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"Tanks Automatic control."
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Control of fluid-containing rotating rigid bodies
\"This book is devoted to the study of the dynamics of rotating bodies with cavities containing liquid. Two basic classes of motion are analyzed: rotation and libration. Cases of complete and partial filling of cavities with ideal liquid and complete filling with viscous liquid are treated. A method is presented for obtaining relations between angular velocities perpendicular to main rotation and external force momentums, treated as control. This work will be of interest to professionals and researchers at universities and laboratories specializing in problems of control for hybrid systems and aerospace/mechanical engineering, as well as to under-/postgraduates with this specialization\"-- Provided by publisher.
Book
Welding motion synchronization of tank with variable curvature section based on discrete planning method of welding torch posture
Welding path planning and motion synchronization of complex tanks are important research areas in the intelligentization of welding equipment. In the present work, the welding of tank with variable curvature section was taken as the study object, an innovative method to automatically generate the posture of welding torch at the welding spots of variable curvature section was proposed. The method involves establishing a homogeneous transformation matrix for the torch posture and combining it with the angle planning equation of the positioner to form an equation for welding motion synchronization based on the torch posture planning method. Then, a set of welding torch posture and positioner’s rotation angles along the welding path of variable curvature section was created in Matlab, and the combination code of the welding torch movement and positioner rotation were obtained to accurately control the welding speed, wire feed rate and the posture of welding torch. An aluminum alloy tank composed of eight arcs was chosen to verify the proposed technique. The results show that the difference of welding position at the same positioner’s rotation angle ranged from -0.7976 mm to 0.7616 mm, the repeatability accuracy of the automatic welding system's posture was less than 0.1 mm, and the weld qualification rate of the aluminum alloy tank exceeds 98% with limited weld defects. That is, the tanks with variable curvature sections can be automatically and accurately welded by the proposed method.
Journal Article
Ballast water dynamic allocation optimization model and analysis for safe and reliable operation of floating cranes
Ballast water can adjust the heel and trim and its optimal allocation is very important for assuring safe operation of floating cranes. The combined ballast system based on pumps and water gravity self-flow can transfer a large amount of ballast water in a short time and is widely used for large floating cranes. Based on the hydrostatics of ships and optimal theories, the optimization model of ballast water allocation is built to minimize the ballasting time of floating cranes using the combined ballast system. In this model, the variations of water levels for all ballast tanks are taken as the optimization variables and the hull balance in the ballasting process as the constraint conditions. The ballasting process can be considered as the Markov process, so the dynamic programming solving model is established for the dynamic ballasting. The analysis of a numerical simulation case shows that the ballasting time of the combined ballast system obviously reduces compared with the ballast pump system. The tilted angles of the floating cranes are very small which assures the operation safety and reliability of floating cranes. The established optimization model and method can obtain the optimal ballasting process, effectively reduce the ballasting time, and provide decision model and solving algorithm support for improving the efficiency, and achieving the dynamic ballasting automatic or intelligent control of floating cranes based on computers.
Journal Article
Design and Verification of Deep Submergence Rescue Vehicle Motion Control System
A six degree-of-freedom (DOF) motion control system for docking with a deep submergence rescue vehicle (DSRV) test platform was the focus of this study. The existing control methods can meet the general requirements of underwater operations, but the complex structures or multiple parameters of some methods have prevented them from widespread use. The majority of the existing methods assume the heeling effect to be negligible and ignore it, achieving motion control in only four or five DOFs. In view of the demanding requirements regarding positions and inclinations in six DOFs during the docking process, the software and hardware architectures of the DSRV platform were constructed, and then sparse filtering technology was introduced for data smoothing. Based on the adaptive control strategy and with a consideration of residual static loads, an improved S-plane control method was developed. By converting the force (moment) calculated by the controller to the body coordinate system, the complexity of thrust allocation was effectively reduced, and the challenge of thrust allocation in the case of a high inclination during dynamic positioning was solved accordingly. The automatic control of the trimming angle and heeling angle was realized with the linkage system of the ballast tank and pump valve. A PID method based on an intelligent integral was proposed, which not only dealt with the integral “saturation” problem, but also reduced the steady-state error and overshooting. Water pool experiments and sea trials were carried out in the presence of water currents for six-DOF motion control. The responsiveness and precision of the control system were verified by the pool experiment and sea trial results and could meet the control requirements in engineering practice. The reliability and operational stability of the proposed control system were also verified in a long-distance cruise.
Journal Article
Recent progress in battery electric vehicle noise, vibration, and harshness
As battery electric vehicle (BEV) market share grows so must our understanding of the noise, vibration, and harshness (NVH) phenomenon found inside the BEVs which makes this technological revolution possible. Similar to the conventional vehicle having encountered numerous NVH issues until today, BEV has to face many new and tough NVH issues. For example, conventional vehicles are powered by the internal combustion engine (ICE) which is the dominant noise source. The noises from other sources were generally masked by the combustion engine, thus the research focus was on the reduction of combustion engine while less attention was paid to noises from other sources. A BEV does not have ICE, automatic transmission, transfer case, fuel tank, air intake, or exhaust systems. In their place, there is more than enough space to accommodate the electric drive unit and battery pack. BEV is quieter without a combustion engine, however, the research on vehicle NVH is even more significant since the elimination of the combustion engine would expose many noise behaviors of BEV that were previously ignored but would now seem clearly audible and annoying. Researches have recently been conducted on the NVH of BEV mainly emphasis on the reduction of noise induced by powertrain, tire, wind and ancillary system and the improvement of sound quality. This review paper will focus on recent progress in BEV NVH research to advance the BEV systems in the future. It is a review for theoretical, computational, and experimental work conducted by both academia and industry in the past few years.
Journal Article
Virtual tool of nonlinear model of interconnected tanks with PID control implementation using EJsS
This paper describes the development and implementation of a virtual tool (TANQUES EN SERIE PID) of a system of two interconnected tanks made in Easy Java/JavaScript Simulations (EJS,), a tool that seeks to motivate learning control concepts in engineering programs. The simulated model corresponds to the non-linear system of interconnected tanks, which presents graphically the behavior of tank levels on an open loop, this application allows varying physical input parameters of the process, as the cross section of the tanks, resistivity constants of the valves and the input flow of process. The system is also presented in closed loop, presenting the behavior when a PID controller is implemented to the process, controller and time constants can be modified to enter a disturbance to the model and by doing this we are verifying the time response and system reaction when subjected to a perturbation. The tool is verified comparing the results using Simulink and equilibrium equations.
Este articulo describe el desarrollo e implementación de una herramienta virtual (TANQUES EN SERIE PID) de un sistema de dos tanques interconectados, hecha en Easy Java/JavaScript Simulations (EJsS), herramienta que busca motivar el aprendizaje de conceptos de control en programas de ingeniería. El modelo simulado corresponde al sistema no lineal de tanques interconectados, donde se presenta de forma gráfica el comportamiento de los niveles de los tanques en lazo abierto, esta aplicación permite variar parámetros físicos de entrada del proceso, como la sección transversal de los tanques, las constantes de resistividad de las válvulas y el flujo de entrada del proceso. También se presenta el sistema en lazo cerrado, observando el comportamiento al implementar un controlador PID al proceso, en este se pueden ajustar las constantes del controlador y el tiempo para ingresar una perturbación al modelo, verificando así su respuesta en el tiempo y la reacción del sistema al ser sometido a una perturbación. La herramienta se verifica comparando los resultados obtenidos en Simulink y las ecuaciones de los puntos de equilibrio.
Journal Article
Design and Experiment of an Unoccupied Control System for a Tracked Grain Vehicle
In order to enhance crop harvesting efficiency, an automatic-driving tracked grain vehicle system was designed. Based on the harvester chassis, we designed the mechanical structure of a tracked grain vehicle with a loading capacity of 4.5 m3 and a grain unloading hydraulic system. Using the BODAS hydraulic controller, we implemented the design of an electronic control system that combines the manual and automatic operation of the chassis walking mechanism and grain unloading mechanism. We utilized a hybrid A* algorithm to plan the traveling path of the tracked grain vehicle, and the path-tracking controller of the tracked grain vehicle was designed by combining fuzzy control and pure pursuit algorithms. Leveraging binocular vision technology and semantic segmentation technology, we designed an automatic grain unloading control system with functions of grain tank recognition and grain unloading regulation control. Finally, we conducted experiments on automatic grain unloading control and automatic navigation control in the field. The results showed that both the precision of the path-tracking control and the automatic unloading system meet the requirements for practical unoccupied operations of the tracked grain vehicle.
Journal Article
Temporal deep unfolding for constrained nonlinear stochastic optimal control
This paper proposes a computational technique to solve discrete‐time optimal control problems for nonlinear systems subject to stochastic disturbances, hard input constraints, and soft constraints. The approach employs the idea of deep unfolding, which is a recently developed model‐based deep learning method that is applicable to iterative algorithms. By regarding each state transition of the dynamical system as an iteration step, these state transitions are unfolded into the layers of a deep neural network. This produces a computational graph that contains trainable parameters that determine control inputs. These parameters are optimized by training the deep neural network using the standard deep learning technique of backpropagation and incremental training. Then, the optimal control inputs are obtained from the optimized parameters. This provides a way to optimize the control inputs that otherwise would be difficult to obtain. The effectiveness of the proposed technique is demonstrated by numerical experiments for the maximum hands‐off control problem and constrained model predictive control problems using a highly nonlinear model of a continuous stirred tank reactor.
Journal Article
Effective MPC strategies using deep learning methods for control of nonlinear system
Model predictive control (MPC) is one of the important techniques for control of nonlinear and multivariable systems within constraints. Though the MPC ensures superior performance, it demands high computational resources to solve online optimization problems. With the advent of sophisticated deep learning methods, neural networks can be employed to improve the computational efficiency of the MPC. In the present study, recurrent neural network (RNN) is used to approximate the MPC control law and tested on the benchmark multivariable quadruple tank (QT) system which consists of four interconnected tanks which demonstrate nonlinear and non-minimum phase characteristics. Modern variants of RNN, namely long short-term memory and gated recurrent unit, are used in this study to mimic the nonlinear MPC (NMPC) by learning the closed-loop simulation data. The optimum network architecture is chosen by altering the number of hidden nodes and layers till the required control performance on test dataset is reached. In order to test the efficacy of RNN as MPC controller, its performance is compared with the performance of linear MPC (LMPC). The automatic control and dynamic optimization (ACADO) toolkit is used in the optimization step of the NMPC computations. The servo and regulatory responses of the RNN-based MPC are compared with LMPC and evaluated in terms of standard control performance metrics such as integral squared error (ISE) and control effort (CE).
Journal Article
Structural design and kinematic analysis of a welding robot for liquefied natural gas membrane tank automatic welding
Owing to the complex structures of welding materials, special welding conditions, and challenges during the automatic welding of the liquefied natural gas (LNG) ship Mark III’s membrane tank, a series–parallel–series hybrid structure mobile welding robot having sufficient adaptability for welding corrugated plates in membrane tanks was designed in this study. The configuration of the hybrid robot had good workspace characteristics, and it could always maintain a certain distance and angle between the end of the welding torch and the weld line because of its detection and control system coordination. In this study, degrees of freedom, kinematic characteristics, workspace, and adaptability analyses were conducted for the hybrid mechanism. A simulation verification was performed, and a ripple-trajectory-following experiment was conducted using real objects. The simulation and experimental results showed that the welding robot had a reasonable mechanism design, smooth motion, and good terminal distance and angle control, thus meeting the requirements for automatic welding of corrugated plates in membrane tanks.
Journal Article