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相关概念视频

Multi-input and Multi-variable systems01:22

Multi-input and Multi-variable systems

385
Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence of...
385
Root-Locus Method01:19

Root-Locus Method

478
A cruise control system in a car is designed to maintain a specified speed automatically by adjusting the gas pedal. The system continuously measures the vehicle's speed and makes fine adjustments to the pedal to achieve this goal. The root locus method is particularly useful for understanding how the cruise control system's behavior changes under varying conditions, such as when the car goes uphill, downhill, or faces strong wind resistance.
This system can be represented by a block...
478
Three-Dimensional Force System:Problem Solving01:30

Three-Dimensional Force System:Problem Solving

1.3K
A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
To solve a three-dimensional force system, first resolve each force into its respective scalar components. Do this using...
1.3K
Control System Problem01:21

Control System Problem

404
In an open-loop system, such as a basic thermostat, the poles of the transfer function influence the system's response but do not determine its stability. However, when feedback is introduced to form a closed-loop system, such as an advanced thermostat that adjusts heating based on room temperature, stability is governed by the new poles of the closed-loop transfer function.
When forming a closed-loop system, issues can arise if the poles cross into the unstable region, leading to potential...
404
Relative Motion Analysis using Rotating Axes-Problem Solving01:29

Relative Motion Analysis using Rotating Axes-Problem Solving

695
Consider a crane whose telescopic boom rotates with an angular velocity of 0.04 rad/s and angular acceleration of 0.02 rad/s2. Along with the rotation, the boom also extends linearly with a uniform speed of 5 m/s. The extension of the boom is measured at point D, which is measured with respect to the fixed point C on the other end of the boom. For the given instant, the distance between points C and D is 60 meters.
Here, in order to determine the magnitude of velocity and acceleration for point...
695
Control Systems: Applications01:25

Control Systems: Applications

1.1K
Electrical engineering plays a pivotal role in our daily lives, with control systems at the heart of many applications, from home appliances to sophisticated space shuttles. Control systems manage and regulate the behavior of devices and processes, ensuring they function safely, correctly, and efficiently.
In modern vehicles, control systems manage various functions to enhance performance and safety. The steering wheel and accelerator are primary inputs in a car's control system. The...
1.1K

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相关实验视频

Updated: Jan 15, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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在对接时控制AGV基于模糊规则推理系统.

Damian Grzechca1, Łukasz Gola1, Michał Grzebinoga1

  • 1Department of Electronics, Electrical Engineering and Microelectronics, Silesian University of Technology, 44-100 Gliwice, Poland.

Sensors (Basel, Switzerland)
|October 16, 2025
PubMed
概括

本研究提出了一种纯软件解决方案,以提高自动驾驶汽车 (AGV) 的对接精度. 一个新的模糊逻辑控制器提高了工业4.0自动化的精度,而不需要新的硬件.

关键词:
自动引导车辆 自动引导车辆死亡的计算死亡的计算对接算法对接算法模糊的逻辑模糊的逻辑

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科学领域:

  • 机器人和自动化 机器人和自动化
  • 控制系统工程 控制系统工程
  • 工业信息学 工业信息学

背景情况:

  • 自动引导车辆 (AGV) 的准确对接对于工业4.0自动化生产系统至关重要.
  • 使用机器人臂的协作任务需要高的AGV定位精度.
  • 传统的测距系统存在累积错误,在最后的对接过程中变得不可接受.

研究的目的:

  • 引入一个具有成本效益的软件升级解决方案,以提高AGV对接精度.
  • 为了提高最终对接阶段的准确性,而不需要新的硬件.
  • 在关键对接场景中解决全球导航和测距的局限性.

主要方法:

  • 一个两阶段的导航策略:从全球死亡计算转向靠近对接站的本地计划.
  • 实现一个塔卡吉-苏杰诺模糊逻辑控制器 (FLC) 精确的最终定位.
  • 在FLC中使用增益调度查找表 (LUT) 来从近距离传感器数据中合成方向和距离错误.

主要成果:

  • 模糊逻辑控制器成功地引导AGV以高精度到达最终位置.
  • 基于LUT的FLC可稳定处理位置不确定性和环境变化.
  • 实验验证表明,在工业宽容范围内,可重复对接的准确性得到了显著改善.

结论:

  • 提出的软件升级解决方案有效地提高了AGV对接精度.
  • 新的FLC方法为改进自动化生产系统提供了一种具有成本效益的方法.
  • 这种方法克服了对关键对接任务的传统测距的局限性.