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相关概念视频

Transformers in Distribution System01:27

Transformers in Distribution System

103
Transformers in distribution systems can be broadly categorized into distribution substation transformers and other distribution transformers. They are crucial for stepping down high transmission voltages to levels suitable for distribution and end-user applications.
Distribution substation transformers come in various ratings and typically use mineral oil for insulation and cooling. To prevent moisture and air from entering the oil, some transformers use an inert gas like nitrogen to fill the...
103
Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

119
Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
119
Control Systems01:10

Control Systems

1.2K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
1.2K
PID Controller01:19

PID Controller

120
Proportional-Integral-Derivative (PID) controllers are widely used in various control systems to enhance stability and performance. In a thermostat, it adjusts heating or cooling based on the temperature difference between the actual and desired levels. They are often used in automotive speed systems, effectively managing sudden speed changes while maintaining a constant speed under varying conditions. On the other hand, PI controllers, commonly employed in voltage regulation, enhance stability...
120
Open and closed-loop control systems01:17

Open and closed-loop control systems

759
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
759
Transformers with Off-Nominal Turns Ratios01:25

Transformers with Off-Nominal Turns Ratios

160
In scenarios involving parallel transformers with disparate ratings, developing per-unit models requires accommodating off-nominal turns ratios. This situation arises when the selected base voltages are not proportional to the transformer’s voltage ratings. Consider a transformer where the rated voltages are related by the term a. If the chosen voltage bases satisfy a relationship involving term b, term c is defined as the ratio of these bases. This ratio is then substituted into the...
160

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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使用分布式模型预测控制控制变压器检查机器人的轨迹跟踪控制.

Lai Wei1, Guofei Xiang1, Congjun Ma1

  • 1College of Electrical Engineering, Sichuan University, Chengdu 610065, China.

Sensors (Basel, Switzerland)
|November 25, 2023
PubMed
概括

本研究介绍了用于变压器检查机器人的分布式模型预测控制 (DMPC). DMPC方法提高了轨迹跟踪的准确性和稳定性,同时简化了机器人在狭小空间中的计算.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制系统工程 控制系统工程
  • 机械工程 机械工程

背景情况:

  • 在变压器油中跟踪检查机器人轨迹存在重大挑战.
  • 现有的控制方法可能缺乏限制环境所需的精度和效率.

研究的目的:

  • 为在变压器内部运行的检查机器人开发有效的运动控制策略.
  • 在具有挑战性的水下环境中增强轨迹跟踪的准确性和稳定性.
  • 为了减少实时机器人控制应用程序的计算复杂性.

主要方法:

  • 使用拉格朗奇方程在变压器油中建立了机器人动力学和动力学模型.
  • 应用非线性模型预测控制 (NMPC) 与分布式控制理论相结合.
  • 将机器人运动解成五个独立的分部系统,用于分布式模型预测控制 (DMPC).

主要成果:

  • 基于DMPC的机器人运动控制系统表现出高跟踪精度.
  • 该系统在模拟的变压器油环境中表现出显著的稳定性.
  • 与传统控制方法相比,实现了较低的计算复杂性.

结论:

关键词:
分布模型预测控制分布式模型预测控制轨道跟踪控制器的轨道跟踪控制器水下机器人 水下机器人

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  • 拟议的DMPC方法为机器人运动控制在狭窄的,充满流体的环境中提供了有效的解决方案.
  • 这种方法提高了像变压器这样的复杂机械内部自主检查任务的可行性.
  • 该DMPC战略为水下机器人提供了一个强大的和计算效率高的控制框架.