This study investigates the problem of robust fault estimation for direct current (DC) motor control systems subjected to actuator faults and unknown input disturbances. An augmented descriptor system is first built by creating an augmented state consisting of system states and actuator faults. Then, a novel unknown input observer (UIO) based on the augmented descriptor system is proposed to estimate actuator faults by decoupling the unknown input disturbances. Furthermore, the design conditions of the observer are transformed into linear matrix inequalities (LMIs). Finally, the effectiveness of the developed UIO is validated through simulations.
{"title":"Actuator Fault Estimation Design for DC Motor Using Unknown Input Observer","authors":"Shen-hua Wu, Sheng-xuan Yang, Lei Xiao, Minhu Wu","doi":"10.1145/3548608.3561143","DOIUrl":"https://doi.org/10.1145/3548608.3561143","url":null,"abstract":"This study investigates the problem of robust fault estimation for direct current (DC) motor control systems subjected to actuator faults and unknown input disturbances. An augmented descriptor system is first built by creating an augmented state consisting of system states and actuator faults. Then, a novel unknown input observer (UIO) based on the augmented descriptor system is proposed to estimate actuator faults by decoupling the unknown input disturbances. Furthermore, the design conditions of the observer are transformed into linear matrix inequalities (LMIs). Finally, the effectiveness of the developed UIO is validated through simulations.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114982541","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}
Based on the analysis of the causes of height error, the research on the influence of height error is carried out for the two factors which are material accumulation and dislocation and material shrinkage. On the basis of certain assumptions, the calculation expressions for the height error values of the two factors are determined. Based on the expression of height error, a prediction model of height error is constructed, and a anomaly repair process of height and detection device of height are designed to provide a certain reference for online monitoring and compensation of height error.
{"title":"Analysis and Prediction of Height Error of FDM 3D Printing","authors":"Lianghua Zeng, Wenxiong Wu","doi":"10.1145/3548608.3559284","DOIUrl":"https://doi.org/10.1145/3548608.3559284","url":null,"abstract":"Based on the analysis of the causes of height error, the research on the influence of height error is carried out for the two factors which are material accumulation and dislocation and material shrinkage. On the basis of certain assumptions, the calculation expressions for the height error values of the two factors are determined. Based on the expression of height error, a prediction model of height error is constructed, and a anomaly repair process of height and detection device of height are designed to provide a certain reference for online monitoring and compensation of height error.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123111060","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}
The stability of water pressure is a considerable part of ultrasound dry dust removal, which greatly affects dust removal efficiency. The current hydraulic control system generally adopts fuzzy PID control combined with the fuzzy control algorithm and the PID algorithm, but the effect of fuzzy control depends greatly from expert experience, in which the proportional factors in the blur controller Kp, Ki, Kd and quantification After the factor Ke, Kec settings cannot be dynamically changed as the error changes, and dynamic adaptability is lacking. This paper uses genetic algorithm to optimize the above factor, and incorporate the SMITH estimation control algorithm, apply MATLAB to simulate. The simulation results show that the fuzzy PID control after the optimization of genetic algorithm is more excellent in response speed, overshoot control, steady state time.
{"title":"Application of genetic fuzzy Smith PID in water pressure control of dry fog dust removal","authors":"Yuanfang Wei, Yunsong Xu, Zhida Wan, Fa Cheng","doi":"10.1145/3548608.3559216","DOIUrl":"https://doi.org/10.1145/3548608.3559216","url":null,"abstract":"The stability of water pressure is a considerable part of ultrasound dry dust removal, which greatly affects dust removal efficiency. The current hydraulic control system generally adopts fuzzy PID control combined with the fuzzy control algorithm and the PID algorithm, but the effect of fuzzy control depends greatly from expert experience, in which the proportional factors in the blur controller Kp, Ki, Kd and quantification After the factor Ke, Kec settings cannot be dynamically changed as the error changes, and dynamic adaptability is lacking. This paper uses genetic algorithm to optimize the above factor, and incorporate the SMITH estimation control algorithm, apply MATLAB to simulate. The simulation results show that the fuzzy PID control after the optimization of genetic algorithm is more excellent in response speed, overshoot control, steady state time.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126776872","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}
Luhui Xu, Yuanxun Fan, Xiao-Fang Li, Yang Zhang, Wenbo Wu
In view of the motion stationarity of the miniature precision ball screw pair used in aerospace in the process of transmission, the input torque signal of the mechanism is optimized by particle swarm optimization algorithm to optimize the decomposition number and penalty factor in variational mode decomposition. The signal is decomposed into various modal components and their corresponding frequencies, the signal-to-noise ratio of the torque signal is improved, the stationarity of the torque signal is analyzed, and the essential characteristics of the torque signal are obtained. It provides a certain basis for judging the motion stationarity and fault diagnosis of the ball screw used in aerospace.
{"title":"Input TorqueSignal Processing of Ball Screw Based on PSO-VMD Algorithm","authors":"Luhui Xu, Yuanxun Fan, Xiao-Fang Li, Yang Zhang, Wenbo Wu","doi":"10.1145/3548608.3559191","DOIUrl":"https://doi.org/10.1145/3548608.3559191","url":null,"abstract":"In view of the motion stationarity of the miniature precision ball screw pair used in aerospace in the process of transmission, the input torque signal of the mechanism is optimized by particle swarm optimization algorithm to optimize the decomposition number and penalty factor in variational mode decomposition. The signal is decomposed into various modal components and their corresponding frequencies, the signal-to-noise ratio of the torque signal is improved, the stationarity of the torque signal is analyzed, and the essential characteristics of the torque signal are obtained. It provides a certain basis for judging the motion stationarity and fault diagnosis of the ball screw used in aerospace.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122732723","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}
Green hydrogen is a critical kind of energy helping tackle various energy challenges while the high fuel cost is a major barrier to its widespread application. Nuclear power is a kind of energy with high initial investment and low operating costs, providing a potential solution to decrease the hydrogen's fuel bill, especially considering the generation peak regulation demand of the grid with high renewable energy penetration. This paper investigates the economic feasibility of hydrogen production from nuclear power when they are assigned derating. First, the state of art and future trends of mainstream water electrolysis technologies are summarized and a Levelized cost of hydrogen (LCOH) model considering an investment, fuel cost as well as benefits of flexibility and emission reduction is proposed. Second, a joint operation strategy for a combined system of hydrogen and nuclear power which utilized excessive electricity for electrolysis when the power plant is assigned to peak regulation is designed. Finally, the economics of the combined system is analyzed by comparing the LCOH of green hydrogen with that of hydrogen from fossil fuels. The results show that the hydrogen produced by excessive nuclear power is hard to contend with that from fossil fuels under the current technical level and market mechanism, but will be very competitive either the electrolytic technology or the compensation mechanism is improved in the near future.
{"title":"Economic Analysis of Hydrogen Produced by Nuclear Power Considering Generation Peak Regulation","authors":"Weili Liu, Qing Zhou, Wenlong Xu, Jian'guo Pang, Guangao Wu","doi":"10.1145/3548608.3559230","DOIUrl":"https://doi.org/10.1145/3548608.3559230","url":null,"abstract":"Green hydrogen is a critical kind of energy helping tackle various energy challenges while the high fuel cost is a major barrier to its widespread application. Nuclear power is a kind of energy with high initial investment and low operating costs, providing a potential solution to decrease the hydrogen's fuel bill, especially considering the generation peak regulation demand of the grid with high renewable energy penetration. This paper investigates the economic feasibility of hydrogen production from nuclear power when they are assigned derating. First, the state of art and future trends of mainstream water electrolysis technologies are summarized and a Levelized cost of hydrogen (LCOH) model considering an investment, fuel cost as well as benefits of flexibility and emission reduction is proposed. Second, a joint operation strategy for a combined system of hydrogen and nuclear power which utilized excessive electricity for electrolysis when the power plant is assigned to peak regulation is designed. Finally, the economics of the combined system is analyzed by comparing the LCOH of green hydrogen with that of hydrogen from fossil fuels. The results show that the hydrogen produced by excessive nuclear power is hard to contend with that from fossil fuels under the current technical level and market mechanism, but will be very competitive either the electrolytic technology or the compensation mechanism is improved in the near future.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121909772","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}
Laser Tracker-Mechanical Control sensor (T-MAC) can measure the position and pose of the object under test, which is different from the traditional measurement which only focuses on the position change of the object without Angle change. The laser tracker and mechanical control sensor are used as the main standard for robot inspection. The calibration method of laser tracker and mechanical control sensor is studied in this paper, and the application of laser tracker and mechanical control sensor in industrial robot inspection is introduced.
{"title":"Research on industrial robot inspection method based on laser tracker-mechanical control sensor","authors":"Fei Lv, Chang’an Hu","doi":"10.1145/3548608.3559299","DOIUrl":"https://doi.org/10.1145/3548608.3559299","url":null,"abstract":"Laser Tracker-Mechanical Control sensor (T-MAC) can measure the position and pose of the object under test, which is different from the traditional measurement which only focuses on the position change of the object without Angle change. The laser tracker and mechanical control sensor are used as the main standard for robot inspection. The calibration method of laser tracker and mechanical control sensor is studied in this paper, and the application of laser tracker and mechanical control sensor in industrial robot inspection is introduced.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128340623","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}
Aiming at the problems of high test cost, nonlinear dynamics and uncertainty in the direct measurement of the side-slip angle and roll angle of the center of mass by the on-board sensors of multi-axis heavy-duty special vehicles, in order to realize the observation of steering instability under high maneuvering conditions, Neural Network (NN) is used to estimate the side-slip angle and roll angle of the vehicle center of mass., and use the Trucksim model verified by real vehicle experiments to obtain the data set required by the neural network. The neural network estimates the sideslip angle and roll angle through easily measurable variables. Finally, the effectiveness and reliability of the algorithm are further verified by simulation experiments.
{"title":"Estimation of centroid sideslip angle and roll angle of multi-axle special vehicle based on neural network","authors":"Hongbin Shu, Chuanqiang Yu, Zhihao Liu, Jianwei Chen","doi":"10.1145/3548608.3559173","DOIUrl":"https://doi.org/10.1145/3548608.3559173","url":null,"abstract":"Aiming at the problems of high test cost, nonlinear dynamics and uncertainty in the direct measurement of the side-slip angle and roll angle of the center of mass by the on-board sensors of multi-axis heavy-duty special vehicles, in order to realize the observation of steering instability under high maneuvering conditions, Neural Network (NN) is used to estimate the side-slip angle and roll angle of the vehicle center of mass., and use the Trucksim model verified by real vehicle experiments to obtain the data set required by the neural network. The neural network estimates the sideslip angle and roll angle through easily measurable variables. Finally, the effectiveness and reliability of the algorithm are further verified by simulation experiments.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130309708","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}
First, a simulation technology for casting was adopted to design the parameters of Aluminum alloy intake manifolds on engines, in this paper. Then, we made a numerical simulation of the casting filling, solidification and air entrapment, and predicted the defects of the casting based on the results. Finally, we determined the best casting process parameters after rectify the shortcomings in castings.
{"title":"Design and optimization of tilting and pouring process parameters for engine aluminum alloy air inlet pipe","authors":"Huiming Shen, Qiujie Zhang, Xiaofang Ruan","doi":"10.1145/3548608.3559242","DOIUrl":"https://doi.org/10.1145/3548608.3559242","url":null,"abstract":"First, a simulation technology for casting was adopted to design the parameters of Aluminum alloy intake manifolds on engines, in this paper. Then, we made a numerical simulation of the casting filling, solidification and air entrapment, and predicted the defects of the casting based on the results. Finally, we determined the best casting process parameters after rectify the shortcomings in castings.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114867745","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}
Earthwork adjustment plays an important role in the construction of the whole project and the impact on the environment. It is important to formulate earthwork allocation scheme on the basis of accurate earthwork calculation. We use professional equipment to collect the electronic initial topographic map, and then use it to calculate the design elevation to generate the electronic design topographic map. The earthwork volume and centre of gravity, the unit transportation cost, and the earthwork allocation scheme with the minimum transportation cost can be finally calculated. This paper presents a model to establish the optimal allocation model of road engineering earthwork based on BIM Technology, and a case is used to verify the model is economical, scientific and reasonable.
{"title":"Earthwork Optimal Allocation Model of Road Engineering Based on BIM Technology","authors":"Lingfeng Yu","doi":"10.1145/3548608.3559231","DOIUrl":"https://doi.org/10.1145/3548608.3559231","url":null,"abstract":"Earthwork adjustment plays an important role in the construction of the whole project and the impact on the environment. It is important to formulate earthwork allocation scheme on the basis of accurate earthwork calculation. We use professional equipment to collect the electronic initial topographic map, and then use it to calculate the design elevation to generate the electronic design topographic map. The earthwork volume and centre of gravity, the unit transportation cost, and the earthwork allocation scheme with the minimum transportation cost can be finally calculated. This paper presents a model to establish the optimal allocation model of road engineering earthwork based on BIM Technology, and a case is used to verify the model is economical, scientific and reasonable.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125680626","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}
Jianchao Huang, Zhuangzhuang Wang, Zejun Zhang, Yulong He, Zhiming Cai
Aiming at the uncertainty of obstacles in indoor mobile robot operation environment, this paper designs a binocular vision obstacle detection system that does not depend on the a priori knowledge of obstacles and background. Specifically, we build a binocular vision system, calibrate the camera according to the binocular vision theory, and obtain the camera calibration parameters. The binocular image is corrected by calibration parameters and epipolar constraints to solve the non coplanar problem of image distortion. SGM (semi global matching) algorithm is used to obtain disparity map to ensure the rapidity and robustness of disparity acquisition. Finally, an obstacle detection algorithm is proposed. The ground detection model was established to constrain detection distance, introduce area threshold, filter interference, extract obstacles, and measure obstacles. Experimental results show that the system can effectively detect and measure obstacles ahead, and the relative error within 4m is 2.56%, which meets the requirements of indoor mobile robot obstacle detection.
{"title":"Obstacle detection of indoor mobile robot based on binocular vision","authors":"Jianchao Huang, Zhuangzhuang Wang, Zejun Zhang, Yulong He, Zhiming Cai","doi":"10.1145/3548608.3559182","DOIUrl":"https://doi.org/10.1145/3548608.3559182","url":null,"abstract":"Aiming at the uncertainty of obstacles in indoor mobile robot operation environment, this paper designs a binocular vision obstacle detection system that does not depend on the a priori knowledge of obstacles and background. Specifically, we build a binocular vision system, calibrate the camera according to the binocular vision theory, and obtain the camera calibration parameters. The binocular image is corrected by calibration parameters and epipolar constraints to solve the non coplanar problem of image distortion. SGM (semi global matching) algorithm is used to obtain disparity map to ensure the rapidity and robustness of disparity acquisition. Finally, an obstacle detection algorithm is proposed. The ground detection model was established to constrain detection distance, introduce area threshold, filter interference, extract obstacles, and measure obstacles. Experimental results show that the system can effectively detect and measure obstacles ahead, and the relative error within 4m is 2.56%, which meets the requirements of indoor mobile robot obstacle detection.","PeriodicalId":201434,"journal":{"name":"Proceedings of the 2022 2nd International Conference on Control and Intelligent Robotics","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115870742","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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