Based on the ant colony system （ACS） algorithm and fuzzy logic control, a new design method for optimal fuzzy PID controller was proposed. In this method, the ACS algorithm was used to optimize the input/output scal...Based on the ant colony system （ACS） algorithm and fuzzy logic control, a new design method for optimal fuzzy PID controller was proposed. In this method, the ACS algorithm was used to optimize the input/output scaling factors of fuzzy PID controller to generate the optimal fuzzy control rules and optimal real-time control action on a given controlled object. The designed controller, called the Fuzzy-ACS PID controller, was used to control the CIP-Ⅰ intelligent leg. The simulation experiments demonstrate that this controller has good control performance. Compared with other three optimal PID controllers designed respectively by using the differential evolution algorithm, the real-coded genetic algorithm, and the simulated annealing, it was verified that the Fuzzy-ACS PID controller has better control performance. Furthermore, the simulation results also verify that the proposed ACS algorithm has quick convergence speed, small solution variation, good dynamic convergence behavior, and high computation efficiency in searching for the optimal input/output scaling factors.展开更多
In order to investigate the process of incremental sheet forming (ISF) through both experimental and numerical approaches, a three-dimensional elasto-plastic finite element model (FEM) was developed to simulate the pr...In order to investigate the process of incremental sheet forming (ISF) through both experimental and numerical approaches, a three-dimensional elasto-plastic finite element model (FEM) was developed to simulate the process and the simulated results were compared with those of experiment. The results of numerical simulations, such as the strain history and distribution, the stress state and distribution, sheet thickness distribution, etc, were discussed in details, and the influences of process parameters on these results were also analyzed. The simulated results of the radial strain and the thickness distribution are in good agreement with experimental results. The simulations reveal that the deformation is localized around the tool and constantly remains close to a plane strain state. With decreasing depth step, increasing tool diameter and wall inclination angle, the axial stress reduces, leading to less thinning and more homogeneous plastic strain and thickness distribution. During ISF, the plastic strain increases stepwise under the action of the tool. Each increase in plastic strain is accompanied by hydrostatic pressure, which explains why obtainable deformation using ISF exceeds the forming limits of conventional sheet forming.展开更多
The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturban...The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.展开更多
基金Project(50275150) supported by the National Natural Science Foundation of ChinaProject(20040533035) supported by the National Research Foundation for the Doctoral Program of Higher Education of ChinaProject(05JJ40128) supported by the Natural Science Foundation of Hunan Province, China
文摘Based on the ant colony system （ACS） algorithm and fuzzy logic control, a new design method for optimal fuzzy PID controller was proposed. In this method, the ACS algorithm was used to optimize the input/output scaling factors of fuzzy PID controller to generate the optimal fuzzy control rules and optimal real-time control action on a given controlled object. The designed controller, called the Fuzzy-ACS PID controller, was used to control the CIP-Ⅰ intelligent leg. The simulation experiments demonstrate that this controller has good control performance. Compared with other three optimal PID controllers designed respectively by using the differential evolution algorithm, the real-coded genetic algorithm, and the simulated annealing, it was verified that the Fuzzy-ACS PID controller has better control performance. Furthermore, the simulation results also verify that the proposed ACS algorithm has quick convergence speed, small solution variation, good dynamic convergence behavior, and high computation efficiency in searching for the optimal input/output scaling factors.
基金Project(50175034) supported by the National Natural Science Foundation of China
文摘In order to investigate the process of incremental sheet forming (ISF) through both experimental and numerical approaches, a three-dimensional elasto-plastic finite element model (FEM) was developed to simulate the process and the simulated results were compared with those of experiment. The results of numerical simulations, such as the strain history and distribution, the stress state and distribution, sheet thickness distribution, etc, were discussed in details, and the influences of process parameters on these results were also analyzed. The simulated results of the radial strain and the thickness distribution are in good agreement with experimental results. The simulations reveal that the deformation is localized around the tool and constantly remains close to a plane strain state. With decreasing depth step, increasing tool diameter and wall inclination angle, the axial stress reduces, leading to less thinning and more homogeneous plastic strain and thickness distribution. During ISF, the plastic strain increases stepwise under the action of the tool. Each increase in plastic strain is accompanied by hydrostatic pressure, which explains why obtainable deformation using ISF exceeds the forming limits of conventional sheet forming.
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(2013M540271)supported by China Postdoctoral Science Foundation+1 种基金Project(LBH-Z13055)Supported by Heilongjiang Postdoctoral Financial Assistance,ChinaProject(HEUCFD1403)supported by Basic Research Foundation of Central Universities,China
文摘The trajectory tracking control problem for underactuated unmanned surface vehicles(USV) was addressed, and the control system took account of the uncertain influences induced by model perturbation, external disturbance, etc. By introducing the reference, trajectory was generated by a virtual USV, and the error equation of trajectory tracking for USV was obtained, which transformed the tracking problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A backstepping adaptive sliding mode controller was proposed based on backstepping technology and method of dynamic slide model control. By means of theoretical analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Simulation results are presented to illustrate the effectiveness of the proposed controller.
