This paper has set up the dynamic model of the electro-magnetic gear and deduced the transfer function which the input is electric current and the output is torque,and designed the neural network PID controller in the electro-magnetic gears control system according to the principle of the electro-magnetic gear transmission system,which has been simulated dynamically under MATLAB environment.The result shows that design method can adjust changes in real-time basis according to the input electric current,which improves the dynamic features greatly and achieves steady output of the system.

关键词：控制器；电磁齿轮传动系统；控制性能

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Based on the analysis of the model of the Single-Degree-of-Freedom (SDF) magnetic bearing system,the issue of design and simulation of PD control strategy in the system is investigated.First,the plant model of the AMB (Active Magnetic Bearings) with Single-Degree-ofFreedom (SDF) is found out to be unstable plant.Then,based on the root locus theory and Routh stability criteria,the necessity of derivation action in the controller is analyzed.In addition,the PD control strategy for a particular plant is designed,the effectiveness of which is validated by the given simulation examples.The proposed approach can provide an important reference for the practical application of PD control strategy in the magnetic bearing system.

关键词：控制器；PD控制策略；磁轴承；单自由度仿真

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In this report, we compare the performance of the Lucas-Kanade algorithm with feature tracking with the bioplausible optical flow algorithm to achieve pose stabilization in the context of one-dimensional (1-D) attitude stabilization. These results have been benchmarked against an ideal controller in both simulation and robotic experimentation. Within both environments, the accuracy, stability, and settling time were evaluated as a function of contrast and system noise. Both algorithms achieved reasonable performance when compared to the ideal controller, but in most cases the Lucas-Kanade algorithm outperformed the bioplausible algorithm. Within the evaluated serial implementation, the Lucas-Kanade algorithm was also faster. It is anticipated that both performance and processing speed will improve for the bioplausible algorithm when it is implemented in a parallel instantiation.

关键词：控制器；视觉伺服控制

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To conclude this monograph, we want to recall the general philosophy behind the approach developed from chapter to chapter as well as the difficulty we can encounter when designing a structured controller and thus the development that needs to be done. As a matter of fact there are three major concepts that have to be considered: the concept of system, and the concept of control intended to transform the original one into another with a more satisfactory behavior. This transformation is made through the use of a design procedure, which is the third concept we want to talk about.

关键词：控制器；不确定系统；结构

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Timc-varying linear quadratic Gaussian (LQG) control for vibration of coupled vehicle-bridge system is studied.The vehicle is modeled as a moving mass model with three degrees of freedom,which consists of vehicle body,bogie and wheel.Active suspensions are adopted for the primary and secondary ones,and the control forces are produced by two actuators placed between the bogie and wheel,and between the vehicle body and the bogie,respectively.Vehicle-bridge coupling systems are time-dependent,which lead to the time-varying Riccati differential equation and the time-varying Kalman-Bucy filter equation in the LQG controller design.However,both of them are solved precisely via precise integration method and symplectic conservative perturbation method.In the example,the time history responses of the bridge and the vehicle were calculated respectively for the vehicle with passive suspensions or with active suspensions.Numerical results show that with active suspensions adopted,ride comfort can be improved when the vehicles passing through the bridge.

关键词：控制器；时变；LQG控制；耦合系统

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Based on the electro-hydraulic proportional system of a demolition robot working device,a simplified mathematical model was established by analyzing dynamic characteristics of the electro-hydraulic proportional valve,flow equation,the continuity equation and force equilibrium equations,and the fuzzy self-adaptive PID controller was designed to realize position control of working equipment.The simulations reveal that,compared with traditional PID,the fuzzy self-adaptive PID controller has these advantages such as smaller overshoot,good dynamic response and steady state performance.

关键词：控制器；液压系统；建模；降级机器人；运动控制

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This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.

关键词：控制器；扰动力矩；化学优化范式；自主移动机器人；模糊跟踪控制器

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In view of the surplus torque and complexity of controlled plant in passive electrical load system,a novel approach based on single neuron PID adaptive control and repetitive control for repetitive periodic load control system is proposed.Radial basis function (RBF) neural network is used to identify the system on-line for the single neuron PID controller to adjust its weights and PID parameters by self-learning and self-adapting based on the desired output.The dynamic state performance can be improved by the single neuron adaptive PID control and the steady state performance is also improved by modified repetitive control.Computer simulation results show that the force/position hybrid control system can effectively reduce the surplus torque and improve the loading precision,and also it has fine dynamic and steady state performance and good robustness.The reliability of whole system is further improved.

关键词：控制器；单神经元；自适应PID；重复控制；电气负载力控制系统

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The holistic approach to PID controller tuning, which involves the coordinated use of modified relay feedback test and tuning rules, is presented in this chapter. It is shown that with this approach, specifications to gain margin or phase margin can be satisfied. Performance requirements to a number of typical industrial processes are analysed, and optimal tuning rules for the modified relay feedback test application are produced on the basis of this analysis.

关键词：控制器；继电反馈测试；PID控制器；定时

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The derivation, implementation and testing of an active surge controller for a centrifugal compressor is presented in this chapter. The control method proposed here employs the thrust AMB to servo control the axial clearance between the impeller tip and the static shroud. Through the modulation of the impeller axial position, the disturbances associated with the initiation of the surge instability can be counteracted, and surge can be suppressed before it reaches the full amplitude of the limit cycle. The surge controller derived in this chapter is first tested in simulation to verify the theory and assumptions needed for the design of the control algorithm, and then implemented on the experimental compressor test rig in order to validate the theory and demonstrate the effectiveness of the control method in an actual industrial compressor.

关键词：控制器；压缩机；喘振控制

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