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hybrid fuzzy control FOR ELECTRO-HYDRAULIC ACTIVE DAMPING SUSPENSION

Chinese Journal of Mechanical Engineering 2002年第3期15卷 228-232页

作者： Wang Qingfeng Yang Botao Tu HuagangState Key Laboratory of Fluid Power Transmission and control, Zhejiang University,Hangzhou 310027, China Zhejiang University State Key Laboratory of Fluid Power Transmission and Control Hangzhou 310027

A new control scheme, the hybrid fuzzy control method, for active dampingsuspension system is presented. The scheme is the result of effective combination of the statisticaloptimal control method based on the statistical property of suspension system, with the bang-bangcontrol method based on the real-time characteristics of suspension system. Computer simulations areperformed to compare the effectiveness of hybrid fuzzy control scheme with that of optimal dampingcontrol, bang-bang control, and passive suspension. It takes the effects of time-variant factorsinto full account. The superiority of the proposed hybrid fuzzy control scheme for active dampingsuspension to the passive suspension is verified in the experiment study.

关键词： Semi-active suspension hybrid fuzzy control Simulation Experiment

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Multi-Branch Cable Harness Layout Design Based on Genetic Algorithm with Probabilistic Roadmap Method

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Chinese Journal of Mechanical Engineering 2021年第2期34卷 68-78页

作者： Yingfeng Zhao Jianhua Liu Jiangtao Ma Linlin Wu School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China

Current studies on cable harness layouts have mainly focused on cable harness route planning.However,the topological structure of a cable harness is also extremely complex,and the branch structure of the cable harness can affect the route of the cable harness layout.The topological structure design of the cable harness is a key to such a layout.In this paper,a novel multi-branch cable harness layout design method is presented,which unites the probabilistic roadmap method(PRM)and the genetic algorithm.First,the engineering constraints of the cable harness layout are presented.An obstacle-based PRM used to construct non-interference and near to the surface roadmap is then described.In addition,a new genetic algorithm is proposed,and the algorithm structure of which is redesigned.In addition,the operation probability formula related to fitness is proposed to promote the efficiency of the branch structure design of the cable harness.A prototype system of a cable harness layout design was developed based on the method described in this study,and the method is applied to two scenarios to verify that a quality cable harness layout can be efficiently obtained using the proposed method.In summary,the cable harness layout design method described in this study can be used to quickly design a reasonable topological structure of a cable harness and to search for the corresponding routes of such a harness.

关键词： Cable harness layout Probabilistic roadmap method Genetic algorithm hybrid fuzzy control

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Exoskeleton arm with force feedback for robot bilateral teleoperation

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Progress in Natural Science:Materials International 2007年第8期17卷 948-955页

作者： Zhang Jiafan~(**) Yang Canjun Chen Ying (The State Key Lab of Fluid Power Transmission and control,Zhejiang University,Hangzhou 310027,China) State Key Lab. of Fluid Power Transmission and control Zhejiang University Hangzhou 310027 China

A novel 6 degrees of freedom (DOFs) wearable exoskeleton arm,ZJUESA,based on man-machine system is present- ed.It can be used in robot bilateral teleoperation as master arm with force-feedback.With introducing the revolute-prismatic-spherical (RPS) parallel mechanism and planetary gear mechanism,it is designed based on the anatomy of human upper-limb.With the sensors on this external mechanical structure,the human operator motion is detected and converted to the slave robot control command.Additionally the pneumatic system on it generates a force feedback by using hybrid fuzzy control.As a result,the human operator may have a feeling of doing the work directly.

关键词： exoskeleton arm robot teleoperation force feedback hybrid fuzzy control

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The Inventory Demand Forecasting Model of the Regional Logistics Network in Supply Chain

The Inventory Demand Forecasting Model of the Regional Logis...

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2012 IEEE 19th International Conference on Industrial Engineering and Engineering Management(IE&EM 2012)

作者： Zou An-Quan Huang Ren-Cun Department of Business Administration Changsha University Changsha Institute of Logistics Technology and Application

This article is conducting a study on the demand forecast from the x-retailers,y-distribution centers,z-suppliers supply chain of logistics area. The supply chain will be divided into upstream and downstream levels. Combined with the characteristics of the supply chain and demand characteristics of the regional logistics network, Dijkstra shortest path algorithm is used and its demand forecast model is constructed based on it to obtain the exact demand of each node enterprises. At last, an examples is given to prove it.

关键词： Exoskeleton arm hybrid fuzzy control pneumatic force-feedback teleoperation

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