A practical study of active disturbance rejection control for rotary flexible joint robot manipulator

Bilal, Hazrat; Yin, Baoqun; Aslam, Muhammad Shamrooz; Anjum, Zeeshan; Rohra, Avinash; Wang, Yizhen

doi:10.1007/s00500-023-08026-x

Cited by 104 publications

(3 citation statements)

References 26 publications

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“…The ESO conducts real-time tracking estimation and compensation for uncertain nonlinear factors, as well as internal and external disturbances in the controlled system, to enhance the system's anti-disturbance capability and positional accuracy. The NLSEF integrates error signals to create a unified control law [30][31][32]. Figure 4 displays the structure of ADRC.…”

Section: Pitch Angular Velocity and Acceleration Limited Adrc Designmentioning

confidence: 99%

Electro-Hydraulic Servo-Pumped Active Disturbance Rejection Control in Wind Turbines for Enhanced Safety and Accuracy

Zhang,

Yu,

et al. 2024

Processes

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Aiming at the high accuracy and high robustness position control of servo pump control in the pitch system of a wind turbine generator, this paper proposes an active disturbance rejection controller (ADRC). The ADRC considers pitch angular velocity and acceleration limits. According to the kinematics principle of the pump-controlled pitch system, the relationship between the pitch angular velocity and acceleration limit and the displacement of the hydraulic cylinder is established. Through the method of theoretical analysis, the nonlinear relationship expression between pitch angle and hydraulic cylinder displacement is obtained, and the linearization of pitch angular velocity control is realized; the formula for b0 (the estimated value of the input gain of the system) of the pump-controlled pitch system is obtained by the method of modeling and analysis, b0 is the key parameter for the design of the ADRC; the stability of the controller parameters is proved through the stability analysis and simulation analysis, and the design of the self-immobilizing controller with pitch angular velocity and acceleration limitation is the completed ADRC design. Finally, a joint simulation platform of AMESim and MATLAB as well as a physical experiment platform of electro-hydraulic servo pump-controlled pitch control is constructed, and the effectiveness of the proposed control method is verified through simulation and experiment. The results show that compared with the unrestricted ADRC and PID, the velocity-acceleration-limited ADRC can effectively improve the control effect of the angular velocity and acceleration of the paddle, smooth the startup process, improve the safety of the system, and have better position control accuracy and anti-jamming ability.

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Section: Pitch Angular Velocity and Acceleration Limited Adrc Designmentioning

confidence: 99%

Electro-Hydraulic Servo-Pumped Active Disturbance Rejection Control in Wind Turbines for Enhanced Safety and Accuracy

Zhang,

Yu,

et al. 2024

Processes

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“…Moreover, it takes the shortest time in the whole iterative evolution process, and the average time of each generation in the same iterative evolution is also the shortest. Therefore, the improved niche genetic algorithm has relatively good convergence performance and the lowest running time complexity of the algorithm [36,37]. Its relatively stable convergence is also an optimization of the traditional algorithm, and it is not easily influenced by some excellent individuals, which makes the evolutionary direction move in the opposite direction or in a direction unfavorable to the population evolution, which leads to premature falling into a certain local cycle, thus reducing the diversity of the new generation of individuals, and even the whole population will be quickly covered by a large number of these excellent individuals, resulting in a fast stable state, as shown in Figure 2.…”

Section: Intelligent Building Control Systemmentioning

confidence: 99%

Enhancing Energy Efficiency by Improving Internet of Things Devices Security in Intelligent Buildings via Niche Genetic Algorithm-Based Control Technology

Liang,

Xing,

2023

Applied Sciences

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The security measures of IoT devices used in intelligent buildings are one of the ways by which energy efficiency can be accomplished. IoT devices are very important for data collecting and monitoring in intelligent buildings, but a lack of security could result in errors in energy consumption decisions that result in energy waste. To ensure the success of the control systems used for energy optimization, it is necessary to address the security of IoT devices in order to avoid illegal access, data manipulation, and disruptions. This work proposes a research idea and scheme for energy-saving optimization of intelligent buildings by assuring the security of IoT devices used in intelligent buildings. First of all, we defined several parameters that are related to IoT devices’ security, energy consumption, and occupant comfort in the intelligent building environment. Secondly, we collected data for each of these parameters by utilizing IoT devices such as actuators, sensors, and other control systems. The niche genetic algorithm (NGA) refers to a particular class of genetic algorithms that is used to tackle problems involving many optimization objectives. We focused on optimizing both energy consumption and occupants’ comfort; therefore, we used an NGA for the preprocessed data with the goal of evaluating the data for the purpose of ensuring the comfort of occupants and protection of the security of IoT devices, which eventually leads to energy optimization. Finally, the results of the proposed approach are analyzed and carefully compared with earlier work, demonstrating that our proposed approach is significantly more effective and energy-optimized than earlier approaches. The results show that the total power consumption of the intelligent building system after using our proposed model is generally reduced by more than 18% compared with that before optimization, which shows that the intelligent building system-adaptive optimization control model can effectively optimize the operating parameters of the energy-saving system and achieve the security of IoT devices.

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“…In today's era of the 4.0 industrial revolution, robots are becoming increasingly popular [1][2][3] and manipulator robots, in particular, have found wide applicability across various industries [4][5][6], including the wall brick production lines. Traditionally, taking bricks has been a labor-intensive task requiring manual effort and precision.…”

Section: Introductionmentioning

confidence: 99%

An Effective Method for the Detection of Wall Brick Defects using Machine Vision

Tran,

Le,

2024

Eng. Technol. Appl. Sci. Res.

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The production lines for wall bricks have achieved a high level of automation. Most brick production lines in developing countries have automated the steps up to placing the bricks in the kiln. However, the manual loading and unloading of bricks after firing still remains. This manual process reduces labor productivity and increases the cost of the final product. To address this issue, this study aims to utilize machine vision algorithms to detect cracks in bricks, thereby facilitating the automation of the brick loading and unloading process. A comprehensive image processing method is developed, which combines square detection and moment algorithms to analyze image properties. This integrated approach enables the accurate detection of cracks and the determination of their respective areas, ensuring precise and reliable results. By detecting defects in the bricks, we can replace faulty ones and employ robots to automatically handle rows of bricks. The study's results demonstrate the proposed method's ability to accurately identify brick defects. These findings are significant as they contribute to the automation of brick loading and unloading, which can be implemented in large-scale brick factories, leading to a safer and more efficient working environment.

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A practical study of active disturbance rejection control for rotary flexible joint robot manipulator

Cited by 104 publications

References 26 publications

Electro-Hydraulic Servo-Pumped Active Disturbance Rejection Control in Wind Turbines for Enhanced Safety and Accuracy

Electro-Hydraulic Servo-Pumped Active Disturbance Rejection Control in Wind Turbines for Enhanced Safety and Accuracy

Enhancing Energy Efficiency by Improving Internet of Things Devices Security in Intelligent Buildings via Niche Genetic Algorithm-Based Control Technology

An Effective Method for the Detection of Wall Brick Defects using Machine Vision

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