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.     

Research on Fuzzy Control Based Two-level Handstand Pendulum System

The two-level handstand pendulum system based on fuzzy control is designed. It is impossible to adopt classical control theory, for the mathematical modeling of the system is nonlinear, the fuzzy control is proposed to improve the former linear control algorithms. For the key to fuzzy control is control rule, it becomes most important to design suitable fuzzy rules. Two methods, one based on experience and the other based on system simulation, are presented to set u Pan effective rule base. The practice proves that the control result is of well stability. A control example for two-level handstand pendulum system shows that the control law is efficient and more robust than the classical state feedback optimal control law with respect to errors produced by the external disturbances.     

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.     

Model predictive control strategy of a medium hybrid electric vehicle

The intense coupled and nonlinear behaviors were observed on the tall long span tower line systems which were under the icing and wind loads in heavy icing areas. A set of stiffness equations of insulator, conductor and boundary conditions was deduced. Taking the ±800 kV UHV DC transmission line from Xiangjiaba to Shanghai as an example, the simplified numerical model of transmission tower, conductor, insulator and constraint was developed. The long span transmission tower line system models under seven loads conditions were analyzed by static nonlinear methods. It was found that the P Δ effect of tower components was small when the covered ice was uniformly distributed. The unbalanced wire loads on the tower would lead to twist effect when the covered ice was uneven distributed. The axial forces, moments at restraint nodes and the longest cantilever member were greatly affected by the P Δ effect, under which the unfavorable effect on the structure should be considered.     

Parameter Simulation on the Control Strategy for a Parallel Hybrid Electric Vehicle by CRUISE

The purpose of a parallel hybrid electric vehicle(PHEV) is for the best energy distribution between internal-combustion engine(ICE) and electric motor though the appropriate control strategy.It can not only keep the advantage of the ultra-low emission of electric vehicles(EV),but also take advantages of the hyperbaric energy of ICE.Simulation model for PHEV is built based on CRUISE,an auxiliary control strategy is designed,and then parameter simulation study on the control strategy is performed.The simulation results show that according to the different control requirements,the vehicle performance can be improved by adjusting!the corresponding control parameters.     

ON THE PROBLEM OF SWITCHING CONDITIONS FOR A KIND OF MINIMUM-TIME CONTROL SYSTEMS

The paper provides a detailed study of switching conditions of minimum-time control systems based on application in engineering. By analysis in theory and experiment, the authors deduce a set of switching conditions with state and control variabes inequality constraints, the variations of system parameters and the time-delay of computer in real time control. As an example, a DC motor speed control system is considered. By digital simulation and physical experiments,these conditions proved to be correct. The method in this paper is also suitable for other control systems using compound control algorithm.     

Hybrid Power Supply Based on One Cycle Control

A hybrid power supply is composed by both a linear and a switching source connected in parallel and it can improve the dynamic response. But the hybrid power supply cant not effectively reject the perturbations in the power supply. A hybrid power supply based on one cycle control theory is proposed in order to improve the capability and the control precision. A switching source based on one cycle control is adopted in the hybrid power supply. The analysis results indicate that the hybrid power supply can effectively reject the perturbations in the power supply. And the analysis results also show that not only the control precision is improved, but also the control circuit is simple. The simulation resuits given verify the correctness and effectiveness of the proposed method.     

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.     

Nonlinear Predictive Control of Small Sag cable with Axial Displacement

An approach for the control of a small sag cable is presented.The approach is based on a nonlinear predictive control scheme that determines the required axial displacement input so that the predicted response match the desired Results.It is accomplished by minimizing the norm squared local errors between the predicted and desired values.Finally simulation results that use the new control strategy to demonstrate the effective are show.     

One Auto-optimized Fuzzy Control of Car-engines Based on GA

One new auto-optimized fuzzy control model of car-engines based on genetic arithmetic was introduced aiming at the problem that the parameters of car-engine are of the discreteness, the nonlinear and the uncertain characteristics, with which it is difficult to control accurately the excess air coefficient and the spark advance angle in dynamic procedure when using a conventional control model. The rule of the design scheme of the controller achieving the model based on embedded operating system is discussed. Further more, it is probed that the fuzzy control parameters are optimized automatically using GA based on on-line real-time simulation. The results of experiments show that the dynamic indexes and the fuel economy indexes are all improved greatly and the advantage of the model on reducing fuel consumption is obvious.     

A Control Algorithm to Regulate the Active and Reactive Power and Simulation Research of Dual-frequency Dual-Buck Inverter

This paper deduceS the control algorithm ,which can both regulate the active and reactive power of the novel dual-frequency dual-Buck inverter, and the control function. The control function based on one cycle control can control the AC-side active and reactive power by simple circuit. The simulation is given and the results prove the validity of the theory analysis. This inverter is valuable for the research of grid-connected inverters.     

A Kind of Fuzzy System Modelling and Control Based on Neural Networks

Combining artificial neural networks(ANN) with fuzzy system theory,a kind of modelling & control method of fuzzy system based on ANN is presented.The simulation researches have verified that the proposed approach can be applied effectively to a number of control systems which are defficult to build strict mathematical model.     

The Adaptive Robust Control Based On Synthetical Algorithm

An adaptive robust control based on synthetical algorithm was presented in this paper. The main character is to put the expert knowledge into parameter identification to realize the robust estimation, and combine the generalised minimum variance control with the pole assignment control for improving the robustness of the controller. Numerical simulation has proved that the control scheme suggested by authors quite prevailed over the general adaptive controller in control effects.     

Control Method of Single-phase APF

As one-cycle controlled single-phase active power filter(APF) only can compensate harmonics and reactive currents simultaneously,this paper detects circuit based on instantaneous reactive theory and current traces control circuit based on one-cycle control with harmonic current.The control equations and circuit are set up.The results of simulation verify that this scheme is effective and APFs can compensate harmonic and reactive current according to requirement with the distorted source voltages.     

Coordinated torque control strategy for driving-mode-switch of strong hybrid electric vehicle

For a new type of strongly hybridized system, the vehicle ride performance is used as the study goal, a coordinated control strategy is put forward to suppress the torque surge after the analysis of the parameters changes of engine, motor, clutch and transmission during the driving-mode-switch process. The strongly hybridized vehicle simulation model is developed based on the coordinated control strategy. The typical drive mode switching process performance simulation and analysis are performed. The results show that introducing the coordinated control strategy reduces the torque surge during the driving-mode-switch process and improves the vehicle drivability.     

Research on the improvement of the convergencespeed for CDMA system power control

Optimal power control with game-theory has been a hot research topic in code division multiple access (CDMA) system. However, the convergence speed of the power control algorithm based on traditional static game-theory is not fast enough and the power fluctuation is large during the iterative process. In order to solve this problem, dynamic game-theory is introduced into CDMA system power control algorithm. The simulation results show that the proposed algorithm, compared with the distributed power control algorithm based on the traditional static game theory, can improve the convergence speed obviously with the same power spending.     

Dynamic Optimum Control and Simulation of EGCS Based on the Field Knowledge

The authors study on Elevator Group Control System(EGCS) based on the field knowledge, the dynamic optimum control method is proposed and the analysis and design models facing the object are built. Using the MFC frame construction in VC, simulation is proceeded successfully to the EGCS with dynamic optimum control. And contrasting the general method assigning the signals invoked inside the hall at the same condition, the method gets the satisfied control result.     

搭载机电控制无级变速器混合动力汽车模式切换仿真分析

通过分析机电控制无级变速器(electrical-mechanical continuously variable transmission,EM-CVT)的结构特点,提出了搭载EM-CVT混合动力汽车的传动方案,建立了动力源数值模型、EM-CVT模型,分析了混合动力系统工作模式,并针对模式切换时的冲击问题,以减小冲击度为目标,通过分析典型工况下动力源输出转矩特性和各部件的动态特性,提出了基于发动机、ISG电机、自动离合器以及EM-CVT相互协调控制策略。利用MATLAB/SIMULINK仿真平台建立混合动力传动系统动力学模型,并对典型的模式切换过程进行了仿真分析。结果表明,所提出的控制策略能够有效控制混合动力传动系统在模式切换时产生的冲击,提高了混合动力汽车的驾驶舒适性。     

An Excitative Control in Operating Process for Synchronous Motor

Aimed at the excitative control for synchronous motor, based on main adjust for power factor and aided adjust for power angle,a kind of new control strategy is presented in this paper. In the steady running,the excitation current will be adjusted in keep. power factor constant,and in dynamic running,it will be calibrated by means of power angle when the disturbance happened.For specified object,the improved algorithm of artificial intelligence controller is also presented in the paper,the simulation result shows that the control algorithm is satisfactory.     

Research to Algorithms of the Regulators in Digital Control System

The R S T algorithms structures of usual digital regulator are researched and the results are given. It has solved the problem of relationship between the digital regulator and dynamical characterization of system. It is a direct and quick algorithm of the digital regulator based on the characteristic equation of control system. This algorithm is especially suitable for numerical simulation of control system which contains digital regulator.[WT5HZ]