Search | Engineering

订阅投稿

首页工程期刊工程焦点工程成就工程前沿关于我们 English

资源类型

期刊论文 843

会议视频 32

年份

2024 1

2023 52

2022 98

2021 72

2020 62

2019 49

2018 42

2017 61

2016 34

2015 41

2014 35

2013 30

2012 30

2011 28

2010 25

2009 35

2008 35

2007 52

2006 24

2005 14

展开︾

关键词

仿真 7

农业科学 6

质量控制 6

控制 5

智能控制 4

能源 4

主动控制 3

模糊控制 3

环境 3

神经网络 3

自适应控制 3

解耦控制 3

风险控制 3

2021全球十大工程成就 2

2022全球工程前沿 2

三峡升船机 2

三峡工程 2

不确定性 2

中药 2

展开︾

检索范围：

排序：展示方式：

Output tracking control of mobile manipulators based on dynamical sliding-mode control

WUYuxiang, FENG Ying, HU Yueming

《机械工程前沿（英文）》 2007年第2卷第1期页码 110-115 doi: 10.1007/s11465-007-0019-5

摘要： A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investigation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajectory correctly but also reduce the chattering of sliding-mode control system considerably.

关键词： lower-dimensional nonlinear trajectory tracking diffeomorphism

HTML PDF 收藏

Motion planning and tracking control of a four-wheel independently driven steered mobile robot with multiple

Xiaolong ZHANG, Yu HUANG, Shuting WANG, Gen LI, Yuanlong XIE, Wei MENG

《机械工程前沿（英文）》 2021年第16卷第3期页码 504-527 doi: 10.1007/s11465-020-0626-y

摘要： Safe and effective autonomous navigation in dynamic environments is challenging for four-wheel independently driven steered mobile robots (FWIDSMRs) due to the flexible allocation of multiple maneuver modes. To address this problem, this study proposes a novel multiple mode-based navigation system, which can achieve efficient motion planning and accurate tracking control. To reduce the calculation burden and obtain a comprehensive optimized global path, a kinodynamic interior–exterior cell exploration planning method, which leverages the hybrid space of available modes with an incorporated exploration guiding algorithm, is designed. By utilizing the sampled subgoals and the constructed global path, local planning is then performed to avoid unexpected obstacles and potential collisions. With the desired profile curvature and preselected mode, a fuzzy adaptive receding horizon control is proposed such that the online updating of the predictive horizon is realized to enhance the trajectory-following precision. The tracking controller design is achieved using the quadratic programming (QP) technique, and the primal–dual neural network optimization technique is used to solve the QP problem. Experimental results on a real-time FWIDSMR validate that the proposed method shows superior features over some existing methods in terms of efficiency and accuracy.

关键词： mobile robot multiple maneuvering mode motion planning tracking control receding horizon control

HTML PDF 收藏

Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

《机械工程前沿（英文）》 2008年第3卷第4期页码 392-399 doi: 10.1007/s11465-008-0056-8

摘要： This paper addresses the task-space position/attitude tracking control of a suspended parallel robot, which is being developed in the framework of a five-hundred meter aperture spherical radio telescope (FAST) project. Based on the quaternion algebra, a novel model-independent task-space PD controller that ensures end-effector position and attitude tracking is presented. The simulation and experimental results show that the new controller has better control effects than the traditional joint-space controller.

关键词： telescope five-hundred end-effector controller simulation

HTML PDF 收藏

reference tracking control design for a class of nonlinear systems with time-varying delays

Mei-qin LIU,Hai-yang CHEN,Sen-lin ZHANG

《信息与电子工程前沿（英文）》 2015年第16卷第9期页码 759-768 doi: 10.1631/FITEE.1500053

摘要： This paper investigates the trajectory tracking control for a class of nonlinear systems with timevarying delays by virtue of Lyapunov-Krasovskii stability theory and the linear matrix inequality (LMI) technique. A unified model consisting of a linear delayed dynamic system and a bounded static nonlinear operator is introduced, which covers most of the nonlinear systems with bounded nonlinear terms, such as the one-link robotic manipulator, chaotic systems, complex networks, the continuous stirred tank reactor (CSTR), and the standard genetic regulatory network (SGRN). First, the definition of the tracking control is given. Second, the performance analysis of the closed-loop system including this unified model, reference model, and state feedback controller is presented. Then criteria on the tracking controller design are derived in terms of LMIs such that the output of the closed-loop system tracks the given reference signal in the sense. The reference model adopted here is modified to be more flexible. A scaling factor is introduced to deal with the disturbance such that the control precision is improved. Finally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.

关键词： H∞ reference tracking Nonlinear system State feedback control Time-varying delays Unified model

HTML PDF 收藏

Fractional order extremum seeking approach for maximum power point tracking of photovoltaic panels

Ammar NEÇAIBIA,Samir LADACI,Abdelfatah CHAREF,Jean Jacques LOISEAU

《能源前沿（英文）》 2015年第9卷第1期页码 43-53 doi: 10.1007/s11708-014-0343-5

摘要： Due to the high interest in renewable energy and diversity of research regarding photovoltaic (PV) array, a great research effort is focusing nowadays on solar power generation and its performance improvement under various weather conditions. In this paper, an integrated framework was proposed, which achieved both maximum power point tracking (MPPT) and minimum ripple signals. The proposed control scheme was based on extremum-seeking (ES) combined with fractional order systems (FOS). This auto-tuning strategy was developed to maximize the PV panel output power through the regulation of the voltage input to the DC/DC converter in order to lead the PV system steady-state to a stable oscillation behavior around the maximum power point (MPP). It is shown that fractional order operators can improve the plant dynamics with respect to time response and disturbance rejection. The effectiveness of the proposed controller scheme is illustrated with simulations using measured solar radiation data.

关键词： extremum seeking (ES) fractional order control (FOC) fractional calculus photovoltaic (PV) panel maximum power point tracking (MPPT)

HTML PDF 收藏

Simulation of grid connection and maximum power point tracking control of brushless doubly-fed generator

Hicham SERHOUD, Djilani BENATTOUS

《能源前沿（英文）》 2013年第7卷第3期页码 380-387 doi: 10.1007/s11708-013-0252-z

摘要： In this paper, based on the analysis of the mathematical model in a common synchronous reference frame of the brushless doubly-fed generator (BDFG), the grid connection strategy and maximum energy extraction control were both analyzed. Besides, the transient simulation of no-load model and generation model of the BDFG have been developed on the MATLAB/Simulink platform. The test results during cutting-in grid confirmed the good dynamic performance of grid synchronization and effective power control approach for the BDFG-based variable speed wind turbines.

关键词： brushless doubly-fed generator (BDFG) modeling grid connection control back-to-back pulse-width modulation (PWM) converter wind power generation

HTML PDF 收藏

Obstacle-circumventing adaptive control of a four-wheeled mobile robot subjected to motion uncertainties

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0753-3

摘要： To achieve the collision-free trajectory tracking of the four-wheeled mobile robot (FMR), existing methods resolve the tracking control and obstacle avoidance separately. Guaranteeing the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is difficult. To address this challenge, this paper proposes an obstacle-circumventing adaptive control (OCAC) framework. Specifically, a novel anti-disturbance terminal slide mode control with adaptive gains is formulated, incorporating specified control laws for different stages. This formulation guarantees rapid convergence and simultaneous chattering elimination. By introducing sub-target points, a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one, thereby reducing the burden of local path searching while ensuring system stability during obstacle circumvention. Comparative experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.

关键词： four-wheeled mobile robot obstacle-circumventing adaptive control adaptive anti-disturbance terminal sliding mode control sub-target dynamic tracking regression obstacle avoidance

HTML PDF 收藏

High-bandwidth nanopositioning via active control of system resonance

Linlin LI, Sumeet S. APHALE, Limin ZHU

《机械工程前沿（英文）》 2021年第16卷第2期页码 331-339 doi: 10.1007/s11465-020-0619-x

摘要： Typically, the achievable positioning bandwidth for piezo-actuated nanopositioners is severely limited by the first, lightly-damped resonance. To overcome this issue, a variety of open- and closed-loop control techniques that commonly combine damping and tracking actions, have been reported in literature. However, in almost all these cases, the achievable closed-loop bandwidth is still limited by the original open-loop resonant frequency of the respective positioning axis. Shifting this resonance to a higher frequency would undoubtedly result in a wider bandwidth. However, such a shift typically entails a major mechanical redesign of the nanopositioner. The integral resonant control (IRC) has been reported earlier to demonstrate the significant performance enhancement, robustness to parameter uncertainty, gua-ranteed stability and design flexibility it affords. To further exploit the IRC scheme’s capabilities, this paper presents a method of actively shifting the resonant frequency of a nanopositioner’s axis, thereby delivering a wider closed-loop positioning bandwidth when controlled with the IRC scheme. The IRC damping control is augmented with a standard integral tracking controller to improve positioning accuracy. And both damping and tracking control parameters are analytically optimized to result in a Butterworth Filter mimicking pole-placement—maximally flat passband response. Experiments are conducted on a nanopositioner’s axis with an open-loop resonance at 508 Hz. It is shown that by employing the active resonance shifting, the closed-loop positioning bandwidth is increased from 73 to 576 Hz. Consequently, the root-mean-square tracking errors for a 100 Hz triangular trajectory are reduced by 93%.

关键词： nanopositioning stage high-bandwidth resonant mode control tracking control integral resonant control

HTML PDF 收藏

Tracking control of robot manipulators via output feedback linearization

FEI Yue-nong, Wu Qing-hua

《机械工程前沿（英文）》 2006年第1卷第3期页码 329-335 doi: 10.1007/s11465-006-0034-y

摘要： This paper presents a robot manipulator tracking controller based on output feedback linearization. A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities, disturbances and unmodelled dynamics. The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles. The controller design does not need an accurate model of the robot manipulator. Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach. The simulation results show that the proposed controller has more superior tracking control performance, with payload changing in a wide range, in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.

关键词： available comparison unmeasurable nonlinear perturbation observer

HTML PDF 收藏

An adaptive sliding mode control technology for weld seam tracking

Jie LIU,Youmin HU,Bo WU,Kaibo ZHOU,Mingfeng GE

《机械工程前沿（英文）》 2015年第10卷第1期页码 95-101 doi: 10.1007/s11465-015-0332-3

摘要：

A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.

关键词： weld seam tracking welding robotic manipulator adaptive control sliding mode control

HTML PDF 收藏

Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

《机械工程前沿（英文）》 2006年第1卷第3期页码 260-264 doi: 10.1007/s11465-006-0036-9

摘要： The model of a precision linear motor drive device (PLMDD) and its control requirements are analyzed. In order to enhance the tracking and anti-disturbance performance of the system, its third-order model is established, and disturbance-observer based input revising feedforward error compensation robust control algorithm, combined with integral-separated proportional integral derivative (PID) control algorithm is proposed. This includes feedback control algorithm and feedforward control algorithm. The feedback controller improves system tracking performance and suppresses load and mechanical disturbance while the feedforward controller compensates phase hysteresis introduced by feedback control. Theoretical analyses, simulations and experiments show that this control method increases the tracking precision of PLMDD from ±5 μm to ±2 μm and dramatically improves its anti-disturbance ability.

关键词： feedforward tracking ±5 anti-disturbance performance algorithm

HTML PDF 收藏

Dynamic characteristics and improved MPPT control of PV generator

Houda BRAHMI, Rachid DHIFAOUI

《能源前沿（英文）》 2013年第7卷第3期页码 342-350 doi: 10.1007/s11708-013-0242-1

摘要： This paper presents a mathematical model of photovoltaic (PV) module and gives a strategy to calculate online the maximum power point (MPP). The variation of series and shunt resistor are taken into account in the model and are dynamically identified using the Newton-Raphson algorithm. The effectiveness of the proposed model is verified by laboratory experiments obtained by implementing the model on the dSPACE DS1104 board.

关键词： modeling of photovoltaic (PV) generator maximum power point tracking (MPPT) estimation parameters real time controller

HTML PDF 收藏

Powertrain control of a solar photovoltaic-battery powered hybrid electric vehicle

P. PADMAGIRISAN, V. SANKARANARAYANAN

《能源前沿（英文）》 2019年第13卷第2期页码 296-306 doi: 10.1007/s11708-018-0605-8

摘要： This paper proposes a powertrain controller for a solar photovoltaic battery powered hybrid electric vehicle (HEV). The main objective of the proposed controller is to ensure better battery management, load regulation, and maximum power extraction whenever possible from the photovoltaic panels. The powertrain controller consists of two levels of controllers named lower level controllers and a high-level control algorithm. The lower level controllers are designed to perform individual tasks such as maximum power point tracking, battery charging, and load regulation. The perturb and observe based maximum power point tracking algorithm is used for extracting maximum power from solar photovoltaic panels while the battery charging controller is designed using a PI controller. A high-level control algorithm is then designed to switch between the lower level controllers based on different operating conditions such as high state of charge, low state of charge, maximum battery current, and heavy load by respecting the constraints formulated. The developed algorithm is evaluated using theoretical simulation and experimental studies. The simulation and experimental results are presented to validate the proposed technique.

关键词： battery management system hybrid electric vehicles (HEVs) maximum power point tracking (MPPT) solar photovoltaic

HTML PDF 收藏

多重受限时滞逻辑控制网络的输出跟踪 Research Articles

Ya-ting ZHENG, Jun-e FENG

《信息与电子工程前沿（英文）》 2020年第21卷第2期页码 316-323 doi: 10.1631/FITEE.1900376

摘要：本文深入研究具有状态和控制受限的时滞逻辑控制网络的输出跟踪问题。与其他类型时滞相比，状态依赖型时滞数值的更新依赖当前的状态值和一个伪逻辑函数。多重受限意味着状态的取值局限在一个给定的非空集合以及控制器的设计有条件限定。采用矩阵半张量积方法将动态方程转化为代数形式，进而构造一个等价扩维系统。基于该扩维系统，输出跟踪问题被转化为集合镇定问题。利用变换的状态转移矩阵，可得到该系统实现输出跟踪的充分必要条件，通过数学软件容易验证此条件。此外，设计了状态反馈控制器使时滞逻辑控制网络的输出能跟踪参考信号。最后，通过一个例子验证本文的理论结果。

关键词：逻辑控制网络；多重受限；输出跟踪；镇定；状态依赖型时滞；半张量积

HTML PDF 收藏

Fuzzy force control of constrained robot manipulators based on impedance model in an unknown environment

LIU Hongyi, WANG Fei, WANG Lei

《机械工程前沿（英文）》 2007年第2卷第2期页码 168-174 doi: 10.1007/s11465-007-0028-4

摘要： To precisely implement the force control of robot manipulators in an unknown environment, a control strategy based on fuzzy prediction of the reference trajectory in the impedance model is developed. The force tracking experiments are executed in an open-architecture control system with different tracking velocities, different desired forces, different contact stiffnesses and different surface figurations. The corresponding force control results are compared and analyzed. The influences of unknown parameters of the environment on the contact force are analyzed based on experimental data, and the tunings of predictive scale factors are illustrated. The experimental results show that the desired trajectory in the impedance model is predicted exactly and rapidly in the cases that the contact surface is unknown, the contact stiffness changes, and the fuzzy force control algorithm has high adaptability to the unknown environment.

关键词： predictive tracking corresponding stiffness algorithm