Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856180
Bing Li, Hengtao Ma, Jiashuai Li
In order to meet the needs of high precision and fine 3D digitization of underwater targets, a visual 3D reconstruction system for underwater targets is designed. The system consists of underwater image sequence acquisition, underwater image preprocessing and 3D reconstruction. The acquisition of image sequences is based on the dynamic positioning platform with visual positioning and underwater camera. The underwater image preprocessing adopts the underwater image enhancement algorithm based on dark channel prior and color balance fusion to process the underwater image, improve the clarity and contrast of the sampled image, and correct the color deviation problem of the underwater image. The motion structure recovery and multi-view stereo vision algorithm are used to recover the three-dimensional point cloud information of spatial objects from two-dimensional images. The underwater image sequence is reconstructed by COLMAP + OpenMVS + Meshlab to obtain the reconstructed model data. The experimental results show that the designed underwater target visual three-dimensional reconstruction system has good three-dimensional reconstruction accuracy. After the underwater image enhancement method proposed in this paper, the measurement error of the reconstructed model is reduced from 5.3 % to 3.0 %, and the details of the model are more abundant. The accuracy and completeness of the reconstructed model are improved. This lays a foundation for large-scale underwater geological exploration and the establishment of large-scale underwater three-dimensional digital map.
{"title":"Design and Realization of Underwater Target Vision 3D Reconstruction System","authors":"Bing Li, Hengtao Ma, Jiashuai Li","doi":"10.1109/ICMA54519.2022.9856180","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856180","url":null,"abstract":"In order to meet the needs of high precision and fine 3D digitization of underwater targets, a visual 3D reconstruction system for underwater targets is designed. The system consists of underwater image sequence acquisition, underwater image preprocessing and 3D reconstruction. The acquisition of image sequences is based on the dynamic positioning platform with visual positioning and underwater camera. The underwater image preprocessing adopts the underwater image enhancement algorithm based on dark channel prior and color balance fusion to process the underwater image, improve the clarity and contrast of the sampled image, and correct the color deviation problem of the underwater image. The motion structure recovery and multi-view stereo vision algorithm are used to recover the three-dimensional point cloud information of spatial objects from two-dimensional images. The underwater image sequence is reconstructed by COLMAP + OpenMVS + Meshlab to obtain the reconstructed model data. The experimental results show that the designed underwater target visual three-dimensional reconstruction system has good three-dimensional reconstruction accuracy. After the underwater image enhancement method proposed in this paper, the measurement error of the reconstructed model is reduced from 5.3 % to 3.0 %, and the details of the model are more abundant. The accuracy and completeness of the reconstructed model are improved. This lays a foundation for large-scale underwater geological exploration and the establishment of large-scale underwater three-dimensional digital map.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133198567","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856055
Hirohisa Kato, F. Nagata, Yuito Murakami, Keita Koya
This paper presents experimental results of partial object detection using YOLO (You Only Look Once) and partial depth estimation using CNN (Convolutional Neural Network) for application to a robot arm control. In recent years, image recognition and its application automation, as an alternative to advanced work, are attracting attention in various fields. In order for robot arms used in factories to perform high-value-added and flexible work, it is necessary to control them by object detection and recognition by deep learning. In this study, the authors propose a new approach for estimating the depth of partial images using YOLO and uses it to control the robot arm. In the experiments, both ends of a pen detected by YOLO are used for the input to a CNN. The detected parts are saved to images with a size of about 60 × 60 pixels, and the depths are estimated by giving the cropped images to the CNN. A desktop-sized robot with 4DOFs can successfully pick the pen by referring the depths. The effectiveness of the proposed method is demonstrated through experiments.
本文给出了基于YOLO (You Only Look Once)的部分目标检测和基于CNN(卷积神经网络)的部分深度估计在机器人手臂控制中的应用实验结果。近年来，图像识别及其应用自动化作为一种替代高级工作的方法，受到了各个领域的关注。为了使工厂中使用的机器人手臂能够完成高附加值和灵活的工作，需要通过物体检测和深度学习识别来控制它们。在本研究中，作者提出了一种利用YOLO估计局部图像深度的新方法，并将其用于机器人手臂的控制。在实验中，使用YOLO检测到的笔的两端作为CNN的输入。将检测到的部分保存为大约60 × 60像素的图像，并通过将裁剪后的图像提供给CNN来估计深度。一个桌面大小的4dof机器人可以通过参考深度成功地拾取笔。通过实验验证了该方法的有效性。
{"title":"Partial Depth Estimation with Single Image Using YOLO and CNN for Robot Arm Control","authors":"Hirohisa Kato, F. Nagata, Yuito Murakami, Keita Koya","doi":"10.1109/ICMA54519.2022.9856055","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856055","url":null,"abstract":"This paper presents experimental results of partial object detection using YOLO (You Only Look Once) and partial depth estimation using CNN (Convolutional Neural Network) for application to a robot arm control. In recent years, image recognition and its application automation, as an alternative to advanced work, are attracting attention in various fields. In order for robot arms used in factories to perform high-value-added and flexible work, it is necessary to control them by object detection and recognition by deep learning. In this study, the authors propose a new approach for estimating the depth of partial images using YOLO and uses it to control the robot arm. In the experiments, both ends of a pen detected by YOLO are used for the input to a CNN. The detected parts are saved to images with a size of about 60 × 60 pixels, and the depths are estimated by giving the cropped images to the CNN. A desktop-sized robot with 4DOFs can successfully pick the pen by referring the depths. The effectiveness of the proposed method is demonstrated through experiments.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133212678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In order to solve the problem of DC side voltage fluctuation when APF compensates nonlinear load, this paper proposes a DC side voltage fluctuation control strategy. In this method, a bidirectional buck-Boost active power decoupling circuit is extended in the DC side of the APF to transfer the DC side fluctuation power of the APF to the active power decoupling circuit, so as to control the DC side voltage fluctuation. The electrolytic capacitor with a large capacitance is replaced by a film capacitor with a small capacitance. Finally, the simulation results show that the proposed control strategy can improve the compensation capability of APF and has a certain prospect of engineering application.
{"title":"Voltage Fluctuation Control of APF DC Side Based on Active Power Decoupling","authors":"Shuangyang Zhang, Yunliang Wang, Yanjuan Wu, Shuang Liu, Chenxing Xu, Yixuan Zhang","doi":"10.1109/ICMA54519.2022.9856361","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856361","url":null,"abstract":"In order to solve the problem of DC side voltage fluctuation when APF compensates nonlinear load, this paper proposes a DC side voltage fluctuation control strategy. In this method, a bidirectional buck-Boost active power decoupling circuit is extended in the DC side of the APF to transfer the DC side fluctuation power of the APF to the active power decoupling circuit, so as to control the DC side voltage fluctuation. The electrolytic capacitor with a large capacitance is replaced by a film capacitor with a small capacitance. Finally, the simulation results show that the proposed control strategy can improve the compensation capability of APF and has a certain prospect of engineering application.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127797815","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9855985
Yulong Wang, Zhiqiang Gao, Xuesong Zhou, Shuo Wang
In order to analyze the nonlinear bifurcation phenomenon of Boost power factor correction (PFC-Power Factor Correction) converter with DC charging pile front stage peak current control under fast time scale, the control method is added to effectively suppress the bifurcation phenomenon. Firstly, the flicker mapping model of the converter is established, and the intermittent bifurcation and chaos phenomena of the inductance current of the system are reproduced through the numerical simulation results of the model. The control method is added to suppress the bifurcation phenomenon, so that the system is always stable in the single-period state, and the control method of Self-tuning PI control resonance perturbation is adopted. The simulation results show that the system has high PF value and better robustness while effectively suppressing bifurcation and chaos, and the algorithm is easy to implement in engineering applications.
{"title":"Bifurcation Suppression of Peak Current Boost PFC Converter","authors":"Yulong Wang, Zhiqiang Gao, Xuesong Zhou, Shuo Wang","doi":"10.1109/ICMA54519.2022.9855985","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855985","url":null,"abstract":"In order to analyze the nonlinear bifurcation phenomenon of Boost power factor correction (PFC-Power Factor Correction) converter with DC charging pile front stage peak current control under fast time scale, the control method is added to effectively suppress the bifurcation phenomenon. Firstly, the flicker mapping model of the converter is established, and the intermittent bifurcation and chaos phenomena of the inductance current of the system are reproduced through the numerical simulation results of the model. The control method is added to suppress the bifurcation phenomenon, so that the system is always stable in the single-period state, and the control method of Self-tuning PI control resonance perturbation is adopted. The simulation results show that the system has high PF value and better robustness while effectively suppressing bifurcation and chaos, and the algorithm is easy to implement in engineering applications.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123892669","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856074
Qin Zhang, Shuai Hu, Yanping Dang, Zhiming Ou
Controlling the stagnation point of the swirl is the key technology to realize the quantitative and directional movement of particles. This paper proposes a swirl stagnation point control method based on jet velocity. By constructing a microfluidic dynamic model, the influence of jet velocity on the swirl stagnation point is simulated and analyzed, and the quantitative mapping relationship between jet velocity and the stagnation point is established. Eventually, the feasibility of the proposed method is verified by simulation. Collectively, this method provides a technical means for proactive control of the swirl stagnation point.
{"title":"Controlling Stagnation Point of Swirl Based on Jet Velocity","authors":"Qin Zhang, Shuai Hu, Yanping Dang, Zhiming Ou","doi":"10.1109/ICMA54519.2022.9856074","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856074","url":null,"abstract":"Controlling the stagnation point of the swirl is the key technology to realize the quantitative and directional movement of particles. This paper proposes a swirl stagnation point control method based on jet velocity. By constructing a microfluidic dynamic model, the influence of jet velocity on the swirl stagnation point is simulated and analyzed, and the quantitative mapping relationship between jet velocity and the stagnation point is established. Eventually, the feasibility of the proposed method is verified by simulation. Collectively, this method provides a technical means for proactive control of the swirl stagnation point.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124246750","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856202
Xinhua Zhao, Lei Ye
Simultaneous localization and mapping (SLAM) is a crucial part of intelligent mobile robots. Nevertheless, most classical visual SLAM methods currently operate in static environments. As a result, in dynamic scenes, localization is unreliable. This paper proposes a robust visual SLAM for dynamic scenes called DO-SLAM. DO-SLAM consists of five parallel running threads: tracking, object detection, local mapping, loop closure, and octree map. By fusion object detection with motion information check, the dynamic feature points of the image sequence are searched, and the potential dynamic points in the image are removed using an adaptive range image moving point removal technique based on the dynamic feature points. Meanwhile, a dense 3D octree map is generated, which can be used for navigation and obstacle avoidance of intelligent mobile robots. Experimental results in the TUM RGB-D dataset show that the absolute trajectory accuracy of DO-SLAM is improved by 92.6% in high dynamic sequences compared to ORB-SLAM2, while there is little difference in accuracy compared to DS-SLAM, but the real-time performance is significantly enhanced.
{"title":"Object Detection-based Visual SLAM for Dynamic Scenes","authors":"Xinhua Zhao, Lei Ye","doi":"10.1109/ICMA54519.2022.9856202","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856202","url":null,"abstract":"Simultaneous localization and mapping (SLAM) is a crucial part of intelligent mobile robots. Nevertheless, most classical visual SLAM methods currently operate in static environments. As a result, in dynamic scenes, localization is unreliable. This paper proposes a robust visual SLAM for dynamic scenes called DO-SLAM. DO-SLAM consists of five parallel running threads: tracking, object detection, local mapping, loop closure, and octree map. By fusion object detection with motion information check, the dynamic feature points of the image sequence are searched, and the potential dynamic points in the image are removed using an adaptive range image moving point removal technique based on the dynamic feature points. Meanwhile, a dense 3D octree map is generated, which can be used for navigation and obstacle avoidance of intelligent mobile robots. Experimental results in the TUM RGB-D dataset show that the absolute trajectory accuracy of DO-SLAM is improved by 92.6% in high dynamic sequences compared to ORB-SLAM2, while there is little difference in accuracy compared to DS-SLAM, but the real-time performance is significantly enhanced.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124537995","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856218
Xuesheng Li, Junkai Niu, Xinhao Zhang, Chen Li
calculation method of 3D optical flow is proposed in this paper, which uses the aligned depth image and grayscale image to calculate the speed of pixel movement in 3D space. According to the obtained 3D optical flow, a direct normal pose estimation algorithm combining depth image information is proposed. The algorithm uses the gray value and the compensated depth value as the observation quantity to construct the least-squares problem, and solves the pose by means of graph optimization. The algorithm considers regions with large depth gradients and adds the compensated depth to the cost function. And according to the performance of 3D optical flow in the experiment, it is believed that the weight of the gray value should be higher than that of the depth value in the optimization problem. Compared with the direct method pose estimation algorithm, the algorithm proposed in this paper makes full use of the depth information. Experiments on the TUM dataset show that the improved pose estimation algorithm is more accurate than the original algorithm in scenes with better depth image quality, and the accuracy improvement is relatively more obvious in low-texture scenes.
{"title":"Pose Estimation Algorithm Derived From 3D Optical Flow","authors":"Xuesheng Li, Junkai Niu, Xinhao Zhang, Chen Li","doi":"10.1109/ICMA54519.2022.9856218","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856218","url":null,"abstract":"calculation method of 3D optical flow is proposed in this paper, which uses the aligned depth image and grayscale image to calculate the speed of pixel movement in 3D space. According to the obtained 3D optical flow, a direct normal pose estimation algorithm combining depth image information is proposed. The algorithm uses the gray value and the compensated depth value as the observation quantity to construct the least-squares problem, and solves the pose by means of graph optimization. The algorithm considers regions with large depth gradients and adds the compensated depth to the cost function. And according to the performance of 3D optical flow in the experiment, it is believed that the weight of the gray value should be higher than that of the depth value in the optimization problem. Compared with the direct method pose estimation algorithm, the algorithm proposed in this paper makes full use of the depth information. Experiments on the TUM dataset show that the improved pose estimation algorithm is more accurate than the original algorithm in scenes with better depth image quality, and the accuracy improvement is relatively more obvious in low-texture scenes.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114642968","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856024
Xiuqiang Shao, Jian Guo, Shuxiang Guo, Yu Song
When doctors perform cardiovascular and cerebrovascular interventional operations, X-ray radiation will greatly increase the probability of doctors suffering from cancer. Surgery through robots can protect doctors’ bodies and reduce the workload of doctors. Most of the research focus on interventional surgical robots is on traditional control algorithms. Few studies have paid attention to the delay problem of the system. Most of the vascular interventional surgery robots adopt the master-slave type, and the slave end needs to restore the action of the master end. The master-slave system cannot avoid the master-slave tracking error caused by the delay. In this paper, an adaptive Smith prediction algorithm is proposed to solve the master-slave delay and improve the tracking accuracy. This paper proves by experiments that this algorithm has a good control effect, can effectively solve the lag problem of the robot, improve the tracking performance, and ensure real-time and accuracy.
{"title":"Study on Control Strategy of Vascular Interventional Surgery Robot based on Adaptive Smith Predictor","authors":"Xiuqiang Shao, Jian Guo, Shuxiang Guo, Yu Song","doi":"10.1109/ICMA54519.2022.9856024","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856024","url":null,"abstract":"When doctors perform cardiovascular and cerebrovascular interventional operations, X-ray radiation will greatly increase the probability of doctors suffering from cancer. Surgery through robots can protect doctors’ bodies and reduce the workload of doctors. Most of the research focus on interventional surgical robots is on traditional control algorithms. Few studies have paid attention to the delay problem of the system. Most of the vascular interventional surgery robots adopt the master-slave type, and the slave end needs to restore the action of the master end. The master-slave system cannot avoid the master-slave tracking error caused by the delay. In this paper, an adaptive Smith prediction algorithm is proposed to solve the master-slave delay and improve the tracking accuracy. This paper proves by experiments that this algorithm has a good control effect, can effectively solve the lag problem of the robot, improve the tracking performance, and ensure real-time and accuracy.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117059008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In order to improve the grid-connected stability of wind power grid-connected inverter, solve the harmonic and resonance problems encountered at the grid-connected interface of inverter when the load jumps. An improved linear active disturbance rejection control strategy combined with active damping (ILADRC-AD) is designed. Firstly, the mathematical model of inductance-capacitance-inductance (LCL) inverter is established, and the principle of traditional third order active disturbance rejection controller is analyzed. Based on the idea of lead correction, an improved LADRC is designed by series lead correction links on the total disturbance channel of the linear extended state observer (LESO). Capacitive current feedback active damping is introduced in combination with improved LADRC to generate an ILADRC-AD control strategy. The stability and robustness of the system are effectively improved. Finally, the frequency characteristics of the ILADRC-AD inverter system are analyzed by frequency domain analysis method, and the MATLAB simulation comparison of improved control and traditional PI and LADRC the grid current waveform. The results show that the improved control not only has more stable grid-connected current, but also has fast dynamic response and strong harmonic suppression when the load fluctuates.
{"title":"Improved Active Disturbance Rejection Control with Active Damping Wind Power Grid-Connected Inverter","authors":"Yuechao Li, Zhiqiang Gao, Xuesong Zhou, Shuaichao Guo","doi":"10.1109/ICMA54519.2022.9856031","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856031","url":null,"abstract":"In order to improve the grid-connected stability of wind power grid-connected inverter, solve the harmonic and resonance problems encountered at the grid-connected interface of inverter when the load jumps. An improved linear active disturbance rejection control strategy combined with active damping (ILADRC-AD) is designed. Firstly, the mathematical model of inductance-capacitance-inductance (LCL) inverter is established, and the principle of traditional third order active disturbance rejection controller is analyzed. Based on the idea of lead correction, an improved LADRC is designed by series lead correction links on the total disturbance channel of the linear extended state observer (LESO). Capacitive current feedback active damping is introduced in combination with improved LADRC to generate an ILADRC-AD control strategy. The stability and robustness of the system are effectively improved. Finally, the frequency characteristics of the ILADRC-AD inverter system are analyzed by frequency domain analysis method, and the MATLAB simulation comparison of improved control and traditional PI and LADRC the grid current waveform. The results show that the improved control not only has more stable grid-connected current, but also has fast dynamic response and strong harmonic suppression when the load fluctuates.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123649687","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856309
Xinpeng Liu, Qiang Gao, Yuehui Ji, Yu Song, Junjie Liu
This paper aims at the problems of nonlinearity, underactuated, strong coupling, and difficult controller parameter tuning in the control process of quadrotor UAV, PID controller and ADRC are designed to control the quadrotor UAV, and the controller parameters are optimized by the Whale Optimization Algorithm. Firstly, the ADRC is designed to control the attitude loop of the quadrotor UAV. The Extended State Observer (ESO) is designed for yaw, pitch, and roll channels to observe and compensate the internal uncertainties and external disturbances in real-time, and to realize decoupling control. Secondly, in the position control system, the PID controller is used to realize the stable tracking of position variables. Finally, the Whale Optimization Algorithm (WOA) is designed to optimize the Active Disturbance Rejection Controller and PID controller for the quadrotor UAV, which has many controller parameters and is difficult to get the optimal control effect. In this method, the parameters of the controller are taken as the objective of WOA optimization to achieve the optimal control effect. The simulation results show that the WOA optimized controller has a smaller overshoot and faster adjustment time compared with human tuning parameters.
{"title":"Active Disturbance Rejection Control of Quadrotor UAV based on Whale Optimization Algorithm","authors":"Xinpeng Liu, Qiang Gao, Yuehui Ji, Yu Song, Junjie Liu","doi":"10.1109/ICMA54519.2022.9856309","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856309","url":null,"abstract":"This paper aims at the problems of nonlinearity, underactuated, strong coupling, and difficult controller parameter tuning in the control process of quadrotor UAV, PID controller and ADRC are designed to control the quadrotor UAV, and the controller parameters are optimized by the Whale Optimization Algorithm. Firstly, the ADRC is designed to control the attitude loop of the quadrotor UAV. The Extended State Observer (ESO) is designed for yaw, pitch, and roll channels to observe and compensate the internal uncertainties and external disturbances in real-time, and to realize decoupling control. Secondly, in the position control system, the PID controller is used to realize the stable tracking of position variables. Finally, the Whale Optimization Algorithm (WOA) is designed to optimize the Active Disturbance Rejection Controller and PID controller for the quadrotor UAV, which has many controller parameters and is difficult to get the optimal control effect. In this method, the parameters of the controller are taken as the objective of WOA optimization to achieve the optimal control effect. The simulation results show that the WOA optimized controller has a smaller overshoot and faster adjustment time compared with human tuning parameters.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125785251","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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