Wyniki wyszukiwania - BazTech

1

Reliability analysis of a multi-eso based control strategy for level adjustment control system of quadruped robot under disturbances and failures

Cui Jingjing, Ren Yi, Xu Binghui, Yang Dezhen, Zeng Shengkui

Eksploatacja i Niezawodność

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2020

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Vol. 22, no. 1

42--51

EN

The complexity of control algorithms and their vulnerability to disturbances and failures are the main problems that restrict the operations of multi-legged mobile robots in more complex environments. In this paper, a multiple extended state observer (ESO) based control strategy is proposed to achieve stable tilt angle control for quadruped robots under the influence of disturbances and actuator failures. By treating the multiple legs as parallel control objects, more ESOs were added to improve the disturbance rejection ability of the linear active disturbance rejection control (LADRC). Correlation of interactive information about the legs is realized by the synthesis of multiple ESO information. Based on LADRC, this method has the advantages of easy parameter tuning, good robustness, and strong ability to cope with interference and fault conditions. A control system reliability evaluation method was proposed. The reliability and control performance of the multi-ESO based control system under leg stuck failure conditions were systematically analyzed. Simulation and experimental results for the level adjustment control system of a quadruped robot are provided to verify the disturbance rejection ability, feasibility and practicability of the proposed multi-ESO based control method.

PL

Złożoność algorytmów sterowania oraz ich brak odporności na zakłócenia i uszkodzenia to główne czynniki ograniczające pracę wielonożnych robotów mobilnych w bardziej złożonych środowiskach. W przedstawionym artykule zaproponowano strategię sterowania wykorzystującą kilka obserwatorów stanu rozszerzonego (ESO), która pozwala na uzyskanie stabilnego kąta pochylenia robota czworonożnego w warunkach zakłóceń i uszkodzeń siłowników. Traktując każdą z nóg jako równorzędny obiekt sterowania, dodano dodatkowe ESO, co pozwoliło na poprawienie zdolności algorytmu liniowego aktywnego tłumienia zakłóceń (LADRC) do kompensacji (tłumienia) tych ostatnich. Interaktywne informacje dotyczące poszczególnych nóg korelowano poprzez syntezę danych z ESO. Zaletami omawianej metody opartej na LADRC są: łatwość dostrajania parametrów, wysoka niezawodność oraz bardzo dobra zdolność do radzenia sobie z zakłóceniami i uszkodzeniami. Zaproponowano także metodę oceny niezawodności systemu sterowania. Analizowano niezawodność i wydajność systemu opartego na kilku ESO w warunkach awarii wywołanej zablokowaniem nóg robota. Przedstawiono wyniki badań symulacyjnych i eksperymentalnych systemu sterowania regulacją poziomu robota czworonożnego, które pozwalają zweryfikować zdolność proponowanej metody do tłumienia zakłóceń, a także możliwość jej praktycznego zastosowania.

2

Research on drum water level control of marine auxiliary boiler based on ADRC

Gan H., Lv B.

Polish Maritime Research

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2018

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S 2

35--41

EN

SThe active disturbance rejection control (ADRC) exhibits strong robustness and adaptability in the presence of strong interference of a large class of uncertain systems. In order to better control the water level of the auxiliary boiler drum, this paper applies the ADRC to improve its control precision, robustness and timeliness. Firstly, the change of drum water level in a large oil tanker auxiliary boiler is analyzed and the dynamic equation is established. After the mathematic changes, the dynamic equation is transformed into a two-order system. Aiming at the characteristics of nonlinear, time-varying and strong disturbance of the boiler water level control system in marine auxiliary boiler, studying the ADRC that includes tracking differentiator (TD), extended state observer (ESO), nonlinear feedback (NLSEF) and disturbance compensation of four parts. The establishment of two kinds of two-order ADRC controller to control the drum level. Through the theoretical analysis and simulation experiment test, and comparing with the cascade control strategy, the experimental results show that the active disturbance rejection controller satisfies the steady state response index of the system, and has good timeliness and accuracy to the control of water level of the drum.

3

Path following control of fully actuated autonomous underwater vehicle based on LADRC

Lamraoui H. C., Qidan Z.

Polish Maritime Research

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2018

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nr 4

39--48

EN

This paper presents an active disturbances rejecter controller (ADRC) for position and path following control of a fully actuated autonomous underwater vehicle (AUV). The unmodeled, undesirable dynamics and disturbances reduce the performances of classical controllers and complicate the design of appropriate and efficient controllers. In the proposed approach, the different modeling complexities; such as uncertain parameters, non-linearities, and external disturbances are considered all as a part of disturbance which is estimated in real-time by the extended state observer ESO, and effectively compensated from the control law. The ESO is also able to estimate the position and velocity of the system in real-time, in case where the full state measurement of the AUV is not possible during experiments. Computer simulations demonstrate the high ability of the AUV tracking control based on ADRC, to follow the desired trajectory in the horizontal plane and space with high precision, and showed high robustness and efficiency in rejecting the external and internal disturbances caused by significant changes in parameters of the system, and the added position disturbances.

4

Flexible function block for industrial applications of active disturbance rejection controller

Nowak P., Stebel K., Klopot T., Czeczot J., Fratczak M., Laszczyk P.

Archives of Control Sciences

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2018

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Vol. 28, No. 3

379--400

EN

In this paper, the PLC-based (Programmable Logic Controller) industrial implementation in the form of the general-purpose function block for ADRC (Active Disturbance Rejection Controller) is presented. The details of practical aspects are discussed because their reliable implementation is not trivial for higher order ADRC. Additional important novelties discussed in the paper are the impact of the derivative backoff and the method that significantly simplifies tuning of higher order ADRC by avoiding the usual trial and error procedure. The results of the practical validation of the suggested concepts complete the paper and show the potential industrial applicability of ADRC.

5

Zastosowanie odpornego sterowania siłowego w manipulatorze rehabilitacyjnym

Kordasz M., Madoński R., Sauer P., Kozłowski K.

Prace Naukowe Politechniki Warszawskiej. Elektronika

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2012

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z. 182, t. 1

91--102

PL

Artykuł prezentuje zastosowanie metody sterowania odpornego Active Disturbance Rejection Control (ADRC) w układzie regulacji z modelem manipulatora robotycznego do zadań wspomagania rehabilitacji stawu kolanowego. Ze względu na wielowymiarowość badanego manipulatora oraz obecność w nim silnie nieliniowych, zmiennych w czasie oraz sprzężonych skośnie elementów dynamiki, sterowanie rozważnym systemem jest zadaniem nietrywialnym. Niepewność modelowania może być jednak w technice ADRC na bieżąco odsprzęgana do systemu, zwiększając tym samym jego odporność parametryczną i zakłóceniową. W artykule przedstawiono wyniki eksperymentalne działania podejścia ADRC dla dwóch przykładów: treningu izometrycznego oraz izotonicznego. Otrzymane rezultaty pozwalają stwierdzić, że metoda ADRC stanowi interesującą alternatywę dla klasycznych technik sterowania stosowanych w manipulatorach rehabilitacyjnych.

EN

The paper presents an experimental verification of the ADRC control approach applied to a model of a limb rehabilitation manipulator. The multidimensional structure of the governed system, along with its nonlinear and cross-coupled elements if the dynamics, makes the whole process a nontrivial control task. The ADRC technique allows user to estimate the modeling uncertainty (with a state/distrurbance observer) and online compensate for its effects. Two rehabilitation training were analyzed within this paper – isometric and isotonic. The obtained results of the stiffness controller combined with, either link angular position controller (isometric), or its force (isotonic), gave promising results in both quality and robustness of the ADRC framework. The ADRC was concluded to be an interesting alternative to other control methods, already used in the limb rehabilitation devices, especially in the aspect of the controller rather model-free desing approach.