비만아 부모의 돌봄 경험: q 방법론

Fuzzy-PID control for the position loop of aerial inertially stabilized platform

An adaptive Fuzzy logic-based approach to PID control of steam turbines in solar applications

In case of helping elder people and doing complicated jobs, biped robots have greater capabilities in comparison to other mobile robots, such as wheeled robots. However, owing to their extremely nonlinear dynamics and natural instability, their motion planning and control become a more challenging and crucial task. Thus, this paper tends to present an adaptive robust hybrid of PID and sliding control optimized by multi-objective genetic algorithm optimization to control a biped robot walking in the lateral plane on slope. More precisely, proportional, integral, and derivative (PID) control is a reliable and stable controller and sliding mode control (SMC) is a robust controller having an appropriate tracking function. To utilize these unique features of each controller, optimal SMC is employed as a supervisory controller to enhance the performance of optimal adaptive PID control and provide sufficient control input. An adaptation mechanism is used to update the proportional, integral, and derivative gains of PID control online. To eliminate the tedious trial-and-error process of determining the control coefficients, multi-objective genetic algorithm optimization is utilized to design and choose the control parameters by an optimal approach. Three points of the Pareto front of the genetic algorithm optimization are selected to design the controller. While the dynamic equations of the biped robot walking in the lateral plane are immensely nonlinear, the control method can operate effectively and the results demonstrate the proper performance of the controller in two aspects of low tracking error and optimal control input.

Pareto design of an adaptive robust hybrid of PID and sliding control for a biped robot via genetic algorithm optimization

A combined backstepping and adaptive fuzzy PID approach for a nonholonomic autonomous mobile robot to follow the desired path is proposed in this paper. Two adaptive fuzzy PID controllers are adopted at the dynamic control level for velocity tracking and steering control of the robot. The fuzzy PID controller consists of a PID controller which is designed by a trial-and-error approach, optimized using the cross-entropy method, and a fuzzy controller based on relational models with two inputs and three outputs. Adaptive adjustment of the PID controllers is implemented by means of the fuzzy controllers. The pose deviations of the robot when trajectory tracking will be eliminated by the backstepping control technique at the kinematic level using a kinematic model. The simulation validation results demonstrate that the proposed control system can offer good performances for the robot in terms of small distance error, rapid response, high stability, and trajectory tracking more accuracy.

A combined backstepping and adaptive fuzzy PID approach for trajectory tracking of autonomous mobile robots

In considering the saturation and dead zone nonlinearity as well as the time-variability and the time lag existed in direct drive volume control system, the traditional PID controller has the problems of parameter tuning difficulty and poor adaptability. This paper sets up a fuzzy PID control algorithm by pulling in fuzzy control theory, which realizes self-tuning PID parameters and effectively weaken the system saturation, dead zone, the time delay and other disadvantages, the accuracy and stability of hydraulic position servo system are improved. The unit step, square wave and cosine input signals are simulated with PID control and fuzzy PID control. The results show that: compared with the traditional PID control, fuzzy PID control that uses the strategy of adaptive PID control parameters, which effectively reduced the impact of dead zone serious nonlinear and time delay. Response speed, control accuracy and robust capability of the system have been greatly improved.

Fuzzy PID control for direct drive electro-hydraulic position servo system

With the more and more complexity demands of the market, the geometric accuracy of the part has become the main factor restricting the development of single point incremental forming technology (SPIF). For this reason, with the truncated cone as the target part, the radial accuracy error generation mechanism was analyzed from the aspects of sheet springback and residual stress distribution. Four factors and three levels of surface response experiments were designed using the Box-Behnken Design (BBD) for tool head diameter, layer spacing, sheet thickness, and wall angle. The single and interactive influence law of the process parameters on the radial accuracy was obtained. In response to the above research results, the ultrasonic vibration was introduced into the process of SPIF to reduce springback by reducing residual stress. The influence of vibration parameters on the accuracy was obtained through experiments. The results showed that ultrasonic vibration could effectively improve and control the accuracy of the part.

/pdf/research-on-the-radial-accuracy-of-ultrasonic-vibration-wh5onqv46r.pdf

Research on the Radial Accuracy of Ultrasonic Vibration-Assisted Single Point Incremental Forming Parts

Deformation Force Simulation of Lead Screw Cold Roll-beating

http://or.nsfc.gov.cn/bitstream/00001903-5/74045/1/1000005023439.pdf

Study on the Metal Flowing of Lead Screw Cold Roll-Beating Forming

The cutting-press shaping technique is a green technology for manufacturing some functional surfaces such as fin-tubes. The correct selecting and matching of the technological parameters and cutting tool angles are of critical to shape the fins. Based on experiments, design principles of the cutting tool are put forward, the influencing laws of the rake angle, relief angle, main deflection angle, blade obliquity of the major cutting edge and assistant deflection angle, assistant rake angle, assistant relief angle of the minor cutting edge on the fins forming are analyzed, and the reasonable angles selecting ranges are given, which are verified by the experiments.

Yuan Qilong

Papers

Fuzzy PID control for direct drive electro-hydraulic position servo system

Research on the Radial Accuracy of Ultrasonic Vibration-Assisted Single Point Incremental Forming Parts

Deformation Force Simulation of Lead Screw Cold Roll-beating

Study on the Metal Flowing of Lead Screw Cold Roll-Beating Forming

Tool design of fin-tube cutting-press shaping