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1.
Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced
robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be
potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel
actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations
still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load
in the pneumatic artificial muscle manipulator.
To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network
(LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness
of the proposed control algorithm is demonstrated through experiments with different external inertia loads. 相似文献
2.
针对大惯量、大负荷、低速工况液压系统的滞环及爬行现象,研究了一种基于高速开关阀控制的方向比例控制系统,建立了该系统的数学模型,并进行了计算机仿真研究,在此基础上,提出了以脉冲宽度调制(PWM)技术为核心的电液数字控制方法. 相似文献
3.
Design of a two-dimensional proportional solenoid for miniature directional control pneumatic valves
In this paper, a new proportional solenoid invented for pneumatic directional control valves is introduced. The new proportional
solenoid has two-dimensional structure and a pivoting armature on which the friction force is inherently negligible. Another
advantageous feature of this solenoid is that its mechanical parts can be easily manufactured and assembled. The working principle
and design example of the now proportional solenoid, its application to the activation of a 4/3-way directional control valve,
and the evaluation of its control performance in a position control loop are reported. 相似文献
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5.
Jin-Ho Suh Jin-Woo Lee Young-Jin Lee Kwon-Soon Lee 《Journal of Mechanical Science and Technology》2005,19(2):505-519
In this paper, we develop an anti-sway control in proposed techniques for an ATC system The developed algorithm is to build
the optimal path of container motion and to calculate an anti-collision path for collision avoidance in its movement to the
finial coordinate Moreover, in order to show the effectiveness in this research, we compared NNP PID controller to be tuning
parameters of controller using NN with 2 DOF PID controller The simulation and experimental results show that the proposed
control scheme guarantees performances, trolley position, sway angle and settling time in NNP PID controller than other controller
As the results in this paper, the application of NNP PID controller is analyzed to have robustness about disturbance which
is wind of fixed pattern in the yard. Accordingly, the proposed algorithm in this study can be readily used for industrial
applications 相似文献