首页 > 最新文献

2011 6th IEEE Conference on Industrial Electronics and Applications最新文献

英文 中文
Control system design using actuators with constraints on time and space resolutions 使用具有时间和空间分辨率约束的执行器的控制系统设计
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975754
S. Hashimoto, Z. Chen, K. Shimosakai
This paper discusses a design problem for a control system with constrains on the control input. Constrains are the limitation due to the special and time resolutions of actuators. These systems are called the discrete-valued input control (DIC) system. For the DIC system, at first, we propose the compensation method using the equivalent division for the amplitude of the control input. Next, considering the realization for the fixed-point operation, the 2n division method is proposed. The DIC methods are compared with the method using the feedback modulator. Finally, the effectiveness of the proposed DIC methods is verified by the vibration suppression and positioning experiments.
本文讨论了一个具有控制输入约束的控制系统的设计问题。约束是由于执行器的特殊分辨率和时间分辨率造成的限制。这些系统被称为离散值输入控制(DIC)系统。对于DIC系统,我们首先提出了对控制输入幅值进行等效分割的补偿方法。其次,考虑到定点运算的实现,提出了2n除法。将DIC方法与反馈调制器方法进行了比较。最后,通过振动抑制和定位实验验证了DIC方法的有效性。
{"title":"Control system design using actuators with constraints on time and space resolutions","authors":"S. Hashimoto, Z. Chen, K. Shimosakai","doi":"10.1109/ICIEA.2011.5975754","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975754","url":null,"abstract":"This paper discusses a design problem for a control system with constrains on the control input. Constrains are the limitation due to the special and time resolutions of actuators. These systems are called the discrete-valued input control (DIC) system. For the DIC system, at first, we propose the compensation method using the equivalent division for the amplitude of the control input. Next, considering the realization for the fixed-point operation, the 2n division method is proposed. The DIC methods are compared with the method using the feedback modulator. Finally, the effectiveness of the proposed DIC methods is verified by the vibration suppression and positioning experiments.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130845199","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}
引用次数: 0
On the low noise conductor of transmission line 输电线路低噪声导体的研究
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975633
Hai-jun Niu, J. Wan, Yu-ming Dong, K. Zhu, Duan-ling Li
To reduce the level of noise of the transmission line, JL/G1A-500/35DZ low noise conductor is designed in this paper. Its structural parameters, such as protrudent height, protrudent angle and other parameters, are optimized by wind tunnel test and electric test. The preforming and synchronized tightening module device is designed. JL/G1A-500/35DZ low noise conductor is produced by this device, which solves the problems that the single thread is easily broken and the single thread in outer layer is difficultly formed and provides a basis for the application of the low noise conductor in overhead line in our country.
为了降低传输线的噪声水平,本文设计了JL/G1A-500/35DZ低噪声导线。通过风洞试验和电试验对其突出高度、突出角度等结构参数进行优化。设计了预成形同步拧紧模块装置。该装置生产的JL/G1A-500/35DZ低噪声导线,解决了单螺纹易断、外层单螺纹难成型的问题,为我国低噪声导线在架空线中的应用提供了依据。
{"title":"On the low noise conductor of transmission line","authors":"Hai-jun Niu, J. Wan, Yu-ming Dong, K. Zhu, Duan-ling Li","doi":"10.1109/ICIEA.2011.5975633","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975633","url":null,"abstract":"To reduce the level of noise of the transmission line, JL/G1A-500/35DZ low noise conductor is designed in this paper. Its structural parameters, such as protrudent height, protrudent angle and other parameters, are optimized by wind tunnel test and electric test. The preforming and synchronized tightening module device is designed. JL/G1A-500/35DZ low noise conductor is produced by this device, which solves the problems that the single thread is easily broken and the single thread in outer layer is difficultly formed and provides a basis for the application of the low noise conductor in overhead line in our country.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131103893","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}
引用次数: 0
Design of solar-panel energy system 太阳能电池板能源系统设计
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975976
F. Luo
Sun offered sunlight and hit (with chemical effects) to earth continuously over millions years, and will offer millions years onwards. The tremendous energy offered from sun is thousands times higher than the total energy consumption used by the world in the present time. The solar panel is the equipment to convert transferring the sun sunlight and hit into electrical energy, it is a renewable energy resource. Unfortunately, the solar panel energy is uncertain and unstable. How to use the energy source is the engineering topic. This paper introduces a method to obtain a stable energy from solar panel energy system.
太阳为地球提供了数百万年的阳光和(化学效应),并将继续提供数百万年。太阳提供的巨大能量比当今世界所消耗的总能量高出数千倍。太阳能电池板是将太阳光转化为电能的设备,是一种可再生能源。不幸的是,太阳能电池板的能量是不确定和不稳定的。如何利用能源是一个工程课题。本文介绍了一种从太阳能电池板能源系统中获取稳定能量的方法。
{"title":"Design of solar-panel energy system","authors":"F. Luo","doi":"10.1109/ICIEA.2011.5975976","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975976","url":null,"abstract":"Sun offered sunlight and hit (with chemical effects) to earth continuously over millions years, and will offer millions years onwards. The tremendous energy offered from sun is thousands times higher than the total energy consumption used by the world in the present time. The solar panel is the equipment to convert transferring the sun sunlight and hit into electrical energy, it is a renewable energy resource. Unfortunately, the solar panel energy is uncertain and unstable. How to use the energy source is the engineering topic. This paper introduces a method to obtain a stable energy from solar panel energy system.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132920097","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}
引用次数: 8
Simultaneous application of adaptive PID controller and smith dead-time predictor rule in nonlinear water level control in Neka power plant 自适应PID控制器与smith死区预测律在内卡电厂非线性水位控制中的同时应用
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975796
A. Mehrafrooz, Meghdad Roohi Sorkhkolaei, A. Yazdizadeh
In this paper, a novel adaptive PID-like controller is introduced. Compared to the conventional methods, better responses are achieved by using the proposed method. The proposed controller is based on neural networks technology and is applied to different kind of black box systems, linear or nonlinear systems and time variant and/or time invariant systems. Generally speaking, it is known that classical tuning methods for PID controllers provided unsatisfactory results for industrial plants where the time delay exceeds the dominant lag time; that is the reason for studying alternative strategies. In this context the most popular rule is Smith predictor. Generally, dead time is a variable parameter and leads to changing the model of system during process of control. Therefore we need to estimate this variable parameter using an online algorithm. We have done and proven this estimation via Smith rule for different systems with first order or second order models. In order to show the actual performances of mentioned methods, we have run them on the level control of tanks in water refinement process of Neka power plant which generally is a very nonlinear and delayed system. In order to control this system we apply our neural networks controller and Smith predictor rule simultaneously. Simulation results in this chapter show the perfect performance of our adaptive controllers and rules.
本文介绍了一种新的自适应类pid控制器。与传统方法相比,该方法具有更好的响应效果。该控制器基于神经网络技术,可应用于不同类型的黑箱系统、线性或非线性系统以及时变和/或时不变系统。一般来说,已知经典的PID控制器整定方法对于延时超过主导滞后时间的工业装置效果不理想;这就是研究替代策略的原因。在这种情况下,最流行的规则是Smith predictor。一般来说,死区时间是一个可变参数,在控制过程中会导致系统模型的改变。因此,我们需要使用在线算法来估计这个可变参数。我们已经对不同的一阶或二阶模型系统用Smith规则进行了估计和证明。为了说明上述方法的实际性能,我们将其应用于内卡电厂精水过程中水箱的液位控制,该系统通常是一个非常非线性和延迟的系统。为了控制该系统,我们同时采用了神经网络控制器和Smith预测规则。本章的仿真结果显示了自适应控制器和自适应规则的良好性能。
{"title":"Simultaneous application of adaptive PID controller and smith dead-time predictor rule in nonlinear water level control in Neka power plant","authors":"A. Mehrafrooz, Meghdad Roohi Sorkhkolaei, A. Yazdizadeh","doi":"10.1109/ICIEA.2011.5975796","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975796","url":null,"abstract":"In this paper, a novel adaptive PID-like controller is introduced. Compared to the conventional methods, better responses are achieved by using the proposed method. The proposed controller is based on neural networks technology and is applied to different kind of black box systems, linear or nonlinear systems and time variant and/or time invariant systems. Generally speaking, it is known that classical tuning methods for PID controllers provided unsatisfactory results for industrial plants where the time delay exceeds the dominant lag time; that is the reason for studying alternative strategies. In this context the most popular rule is Smith predictor. Generally, dead time is a variable parameter and leads to changing the model of system during process of control. Therefore we need to estimate this variable parameter using an online algorithm. We have done and proven this estimation via Smith rule for different systems with first order or second order models. In order to show the actual performances of mentioned methods, we have run them on the level control of tanks in water refinement process of Neka power plant which generally is a very nonlinear and delayed system. In order to control this system we apply our neural networks controller and Smith predictor rule simultaneously. Simulation results in this chapter show the perfect performance of our adaptive controllers and rules.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133342835","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}
引用次数: 1
Research on the orientation of z-axis of the cylindrical coordinate system in the Sommerfeld integral 索默菲尔德积分中柱面坐标系z轴方向的研究
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975811
Xiaokai Huo
In this paper, the z-axis orientation of the cylindrical coordinate system in the Sommerfeld integral is discussed. By the way of the rotation of coordinate system, the magnetic vector potentials of the current element in the homogeneous medium infinite space expressed by the Sommerfeld integral in different cylindrical coordinate systems are calculated, and verify that the z-axis don't have to be in the same direction as the current element. Furthermore, the expressions of the electric field intensity are deduced based on the magnetic vector potentials with the z-axis of cylindrical coordinate system parallel to the current element and perpendicular to the current element, and then a numerical example is given to demonstrate the orientations of the z-axis. The analyses contribute to understanding the mathematical meaning of the Sommerfeld integral and have the guiding meaning to solve the radiation problems of the current element.
本文讨论了索默菲尔德积分中柱面坐标系的z轴方向。通过坐标系旋转的方式,计算了在不同柱面坐标系下均质介质无限空间中电流元件用Sommerfeld积分表示的磁矢量位势,并验证了z轴不必与电流元件在同一方向。在此基础上,推导了平行于电流单元和垂直于电流单元的z轴上磁场矢量电位的电场强度表达式,并给出了z轴方向的数值算例。这些分析有助于理解Sommerfeld积分的数学意义,对解决电流元的辐射问题具有指导意义。
{"title":"Research on the orientation of z-axis of the cylindrical coordinate system in the Sommerfeld integral","authors":"Xiaokai Huo","doi":"10.1109/ICIEA.2011.5975811","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975811","url":null,"abstract":"In this paper, the z-axis orientation of the cylindrical coordinate system in the Sommerfeld integral is discussed. By the way of the rotation of coordinate system, the magnetic vector potentials of the current element in the homogeneous medium infinite space expressed by the Sommerfeld integral in different cylindrical coordinate systems are calculated, and verify that the z-axis don't have to be in the same direction as the current element. Furthermore, the expressions of the electric field intensity are deduced based on the magnetic vector potentials with the z-axis of cylindrical coordinate system parallel to the current element and perpendicular to the current element, and then a numerical example is given to demonstrate the orientations of the z-axis. The analyses contribute to understanding the mathematical meaning of the Sommerfeld integral and have the guiding meaning to solve the radiation problems of the current element.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128858814","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}
引用次数: 0
Improved parameters tuning method of model-driven PID control systems 改进的模型驱动PID控制系统参数整定方法
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975830
Y. M. Zhao, W. Xie, X. Tu
In this paper, an improved parameters tuning method of model-driven two degree of freedom PID control system has been proposed to enhance the control performances of a PID controlled system. Known for its ability of stabilizing the unstable processes, fast tracking to the change of set points and rejecting disturbance, the model-driven two degree of freedom PID — so called MD TDOF PID has gained research interest recently. The tuning methods for the previous MD TDOF PID are based on internal model control (IMC) method. In this paper, an integral of time and absolute error (ITAE) tuning and noise effect minimizing method is proposed for two parameters in MD TDOF PID control system to achieve the desired regulating and disturbance rejection performance. The comparison with traditional PID controller and the designed MD TDOF PID in [6] demonstrate the effectiveness of the proposed tuning methods.
本文提出了一种改进的模型驱动二自由度PID控制系统参数整定方法,以提高PID控制系统的控制性能。模型驱动的二自由度PID (MD - TDOF PID)以其对不稳定过程的稳定、对设定点变化的快速跟踪和抑制扰动的能力,近年来得到了广泛的研究。以往的MD TDOF PID的整定方法都是基于内模控制(IMC)方法。本文提出了一种针对MD TDOF PID控制系统中两个参数的时间和绝对误差积分(ITAE)整定和噪声效应最小化的方法,以达到理想的调节和抗扰性能。通过与传统PID控制器和b[6]中设计的MD TDOF PID的比较,验证了所提整定方法的有效性。
{"title":"Improved parameters tuning method of model-driven PID control systems","authors":"Y. M. Zhao, W. Xie, X. Tu","doi":"10.1109/ICIEA.2011.5975830","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975830","url":null,"abstract":"In this paper, an improved parameters tuning method of model-driven two degree of freedom PID control system has been proposed to enhance the control performances of a PID controlled system. Known for its ability of stabilizing the unstable processes, fast tracking to the change of set points and rejecting disturbance, the model-driven two degree of freedom PID — so called MD TDOF PID has gained research interest recently. The tuning methods for the previous MD TDOF PID are based on internal model control (IMC) method. In this paper, an integral of time and absolute error (ITAE) tuning and noise effect minimizing method is proposed for two parameters in MD TDOF PID control system to achieve the desired regulating and disturbance rejection performance. The comparison with traditional PID controller and the designed MD TDOF PID in [6] demonstrate the effectiveness of the proposed tuning methods.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127650521","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}
引用次数: 4
LabVIEW calibration linearity visualization for precision sensors used in shaping control of a segmented reflector test bed 用于分段反射镜试验台整形控制的精密传感器LabVIEW标定线性度可视化
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975904
A. Desai, J. Alvarenga, Harshit Tarsaria, K. Rad, H. Boussalis
A large, segmented space telescope requires high precision and accuracy in its mirror shape to obtain clear images. In order for control of such complex structures to be achieved to high precision and accuracy, it is important for sensing equipment involved in shape control to be constantly checked for deviations from their required calibration. The Segmented Space Telescope Testbed at the Structures, Propulsion, and Control Engineering (SPACE) Laboratory at California State University, Los Angeles, utilizes segmented mirror panels and a network of 42 sensors to mimic a monolithic paraboloid mirror shape to high accuracy and precision. For such a high precision system, regular checking of sensor calibration is crucial to performance. This paper describes a LabVIEW — based visualization subsystem that has been implemented and used for sensor calibration of the SPACE Testbed. The subsystem allows for linearity check for each sensor. In addition, the visualization subsystem provides a real-time means of system monitoring. The visualization also reduces the time to check all 42 sensors while at the same time improve the precision and accuracy of the measurements. By reducing the time required, it is easier to verify sensor linearity at regular interval.
大型分段空间望远镜对其镜面形状的精度要求很高,以获得清晰的图像。为了使这种复杂结构的控制达到高精度和准确性,对涉及形状控制的传感设备进行不断检查,以确定其偏离所需的校准是很重要的。位于洛杉矶加州州立大学结构、推进和控制工程(Space)实验室的分段空间望远镜试验台,利用分段反射镜面板和42个传感器组成的网络,以高精度模拟单片抛物面反射镜的形状。对于这样的高精度系统,定期检查传感器校准对其性能至关重要。本文介绍了一个基于LabVIEW的可视化子系统,并将其应用于航天试验台的传感器标定。该子系统允许对每个传感器进行线性检查。此外,可视化子系统还提供了对系统进行实时监控的手段。可视化还减少了检查所有42个传感器的时间,同时提高了测量的精度和准确性。通过减少所需的时间,可以更容易地定期验证传感器的线性度。
{"title":"LabVIEW calibration linearity visualization for precision sensors used in shaping control of a segmented reflector test bed","authors":"A. Desai, J. Alvarenga, Harshit Tarsaria, K. Rad, H. Boussalis","doi":"10.1109/ICIEA.2011.5975904","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975904","url":null,"abstract":"A large, segmented space telescope requires high precision and accuracy in its mirror shape to obtain clear images. In order for control of such complex structures to be achieved to high precision and accuracy, it is important for sensing equipment involved in shape control to be constantly checked for deviations from their required calibration. The Segmented Space Telescope Testbed at the Structures, Propulsion, and Control Engineering (SPACE) Laboratory at California State University, Los Angeles, utilizes segmented mirror panels and a network of 42 sensors to mimic a monolithic paraboloid mirror shape to high accuracy and precision. For such a high precision system, regular checking of sensor calibration is crucial to performance. This paper describes a LabVIEW — based visualization subsystem that has been implemented and used for sensor calibration of the SPACE Testbed. The subsystem allows for linearity check for each sensor. In addition, the visualization subsystem provides a real-time means of system monitoring. The visualization also reduces the time to check all 42 sensors while at the same time improve the precision and accuracy of the measurements. By reducing the time required, it is easier to verify sensor linearity at regular interval.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"29 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131882151","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}
引用次数: 2
An on-line gait generator for bipedal walking robot based on neural networks 基于神经网络的两足步行机器人在线步态生成器
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5976004
Fei Wang, Yuzhong Zhang, Shiguang Wen, Tinghui Ning
An on-line gait synthesis scheme for a bipedal walking robot is proposed. To realize efficient and human-like gait, MTi sensors were mounted on the lower limb of human subject to acquire kinematics information that can be integrated to the angular changes of hip and knee joints during walking. The time series angles were normalized and then sampled by cubic spline interpolation. By employing discrete-time Fourier Series, the samples were extracted into features, and further dimensionally reduced by using PCA to simplified features. By using ANNs, the nonlinear functional relations between gait parameters (i.e. cadence and stride) and simplified features that can be used to reconstruct angles of hip and knee joints were established. Walking experiments of a biped robot at slow, intermediate and fast speeds were conducted to validate the effectiveness of the proposed scheme. The results indicate that the synthesized gait is smooth, efficient and human-like. The proposed scheme can on-line generate the reference gait that covers a wide speed range for bipedal walking of robot.
提出了一种双足步行机器人在线步态综合方案。为了实现高效的仿人步态,将MTi传感器安装在被测者的下肢上,获取行走过程中髋关节和膝关节角度变化的运动学信息。对时间序列角度进行归一化,然后进行三次样条插值采样。采用离散时间傅里叶级数对样本进行特征提取,再通过主成分分析法对特征进行降维简化。利用人工神经网络,建立步态参数(即步速和步幅)与简化特征之间的非线性函数关系,用于重建髋关节和膝关节的角度。通过双足机器人慢速、中速和快速行走实验,验证了该方案的有效性。结果表明,合成步态平稳、高效,具有仿人的特点。该方法可以在线生成机器人双足行走时宽速度范围的参考步态。
{"title":"An on-line gait generator for bipedal walking robot based on neural networks","authors":"Fei Wang, Yuzhong Zhang, Shiguang Wen, Tinghui Ning","doi":"10.1109/ICIEA.2011.5976004","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5976004","url":null,"abstract":"An on-line gait synthesis scheme for a bipedal walking robot is proposed. To realize efficient and human-like gait, MTi sensors were mounted on the lower limb of human subject to acquire kinematics information that can be integrated to the angular changes of hip and knee joints during walking. The time series angles were normalized and then sampled by cubic spline interpolation. By employing discrete-time Fourier Series, the samples were extracted into features, and further dimensionally reduced by using PCA to simplified features. By using ANNs, the nonlinear functional relations between gait parameters (i.e. cadence and stride) and simplified features that can be used to reconstruct angles of hip and knee joints were established. Walking experiments of a biped robot at slow, intermediate and fast speeds were conducted to validate the effectiveness of the proposed scheme. The results indicate that the synthesized gait is smooth, efficient and human-like. The proposed scheme can on-line generate the reference gait that covers a wide speed range for bipedal walking of robot.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127431642","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}
引用次数: 2
Dynamic control of a 3-DOF cable-driven robot based on backstepping technique 基于反步技术的三自由度缆索驱动机器人动态控制
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975788
Xianqiang You, Weihai Chen, Shouqian Yu, Xingming Wu
In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people's shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot trajectory tracking control problem. The control system framework is established in the environment of MATLAB/SUMILINK, and the control algorithm is programmed by s-function. The correctness of the robot dynamic model and the effectiveness of the designed controller are validated through the simulation analysis. These lay a good theory foundation for further research on effective control and performance improvement of the cable-driven parallel robot.
本文的研究对象是由四根缆绳驱动的三自由度球面关节机器人,该机器人模拟人类肩关节的运动。采用拉格朗日动力学方法建立了三自由度缆索驱动机器人肩关节的动力学模型,得到了动力学方程的标准形式。针对机器人轨迹跟踪控制问题,基于反演技术设计了系统模型的控制律。在MATLAB/SUMILINK环境下建立控制系统框架,采用s函数对控制算法进行编程。仿真分析验证了机器人动力学模型的正确性和所设计控制器的有效性。为进一步研究缆索驱动并联机器人的有效控制和性能改进奠定了良好的理论基础。
{"title":"Dynamic control of a 3-DOF cable-driven robot based on backstepping technique","authors":"Xianqiang You, Weihai Chen, Shouqian Yu, Xingming Wu","doi":"10.1109/ICIEA.2011.5975788","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975788","url":null,"abstract":"In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people's shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot trajectory tracking control problem. The control system framework is established in the environment of MATLAB/SUMILINK, and the control algorithm is programmed by s-function. The correctness of the robot dynamic model and the effectiveness of the designed controller are validated through the simulation analysis. These lay a good theory foundation for further research on effective control and performance improvement of the cable-driven parallel robot.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133723194","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}
引用次数: 14
Implementation of smart loading monitoring and control system with ZigBee wireless network 采用ZigBee无线网络实现智能负荷监控系统
Pub Date : 2011-06-21 DOI: 10.1109/ICIEA.2011.5975716
Mei-Sung Kang, Y. Ke, Jheng-Sheng Li
This paper implements a smart loading monitoring and control system with ZigBee wireless network in the objective of developing the potential for demand response for numerous numbers of residential and commercial customers. This system can effectively solve the insufficiency problem of power supply while such problem happened in the electricity utility side, the system restrains the peak loading of Taipower system in time to prevent transformer from overloading, and decrease peak power generation simultaneously in order to achieve the goal of energy conservation and carbon reduction. ZigBee wireless smart loading monitoring and control system uses visualized program language to develop graphic control software, and the control module of this system which applied the perimeter interface controller (PIC) single chip microprocessor and embedded ZigBee wireless integrated circuit (IC). Meanwhile, through the application of infrared control technology and the deployment of temperature loading control module, the software and hardware were integrated into a set of home-using smart loading control system. The operating status of electrical appliances then can be monitored and controlled at any time. The integration of ZigBee smart loading control module and digital meter, in the other hand, can also monitor and control the electricity consumption of household appliances and manage standby power as well. It effectively reduces the power consumption of peak hours and saves the cost of power rate for residential users and commercial clients.
本文利用ZigBee无线网络实现了一种智能负荷监控系统,目的是开发大量住宅和商业客户的需求响应潜力。该系统可以有效解决电力供应不足问题,及时抑制台电系统的峰值负荷,防止变压器过载,同时降低峰值发电量,达到节能减排的目的。ZigBee无线智能装载监控系统采用可视化程序语言开发图形化控制软件,该系统的控制模块采用周界接口控制器(PIC)单片机和嵌入式ZigBee无线集成电路(IC)。同时,通过红外控制技术的应用和温度加载控制模块的部署,将软件和硬件集成成一套家用智能加载控制系统。这样就可以随时监测和控制电器的运行状态。另一方面,ZigBee智能负载控制模块与数字电表的集成,还可以对家用电器的用电量进行监控和控制,并对备用电源进行管理。有效降低高峰时段的用电量,为住宅用户和商业用户节约电费成本。
{"title":"Implementation of smart loading monitoring and control system with ZigBee wireless network","authors":"Mei-Sung Kang, Y. Ke, Jheng-Sheng Li","doi":"10.1109/ICIEA.2011.5975716","DOIUrl":"https://doi.org/10.1109/ICIEA.2011.5975716","url":null,"abstract":"This paper implements a smart loading monitoring and control system with ZigBee wireless network in the objective of developing the potential for demand response for numerous numbers of residential and commercial customers. This system can effectively solve the insufficiency problem of power supply while such problem happened in the electricity utility side, the system restrains the peak loading of Taipower system in time to prevent transformer from overloading, and decrease peak power generation simultaneously in order to achieve the goal of energy conservation and carbon reduction. ZigBee wireless smart loading monitoring and control system uses visualized program language to develop graphic control software, and the control module of this system which applied the perimeter interface controller (PIC) single chip microprocessor and embedded ZigBee wireless integrated circuit (IC). Meanwhile, through the application of infrared control technology and the deployment of temperature loading control module, the software and hardware were integrated into a set of home-using smart loading control system. The operating status of electrical appliances then can be monitored and controlled at any time. The integration of ZigBee smart loading control module and digital meter, in the other hand, can also monitor and control the electricity consumption of household appliances and manage standby power as well. It effectively reduces the power consumption of peak hours and saves the cost of power rate for residential users and commercial clients.","PeriodicalId":304500,"journal":{"name":"2011 6th IEEE Conference on Industrial Electronics and Applications","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115666039","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}
引用次数: 22
期刊
2011 6th IEEE Conference on Industrial Electronics and Applications
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1