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Computing and Implementation of a Controlled Telepresence Robot

Intelligent Automation & Soft Computing 2023年第8期37卷 1569-1585页

作者： Ali A.Altalbe Aamir Shahzad Muhammad Nasir Khan Prince Sattam Bin Abdulaziz University Al-Kharj11942Saudi Arabia Faculty of Computing and Information Technology King Abdulaziz UniversityJeddah21589Saudi Arabia Department of Mechanical Engineering The University of LahoreLahore54000Pakistan Department of Electrical Engineering GC University LahoreLahore54000Pakistan

The development of human-robot interaction has been continu-ously increasing for the last *** this development,it has become simpler and safe interactions using a remotely controlled telepresence robot in an insecure and hazardous *** audio-video communication connection or data transmission stability has already been well handled by fast-growing technologies such as 5G and ***,the design of the phys-ical parameters,e.g.,maneuverability,controllability,and stability,still needs ***,the paper aims to present a systematic,controlled design and implementation of a telepresence mobile *** primary focus of this paper is to perform the computational analysis and experimental implementa-tion design with sophisticated position control,which autonomously controls the robot’s position and speed when reaching an obstacle.A system model and a position controller design are developed with root locus *** design robot results are verified experimentally,showing the robot’s agreement and control in the desired *** robot was tested by considering various parameters:driving straight ahead,right turn,self-localization and complex *** results prove that the proposed approach is flexible and adaptable and gives a better *** experimental results show that the proposed method significantly minimizes the obstacle hits.

关键词： Computing telepresence healthcare system position controller mobile robot

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Monte-Carlo Tuning of PMSM Servo System Based on Active-disturbance Rejection controller

Monte-Carlo Tuning of PMSM Servo System Based on Active-dist...

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第36届中国控制会议

作者： ZHENG Wei LIU Wei DONG Wenyan DENG Zhao YANG Yi Beijing Aerospace Automatic Control Research Institute Bejing Rural Commercial Bank Beijing Electromechanical Engineering Institute

Simulation of a permanent magnet synchronous motor（PMSM） servo system which was based on active disturbance rejection controller（ADRC） was presented in this paper.A new Monte-Carlo method for parameter tuning was invented,which was based on different parameter values and their corresponding dynamic ***’s more,according to the simulation results of the servo system,the ADRC controller has advantages of speedy response,no overshoot,high accuracy and strong robustness against parameter variations and load ***,examples were provided to illustrate the effectiveness of the Monte-Carlo 3D tuning method,and it can significantly improve the design efficiency and lower the R＆D cost as well.

关键词： active disturbance rejection controller Monte-Carlo tuning servo system position controller permanent magnet synchronous motor

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Optimal Parameter for Permanent Magnet Linear Servo System Using Load Disturbance Compensation

Optimal Parameter for Permanent Magnet Linear Servo System U...

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第26届中国控制与决策会议

作者： Zhitao Wu Jianying Xu Liancheng Zhu School of Electronics and Information Engineering University of Science and TechnologyLiaoning

In order to meet the high-precision positioning requirements of permanent magnet linear synchronous motor（PMLSM） servo system, a disturbance compensation method of position controller with optimal parameter disturbance compensating controller is proposed. It ensures that the system has a good transient response and a good load disturbance rejection capability. The position controller enhances the tracking performance. The load compensator is a proportional-integral compensator that reduces the influences of the load disturbance. And by using the parseval theorem, its parameters are obtained from an optimization technique that transformed the position deviation amount of performance into the time domain frequency domain performance, and then calculates Rolls- Hurwitz two-dimensional array. The simulation and experimental results show that the proposed compensation method enhances control precision and robustness of the system.

关键词： PMLSM position controller Load Disturbance Compensator and Parseval Theorem

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