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A Closed-Loop Dynamic Controller for Active Vibration Isolation Working on A Parallel Wheel-Legged Robot

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Chinese Journal of Mechanical Engineering 2023年第3期36卷 147-160页

作者： Fei Guo Shoukun wang Daohe Liu junzheng wang School of Automation Beijing Institute of TechnologyBeijing 100081China National Key Laboratory of Human Factors Engineering China Astronaut Research and Training CenterBeijing 100094China China State Shipbuilding Corporation Systems Engineering Research Institute Beijing 100048China

Serving the Stewart mechanism as a wheel-legged structure,the most outstanding superiority of the proposed wheel-legged hybrid robot(WLHR)is the active vibration isolation function during rolling on rugged ***,it is difficult to obtain its precise dynamic model,because of the nonlinearity and uncertainty of the heavy *** paper presents a dynamic control framework with a decentralized structure for single wheel-leg,position tracking based on model predictive control(MPC)and adaptive impedance module from inside to *** the Newton-Euler dynamic model of the Stewart mechanism,the controller first creates a predictive model by combining Newton-Raphson iteration of forward kinematic and inverse kinematic calculation of *** actuating force naturally enables each strut to stretch and retract,thereby realizing six degrees-of-freedom(6-DOFs)position-tracking for Stewart *** adaptive impedance control in the outermost loop adjusts environmental impedance parameters by current position and force feedback of wheel-leg along *** adjustment allows the robot to adequately control the desired support force tracking,isolating the robot body from vibration that is generated from unknown *** availability of the proposed control methodology on a physical prototype is demonstrated by tracking a Bezier curve and active vibration isolation while the robot is rolling on decelerate *** comparing the proportional and integral(PI)and constant impedance controllers,better performance of the proposed algorithm was operated and evaluated through displacement and force sensors internally-installed in each cylinder,as well as an inertial measurement unit(IMU)mounted on the robot *** proposed algorithm structure significantly enhances the control accuracy and vibration isolation capacity of parallel wheel-legged robot.

关键词： Wheel-legged hybrid robot Adaptive impedance control Model predictive control Stewart mechanism Vibration isolation Parallel robot

The Separate Meter in Separate Meter Out Control System Using Dual Servo Valves Based on Indirect Adaptive Robust Dynamic Surface Control

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Journal of Systems Science & Complexity 2019年第2期32卷 557-576页

作者： CHEN Guangrong wang junzheng wang Shoukun ZHAO Jiangbo SHEN Wei The Key Laboratory of Drive and Control of Servo Motion Systems Beijing Institute of Technology The Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

Due to the demand for energy efficiency in electro-hydraulic systems, the separate meter in and separate meter out(SMISMO) control system attracts vast attention. In this paper, the SMISMO control system was configured with two servo valves to control the meter in and meter out *** designing two of the proposed indirect adaptive robust dynamic surface controllers(IARDSC)for the working-side and off-side system and setting the coupled items as estimated parameters, the SMISMO control system was decoupled into two subsystems completely. Here, indirect adaptive robust control(IARC) was employed to address the internal parameter uncertainties and external *** surface control(DSC) was utilized in the backstepping design procedure of IARC to deal with the inherent ‘explosion of terms' problem. As thus, the proposed IARDSC could simplify the design procedure, decrease the computational cost, and achieve an improved control performance in practical use. Finally, experimental results validated the effectiveness of proposed IARDSC and showed that the proposed SMISMO control system could provide a possibility to save more energy.

关键词： Dynamic surface control indirect adaptive robust control parameter estimation SMISMO stability analysis

High-adaption locomotion with stable robot body for planetary exploration robot carrying potential instruments on unstructured terrain

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Chinese Journal of Aeronautics 2021年第5期34卷 652-665页

作者： Kang XU Shoukun wang junzheng wang Xiuwen wang Zhihua CHEN Jinge SI School of Automation Beijing Institute of Technology.Beijing 100081China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of TechnologyBeijing 100081China Key Laboratory Ministry of Industry and Information Technology Beijing Institute of TechnologyBeijing 100081China

There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body Control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude Control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance Control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.

关键词： Attitude control Gait generation High-adaption locomotion Obstacle avoidance Planetary exploration robot

Dual-quaternion-based satellite pose estimation and control with event-triggered data transmission

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Science China(Technological Sciences) 2023年第5期66卷 1214-1224页

作者： LI ChunHui ZOU HengGuang SHI DaWei SONG JiLiang wang junzheng School of Automation Beijing Institute of TechnologyBeijing 100081China China Academy of Space Technology Beijing 100086China

This paper proposes an event-triggered active disturbance rejection control framework to achieve the simultaneous position and attitude control of a satellite in proximity ***,to facilitate the satellite motion description,we derive the relative kinematics and dynamics in terms of dual quaternions with the considerations of internal uncertainties and external ***,two kinds of event-triggered mechanisms in the sensor/observer and controller/actuator channels are proposed to reduce the utilization of onboard communication resources and to improve control performance,*** observation error and tracking error of both the attitude and orbit systems are theoretically proven to be asymptotically ***,the simulation results show that the proposed method can achieve simultaneous position and attitude tracking between target and chaser satellites with satisfactory control performance and reduced communication rates.

关键词： active disturbance rejection control framework event-triggered mechanisms estimate and control position and attitude satellite in proximity operations dual quaternions

Lightweight Network Ensemble Architecture for Environmental Perception on the Autonomous System

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Computer Modeling in Engineering & Sciences 2023年第1期134卷 135-156页

作者： Yingpeng Dai junzheng wang Jing Li Lingfeng Meng Songfeng wang School of Automation Beijing Institute of TechnologyBeijing100081China Institute of Tobacco Research of CAAS Qingdao266000China

It is important for the autonomous system to understand environmental *** the autonomous system,it is desirable to have a strong generalization ability to deal with different complex environmental information,as well as have high accuracy and quick inference *** ensemble architecture is a good choice to improve network ***,it is unsuitable for real-time applications on the autonomous *** tackle this problem,a new neural network ensemble named partial-shared ensemble network(PSENet)is *** changes network ensemble architecture from parallel architecture to scatter architecture and merges multiple component networks together to accelerate the inference *** make component networks independent of each other,a training method is designed to train the network ensemble *** on Camvid and CIFAR-10 reveal that PSENet achieves quick inference speed while maintaining the ability of ensemble *** the real world,PSENet is deployed on the unmanned system and deals with vision tasks such as semantic segmentation and environmental prediction in different fields.

关键词： Neural network ensemble real-time application classification semantic segmentation

Event-triggered attitude tracking for rigid spacecraft

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Science China(Information Sciences) 2019年第12期62卷 178-193页

作者： Deheng CAI Hengguang ZOU junzheng wang Yuan HUANG Dawei SHI State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology China Academy of Space Technology

This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme,the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost.

关键词： spacecraft attitude tracking active disturbance rejection control event-triggered control extended state observer

Force Control of Electro-Hydraulic Servo System Based on Load Velocity Compensation

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Journal of Beijing Institute of Technology 2018年第3期27卷 326-333页

作者： Shoukun wang Hu Liu junzheng wang Deyang Zhang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

In an electro-hydraulic servo control system,the force servo system is an important ***,due to the nonlinear characteristic of hydraulic systems,traditional control methods cannot achieve satisfactory control *** deal with this issue,a load velocity compensation algorithm based on the structural invariant principle is proposed in this ***,the theoretical analysis of the hydraulic and cylindrical force control system is presented,and the mathematical model of the force control system is *** the open-loop frequency response characteristics of the system are analyzed,in which the Bode diagram shows that the bandwidth of the system is obviously expanded after adopting the load velocity compensation ***,apractical hydraulic and cylindrical force servo system is introduced to validate the feasibility of the proposed controller,the experimental results demonstrate that the proposed method can improve the performance of force control and eliminate the influence of load stiffness on the dynamic characteristics of the system through a set of comparative experiments with different elastic loads.

关键词： electro-hydraulic servo control system force servo control load velocity compensation elastic load

Simplified Method for Joint Calibration of 3D Ladar and Monocular Camera

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Journal of Beijing Institute of Technology 2018年第3期27卷 319-325页

作者： Jing Li Liuzhi Yu junzheng wang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology

To address the problem of data fusion between monocular camera image with 3 D data from laser detection and ranging(LADAR)sensor,this paper proposes a novel simplified scheme based on the planar feature method,which can meet the accuracy requirements of the joint calibration with fewer checkerboard calibration plate(CP)positions than traditional ***,a mathematical model of the joint calibration is established to obtain the calibration ***,the selection of positions and orientations of the CP are introduced and the corresponding influence to the calibration is ***,the calibration result is optimized by using a nonlinear Levenberg-Marquardt(LM)optimization approach,and the distance residual method is utilized to estimate the ***,experimental results conclude that the minimum number of positions required to meet the joint calibration accuracy in the proposed method is 5,which is less than 12 in traditional methods.

关键词： 3D LADAR monocular camera joint calibration plane calibration method distance residual

Fault Diagnosis Method Based on Xgboost and LR Fusion Model under Data Imbalance

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Journal of Beijing Institute of Technology 2022年第4期31卷 401-412页

作者： Liling Ma Tianyi wang Xiaoran Liu junzheng wang Wei Shen School of Automation Beijing Institute of TechnologyBeijing 100081China

Diagnosis methods based on machine learning and deep learning are widely used in the field of motor fault ***,due to the fact that the data imbalance caused by the high cost of obtaining fault data will lead to insufficient generalization performance of the diagnosis *** response to this problem,a motor fault monitoring system is proposed,which includes a fault diagnosis method(Xgb_LR)based on the optimized gradient boosting decision tree(Xgboost)and logistic regression(LR)fusion model and a data augmentation method named data simulation neighborhood interpolation(DSNI).The Xgb_LR method combines the advantages of the two models and has positive adaptability to imbalanced ***,the DSNI method can be used as an auxiliary method of the diagnosis method to reduce the impact of data imbalance by expanding the original data(signal).Simulation experiments verify the effectiveness of the proposed methods.

关键词： imbalanced data fault diagnosis data augmentation method