首页期刊导航|International Journal of Modelling, Identification and Control
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International Journal of Modelling, Identification and Control
Inderscience Publishers
International Journal of Modelling, Identification and Control

Inderscience Publishers

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1746-6172

International Journal of Modelling, Identification and Control/Journal International Journal of Modelling, Identification and ControlEI
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    Adaptive PID control based on exponential forgetting recursive least squares for 2DOF robotic manipulator

    Girgis, Meena E.Elkhateeb, Nasr A.
    189-199页
    查看更多>>摘要：This paper presents a new adaptive proportional-integral-derivative (PID) controller for improving the stability and performance of a 2DOF robotic manipulator. Robotic arm manipulators have complex nonlinear dynamics that can cause stability and tracking issues. Moreover, the control process can be rigid due to the high coupling between the position and acceleration of the robotic arm and joint torques. Therefore, the paper proposes the exponential forgetting recursive least squares (EFRLS) algorithm for tuning the PID gains. The EFRLS algorithm is developed using Lyapunov stability analysis to ensure stability while adapting the PID gains. The adaptive PID based on the EFRLS algorithm offers a stable and robust tracking performance of the 2DOF robotic manipulator in the presence of disturbance effects.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    Reliability optimisation method for intelligent manufacturing systems based on particle swarm optimisation algorithm

    Ren, LiLi, Juchen
    200-210页
    查看更多>>摘要：This paper proposes a reliability optimisation method for intelligent manufacturing systems based on particle swarm optimisation algorithm in order to improve the reliability and accuracy of resource allocation in intelligent manufacturing systems. Firstly, reliability assignment criteria for intelligent manufacturing systems are designed, subjective factors are evaluated through experts, and the fuzzy logic method is used to calculate the weight of the influencing factors; then, the reliability problem of intelligent manufacturing system is described, and the reliability decision model of intelligent manufacturing system is constructed; finally, the particle swarm optimisation algorithm is used to obtain the optimal resource allocation for the intelligent manufacturing system, maximising its reliability. The experimental results show that the resource allocation reliability of our method can reach 99.5%, and the resource allocation accuracy can reach 99.8%. Our method can improve the resource allocation efficiency of intelligent manufacturing systems.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    Urban traffic vehicle trajectory tracking control method based on binocular vision

    Liu, Zhiting
    211-217页
    查看更多>>摘要：To improve the effectiveness of vehicle trajectory tracking control and reduce tracking false alarms, this paper proposes a binocular vision based urban traffic vehicle trajectory tracking control method. Firstly, use binocular stereo vision technology to obtain image information from different perspectives and obtain depth information of traffic vehicle trajectory images; secondly, calculate the similarity of vehicle trajectory tracking targets based on motion characteristics and obtain the similarity distance of target matching; then, the relaxation factor term is introduced to construct the control objective function, and the control increment is obtained based on the constraint conditions; finally, solve the incremental sequence of control variables to complete the tracking control of the desired trajectory. The results show that the tracking false detection rate under the proposed method does not exceed 0.22%, and the control time is within 12 seconds, demonstrating good universality and applicability.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    A precise control method for gripping force of underactuated grasping robotic arm

    Cao, Hui
    218-224页
    查看更多>>摘要：This study aims to improve the success rate, accuracy, and stability of robotic arm grasping, and proposes a precise control method for the gripping force of underactuated grasping robotic arm based on improved PID. Firstly, the Denavit Hartenberg parameter method is used to determine the kinematic relationship between the end effector pose and joint angle of the robotic arm, and a dynamic model is established to analyse the motion behaviour and force situation of the robotic arm. Secondly, adjust the parameters of the PID controller to meet the control requirements under different working conditions. Finally, the PID control method is improved by adjusting the force distribution between each circuit through a multivariable PID method, achieving precise control of the gripping force of the underactuated grasping robotic arm. The experimental results show that the proposed method can improve the success rate, accuracy, and stability of grasping.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    An adaptive collaborative control method for multiple mobile robots based on improved genetic algorithm

    Zhong, YuanquanZhang, Shaowei
    225-231页
    查看更多>>摘要：To diminish the positional control inaccuracies of robots and elevate the success rate of collision evasion among them, a novel adaptive collaborative control approach utilising an enhanced genetic algorithm for multiple mobile robots has been introduced. Initially, within the confines of a rotational angle, an adaptive collaborative control objective function is formulated to facilitate collision avoidance, integrating the variable step size of movement. Subsequently, to bolster the convergence efficiency of the genetic algorithm, the introduction of hypothetical tasks serves to refine the algorithm's performance. Ultimately, the fitness function of the refined genetic algorithm is computed, the objective function is resolved using this fitness metric, yielding the optimal solution, thereby achieving the adaptive collaborative control for multiple mobile robots. Empirical findings indicate a marked reduction in positional control discrepancies, with a minimum deviation of merely 0.13 metres, and a substantial enhancement in collision avoidance success, consistently exceeding 95%.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    Novel heuristics for identifying failures on railroad switches: a case study on Vale's railway

    Costa, Joao Pedro AugustoCortes, Omar Andres CarmonaRodrigues, AdrianoSouza, Andre Machado...
    232-244页
    查看更多>>摘要：Railroad switches are essential mobile mechanisms to control trains, guiding them from one track to another. However, they are subject to failures over time because of wheel attrition, component wear, and obstacles during the train movement. In modern railways, switch operations are controlled by point machines, which allow the switches to be operated remotely, enabling a more robust operational schema. Electric point machines generally receive commands from PLCs, which keep historical information from both commands sent and indications received from the railroad equipment. This paper proposes two heuristics developed and used to identify the four most common types of occurrences that can lead to future failures on railroad switches and point machines, avoiding emergency maintenance that stops the railway operation and avoiding possible accidents. This system enables us to analyse the data coming from Vale's railway dataset and identify possible operational issues. The obtained results using these heuristics show that it is possible to decrease the number of failures by almost 50% when we use the information as the starting point to apply predictive maintenance.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    Mechanical characteristics analysis of cantilever hydraulic steel pipe structure in construction machinery under low-speed impact

    Guo, JibinYuan, HaiyangLi, Peng
    245-251页
    查看更多>>摘要：The purpose of this study is to analyse the mechanical properties of cantilever hydraulic steel pipe structure of construction machinery under low-speed impact. The impact test and mechanical characteristics analysis were carried out by using a drop hammer test machine with a maximum impact energy of 300 J. After analysing the load of the hydraulic steel pipe, it can be judged that the maximum load and maximum stress will appear at the A end of the steel pipe. Therefore, the composite stress at points 1 to 4 in Figure 4 can be calculated to analyse the mechanical properties of the steel pipe structure. The experimental results show that, compared with the existing methods, the stress analysis accuracy of the proposed method is significantly improved, which is always maintained at more than 90%, and the response time of the proposed method is also significantly reduced.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    Prediction method of ultimate bearing capacity of derrick steel structures based on firefly algorithm

    Li, Xiaodong
    252-261页
    查看更多>>摘要：In order to overcome the problems of high relative error rate of load detection, low prediction accuracy and long time consumption in traditional prediction methods, a prediction method of ultimate bearing capacity of derrick steel structures based on firefly algorithm is proposed. The vibration system equation of derrick steel structure is constructed and simplified, so as to identify the dynamic response parameters. The load parameters of derrick steel structure are detected by combining the results of vibration differential equation. According to the load parameter detection results, the ultimate bearing capacity prediction model based on RBF neural network optimised by firefly algorithm is established, and the ultimate bearing capacity prediction results are obtained. The experimental results show that the relative error rate of load detection of this method varies in the range of 2.5%similar to 4.8%, the prediction accuracy is always above 92.6%, the time consumption varies from 0.47 s to 0.84 s.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    Stress distribution of rotating machinery bearing bolts based on finite element analysis

    Zhou, RongchangXie, YangbinHe, Shudong
    262-271页
    查看更多>>摘要：The research on stress distribution of rotating machinery bearing bolts is of great significance for improving the safety, reliability and economy of rotating machinery. In order to overcome the problems of high relative error rate of stress measurement, low analysis accuracy and long time consumption in traditional methods, a research method of stress distribution of rotating machinery bearing bolts based on finite element analysis is proposed. The data of rotating machinery bearing bolts are collected, and the missing data are filled by MIC-LSTM. The finite element model of rotating machinery bearing bolt is established by finite element software, and the stress distribution of bolts is analysed through the steps of material property definition, mesh division, boundary conditions and load application. The experimental results show that the maximum relative error rate of stress measurement is 3.7%, the maximum analysis accuracy is 97.1%, and the average analysis time is 0.45 s.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd

    Effects of sliding friction on wind turbine drivetrain in presence of varying gear tooth crack under constant wind load

    Kumar, RishiRoy, Sankar Kumar
    272-285页
    查看更多>>摘要：Dynamic modelling is an important technique in condition monitoring. There are one planetary and two parallel gear trains in wind turbine drivetrain system (WTDS). Sun gear is meshing with three planets in planetary stage, it experiences fatigue loading, so likely to fail due to crack propagation. Contacting tooth profiles in drivetrain also experience resistance during operation due to sliding friction. A mathematical model based on Lagrange's formulation and lumped parameter model is developed to study the dynamic behaviour of WTDS for variable tooth root crack depths of sun gear under friction. Time varying stiffness of meshing gears and mesh phasing in planetary gear are taken into account in the model. Analytically estimated stiffness indicates quantified reduction due to varying cracks. Dynamic analysis is performed in frequency domain. Modulation effects are observed in gear mesh frequency and its harmonics due to natural frequency, defect frequency in presence of friction for the WTDS using FFT.
      原文链接:
    • NETL
    • NSTL
    • Inderscience Enterprises Ltd