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拖挂式移动机器人的多约束避障轨迹规划

山东科技大学学报（自然科学版） 2024年第1期43卷 100-108页

作者：宋保业吴尤田运阳许琳山东科技大学电气与自动化工程学院山东青岛266590

基于七次多项式曲线研究了拖挂式移动机器人多约束避障轨迹规划问题,建立了具有非完整约束特性拖挂式移动机器人的前向和后向运动学模型。在速度、加速度、急动度、曲率和曲率导数等多约束条件下,提出基于七次多项式曲线的避障轨迹规划... 详细信息

基于七次多项式曲线研究了拖挂式移动机器人多约束避障轨迹规划问题,建立了具有非完整约束特性拖挂式移动机器人的前向和后向运动学模型。在速度、加速度、急动度、曲率和曲率导数等多约束条件下,提出基于七次多项式曲线的避障轨迹规划方法。考虑平稳性、舒适性和交通效率等设计了优化目标函数,对七次多项式曲线参数进行优化。仿真结果表明,所提出的基于七次多项式曲线的避障轨迹规划方法,能够得到多约束条件下满足最优避障时间和最优避障距离的避障轨迹规划结果。

关键词：拖挂式移动机器人避障轨迹规划七次多项式曲线多约束条件最优化

Finite-Horizon l_(2)–l_(∞)State Estimation for Networked Systems Under Mixed Protocols

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IEEE/CAA Journal of Automatica Sinica 2023年第3期10卷 822-824页

作者： Jiyue Guo Yuanlong Yue baoye song Zhongyi Zhao College of Electrical Engineering and Automation Shandong University of Science and TechnologyQingdao 266590China College of Information Science and Engineering China University of Petroleum-BeijingBeijing 102249China

Dear Editor,This letter is concerned with the finite-horizon l_(2)–l_(∞)state estimation(SE)problem for a class of networked time-delay systems where the measurements are transmitted through two individual communica... 详细信息

关键词： letter concerned delay

Distributed environment representation and object localization system in intelligent space

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控制理论与应用（英文版） 2012年第3期10卷 371-379页

作者： Yinghua XUE Guohui TIAN baoye song Taotao ZHANG School of Control Science and Engineering Shandong University Jinan Shandong 250061 China School of Computer and Information Engineering Shandong University of Finance Jinan Shandong 250014 China

A kind of new environment representation and object localization scheme is proposed in the paper aiming to accomplish the task of object operation more efficiently in intelligent space. First, a distributed environment represen- tation method is put forward to reduce storage burden and improve the system＇s stability. The layered topological maps are separately stored in different landmarks attached to the key positions of intelligent space, so that the robot can search the landmarks on which the map information can be read from the QR code, and then the environment map can be built autonomously. Map building is an important prerequisite for object search. An object search scheme based on RFID and vision technology is proposed. The RFID tags are attached to the target objects and reference objects in the indoor environ- ment. A fixed RFID system is built to monitor the rough position （room and local area） of target and a mobile RFID system is constructed to detect the targets which are not in the covering range of the fixed system. The existing area of target is determined by the time sequence of reference tags and target tags, and the accurate position is obtained by onboard vision system at a short distance. The experiments demonstrate that the distributed environment representation proposed in the paper can fully meet the requirements of object localization, and the positioning scheme has high search efficiency, high localization accuracy and precision, and a strong anti-interference ability in the complex indoor environment.

关键词： Intelligent space Distributed map representation Object localization Artificial landmark RFID

Zigbee Based Wireless Sensor and Actuator Network for Service Robot Intelligent Space

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Wireless Sensor Network 2012年第10期4卷 235-242页

作者： baoye song Xiao Lu Xingzhen Bai College of Information and Electrical Engineering Shandong University of Science and Technology Qingdao China

Wireless sensor and actuator network is the key technology of service robot intelligent space. This paper is concerned with design and implementation of a ZigBee based wireless sensor and actuator network (hereinafter referred to as ZWSAN), which has been applied in our service robot intelligent space successfully. Firstly, a simplified ZigBee stack applied to ZWSAN is proposed and the primitives of the stack are illustrated after a short overview of ZigBee protocols. Then the implementation of hardware module and software stack is introduced in detail as well as several representative devices integrated into ZWSAN, including environmental sensors for environmental perception, home devices controllers for device control, embedded speech recognition module for speech control, IMU module for abnormal behaviors detection and laser robot control for service robot navigation. An application example is described to demonstrate how the devices in ZWSAN to provide service cooperatively. Finally, we conclude this paper and discuss the future directions.

关键词： ZigBee Wireless Sensor and Actuator Network Service Robot Intelligent Space

Discretization of Fractional Order Differentiator and Integrator with Different Fractional Orders

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Intelligent Control and Automation 2017年第2期8卷 75-85页

作者： Qi Zhang baoye song Huadong Zhao Jiansheng Zhang College of Electrical Engineering and Automation Shandong University of Science and Technology Qingdao China

This paper is concerned with the discretization of the fractional-order differentiator and integrator, which is the foundation of the digital realization of fractional order controller. Firstly, the parameterized Al-Alaoui transform is presented as a general generating function with one variable parameter, which can be adjusted to obtain the commonly used generating functions (e.g. Euler operator, Tustin operator and Al-Alaoui operator). However, the following simulation results show that the optimal variable parameters are different for different fractional orders. Then the weighted square integral index about the magtitude and phase is defined as the objective functions to achieve the optimal variable parameter for different fractional orders. Finally, the simulation results demonstrate that there are great differences on the optimal variable parameter for differential and integral operators with different fractional orders, which should be attracting more attentions in the design of digital fractional order controller.

关键词： Fractional Order Control Fractional Order Operator Al-Alaoui Transform Discretization

PSO-based Extended Kalman Filtering for Speed Estimation of an Induction Motor

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PSO-based Extended Kalman Filtering for Speed Estimation of ...

Building an Intelligent Home Space for Service Robot Based on Multi-Pattern Information Model and Wireless Sensor Networks

第37届中国控制会议

作者： baoye song Jiwei Xu Lin Xu College of Electrical Engineering and Automation Shandong University of Science and Technology

Speed estimation is one of the critical issues of sensorless control of induction motors. This paper is concerned with a PSO-based extended Kalman filter（EKF） for speed estimation of induction motors（IMs）. Firstly, the system model for EKF based speed estimation of IMs is briefly introduced. Then, to overcome the defect of constant covariance matrices of the traditional EKF, the elements of the covariance matrices of EKF have been optimized by using a novel modified PSO（MPSO）,which could deal with the frequently appearing phenomenon of premature convergence of classical PSO algorithm. Finally, a simulation model of induction motor drive is constructed and the PSO-based EKF has been verified to outperform the traditional EKF for the speed estimation of induction motors.

关键词： PSO EKF Particle Swarm Optimization Extended Kalman Filter Speed Estimation Induction Motor Stator Current

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Intelligent Control and Automation 2012年第1期3卷 90-97页

作者： Fei Lu Guohui Tian Fengyu Zhou Yinghua Xue baoye song School of Control Science and Engineering Shandong University Jinan China

This paper is concerned with constructing a prototype intelligent home environment for home service robot. In this environment, multi-pattern information can be represented by some intelligent artificial marks. Light-packs service robots can provide reliable and intelligent service by interacting with the environment through the wireless sensor networks. The intelligent space consists the following main components: smart devices with intelligent artificial mark;home server that connects the smart device and maintains the information through wireless sensor network;and the service robot that perform tasks in collaboration with the environment. In this paper, the multi-pattern information model is built, the construction of wireless sensor networks is presented, the smart and agilely home service is introduced. Fi- nally, the future direction of intelligent space system is discussed.

关键词： Intelligent Home Environment Service Robot Artificial Mark Wireless Sensor Networks

永磁同步电机无传感器矢量控制系统的分数阶滑模观测器设计

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中国科技论文 2020年第7期15卷 793-798页

作者：陈珂宋保业山东科技大学电气与自动化工程学院山东青岛266590

针对飞轮储能系统充电控制过程中传统滑模观测器(sliding-mode observer,SMO)存在抖振及角度偏差的问题,提出了一种改进的分数阶SMO。首先,将分数阶微分算子引入滑模切换面,并采用分数阶的指数趋近律,建立分数阶SMO;然后,用光滑连续的... 详细信息

针对飞轮储能系统充电控制过程中传统滑模观测器(sliding-mode observer,SMO)存在抖振及角度偏差的问题,提出了一种改进的分数阶SMO。首先,将分数阶微分算子引入滑模切换面,并采用分数阶的指数趋近律,建立分数阶SMO;然后,用光滑连续的双曲正切函数代替符号函数,从而减弱高频抖振;最后,通过Lyapunov稳定性理论证明了分数阶SMO的稳定性。仿真结果表明,提出的分数阶SMO可明显减小系统抖动,有效提高转子位置及转速估计的准确性,并且对负载波动有较强的鲁棒性。

关键词：永磁同步电机滑模观测器分数阶无传感器矢量控制

A New Approach to Fault Diagnosis of Multilevel Inverter

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A New Approach to Fault Diagnosis of Multilevel Inverter