Human simulated intelligent control for dynamic walking of biped robot

A human simulated intelligent control scheme based on sensory-motor schema for dynamic walking of biped robot is presented to solve the complex controller design.The dynamics model of a five-link planar biped is established. By imitating human walking movement and apprehending the posture change of the legs, the complex process of dynamic walking for biped robot is divided by four sequence phases. The multi-mode control law and the group of sensory-motor schema are designed based on the analysis of quality-quantity combination to the phase plane. Simulation results show that the proposed control strategy is effective to ensure continuous dynamic walking of biped robot and the control method is simple and easy to be realized.     

The compensation method for the random time-delay of the feedbackchannel and the forward channel in the networked control system

An improved predictive control method is presented to compensate the random time delay in the networked control system. The feedback time delay is compensated by predictive controller based on softened increment input strategy. The forward time delay is unknown for controller, so an extra feedback loop is added to compensate the delay by estimating the error between the actual control signal effected on plant and the output of controller in historical moment. For the controlled system with unknown or slowly varying parameters, the networked feedback correction algorithm is discussed based on a modified recursive least-squares identi cation algorithm. The system stability is analyzed and the simulation results show that the time delay in the networked control system can be accurately compensated. The excellent network performance is ensured with this strategy.     

Human Simulated Intelligence Motion Control for Three-link Acrobot on Horizontal Bar

The design of multi-controller and multi-mode control law is presented for the three-link Acrobot on horizontal bar by employing Human simulated intelligent control method based on sensory-motor Schema.Imitated the characteristics of gymnast's swing-up and handstand movement,the control process of robot is divided by six sequence phase.Then the sensory cell and motor cell and the group of sensory-motor schema is designed based on the analysis of quality-quantity combination.The simulation results show that the controller ensures the gesture and the energy to the desired goal,farther more the motion control of giant swing backword is realized in the simulation.     

Robust adaptive control for nonlinear chaotic systems

Tracking control of a nonlinear uncertain Chua's chaotic system is studied. With coordinate transform, Chua's chaotic system is transformed to a general form of a strict feedback control system. Combining the backstepping method with robust control technology, an adaptive parameter control law for a robust output feedback control scheme is developed for output tracking of nonlinear unknown systems. It is shown that the derived robust adaptive controller based on Lyapunov stability theory can guarantee global uniformly bounded ultimate property for all states of the closed loop system, and lead to tracking error decreasing at exponential speed. The simulation results show the effectiveness of the proposed approach.     

Intelligent Control to the Automatic Cruise System of AMT Vehicle

A dual closed-loop automatic cruise control system is proposed according to the properties of the AMT system with cruise control function inside, which is developod by the authors. The human simulated intelligent fuzzy control is applied to the inner loop of throttle position control while the conventional fuzzy control is applied to the outer loop of vehicle speed control. The scheme of the whole control system and the design process of the controller are presented. The experimental results show that with the proposed dual closed-loop control system, the unstable phenomena of engine speed can be eliminated and the throttle control responses fast without buffeting. Moreover, the system has the advantages of easy manipulation and reliable operation. The controller has the advantages of free of accurate mathematical model and easy to carry out and high robust and so on.     

A Fuzzy Controller with Simulating Human Intelligent Control and Its Simulation Analysis

In the intelligent control system with microprocessor controlling, the development of embedded software requires some simple and practical intelligent control algorithms. The algorithms can not only make the control system's performance good, but also meet the demands of real time control. Aim at the problem, it is presented that a fuzzy controller with simulating human intelligent control. The structure , control algorithms and the simulation results of the controller are given. The simulation and application show that the fuzzy controller with simulating human intelligent control has many advantages such as fast response, less overshoot, good robust. The design of the controller does not need the accuracy math model of controlled object.     

Hierarchical control method of low voltage looped microgrid

The low voltage (LV) looped microgrid has high reliability of power supply and good accessibility of the DG. The medium voltage distribution network with single loop network and multi sectioned & multi linked is studied to analyze the wiring mode of the LV looped microgrid. A research on the two hierarchical control scheme of the looped microgrid is conducted, and the sub microgrid, which meets island operation requirements, is divided according to their segments. Then the incidence matrix is formed based on the connection relation of different segments and components, and the plan for switching the microgrid operation status is concluded from the reform of incidence matrix on the basis of the judgment of island and reconnection segments. A resynchronization strategy using microgrid central controller is proposed. The MATLAB/SIMULINK simulation software is used to analyze the dynamic characteristics of different operation status switching and synchronizing, and the results verify the effectiveness and correctness of the proposed control method.     

A Study on Human Simulation Intelligent Control Algorithm to a Category of Objects

Based on the model of Human Simulation Intelligent Controller (HSIC) presented briefly, a detailed algorithm was described for the servo system control by using the method of HSIC. Simulation results obtained proves the good performance of the control algorithm.     

Control Strategy of DO Parameter Based on Human Simulated Intelligence in the Wastewater Treatment Process

The treatment of wastewater is a complicated biological and chemical process, which can not be described precisely with a mathematical model. It is almost impossible to get a satisfactory control result when a traditional PID control method is adopted, for the parameters of the activated-sludge process are uncertain. The paper takes DO parameter controlling as an example, and proposes a human-simulated intelligent control strategy to reduce the fluctuation problem of DO parameter. Both the control rules and the structure of control system are presented. The simulation experiments shows that the control effect of activated-sludge process by HSIC is much better than PID control.     

Simulating Human Intelligent Fuzzy Control to the Throttle Actuator of AMT

This paper discusses the idea and design procedures of applying the fuzzy controller with simulating human intelligent control to throttle actuator of automobile engine of AMT. It is presented that the structure of electronic-controlled hydraulic throttle actuator, the composition of the control system, the control algorithms and the experiment results of the fuzzy controller with simulating human intelligent control. The experiment results and the application show that applying fuzzy controller with simulating human intelligent control to the electronic-controlled hydraulic throttle actuator can ensure the fast response, the stability and the higher control precision and meet the requirements of the actual application.     

Driver Model of Steering Direction Control for Automobiles

Creating a suitable driver model is one of the most important parts in the closed-loop system of driver-vehicle-road.Several kinds of driver models have been created based on the traditional control theories such as transfer function,optimization control and the compensation control.But owing to the driver's characteristics of nonlinear and time-variable,it's difficult for those proposed driver models to mimic drivers' action.While accounting for the inherent manual control characteristics and limitations of the mankind,the intelligent control methods have been applied in creating driver models based on the fuzzy control,neural networks control and fuzzy-neural networks control theory.     

THE CHARACTERISTICS OF FUZZY AND ADAPTIVE PI COORDINATE DECISION CONTROLLER

On the basis of analysing problems of conventional fuzzy controller in the design of the structure and algorithm, this paper puts forward a kind of control algorithm that is fuzzy and Adaptive PI coordinate decision controller (FACDC) . It adopts the hierarchial control structure imitating intelligent control and combines fuzzy controller and adaptive PI controller. It takes full advantage of two controllers. Since the algorithm of FACDC in model reference fuzzy adaptive algorithm, it avoids the complexity of conventional adaptive algorithm.     

一种基于PLC的高速远程控制果蔬智能分选技术研究

果蔬分选是农业果蔬产后不可缺少的重要环节,以可编程逻辑控制技术为核心的自动化生产线为现代农业的智能化发展提供了新途径.为提高果蔬的分选效率,减少本地分选的人工成本,将数据采集、数据处理、无线通讯、智能控制等技术深度融合,研究一种可远程控制的果蔬智能分选机制,并通过可编程逻辑控制器(PLC)自动化数据采集与机械控制和.NET Core架构的分布式网络控制方法两方面对远程控制分选方案进行研究,配合合适的糖度-质量等果蔬品质模型,实现高速远程在线果蔬智能分选.基于该分选技术的软硬件方案进行试验,对控制策略和分选精确度进行仿真.结果表明,与传统的果蔬分选技术相比,该系统从系统成本、反应速度、分拣精度、管理效率等方面均有优势,果蔬分选精度能达93％以上,可以实现远程故障排查,节省了人工成本,具有推广应用价值.     

Analysis of Unified Power Flow Controller in Damping Low Frequency Oscillation of Power System

With the development and complication of power system, the problem of low frequency oscillation in electric network becomes obvious. Unified Power Flow Controller is one of the most powerful facilities in Flexible AC Transmission Systems, which can improve the transient stability and damp the low oscillation in power system with suitable control. Considering the characteristics of inverter's output voltage magnitude, adjustment of phase and process of charge and discharge of dc capacitance, the dynamic model of UPFC is proposed by a series of nonlinear differential coefficient equations. Based on UPFC's dynamic model, the linear optimal controller of UPFC with state feedback is proposed. In this way, the low frequency oscillation is damped effectively. A simulation is processed basing the theory.     

PID Control for Multivariable System Based on Ameliorative RBF Neural Networks

Aiming at systems which are of characteristics of multi-input and multi-output, nonlinearity and time-variation in the industrial control fields, this paper presents a intelligent PID control method based on ameliorative RBF neural networks, which constructs RBF neural networks identifier on-line and identifies a controlled object on-line by means of adopting the nearest neighbor-clustering algorithm, and adjusts parameters of PID controller on-line and realizes decoupiing control of multivariable, nonlinear and time-variation system. The simulation result indicates that the controller can get parameters which are optimal under some control law, it makes the decoupled system, compared to the PID control method based on the conventional RBF neural networks, has perfect dynamic and static performances, possesses the advantages of high precision, quick response speed and is of great adaptability and robustness.     

Integrate Reset Controlled Three Phase Power Factor Correction

A three phase power factor corrector in continuous current mode is introduced. The control equations are deduced and realized by Integrate reset controller. The integrate reset controller is composed of a integration with reset,a RS flip-flop and a comparator,which is very simple. The integrate reset controlled three phase power factor corrector has these characteristics as follows: Constant frequency operation, which is of advantage of the design of filter;the control circuit is simple and no need for multiplier;The result of simulation proves the correction of theory analysis.     

Intelligent Sliding-mode Control of Switched Reluctance Motor

Base finite element solution for the calculations of flux and torque of Switched Reluctance Motor, the state equation of SRM is thus educed. In addition, according to the fact that it is difficult to attain the ideal effect with the regulatory linear control method because of the double salient pole SRM structure of stator and rotor, fuzzy control is proposed and used in the sliding mode control to form a intelligent sliding mode control. We emphasize the introduction of the design method of the intelligent sliding mode control and present the control diagram. The simulation results show that the method of intelligent sliding mode Variable Structure Control is simple, with good dynamic performance and robust property.     

Optimal Control of Semi-Active Suspensions with ER Shock Absorber

An ER shock absorber with mixed mode is designed and its mathematical model is built. The optimal control method with LQ is applied to semi-active suspension systems in vehicle. A optimal output tuner is designed on basis of 1/4 dynamic model and the characteristics of the ER shock absorber. Its aim function and the weighting parameter matrix are determined. The feedback gain vector is found from solving the Algebraic Equation. The result shows that the optimal controller could not only diminish the body acceleration effectively but also improve the ride and handling characteristics. The construction of the ER shock absorber is reasonable and its performance meets the optimal control requirements of semi-active suspension system under the 3 kV/mm. In additional, the optimal control has low cost and energy consumption as well as rapid response . Such a system can meet with the requirements of semi-active suspension control completely.     

Nonlinearity of Electronic Throttle and Its Control

This paper introduces the development of the electronic throttle control system (ETCS) , the structure and the principle of the system are also involved. After analyzing the nonlinearity problem existing in the mechanical structure of the system, a mathematical model of the ETCS is built up. Then three controllers (PID controller, Fuzzy controller, sliding mode controller) were designed and simulated in the matlab simulink. The result indicates that the PID controller has an overshoot,but the Fuzzy controller and the sliding mode controller can settle the nonlinearity problem better.