A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical-use. This paper pr...A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical-use. This paper presents an adaptive proportional integral differential （PID） control algorithm based on radial basis function （RBF） neural network for trajectory tracking of a two-degree-of-freedom （2-DOF） closed-chain robot. In this scheme, an RBF neural network is used to approximate the unknown nonlinear dynamics of the robot, at the same time, the PID parameters can be adjusted online and the high precision can be obtained. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories. The results also indicate that the system robustness and tracking performance are superior to the classic PID method.展开更多
Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion ...Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion integration differentiation(PID)was proposed by analyzing the signal transmission process and the dynamic characteristics of the grinding mechanism.The simulation results showed that compared with the classical PID control strategy,the system adjustment time was shortened by 98.7%,the overshoot was reduced by 5.1%,and the control error was 0.2%-0.5%when the system was stabilized.The optimized fuzzy control system had fast adjustment speeds,precise force control and stability.The experimental analysis of the surface morphology of the machined blade was carried out by the industrial robot abrasive grinding mechanism,and the correctness of the theoretical analysis and the effectiveness of the control strategy were verified.展开更多
The quantum bacterial foraging optimization(QBFO)algorithm has the characteristics of strong robustness and global searching ability. In the classical QBFO algorithm, the rotation angle updated by the rotation gate is...The quantum bacterial foraging optimization(QBFO)algorithm has the characteristics of strong robustness and global searching ability. In the classical QBFO algorithm, the rotation angle updated by the rotation gate is discrete and constant,which cannot affect the situation of the solution space and limit the diversity of bacterial population. In this paper, an improved QBFO(IQBFO) algorithm is proposed, which can adaptively make the quantum rotation angle continuously updated and enhance the global search ability. In the initialization process, the modified probability of the optimal rotation angle is introduced to avoid the existence of invariant solutions. The modified operator of probability amplitude is adopted to further increase the population diversity.The tests based on benchmark functions verify the effectiveness of the proposed algorithm. Moreover, compared with the integerorder PID controller, the fractional-order proportion integration differentiation(PID) controller increases the complexity of the system with better flexibility and robustness. Thus the fractional-order PID controller is applied to the servo system. The tuning results of PID parameters of the fractional-order servo system show that the proposed algorithm has a good performance in tuning the PID parameters of the fractional-order servo system.展开更多
Beer fermentation process is a complex biochemical reaction process.It is the most important to control temperature of the wort in fermentation tank in accordance with the beer fermentation temperature curve so as to ...Beer fermentation process is a complex biochemical reaction process.It is the most important to control temperature of the wort in fermentation tank in accordance with the beer fermentation temperature curve so as to ensure the completion of fermentation.The controlled object is characterized by large inertia,long time delay and mutual coupling of three temperature areas.Based on this,a temperature control method for beer fermentation system is designed.Using digital incremental proportion integration differentiation （PID） control algorithm,the controlled quantity is transmitted to the controlled object after diagonal matrix decoupling.This simulation system can be completed in laboratory using VB and Kingview software,so it has the features of good security and low cost.It is very suitable for experimental teaching.展开更多
Dynamic analysis of scissor hydraulic lift platform has been performed to invest/gate the key factors which determine size and shape of the platfolan. By using MATLAB, the position of hydraulic cylinder has been optim...Dynamic analysis of scissor hydraulic lift platform has been performed to invest/gate the key factors which determine size and shape of the platfolan. By using MATLAB, the position of hydraulic cylinder has been optimized to reduce jacking force of piston and the whole system. Thus structure deformation decreases which is beneficial to control accuracy. Additionally, a new proportion integration differentiation （PID） control mode based on BP neural network has been developed to improve the stability and accuracy for the pasitio^L control in this system. Compared with existing PID tuning meth~~ls and fuzzy self-adjusted PID controllers, the proposed back propagation （BP） based PID controller can achieve better performance for a wide range of complex processes and realize self-tuning of parameters. It was confirmed that the performance of the lift platform regarding the force variation and position accuracy was greatly enhanced by optimizing of the system both in structure and control. Considerable economic benefit can also be achieved thrangh the application of this intelligent PID system.展开更多
With consideration to the acid gas incinerator burned and the problems identified during its application, renovation program has been proposed. According to the new design, draught burners with automatic control syste...With consideration to the acid gas incinerator burned and the problems identified during its application, renovation program has been proposed. According to the new design, draught burners with automatic control system shall be used to eliminate problems encountered during application of original burner. In addition to implement automatic control of combustion processes, the new system may minimize labor intensity and enhance safety of facilities.展开更多
Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed contr...Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.展开更多
Popularity plays a significant role in the recommendation system. Traditional popularity is only defined as a static ratio or metric (e.g., a ratio of users who have rated the item and the box office of a movie) regar...Popularity plays a significant role in the recommendation system. Traditional popularity is only defined as a static ratio or metric (e.g., a ratio of users who have rated the item and the box office of a movie) regardless of the previous trends of this ratio or metric and the attribute diversity of items. To solve this problem and reach accurate popularity, we creatively propose to extract the popularity of an item according to the Proportional Integral Differential (PID) idea. Specifically, Integral (I) integrates a physical quantity over a time window, which agrees with the fact that determining the attributes of items also requires a long-term observation. The Differential (D) emphasizes an incremental change of a physical quantity over time, which coincidentally caters to a trend. Moreover, in the Session-Based Recommendation (SBR) community, many methods extract session interests without considering the impact of popularity on interest, leading to suboptimal recommendation results. To further improve recommendation performance, we propose a novel strategy that leverages popularity to enhance the session interest (popularity-aware interest). The proposed popularity by PID is further used to construct the popularity-aware interest, which consistently improves the recommendation performance of the main models in the SBR community. For STAMP, SRGNN, GCSAN, and TAGNN, on Yoochoose1/64, the metric P@20 is relatively improved by 0.93%, 1.84%, 2.02%, and 2.53%, respectively, and MRR@20 is relatively improved by 3.74%, 1.23%, 2.72%, and 3.48%, respectively. On Movieslen-1m, the relative improvements of P@20 are 7.41%, 15.52%, 8.20%, and 20.12%, respectively, and that of MRR@20 are 2.34%, 12.41%, 20.34%, and 19.21%, respectively.展开更多
For complex systems with high nonlinearity and strong coupling,the decoupling control technology based on proportion integration differentiation(PID)neural network(PIDNN)is used to eliminate the coupling between loops...For complex systems with high nonlinearity and strong coupling,the decoupling control technology based on proportion integration differentiation(PID)neural network(PIDNN)is used to eliminate the coupling between loops.The connection weights of the PIDNN are easy to fall into local optimum due to the use of the gradient descent learning method.In order to solve this problem,a hybrid particle swarm optimization(PSO)and differential evolution(DE)algorithm(PSO-DE)is proposed for optimizing the connection weights of the PIDNN.The DE algorithm is employed as an acceleration operation to help the swarm to get out of local optima traps in case that the optimal result has not been improved after several iterations.Two multivariable controlled plants with strong coupling between input and output pairs are employed to demonstrate the effectiveness of the proposed method.Simulation results show t hat the proposed met hod has better decoupling capabilities and control quality than the previous approaches.展开更多
The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller to ensure smooth walk of the ...The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller to ensure smooth walk of the biped robot. It is important to note that the success of the developed proportion integration differentiation （PID） controller depends on the selected gains of the controller. In the present study, an attempt is made to tune the gains of the PID controller for the biped robot ascending and descending the stair case and sloping surface with the help of two non-traditional optimization algorithms, namely modified chaotic invasive weed optimization （MCIWO） and particle swarm optimization （PSO） algorithms. Once the optimal PID controllers are developed, a simulation study has been conducted in computer for obtaining the optimal tuning parameters of the controller of the biped robot. Finally, the optimal gait angles obtained by using the best controller are fed to the real biped robot and found that the biped robot has successfully negotiated the said terrains.展开更多
A digitally controlled pulse width modulation/pulse skip modulation （PWM/PSM） dual-mode buck DC/DC converter is proposed. Its operation mode can be automatically chosen as continuous conduction mode （CCM） or disco...A digitally controlled pulse width modulation/pulse skip modulation （PWM/PSM） dual-mode buck DC/DC converter is proposed. Its operation mode can be automatically chosen as continuous conduction mode （CCM） or discontinuous conduction mode （DCM）. The converter works in PSM at DCM and in 2 MHz PWM at CCM. Switching loss is reduced at a light load by skipping cycles. Thus high conversion efficiency is realized in a wide load current. The implementations of PWM control blocks, such as the ADC, the digital pulse width modulator （DPWM） and the loop compensator, and PSM control blocks are described in detail. The parameters of the loop compensator can be programmed for different external component values and switching frequencies, which is much more flexible than its analog rivals. The chip is manufactured in 0.13 μm CMOS technology and the chip area is 1.21 mm^2. Experimental results show that the conversion efficiency is high, being 90% at 200 mA and 67% at 20 mA. Meanwhile, the measured load step response shows that the proposed dual-mode converter has good stability.展开更多
基金Project supported bY the National Natural Science Foundation of China （Grant No.50375085）, and the Natural Science Foundation of Shandong Province （Grant No.Y2002F13）
文摘A closed-chain robot has several advantages over an open-chain robot, such as high mechanical rigidity, high payload, high precision. Accurate trajectory control of a robot is essential in practical-use. This paper presents an adaptive proportional integral differential （PID） control algorithm based on radial basis function （RBF） neural network for trajectory tracking of a two-degree-of-freedom （2-DOF） closed-chain robot. In this scheme, an RBF neural network is used to approximate the unknown nonlinear dynamics of the robot, at the same time, the PID parameters can be adjusted online and the high precision can be obtained. Simulation results show that the control algorithm accurately tracks a 2-DOF closed-chain robot trajectories. The results also indicate that the system robustness and tracking performance are superior to the classic PID method.
基金Civil Project of China Aerospace Science and Technology CorporationUniversity-Industry Collaborative Education Program of Ministry of Education of China(No.220906517214433)。
文摘Aiming at solving the problems of response lag and lack of precision and stability in constant grinding force control of industrial robot belts,a constant force control strategy combining fuzzy control and proportion integration differentiation(PID)was proposed by analyzing the signal transmission process and the dynamic characteristics of the grinding mechanism.The simulation results showed that compared with the classical PID control strategy,the system adjustment time was shortened by 98.7%,the overshoot was reduced by 5.1%,and the control error was 0.2%-0.5%when the system was stabilized.The optimized fuzzy control system had fast adjustment speeds,precise force control and stability.The experimental analysis of the surface morphology of the machined blade was carried out by the industrial robot abrasive grinding mechanism,and the correctness of the theoretical analysis and the effectiveness of the control strategy were verified.
基金supported by the National Natural Science Foundation of China(6137415361473138)+2 种基金Natural Science Foundation of Jiangsu Province(BK20151130)Six Talent Peaks Project in Jiangsu Province(2015-DZXX-011)China Scholarship Council Fund(201606845005)
文摘The quantum bacterial foraging optimization(QBFO)algorithm has the characteristics of strong robustness and global searching ability. In the classical QBFO algorithm, the rotation angle updated by the rotation gate is discrete and constant,which cannot affect the situation of the solution space and limit the diversity of bacterial population. In this paper, an improved QBFO(IQBFO) algorithm is proposed, which can adaptively make the quantum rotation angle continuously updated and enhance the global search ability. In the initialization process, the modified probability of the optimal rotation angle is introduced to avoid the existence of invariant solutions. The modified operator of probability amplitude is adopted to further increase the population diversity.The tests based on benchmark functions verify the effectiveness of the proposed algorithm. Moreover, compared with the integerorder PID controller, the fractional-order proportion integration differentiation(PID) controller increases the complexity of the system with better flexibility and robustness. Thus the fractional-order PID controller is applied to the servo system. The tuning results of PID parameters of the fractional-order servo system show that the proposed algorithm has a good performance in tuning the PID parameters of the fractional-order servo system.
基金Shandong Province Department of Education Science and Technology Program(No.J05C11)
文摘Beer fermentation process is a complex biochemical reaction process.It is the most important to control temperature of the wort in fermentation tank in accordance with the beer fermentation temperature curve so as to ensure the completion of fermentation.The controlled object is characterized by large inertia,long time delay and mutual coupling of three temperature areas.Based on this,a temperature control method for beer fermentation system is designed.Using digital incremental proportion integration differentiation （PID） control algorithm,the controlled quantity is transmitted to the controlled object after diagonal matrix decoupling.This simulation system can be completed in laboratory using VB and Kingview software,so it has the features of good security and low cost.It is very suitable for experimental teaching.
文摘Dynamic analysis of scissor hydraulic lift platform has been performed to invest/gate the key factors which determine size and shape of the platfolan. By using MATLAB, the position of hydraulic cylinder has been optimized to reduce jacking force of piston and the whole system. Thus structure deformation decreases which is beneficial to control accuracy. Additionally, a new proportion integration differentiation （PID） control mode based on BP neural network has been developed to improve the stability and accuracy for the pasitio^L control in this system. Compared with existing PID tuning meth~~ls and fuzzy self-adjusted PID controllers, the proposed back propagation （BP） based PID controller can achieve better performance for a wide range of complex processes and realize self-tuning of parameters. It was confirmed that the performance of the lift platform regarding the force variation and position accuracy was greatly enhanced by optimizing of the system both in structure and control. Considerable economic benefit can also be achieved thrangh the application of this intelligent PID system.
文摘With consideration to the acid gas incinerator burned and the problems identified during its application, renovation program has been proposed. According to the new design, draught burners with automatic control system shall be used to eliminate problems encountered during application of original burner. In addition to implement automatic control of combustion processes, the new system may minimize labor intensity and enhance safety of facilities.
基金Supported by the National High Technology Research and Development Programme of China(No.2015AA8082065)the National Natural Science Foundation of China(No.61205143)
文摘Dynamic characteristics and tracking precision are studied in the photoelectric tracking system and a linear active disturbance rejection control( LADRC) scheme is proposed for position loop. A current and speed controller is designed by a transfer function model,which is obtained by adaptive differential evolution. Model error,friction and nonlinear factor existing in position loop are treated as ‘disturbance',which is estimated and compensated by generalized proportional integral( GPI)observer. Comparative results are provided to demonstrate the remarkable performance of the proposed method. It turns out that the proposed scheme is successful and has superior features,such as quick dynamic response,low overshoot and high tracking precision. Furthermore,with the proposed method,friction is suppressed effectively.
基金supported by the National Natural Science Foundation of China(No.62276278)Guangdong Basic and Applied Basic Research Foundation(No.2022A1515110006).
文摘Popularity plays a significant role in the recommendation system. Traditional popularity is only defined as a static ratio or metric (e.g., a ratio of users who have rated the item and the box office of a movie) regardless of the previous trends of this ratio or metric and the attribute diversity of items. To solve this problem and reach accurate popularity, we creatively propose to extract the popularity of an item according to the Proportional Integral Differential (PID) idea. Specifically, Integral (I) integrates a physical quantity over a time window, which agrees with the fact that determining the attributes of items also requires a long-term observation. The Differential (D) emphasizes an incremental change of a physical quantity over time, which coincidentally caters to a trend. Moreover, in the Session-Based Recommendation (SBR) community, many methods extract session interests without considering the impact of popularity on interest, leading to suboptimal recommendation results. To further improve recommendation performance, we propose a novel strategy that leverages popularity to enhance the session interest (popularity-aware interest). The proposed popularity by PID is further used to construct the popularity-aware interest, which consistently improves the recommendation performance of the main models in the SBR community. For STAMP, SRGNN, GCSAN, and TAGNN, on Yoochoose1/64, the metric P@20 is relatively improved by 0.93%, 1.84%, 2.02%, and 2.53%, respectively, and MRR@20 is relatively improved by 3.74%, 1.23%, 2.72%, and 3.48%, respectively. On Movieslen-1m, the relative improvements of P@20 are 7.41%, 15.52%, 8.20%, and 20.12%, respectively, and that of MRR@20 are 2.34%, 12.41%, 20.34%, and 19.21%, respectively.
基金This work was supported by the Key Project of Chinese Ministry of Education(No.212135)the Guangxi Natural Science Foundation(No.2012GXNSFBA053165)+1 种基金the Projec t of Education Department of Guangxi(No.201203YB131)the Project of Guangxi Key Laboratory(No.14-045-44)。
文摘For complex systems with high nonlinearity and strong coupling,the decoupling control technology based on proportion integration differentiation(PID)neural network(PIDNN)is used to eliminate the coupling between loops.The connection weights of the PIDNN are easy to fall into local optimum due to the use of the gradient descent learning method.In order to solve this problem,a hybrid particle swarm optimization(PSO)and differential evolution(DE)algorithm(PSO-DE)is proposed for optimizing the connection weights of the PIDNN.The DE algorithm is employed as an acceleration operation to help the swarm to get out of local optima traps in case that the optimal result has not been improved after several iterations.Two multivariable controlled plants with strong coupling between input and output pairs are employed to demonstrate the effectiveness of the proposed method.Simulation results show t hat the proposed met hod has better decoupling capabilities and control quality than the previous approaches.
文摘The execution of the gaits generated with the help of a gait planner is a crucial task in biped locomotion. This task is to be achieved with the help of a suitable torque based controller to ensure smooth walk of the biped robot. It is important to note that the success of the developed proportion integration differentiation （PID） controller depends on the selected gains of the controller. In the present study, an attempt is made to tune the gains of the PID controller for the biped robot ascending and descending the stair case and sloping surface with the help of two non-traditional optimization algorithms, namely modified chaotic invasive weed optimization （MCIWO） and particle swarm optimization （PSO） algorithms. Once the optimal PID controllers are developed, a simulation study has been conducted in computer for obtaining the optimal tuning parameters of the controller of the biped robot. Finally, the optimal gait angles obtained by using the best controller are fed to the real biped robot and found that the biped robot has successfully negotiated the said terrains.
基金supported by the Important National S&T Special Project of China(No.2009ZX01031-003-003)the NLAIC Project(No. 9140C0903091004)
文摘A digitally controlled pulse width modulation/pulse skip modulation （PWM/PSM） dual-mode buck DC/DC converter is proposed. Its operation mode can be automatically chosen as continuous conduction mode （CCM） or discontinuous conduction mode （DCM）. The converter works in PSM at DCM and in 2 MHz PWM at CCM. Switching loss is reduced at a light load by skipping cycles. Thus high conversion efficiency is realized in a wide load current. The implementations of PWM control blocks, such as the ADC, the digital pulse width modulator （DPWM） and the loop compensator, and PSM control blocks are described in detail. The parameters of the loop compensator can be programmed for different external component values and switching frequencies, which is much more flexible than its analog rivals. The chip is manufactured in 0.13 μm CMOS technology and the chip area is 1.21 mm^2. Experimental results show that the conversion efficiency is high, being 90% at 200 mA and 67% at 20 mA. Meanwhile, the measured load step response shows that the proposed dual-mode converter has good stability.
