共查询到20条相似文献,搜索用时 31 毫秒
1.
The unmanned wave glider (UWG) is a new kind of wave powered unmanned marine vehicle for persistent marine environment monitoring. However, the heading control of UWG is unusual, mainly about the heading control of the surface float body (Float), since it is indirectly actuated and with a large lag of the control response. The adaptive heading control method for the Float with heading information fusion is discussed. The basic and improved arrangement methods of the desired heading of Glider are proposed. Via direct heading control of Glider, the heading control of Float is realized indirectly. Simulation and sea trial results demonstrate that the proposed adaptive heading control method improves the heading control performance of UWG significantly. 相似文献
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To improve the underwater control effect of a Remotely Operated Vehicle (ROV) with residual buoyancy, current disturbance, and control dead zone, the depth and heading combined control of ROV is studied to improve the control accuracy of the control system. First, the heading control with fixed depth is divided into heading control and depth control. The tanh-sigmoid-surface control laws for designed degrees of freedom are designed by using tanh function. To suppress the influence of residual buoyancy and control law dead zone in depth control, and to offset the influence of control law dead zone of ROV thruster control, a reserved control quantity is introduced to map the depth deviation and control dead zone with residual buoyancy into a control deviation quantity. An adaptive amplification factor method is proposed for the amplification factors of depth control, speed control, and heading control. The proportional coefficient is adopted to make that the balance among rise time, convergence speed, and overshoot can be achieved by adjusting the proportional coefficient. Then the corresponding tanh-sigmoid-surface controller module is designed in MOOS-IvP environment to track the desired heading and depth. The proposed controller refines fuzzy rules and reduces the complexity of parameter adjustment. Compared with the classical proportional, integral, and derivative control method, the experiment results show that the proposed method can resist the influence of residual buoyancy, current disturbance, and control dead zone and has a better control effect with less control error in depth and heading determination. 相似文献
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《Advanced Robotics》2013,27(1-2):273-287
This paper reports some interesting results from our experimental study of parametrically excited dynamic bipedal walking. We describe the details of the walking machine that has telescopic legs, semicircular feet, free hip joint and counterweights. The walker can sustain stable dynamic walking on level ground based on mechanical energy restoration in accordance with the principle of parametric excitation utilizing the effects of semicircular feet and counterweights. Results of numerical analysis on the effect of the counterweights on the gait efficiency are also described. 相似文献
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针对在组合导航中扩展卡尔曼滤波器(EKF)会发散的问题,采用了一种基于模糊控制的自适应卡尔曼滤波算法(FAKF)方法,通过模糊控制器来计算指数加权因子,实时对量测噪声的大小进行调整,保证滤波精度,有效抑制滤波过程的发散问题;针对GPS无法提供姿态角进行组合解算的情况,使用偏振光与SINS的组合进行姿态解算;通过对GPS/SINS/偏振光组合导航系统进行仿真,将基于模糊控制的自适应卡尔曼滤波算法(FAKF)和扩展卡尔曼滤波算法(EKF)进行对比验证,东、北、天向位置上分别提升精度56.81%、65.17%、45.99%,东、北、天向速度上分别提升精度46.99%、54.01%、43.82%,俯仰角、航向角分别提升精度58.01%、53.58%,验证了该方法的优势。 相似文献
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针对农用拖拉机在未知扰动影响下的路径跟踪控制问题,本文提出了基于自适应二阶滑模和扰动观测技术的路径跟踪控制策略.首先,建立含有未知扰动项的路径跟踪偏差模型,通过利用自适应控制和改进的加幂积分技术,构造自适应二阶滑模路径跟踪控制方法,该控制方法削弱了滑模控制中存在的抖振影响.其次,为了解决大扰动下控制增益调整过度的问题,通过将鲁棒精确微分器和自适应二阶滑模控制结合,构造复合的路径跟踪控制方法.严格的Lyapunov分析表明横向偏差和航向偏差均在有限时间内稳定到原点.最后,仿真结果验证了本文设计的制导方法能够保证农用拖拉机快速且稳定地跟踪上任意弯曲的参考路径. 相似文献
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Energy-Efficient and High-Speed Dynamic Biped Locomotion Based on Principle of Parametric Excitation
《Robotics, IEEE Transactions on》2008,24(6):1289-1301
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Yulei Liao Congcong Chen Tingpeng Du Jiaqi Sun Yunwei Xin Zizheng Zhai Bo Wang Ye Li Shuo Pang 《野外机器人技术杂志》2023,40(3):574-594
The recovery of unmanned underwater vehicle (UUV) by unmanned surface vehicle (USV) has the characteristics of autonomy, safety, and efficiency. Taking the recovery of UUV by USV as the engineering background, this paper studies the guidance and anti-interference motion control of USV in the recovery process. Aiming at the problem of dynamic guidance when recovering UUV, the USV guidance strategy for UUV recovery is studied. Fuzzy guidance is introduced as the dynamic terminal guidance method, and a layered guidance strategy combining classical guidance and fuzzy guidance is proposed. On the basis of the theory of compact form dynamic linearization-based model-free adaptive control (CFDL-MFAC), the motion control of USV in the process of recovering UUV under the influence of model perturbation, external interference, and other uncertainties is studied. Theoretical analysis and experimental results show that there is a contradiction in the matching of dynamic change speed between the USV heading control subsystem and CFDL-MFAC. By introducing the difference item into the standard control criterion to weaken the integral effect in the heading control subsystem of USV, a difference-type compact format model-free adaptive control method (DCFDL-MFAC) is proposed, and the stability of DCFDL-MFAC method is proved theoretically. The effectiveness and practicability of the proposed method are verified by simulation tests and field tests of “Dolphin IB” small USV. 相似文献
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Shibendu Shekhar Roy Dilip Kumar Pratihar 《Journal of Intelligent and Robotic Systems》2014,74(3-4):663-688
This paper deals with kinematics, dynamics and power consumption analyses of a six-legged robot generating turning motions to follow a circular path. Direct and inverse kinematics analysis has been carried out for each leg in order to develop an overall kinematics model of the six-legged robot. It aims to estimate energy-optimal feet forces and joint torques of the six-legged robot, which are necessary to have for its real-time control. To determine the optimum feet forces, two approaches are developed, such as minimization of norm of feet forces and minimization of norm of joint torques using a least square method, and their performances are compared. The developed kinematics and dynamics models are tested through computer simulations for generating turning motion of a statically stable six-legged robot over flat terrain with four different duty factors. The maximum values of feet forces and joint torques decrease with the increase of duty factor. A power consumption model has been derived for the statically stable wave gaits to minimize the power requirement for both optimal foot force distributions and optimal foot-hold selection. The variations of average power consumption with the height of the trunk body and radial offset have been analyzed in order to find out energy-optimal foothold. A parametric study on energy consumption has been carried out by varying angular velocity of the robot to minimize the total energy consumption during locomotion. It has been found that the energy consumption decreases with the increase of angular velocity for a particular traveled distance. 相似文献
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To realize dynamically stable walking for a quadruped walking robot, the combination of the trajectory planning of the body and leg position (feedforward control) and the adaptive control using sensory information (feedback control) is indispensable. In this paper, we propose a new body trajectory, the 3D sway compensation trajectory, for a stable trot gait; we show that this trajectory has a lower energy consumption than the conventional sway trajectory that we have proposed. Then, for the adaptive attitude control method during the 2-leg supporting phase, we consider four methods, that is, a) rotation of body along the diagonal line between supporting feet, b) translation of body along the perpendicular line between supporting feet, c) vertical swing motion of recovering legs, and d) horizontal swing motion of recovering legs; we then describe how we verify the stabilization efficiency of each method through computer simulation, stabilization experimentation, and experimenting in walking on rough terrain using the quadruped walking robot, TITAN-VIII. 相似文献
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四足机器人溜蹄步态动步行的研究 总被引:3,自引:0,他引:3
本文应用角速度补偿法实现了四足机器人溜蹄步态的动步行。该四足机器人是本研究室刚刚研制成功的,具有十二个自由度,关节采用滑块摆杆机构,由带有轴角编码器的伺服电机驱动,身体和脚上装有传感器,步行由计算机进行控制。 相似文献
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According to the increasing requirement of the wind energy utilization and the dynamic stability in the variable speed variable pitch wind power generation system, a linear parameter varying (LPV) system model is established and a new adaptive robust guaranteed cost controller (AGCC) is proposed in this paper. First, the uncertain parameters of the system are estimated by using the adaptive method, then the estimated uncertain parameters and robust guaranteed cost control method are used to design a state feedback controller. The controller’s feedback gain is obtained by solving a set of linear matrix inequality (LMI) constraints, such that the controller can meet a quadratic performance evaluation criterion. The simulation results show that we can realize the goal of maximum wind energy capture in low wind speed by the optimal torque control and constant power control in high wind speed by variable pitch control with good dynamic characteristics, robustness and the ability of suppressing disturbance. 相似文献
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局部遮光会降低光伏发电系统的效率。在局部遮光条件下,光伏系统的输出功率特性曲线会产生多个峰值,传统的最大功率跟踪方法不具有全局搜索的能力,其在进行多峰值最大功率跟踪时会失效。果蝇算法(Fruit Fly Optimization Algorithm,FOA)具有全局寻优能力,但是在求解过程中存在收敛速度慢、收敛精度低及容易收敛于局部最优值的问题。文中对果蝇算法进行改进,提出结合自适应lévy飞行步长的Lévy-FOA算法,该算法充分利用Lévy飞行不均匀随机游走的特性,引入自适应步长调整因子,改进了原有算法的位置更新方式,提高了算法的收敛速度以及收敛精度,避免了算法陷入局部极值。文中利用3个标准函数对自适应Lévy-FOA算法的收敛性进行分析,并与普通FOA算法、自适应改进学习因子粒子群算法(Adaptive Particle Swarm Optimization,APSO)进行对比。结果表明,与FOA算法和APSO算法相比,自适应Lévy-FOA算法的平均跟踪时间有较大幅度的减少,平均收敛精度提高了4个数量级。最后,将自适应Lévy-FOA算法应用于光伏最大功率跟踪中。仿真结果显示,在不同的光照条件下,自适应Lévy-FOA算法能够经过较少的迭代实现最大功率跟踪,并且在第一次迭代后就能达到最大功率的90%以上,与其他算法的跟踪效果对比,自适应Lévy-FOA算法具有较短的跟踪时间和较高的跟踪精度,实际寻优能力优越,能够提高光伏系统的输出效率。 相似文献
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具有不确定负载的交流电机自适应后推控制方法 总被引:5,自引:1,他引:5
将后推控制方法应用于非线性感应电动机的控制系统中,并把负载作为不确定在数,引入自适应的机制。通过状态观测,感应电动机的速度和转子磁链得到良好的跟踪,改善了系统的性能。仿真结果证明了该方法的有效性。 相似文献
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为抑制宽转速范围条件下柔性自激异步发电系统(FS-CAGS)电压定向谐波干扰,提高FS-CAGS鲁棒稳定控制能力,实现功率快速跟踪控制,采用扩展卡尔曼滤波EKF电压定向与反演自适应滑模控制相结合的方法,提出一种EKF电压定向反演自适应滑模直接功率控制新方法.军用底盘集成式直流微电网中FS-CAGS控制仿真实验结果表明,在负载冲击扰动和宽转速突变条件下,相对于传统直接电压定向精确反馈线性化鲁棒控制方法,新控制方法可加快直流输出电压稳定速度,减小电压超调,提高功率跟踪速度,FS-CAGS电流谐波抑制和鲁棒稳定能力得到加强. 相似文献
18.
Vimlesh Verma Suman Maiti Chandan Chakraborty 《Simulation Modelling Practice and Theory》2010,18(7):984-997
A speed estimation method is presented in this paper for a grid-connected doubly-fed slip-ring induction machine drive. The proposed method is formulated with reactive power based model reference adaptive system (MRAS). The method does not require the estimation of stator/rotor flux. So, the integrator related problems at synchronous speed are overcome. Also, the estimation method is independent of stator and rotor resistance variation. Extensive simulation results are presented to validate the technique. 相似文献
19.
Jenhwa Guo 《Autonomous Robots》2009,26(4):241-249
This work presents an approach for maneuvering and controlling a biomimetic autonomous underwater vehicle (BAUV). The BAUV
swims forward by oscillating its body and caudal fin. It turns by bending its body and caudal fin toward the intended direction
of motion. A body-spline function is specified by a set of parameters. Genetic algorithms are then used to find the values
of the parameter by evaluating a fitness function over several swimming trials in a water tank. The fitness function is defined
as the ratio of the kinetic energy of the forward motion to the required driving power of the joint motors. A control law
that uses the oscillating frequency to control the forward speed, and applies a body-spline offset parameter to control the
yawing rate is proposed. Moving averages of swimming speeds and heading angles are utilized as feedback signals to control
the forward speed and heading angle of the BAUV. The effectiveness of the control algorithm is experimentally confirmed.
相似文献
Jenhwa GuoEmail: |
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为了提高永磁同步电机系统的抗干扰能力,提出一种无速度传感器方法,用于速度辨识.将滑模(SM)变结构控制与模型参考自适应系统(MRAS)方法相结合,选取电机本体作为参考模型,利用逆变器输出的电压和电流,构建基于磁链方程的可调模型,利用两模型误差运用SM变结构方法辨识速度.在Matlab仿真平台对无速度传感器方法进行了分析,研究结果表明:所提出的无速度传感器方法具有较好的动静态性能,可以实现对速度的准确辨识. 相似文献