了比较,证明了该方法可以实现更短的机械手运行时间和更好的稳定性。
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引用次数: 2
Numerical simulation and Hopf bifurcation solutions of flux neuron system with double time delays* 双时滞通量神经元系统的数值模拟与Hopf分岔解*
Xiao-zhou Feng, Cong Sun, Xia Liu
In this paper, a double time-delay flux neuron system with magnetron memristor is proposed by the classical HR neuron system. The stability, existence, direction of bifurcation and bifurcation cycle solution of the system are studied by using Routh Hurwitz judgment method and central manifold theorem in our work [18]. we mainly study Numerical simulation solution on the time series diagram and phase diagram of the system under different time lag by numerical simulation with MATLAB software. The simulation shows that under appropriate conditions, the time delay is less than a critical value, and the system is asymptotically stable. When the time delay exceeds the critical value, Hopf bifurcation occurs at the equilibrium point of the system. As a result, through the numerical simulation diagram, we intuitively obtain that there exists a bifurcation periodic solution in the specific time-delay range of the system, and the change law of spike discharge behavior induced by increasing double time-delay is clarified, which is helpful to explain the abnormal discharge behavior of brain or nerve center caused by electromagnetic radiation.
本文在经典HR神经元系统的基础上,提出了一种带磁控管忆阻器的双延时磁通神经元系统。我们的工作[18]利用Routh Hurwitz判断方法和中心流形定理研究了系统的稳定性、存在性、分岔方向和分岔循环解。我们主要通过MATLAB软件进行数值模拟,研究系统在不同滞后时间下的时间序列图和相位图的数值模拟解。仿真结果表明,在适当的条件下,系统的时滞小于一个临界值,系统是渐近稳定的。当时滞超过临界值时,系统平衡点处出现Hopf分岔。结果,通过数值模拟图,我们直观地得到了在系统的特定时延范围内存在一个分岔周期解,阐明了增加两倍时延引起的尖峰放电行为的变化规律,有助于解释电磁辐射引起的大脑或神经中枢异常放电行为。
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引用次数: 0
期刊
2022 4th International Conference on Intelligent Control, Measurement and Signal Processing (ICMSP)
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