Fuzzy Self-tuning Tracking Differentiator for Motion Measurement Sensors and Application in Wide-Bandwidth High-accuracy Servo Control

Gao, Yang; Tian, Dapeng; Wang, Yutang

doi:10.3390/s20030948

Cited by 8 publications

(8 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…It can be concluded that the velocity loop bandwidth is related to the load inertia rate, encoder accuracy, speed controller gain, velocity estimation algorithm, and so on, based on theoretical and experimental analysis. 29 The load inertia rate should be controlled at about 1 when selecting the motor. Too high a load inertia rate limits physical bandwidth, causing significantly increased loss of the guide bar during acceleration and deceleration.…”

Section: Optimization Of Velocity Loop Bandwidthmentioning

confidence: 99%

Design of warp knitting electronic shogging system based on mixed-velocity planning curve

Zheng

Jiang

Dong

et al. 2021

Textile Research Journal

View full text Add to dashboard Cite

To realize high-speed running of a warp knitting machine, the shogging motion should not only meet the requirement of high dynamic response but should also satisfy high positioning accuracy. Due to the large location disturbance and the dynamic response delay in the interpolation method or the single velocity planning curve method, an electronic shogging system for a warp knitting machine based on the mixed-velocity planning curve is proposed in the present study. Through the analysis of the shogging motion combined with the knitted structure, the optimal resolution of the instruction signal is calculated, which is 725 pulses for one needle step, and the velocity loop bandwidth of the servo driver is optimized. In addition, the motor with a load inertia ratio close to 1 is also selected. Analysis of the shogging motion vibration curve confirms that the shogging motion has advantages of high positioning accuracy and high dynamic response under the mixed-velocity planning curve. The response performance with the mixed curve is 12.5% higher than that with the quintic polynomial, and the positioning accuracy of the mixed curve is 26% higher than that with uniform acceleration–deceleration curve.

show abstract

Section: Optimization Of Velocity Loop Bandwidthmentioning

confidence: 99%

Design of warp knitting electronic shogging system based on mixed-velocity planning curve

Zheng

Jiang

Dong

et al. 2021

Textile Research Journal

View full text Add to dashboard Cite

show abstract

“…By substituting the relationships described in Equation (18) into Equations (16) and (17) and neglecting the gyroscopic effects of the quadrotor, the system can be expressed as follows:…”

Section: Backstepping Controlmentioning

confidence: 99%

“…Quadrotors have very simple mechanics since the control of their position is determined by the changes in speed in their motors and they are used when high maneuverability is required, since they are capable of moving in any direction or flying at low speeds. Due to the complexity of the system, different algorithms have been developed to achieve autonomous control in Unmanned Aerial Vehicles, using techniques from linear control methodologies with PID [10,11], to nonlinear control techniques 2 of 24 such as Feedback Linearization control, model predictive control, adaptive control approaches [12], fail-safe methodologies based on sliding mode control theory and backstepping control [13,14], combinations such as Adaptive Sliding Backstepping Control [15][16][17], diffuse control in the proposal of Geometric Control [18,19], Nonlinear Dynamic In-version (NDI) Control [20], the Robust Generalized Dynamic Inversion (RGDI) Quadcopter Control System [21] and the Neural Network Control System of UAV Altitude Dynamics [22][23][24][25]; most of these state-of-the-art nonlinear and adaptive control techniques for quadrotors were discussed by Hongwei and Ghulam.…”

Section: Introductionmentioning

confidence: 99%

Genetic Algorithm-Based Tuning of Backstepping Controller for a Quadrotor-Type Unmanned Aerial Vehicle

et al. 2020

View full text Add to dashboard Cite

Backstepping is a control technique based on Lyapunov’s theory that has been successfully implemented in the control of motors and robots by several nonlinear methods. However, there are no standardized methods for tuning control gains (unlike the PIDs). This paper shows the tuning gains of the backstepping controller, using Genetic Algorithms (GA), for an Unmanned Aerial Vehicle (UAV), quadrotor type, designed for autonomous trajectory tracking. First, a dynamic model of the vehicle is obtained through the Newton‒Euler methodology. Then, the control law is obtained, and self-tuning is performed, through which we can obtain suitable values of the gains in order to achieve the design requirements. In this work, the establishment time and maximum impulse are considered as such. The tuning and simulations of the system response were performed using the MATLAB-Simulink environment, obtaining as a result the compliance of the design parameters and the correct tracking of different trajectories. The results show that self-tuning by means of genetic algorithms satisfactorily adjusts for the gains of a backstepping controller applied to a quadrotor and allows for the implementation of a control system that responds appropriately to errors of different magnitude.

show abstract

“…However, the complex dynamic characteristics and the signal characteristics of high-amplitude interference are not analyzed. Aiming at the problem of parameter adjustment, Gao et al 12 proposed a tracking differentiator that can adjust parameters adaptively. The frequency information is used to realize the trade-off between noise suppression and phase lag, which improves the High-frequency signal tracking ability.…”

Section: Introductionmentioning

confidence: 99%

Research on velocity measurement and relative positioning method of maglev train based on multi-sensor information fusion

Peng

Dou

2022

Measurement and Control

View full text Add to dashboard Cite

This paper focuses on the optimal method of the non-contact velocity measurement and relative positioning system for medium and low speed maglev trains. By analyzing the working principle of the velocity measurement method based on counting sleepers and analyzing the speed system error and random error model, it is shown that the velocity measurement accuracy based on the counting sleeper speed measurement method needs to be further improved. Therefore, a method of using multi-sensor information fusion is proposed to improve the accuracy of velocity measurement and relative positioning. Firstly, aiming at the disturbance problem of traction, braking and suspension vibration in the attitude angle calculation and the cumulative error problem of attitude angle, a posture solution method combining the optimized second-order complementary filter and the velocity adaptation Unscented Kalman filter with maximum noise reduction is proposed; Then, in order to further reduce the accumulated error of the attitude angle and the high performance requirements of the gyroscope, the bias instability of the gyroscope is analyzed, and an adaptive wavelet de-noising algorithm based on threshold optimization is proposed; Finally, to weaken the colored noise interference caused by the suspension vibration and to weaken the velocity accumulation error, a fusion velocity measurement and positioning algorithm of multi-loop Kalman filter with acceleration fusion correction and velocity accumulation error correction is researched. The effectiveness of the proposed fusion method is verified through simulation comparison analysis and on-board engineering test. Compared with the velocity measurement method based on counting sleepers, the velocity measurement accuracy is improved by an order of magnitude, and its accuracy is comparable to the high-precision velocity measurement method based on the induction loop and GPS/INS. It has certain engineering applicability and application value.

show abstract

Fuzzy Self-tuning Tracking Differentiator for Motion Measurement Sensors and Application in Wide-Bandwidth High-accuracy Servo Control

Cited by 8 publications

References 17 publications

Design of warp knitting electronic shogging system based on mixed-velocity planning curve

Design of warp knitting electronic shogging system based on mixed-velocity planning curve

Genetic Algorithm-Based Tuning of Backstepping Controller for a Quadrotor-Type Unmanned Aerial Vehicle

Research on velocity measurement and relative positioning method of maglev train based on multi-sensor information fusion

Contact Info

Product

Resources

About