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The safe and stable operation of the large capacity thermal power unit must be seriously affected by the rapidly changed load when the unit participates in peak regulation. This paper takes a domestic 600MW steam turbine unit as an example, sets up a mass-spring model with lumped parameter method and calculates the torsional vibration responses of the shafts with the method combined Riccati transfer...
In this paper, we solve a leader-following problem for second-order integrator systems using only binary relative position and velocity measurements. The leader is allowed to be dynamically evolving with a bounded acceleration which is unknown to any of the followers. By properly choosing the control gains, we prove that despite the fact that only very coarse relative information is available, the...
To improve Maneuver Target Tracking Algorithm, The multi-model intelligent input estimating method based on fuzzy logic is proposed. A fuzzy inference system is constructed with the input of the residual of observation and the residual variation. Then we could get the real-time estimate of the maneuver input of the model according to the output of the system. The algorithm is optimized by the parameter...
This paper introduces a rail length-limited parallel-coupled cart-pendulums system which is one of the morphs from the inverted pendulum family. A swing-up control strategy based on optimization algorithm (pattern search) instead of manual tuning has been proposed for such kind of system to swing the pendulums up cooperating with the original stabilizing controller. The blockset-view of the system...
In the process of pursuing the target, we not only expect the least miss distance, but also a better attitude when the missiles impact the target. The better attitude can effect the power of missiles, and what's more, it can avoid the unnecessary disturbance. For instance, a missile always fails to lock the target owing to the too complicated background while attacking a low-attitude target. The strong...
In this paper, distributed containment control problems of the second-order multi-agent systems under the undirected communication topology are investigated. Based on the LaSalle's Invariance Principle and the control protocols proposed in this paper, some necessary and sufficient conditions for the achievement of containment control are respectively proposed in the presence of multiple stationary...
By introducing the fractional-order difference into the updating formulas of the velocity and position, fractional-order particle swarm optimization algorithm is proposed. The effects on the convergence rate and accuracy are analyzed, by introducing fractional-orders in the updating formulas for the velocity and position. Moreover, the linear increasing methods to adjust the fractional-orders are...
This paper solves the deformation modeling problem of hemispherical resonance gyroscope(HRG) under the acceleration in low frequency. Firstly, the deformation problem is ascribed to the deformation of resonator shell structure, which can be modeled by dynamical equations in theory of thin shell. By solving the dynamic equations, obtain the analytic solution of resonator deformation under acceleration...
The wearing state of the elevator brake coil influences the normal work of the elevator, thus is vital for the safety maintenance of the elevator. This paper introduced an automatic diagnostic method of the coil wearing state through measuring the acceleration curve of the running coil. By applying the algorithm in the real-time inspecting system, the hidden danger of the brake system can be discovered...
A simple and efficient time-based diagonal maze solver for classic and half-size micromouse contesets is presented in this paper. The algorithm is first developed in the graphical user interface development environment (GUIDE) of MATLAB, and then used as a training and tutorial tool for students who are involved in contests oriented projects about intelligent mobile robots. It is also found that the...
The wheeled robots have become the interesting and important training kits for students to learn to integrate those skills about hardware circuit designs, firmware programming, motion control, and path planning techniques in these past days. Therefore, a novel line maze robot kit with diagonal path planning capabilities is presented as an example in this paper to help students. The robot uses a 32-bit...
In this paper, a planar guidance law accounting for second-order dynamics of missile autopilot and impact angle constraints is designed using backstepping method and nonsingular terminal sliding mode control (NTSM). Nonsingular terminal sliding mode was employed to drive the line of sight (LOS) angle to a desired impact angle in finite time without singularity. In backstepping design, some first-order...
Wireless-sensor-network-based home monitoring for elderly activity behavior involves functional assessment of daily activities. In this paper, a mechanism for estimation of elderly postures through various sensors is presented. The data from the triaxial acceleration sensor placed on the waist and the pressure sensors placed under the insoles are consolidated by the coordinator to distinguish the...
In order to prevent the electric vehicle wheels from spinning out on low-friction coefficient [low-μ] roads, the electric vehicle traction control system (TCS) based on active disturbance rejection control (ADRC) is carried out in this paper. Firstly, we set an optimal longitudinal slip ratio as the control target, and consider the motor current and load torque as internal and external disturbance,...
Trajectory planning can ensure the robot arm move smoothly and quickly to the target position and realize the humanoid robot hand grasping. In the paper, we proposed a trajectory planning of the H20 humanoid robot arm based on combination function method. It is composed of cycloid and cosine function with different frequency. The combination of cycloid function and cosine function adopted has solved...
In this paper, a dynamical equation of single rotary inverted pendulum is established, which based on Lagrange equation for the swing-up control problem of single rotary inverted pendulum. The algorithm of energy compensation control is proposed on the basis of this theory, and the experimental device based on DC servo motor during the single rotary inverted pendulum is established. The swing-up control...
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