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詹月林 《工业仪表与自动化装置》2003,(6):31-34
航迹控制可分为直接法与间接法两种。该文提出了一种船舶航迹间接多模态控制方法。船舶航向、航迹偏差、转向分别采用P-Fuzzy-PID、BB-P-PID、P-PI-PD-PID多模态控制方法。船舶操纵的仿真结果表明此法航迹运行可靠,航迹控制性能良好,能自动捕捉转向点,并精确保持航迹,在航线转向点处能自动进行转向,且转向快速平稳。 相似文献
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本文提出了一种船舶航迹保持的在线神经网络控制器.该控制器能解决精确的船舶动态模型难以建立问题,它能用舵角同时控制航迹偏差和航向偏差,它通过对控制精度的直接计算来自动在线训练学习,它不需离线训练学习过程.计算机仿真结果表明控制器训练方法的有效性和控制的鲁棒性. 相似文献
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本文提出并设计出了一种新型的数字式舵角复示器,介绍了该复示器的组成、工作原理以及软件、硬件设计。该复示器引入先进的单片机技术,采用数字式处理和数字式显示,具有多种舵角发讯器输入接口、舵令输出接口和串行通讯接口,使用方便、量测精度高、性能好,是现代化船舶理想的舵角复示设备。 相似文献
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GPS的微型系统及其制导(英文) 总被引:1,自引:0,他引:1
基于微型飞行器(MAV)尺寸小、载重及能量供给有限,难于获取完整的飞行状态参数,对机载的设备和导航控制系统要求很高等特点,提出了一种应用于翼展680 mm的电动微型飞行器的基于航迹角度和偏航距误差的几何导航控制算法,并利用MEMS传感器设计了飞行控制系统,给出了PID控制率.Matlab仿真试验表明,该系统在3种PID控制率下均可很好地实现导航控制,偏航控制误差低于30 m;空中飞行试验表明,提出的算法有效地实现了电动微型飞行器的导航控制飞行,在2级风情况下,偏航误差低于30 m. 相似文献
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船舶舵系统是船指船舶按照驾驶者的意图保持直线航行(即航向稳定性)或由直线航行进入曲线航行(回转性)的有关装置的总称。它是船舶的操作系统,主要由舵、舵机及转舵装置、操舵装置等设备组成。舵系安装中最为重要就是轴系的安装,直接决定整个舵系是否能正常工作。 相似文献
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本文提出一种新的集成PID控制器和线性码率模型的H.264单元层码率控制算法.人眼不仅对空域图像质量敏感,而且对时域图像质量敏感.为了在空域图像质量和时域图像质量之间获得更好的折中,在保持高空域重建图像质量的情况下获得更好的时域重建图像质量,本文将PID控制器引入到H.264的单元层线性码率控制中,并对场景切换情况进行单独处理.实验结果表明,本文算法不但具有线性码率控制算法的准确跟踪目标码率,显著降低比特率估计偏差的优点,而且在保持较高空域重建图像质量的同时提高时域重建图像质量,并可显著地提高场景切换时的重建图像质量. 相似文献
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Juyong Kang Wongun Kim Jongseok Lee Kyongsu Yi 《Journal of Mechanical Science and Technology》2010,24(3):793-800
This paper describes an autonomous driving control algorithm based on skid steering for a Robotic Vehicle with Articulated
Suspension (RVAS). The driving control algorithm consisted of four parts: speed controller for following the desired speed,
trajectory tracking controller to track the desired trajectory, longitudinal tire force distribution algorithm which determines
the optimal desired longitudinal tire force and wheel torque controller which determines the wheel torque command at each
wheel to keep the slip ratio below the limit value as well as to track the desired tire force. The longitudinal and vertical
tire force estimators were designed for optimal tire force distribution and wheel slip control. The dynamic model of the RVAS
is validated using vehicle test data. Simulation and vehicle tests were conducted in order to evaluate the proposed driving
control algorithm. Based on the simulation and test results, the proposed driving controller was shown to produces satisfactory
trajectory tracking performance. 相似文献
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Because it is difficult for the traditional PID algorithm for nonlinear time-variant control objects to obtain satisfactory
control results, this paper studies a neuron PID controller. The neuron PID controller makes use of neuron self-learning ability,
complies with certain optimum indicators, and automatically adjusts the parameters of the PID controller and makes them adapt
to changes in the controlled object and the input reference signals. The PID controller is used to control a nonlinear time-variant
membrane structure inflation system. Results show that the neural network PID controller can adapt to the changes in system
structure parameters and fast track the changes in the input signal with high control precision. 相似文献
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针对电液比例控制径向柱塞泵变量机构,设计了基于PID神经元网络控制算法的控制器,并通过计算机仿真,再现了系统跟踪变量控制信号的系统响应,仿真结果表明,基于PID神经元网络控制算法控制器的电液比例控制径向柱塞泵,具有良好的控制性能。 相似文献
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Hwa Soo Kim San Lim Cornel C. Iura
cu Frank C. Park Young Man Cho 《Precision Engineering》2004,28(4):459-468
This paper presents a robust, discrete, near time-optimal control algorithm for hard disk drives. Building on the continuous-time control law of Newman [Trans. Automatic Control 35 (7) (1990) 841] and Newman and Souccar [J. Dynamic Syst. Measure. Control 113 (1991) 363], the chattering phenomenon for continuous-time systems is first examined, and it is shown how additional chattering can occur in the discrete-time case. A criterion for the selection of control parameters to prevent chattering in the discrete-time case while assuring controller stability is then suggested. The controller developed is applied to a commercial hard disk drive. Compared to the more commonly used PTOS, the proposed controller significantly reduces chattering while maintaining comparable seek time to reach the destination track. 相似文献
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Dong Chun Xu WenliYang GengDepartment of Automation Tsinghua University Beijing ChinaFu LixinRobot Institute Harbin Institute of Technology Harbin .China 《机械工程学报(英文版)》2004,17(3):433-436
To improve the dynamic tracking ability of spot welding manipulator with heavy payload, a new programmable motion controller, which can provide software and hardware supports for several kinds of control algorithms, is developed first. Then, a decentralized adaptive control algorithm is used to compensate the coupling between the manipulator joints, and the algorithm is easy to implement based on the motion controller. Finally, experiments demonstrate that, compared with the traditional PID, the dynamic tracking ability of the manipulator can be obviously improved with this algorithm. 相似文献