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In this paper, a novel embedded servo controller is design and implemented for 6-DOF motion system which adopts the multi-agent concept and rapid control prototyping technology. Through using multi-agent concept, the control system of 6-DOF motion system is divided into several cooperated controller agents with natural hierarchy. And the embedded servo controller is designed as an agent controller...
Centrifuge shaker is deemed as one of the most advanced and effective experiment equipment in geotechnical anti-earthquake field. In this paper, we pay close attention to three key technical issues encountered in the construction process of Chinese largest uniaxial centrifuge shaker, including the dynamic coupling characteristic between light-flexible base, hydraulic power element and soil model,...
Tracking robot conventional PID parameters can not be dynamically adjusted, poor stability, large overshoot and other issues, the experts proposed a PID controller, which can adjust the PID parameters in real time based on expert knowledge and experience, experiment and simulation results show the controller has good control characteristics and robustness, in addition, the controller is simple structure,...
This paper proposes a dynamic partial reconstruction multicast routing algorithm (DPRA-MAODV), based on the analysis of MAODV agreement, combine with the dynamic partial reconstruction protocol. The creative use of the concept "event trigger", efficient implementation of partial reconstruction operation about the dynamic multicast tree in Ad hoc network, to optimize the total cost of the...
A digital controller based on DSP was proposed for electrohydraulic motion simulator. This digital controller not only offered an integral solution for position servo system in motion simulator, but also benefited to illustrate how to combine MAS methodology with RCP technology in complex control system design. By applying MAS methodology, motion simulator's control system was partitioned into cooperated...
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