检索结果-南通市图书馆

Fast Ferry Smoothing Motion via Intelligent PD Controller

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Journal of Marine Science and Application 2018年第2期17卷 273-279页

作者： Mounia Ticherfatine qidan zhu College of Automation Harbin Engineering UniversityHarbin 150001China

A novel type of control law was adopted to reduce the vertical acceleration of a fast ferry as well as the motion sickness incidence suffered by the passengers onboard by means of a submerged *** the system changing characteristics under high disturbances,a model-free approach was *** addition,an upgraded proportional-derivative(PD)controller with correction terms resulting from a fast-online estimation of the system dynamics was *** overall controller,known as intelligent PD(i-PD)controller,was tested,and the obtained results were compared with those of a classic PD *** controllers were also tested in a changing environment and at different operating *** results confirmed the effectiveness of the i-PD controller to smooth the motions with low computational cost control ***,thanks to ability of the i-PD controller to continually update the estimated dynamics of the system,it showed a better reduction in both vertical motions and the seasickness level of the passengers with the needed robustness under external disturbances and system changing parameters.

关键词： Model-free control Intelligent PD Pitchmotion Ship control T-foil Smoothing motion

Adaptive fuzzy asymptotic control design for MIMO nonlinear systems with state constraints

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Journal of Control and Decision 2023年第4期10卷 610-623页

作者： Yongchao Liu Bowen Zeng qidan zhu Lipeng Wang Institute of Complexity Science School of AutomationQingdao UniversityQingdaoPeople’s Republic of China Shandong Key Laboratory of Industrial Control Technology QingdaoPeople’s Republic of China College of Intelligent Systems Science and Engineering Harbin Engineering UniversityHarbinPeople’s Republic of China

This paper addresses the asymptotic control problem of uncertain multi-input and multi-output(MIMO)nonlinear *** considered MIMO systems contain unknown virtual control coefficients(UVCCs)and state *** Lyapunov function by associating with the lower bounds of UVCCs is presented to counteract the adverse effect deriving from *** state constraints are ensured by utilising the barrier Lyapunov ***,the asymptotic tracking controller is recursively constructed by combining the backstepping technique with fuzzy logic *** remarkable character of the designed controller is that the asymptotic tracking performance can be achieved by introducing some smooth functions into adaptive backstepping *** contrast to the existing results,the conditions on the UVCCs are ***,the new control design is illustrated by a practical example.

关键词： Asymptotic tracking control state constraints bound estimation method nonlinear systems

Evaluation of pilot arresting landing based on fuzzy of hierarchy process

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Evaluation of pilot arresting landing based on fuzzy of hier...

第25届中国控制与决策会议

作者： zhu qidan Zhao Enjiao Li Yingzhen Li Jinlong Harbin Engineering University

ISBN: (纸本)9781467355339

Compared with the normal landing, the arresting landing shortens the landing roll distance, but improves the accuracy requirements of the aircraft landing placement and increases the risk of the landing. The pilot arresting landing evaluation can effectively improve the pilot arresting landing skills by providing feedback of pilot stop landing training. To abstract the targets suitable for evaluating the performance of the whole arresting landing, this paper analyzing influencing factors of the whole aircraft arresting landing. An arresting landing evaluation system is established by analytic hierarchy process to help researching methods of how to achieve comprehensive evaluation of pilot arresting landing based on fuzzy analytic hierarchy process. THEIL is used to test the consistency between the evaluation results and the experts evaluating results. The test result shows that established pilot arresting landing evaluation system and evaluation method can effectively evaluate the pilot arresting landing process.

关键词： Arresting landing Comprehensive evaluation Evaluation index Fuzzy analytic hierarchy process Evaluation analysis

Dynamics Model of Carrier-based Aircraft Landing Gears Landed on Dynamic Deck

在线全文

cnki会议

学校读者我要写书评

暂无评论

Chinese Journal of Aeronautics 2009年第4期22卷 371-379页

作者： Zhang Wen,Zhang Zhi,zhu qidan,Xu Shiyue Department of Automation,Harbin Engineering University,Harbin 150001,China Department of Automation Harbin Engineering University Harbin 150001 China

In order to study the carrier-based aircraft landing laws landed on the carrier, the dynamics model of carrier-based aircraft landing gears landed on dynamic deck is built. In this model, the interactions of the carrier-based aircraft landing attitude and the damping force acting on landing gears are considered, and the influence of dynamic deck is introduced into the model through the deck normal vectors. The wheel-deck coordinate system is put forward to solve the complex simulation problem of force-onwheel which comes from the dynamic deck. At last, by simulation, it is demonstrated that the model can be applied to landing attitude when the carrier-based aircraft is landing on the dynamic deck, it is also proved that the model is comprehensive and suitable for any abnormal landing situation.

关键词： carrier-based aircraft landing gear deck wheel-deck coordinate system landing

A Rapid and Precise Self-localization Approach of Mobile Robot Based on Binocular Omni-directional Vision

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

A Rapid and Precise Self-localization Approach of Mobile Rob...

第36届中国控制会议

作者： zhu qidan Xie Hongle Cai Chengtao Liu Peng College of Automation Harbin Engineering University

ISBN: (纸本)9781538629185

In order to solve the problem of mobile robot self-localization,a robot vision absolute localization method based on binocular stereo omni-directional vision system is *** the artificial landmarks as a priori position information,the improved modified discrete gaussian hermite moment SURF algorithm is used to complete the rapid detection of feature points,as well as the feature matching algorithm to identify the area of the *** the matching center of gravity iteration algorithm,the matching error is *** algorithm of sub-pixel location of circle target based on unmixing the mixed pixels is applied to improve the positioning accuracy of the center coordinates of *** landmark detection area is predicted by the current state of motion of the robot,which improves the real-time positioning of robot while *** the characteristics of the panoramic system,a triangulation algorithm is improved to solve the localization and orientation of the *** to multiple localization experiments performed in different environmental paths,the results show that the proposed algorithm has high accuracy and real-time performance.

关键词： Binocular stereo localization Mobile robot Omni-directional vision SURF algorithm

The Approach Power Compensation System of Carrier Aircraft

在线全文

cnki会议

学校读者我要写书评

暂无评论

The Approach Power Compensation System of Carrier Aircraft

第25届中国控制与决策会议

作者： zhu qidan Li Jinlong Li Yingzhen Zhao Enjiao Harbin Engineering University

ISBN: (纸本)9781467355339

Carrier aircraft disaster is mainly occurred during landing, and the main reason is due to the unstable flight path control when the aircraft has low speed. Approach power compensation system is used to solve the unstable phenomenon. On the base of parameters of F/A-18 A, the linear model of longitudinal motion is established, and the flying quality of model is analyzed and calculated. The instability of pitch control is solved and the flying quality of level one is satisfied by using the flight control system. By using approach power compensation, the question that track angle can not follow angle of pitch, namely, the phenomenon of unstable flight path control is solved. Approach compensation system with constant speed and with constant angle of attack will be designed respectively and compared Vertical component of the steady-state of carrier aft flow is brought in to test and verify the ability of resistance to disturbance of the different system.

关键词： carrier aircraft approach power compensation system flight control carrier aft flow

Local path planning based on improved Dynamic window approach

在线全文

cnki会议

学校读者我要写书评

暂无评论

Local path planning based on improved Dynamic window approac...

第40届中国控制会议

作者： Yong Li qidan zhu College of Intelligent Systems Science and Engineering Harbin Engineering University

An improved dynamic window method is designed as a local path planning *** at the problem of unreasonable path selection in traditional dynamic window approach when it is close to the target point and dense obstacles,an improved dynamic window approach is proposed.A new objective function is introduced in the algorithm to improve the speed selection when the robot approaches the target *** number of obstacles is introduced into the velocity evaluation function to improve the problem that dynamic window approach is easy to bypass dense *** experiments in different environments show the effectiveness of the improved algorithm.

关键词： Mobile robot Dynamic Window Approach Local Path Planning

Data-driven Control of Autonomous Vehicle using Recurrent Fuzzy Neural Network Combined with PID Method

在线全文

cnki会议

学校读者我要写书评

暂无评论

Data-driven Control of Autonomous Vehicle using Recurrent Fu...

第37届中国控制会议

作者： Yu Han qidan zhu Yao Xiao College of Automation Harbin Engineering University

This paper proposes a data-driven control method of autonomous vehicle to deal with target-reaching and obstacle avoidance *** unknown environment and modeling error bring uncertainties to control system,performance of accurate controller is *** needs to be designed online according to online and off-line *** network possesses good nonlinear approximation and learning ***,a kind of recurrent fuzzy neural network is used and related learning method is designed to predict optimal control *** improve robustness of control system,online tuning PID method is designed to obtain control *** establishing constrained optimization strategy,suitable parameters of PID are got to guarantee optimization of control under *** results prove that controller proposed in this paper is effective.

关键词： Autonomous Vehicle Recurrent Fuzzy Neural Network PID Robust Optimal Control Data-driven Control

The method on stacked particle image segmentation and particle size measurement

在线全文

cnki会议

学校读者我要写书评

暂无评论

The method on stacked particle image segmentation and partic...

第三十九届中国控制会议

作者： Yong Li Jun Xiao qidan zhu Academy of Automation Harbin Engineering University Institute of Chemical Materials China Academy of Engineering Physics

In the measurement of overlapping particle size, it is necessary to perform image processing on the stacked particle image to obtain accurate measurement results. In this paper morphological filtering is used to remove the isolated small area and fill the holes. The distance image combined with h-minima transform is used to get the seed points. Then the seed points and background are marked on the distance image. Finally, the distance image is segmented by watershed. Due to the partial missing after segmentation of conglutinated particles, according to the prior knowledge that the shape of particles is similar to ellipse, this paper reconstructs the contour of the incomplete particles by ellipse fitting technology. Finally, the measurement algorithm of particle shape and particle size characteristics is determined. Two groups experiments are carried out for particle size measurement, and the error of particle size measurement is analyzed. It is proved that the measurement is accurate.

关键词： Segmentation Stacked particles Ellipse fitting