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FORCE FEEDBACK MODEL OF ELECTRO-HYDRAULIC SERVO TELE-OPERATION ROBOT BASED ON velocity control

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Chinese Journal of Mechanical Engineering 2008年第6期21卷 1-5页

作者： GONG Mingde ZHAO Dingxuan ZHANG Hongyan JIA Cuiling College of Mechanical Science and Engineering JUin University Changchun 130022China

The tele-operation robotic system which consists of an excavator as the construction robot, and two joysticks for operating the robot from a safe place are useful for performing restoration in damaged areas. In order to accomplish a precise task, the operator needs to feel a realistic sense of task force brought about from a feedback force between the fork glove of slave robot and unfamiliar environment. A novel force feedback model is proposed based on velocity control of cylinder to determine environment force acting on fork glove. Namely, the feedback force is formed by the error of displacement of joystick with velocity and driving force of piston, and the gain is calculated by the driving force and threshold of driving force of hydraulic cylinder. Moreover, the variable gain improved algorithm is developed to overcome the defect for grasping soft object. Experimental results for fork glove freedom of robotic system are provided to demonstrate the developed algorithm is available for grasping soft object.

关键词： Construction robot Tele-operation Bilateral electro-hydraulic servo control velocity control Force feedback model

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Multi-constrained intelligent gliding guidance via optimal control and DQN

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Science China(Information Sciences) 2023年第3期66卷 214-229页

作者： Jianwen ZHU Hao ZHANG Sibo ZHAO Weimin BAO School of Aerospace Science and Technology Xidian University China Aerospace Science and Technology Corporation

In order to improve the adaptability and robustness of gliding guidance under complex environments and multiple constraints, this study proposes an intelligent gliding guidance strategy based on the optimal guidance, predictor-corrector technique, and deep reinforcement learning(DRL). Longitudinal optimal guidance was introduced to satisfy the altitude and velocity inclination constraints, and lateral maneuvering was used to control the terminal velocity magnitude and position. The maneuvering amplitude was calculated by the analytical prediction of the terminal velocity, and the direction was learned and determined by the deep Q-learning network(DQN). In the direction decision model construction, the state and action spaces were designed based on the flight status and maneuvering direction, and a reward function was proposed using the terminal predicted state and terminal constraints. For DQN training, initial data samples were generated based on the heading-error corridor, and the experience replay pool was managed according to the terminal guidance error. The simulation results show that the intelligent gliding guidance strategy can satisfy various terminal constraints with high precision and ensure adaptability and robustness under large deviations.

关键词： gliding flight optimal guidance velocity control deep reinforcement learning intelligent decision

Mobile Robot control Based on Dynamic Potential

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Journal of Systems Engineering and Electronics 1992年第1期3卷 73-82页

作者： Tianmiao, Wang Bo, Zhang Zengren, Yuan Kezhong, He Tsnghua Univ Beijing China

An efficient method is presented for implementing mobile robot perception-action behaviors, based on time varying environment potential field approach. First, in this paper, the concept of dynamic potential U(x,y,z,t) is proposed for representing the environment of a mobile robot, and the form of U(x,y,z,t) is deduced, and then the velocity control of the vehicle with two wheel is directly calculated by transition function T of U(x,y,z,t). Finally, the perception-action layer is successfully implemented for avoiding collision, wandering, and integrating path planning and steering control on THMR-II (tsingHua university Mobile Robot system). Based on sonar array signals, the experimental results are given to show that THMR-II has better reflexive function, real-time obstacle avoidance, adaptability and robustness for complex environments.

关键词： control systems Sensory perception Time varying systems velocity control

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Adaptive Parameter Estimation and velocity control of UAV Systems

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Adaptive Parameter Estimation and Velocity Control of UAV Sy...

第37届中国控制会议

作者： Hang Gui Ruisheng Sun Jieqing Chen Nanjing University of Science and Technology

This paper presents an adaptive velocity control method for small UAV systems. In the design, an adaptive parameter estimation with prescribed performance is introduced to online estimate the model parameters of UAVs. The velocity control parameters are adaptively updated in terms of the variations of the flight dynamics to improve the UAV flight performance. We identify the UAV’s model through an adaptive estimator and then adaptively tune the controller parameters, which will overcome the variations of model parameters and extern disturbances. Finally,the simulation results verify that the adaptive velocity control system has better control performance than the conventional PID velocity control system.

关键词： UAV velocity control adaptive control adaptive estimation prescribed performance estimation

Disturbance Rejection in UAV’s velocity and Attitude control:Problems and Solutions

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Disturbance Rejection in UAV’s Velocity and Attitude Contro...

第三十届中国控制会议

作者： XIONG Hua,YUAN Ruyi,YI Jianqiang,FAN Guoliang,JING Fengshui Institute of Automation,Chinese Academy of Sciences,Beijing 100190,P.R.China

＜正＞For the high nonlinearity and coupling of the model of the Unmanned Aerial Vehicles（UAVs）,the control of velocity and attitude（i.***.pitch angle,roll angle,and yaw angle） under various disturbances（e.***.wind disturbances） has been a challenging research all along.In this paper,we confirm that under some simplifications the throttle-velocity subsystem is of first-order,the elevator-pitch angle subsystem,the aileron-roll angle subsystem,and the rudder-yaw angle subsystem are of second-order respectively.Then,suitable controllers are designed based on Active Disturbance Rejection control for UAVs to maintain the velocity and attitude in various wind turbulence conditions.Simulations show that with the help of Active Disturbance Rejection controllers,the velocity and attitude can be maintained well under various wind turbulence conditions.

关键词： Active Disturbance Rejection control Unmanned Aerial Vehicles velocity control Attitude control

Nonlinear Robust velocity control of Water Hydraulic Servomotor System

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Nonlinear Robust Velocity Control of Water Hydraulic Servomo...

第二十二届中国控制会议

作者： Kazuhisa Ito Research Associate Department of Mechanical EngineeringSophia University Kioicho 7-1 ChiyodakuTokyo 1028554Japan

＜正＞This paper deals with the rotational velocity control of a water hydraulic servomotor system. Water hydraulic servo system is attractive technology for safety environment. Considering the parameter uncertainties, e.g. load fluctuation, friction parameters, parameter estimation error etc., a method of Lyapunov-based recursive design is applied to construct a robust rotational velocity controller. The proposed controller ensures that the set to which state error approaches to can be made arbitrary small by choosing the control gain. This is called the uniformly ultimate bounded stability. The effectiveness of the proposed controller is examined numerically.

关键词： Water hydraulic servomotor velocity control Nonlinear system Parameter uncertainty Robust control Lyapunov recursive design

Captive Trajectory Testing Using velocity control in High Speed Wind Tunnel

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Captive Trajectory Testing Using Velocity Control in High Sp...

第30届中国控制与决策会议

作者： Zhou Run Gao Rongzhao Huang xuhui Li Ping Zhang zhengyu High Speed Aerodynamics Institute CARDC

The captive trajectory simulation（CTS） system can be operated in two modes, the position-control technique and the velocity-control technique. The position-control technique with closed-loop is employed in existing CTS at CARDC and yield satisfactory results. Its disadvantages are low efficiency and off-trajectory collisions caused by positioning the store model using move and pause technique. So, a velocity control technique based on time-space transform for CTS testing is presented in this paper. This technique uses time-space transform to reduce the requirement of acceleration and velocity capabilities for CTS rig, and establishes an error control loop for forces and moments to automatically adjust the time-step for solving the store model equations of motion. It allows the store model to move continuously along the trajectory to eliminate off-trajectory collisions, and dynamically generates the proper velocity-scaling and time-step to provide more efficient operation. The simulation and wind tunnel tests results have demonstrated that the velocity control technique is feasible. Its trajectories compare favorably with those obtained by the position-control, while the time occupation can be shortened about 50%, and in the same time a greater number of point on the trajectory can be obtained. Therefore, the velocity-control technique has a broad application prospects.

关键词： velocity control Wind Tunnel Captive Trajectory Testing

Evaluation of human response to blasting vibration from excavation of a large scale rock slope:A case study

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Earthquake Engineering and Engineering Vibration 2017年第2期16卷 435-446页

作者： Yan Peng Lu Wenbo Zhang Jing Zou Yujun Chen Ming State Key Laboratory of Water Resources and Hydropower Engineering Science Wuhan University Wuhan 430072 China Key Laboratory of Rock Mechanics in Hydraulic Structural Engineering Ministry of Education Wuhan University Wuhan 430072 China

Ground vibration, as the most critical public hazard of blasting, has received much attention from the community. Many countries established national standards to suppress vibration impact on structures, but a world-accepted blasting vibration criterion on human safety is still missing. In order to evaluate human response to the vibration from blasting excavation of a large-scale rock slope in China, this study aims to suggest a revised criterion. The vibration frequency was introduced to improve the existing single-factor （peak particle velocity） standard recommended by the United States Bureau of Mines （USBM）. The feasibility of the new criterion was checked based on field vibration monitoring and investigation of human reactions. Moreover, the air overpressure or blast effects on human beings have also been discussed. The result indicates that the entire zone of influence can be divided into three subzones： severe-annoyance, light-annoyance and perception zone according to the revised safety standard. Both the construction company and local residents have provided positive comments on this influence degree assessment, which indicates that the presented criterion is suitable for evaluating human response to nearby blasts. Nevertheless, this specific criterion needs more field tests and verifications before it can be

关键词： Construction industry Excavation velocity control

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A Novel Hierarchical Sliding Mode control Strategy for a Two-Wheeled Self-Balancing Vehicle

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A Novel Hierarchical Sliding Mode Control Strategy for a Two...

第36届中国控制会议

作者： HE Ping WANG Hai LIU Linfeng KONG Huifang YU Ming JIANG Canghua MAN Zhihong Hefei University of Technology Swinburne University of Technology

ISBN: (纸本)9781538629185

This paper develops a hierarchical sliding-mode controller（HSMC） to simultaneously accomplish velocity control and balancing control for a two-wheeled self-balancing vehicle（TWSBV）.Based on the derived TWSBV model,two first-level sliding surfaces,relevant to velocity and position of TWSBV and tilt angle and tilt angular velocity of TWSBV respectively,and a second-level sliding surface,are defined.The asymptotic stability of the designed control system is proved theoretically using Lyapunov stability theory.Simulation results demonstrate that the proposed HSMC has fast and superior velocity tracking and self-balancing performance and strong robustness against partial parameter variations and external disturbances.

关键词： Self-balancing hierarchical sliding-mode controller（HSMC） velocity control robustness