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Generally, the underwater flight vehicle (UFV) depth control system operates with the following problems: it is a multi-input multi-output (MIMO) system, it requires robustness, a continuous control input, and further, it has the speed dependency of controller parameters. To solve these problems, an expanded adaptive fuzzy sliding mode controller (EAFSMC), which is based on the decomposition method designed by using an expert knowledge and the decoupled sub-controllers and composition method designed by using the fuzzy basis function expansions (FBFEs), is proposed. To verify the performance of the EAFSMC, the depth control of UFV in various operating conditions is performed. Simulation results show that the EAFSMC solves all problems experienced in the UFV depth control system online. 相似文献
3.
“面向区域”的GIS控件的设计与使用 总被引:4,自引:0,他引:4
本文提出了一个“面向区域”GIS控件的概念———即以特定的地理区域为对象,将基础地理信息连同有关的GIS功能操作融合为一个可重用的程序模块,以Microsoft的COM(即“组件对象模型”)技术为基础,组织为“GIS化”的ActiveX控件。这种GIS控件,将面向对象技术中的“对象”扩展到了整个特定的地理区域空间,其核心思想是不仅封装了GIS的数据模型,必要的功能操作,而且封装了所有的基础地理信息。由于省去了对空间数据的处理,因而这种GIS控件可被广大非GIS专业的信息系统开发者灵活、简便地用于各种管理信息系统、办公自动化系统和决策支持系统的GIS功能扩充,也可用于构建一般的地理信息系统,因而有利于GIS技术应用的普及。文章最后给出了有关陕西省的应用实例 相似文献
4.
A randomized kinodynamic path planning algorithm based on the incremental sampling-based method is proposed here as the state-of-the-art in this field applicable in an autonomous underwater vehicle. Designing a feasible path for this vehicle from an initial position and velocity to a target position and velocity in three-dimensional spaces by considering the kinematic constraints such as obstacles avoidance and dynamic constraints such as hard bounds and non-holonomic characteristic of AUV are the main motivation of this research. For this purpose, a closed-loop rapidly-exploring random tree (CL-RRT) algorithm is presented. This CL-RRT consists of three tightly coupled components: a RRT algorithm, three fuzzy proportional-derivative controllers for heading and diving control and a six degree-of-freedom nonlinear AUV model. The branches of CL-RRT are expanded in the configuration space by considering the kinodynamic constraints of AUV. The feasibility of each branch and random offspring vertex in the CL-RRT is checked against the mentioned constraints of AUV. Next, if the planned branch is feasible by the AUV, then the control signals and related vertex are recorded through the path planner to design the final path. This proposed algorithm is implemented on a single board computer (SBC) through the xPC Target and then four test-cases are designed in 3D space. The results of the processor-in-the-loop tests are compared by the conventional RRT and indicate that the proposed CL-RRT not only in a rapid manner plans an initial path, but also the planned path is feasible by the AUV. 相似文献
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本文结合厦门海沧经济开发区路网规划工作,着重探讨了区域公路网规划的分区、原则、交通量预测、路网布局、实施方案等问题。 相似文献
7.
Abdel-Fattah Attia 《Experimental Astronomy》2004,18(1-3):93-108
This paper presents a novel application of fuzzy logic (FL) controller driven by an adaptive fuzzy set (AFS) for position
tracking of the telescope driven by electric motor. Also, the proposed FL controller, driven by AFS, is compared with a classical
FL control, driven by a static fuzzy set (SFS). Both FL controllers algorithm use the position error and its rate of change
as an input vector. The mathematical model of the telescope driven by electric motor is highly nonlinear differential equations.
Therefore the use of the artificial intelligent controller, such as FL is much better than the conventional controller, to
cover a wide range of operating conditions. So, the output of FL control is utilized to force the electric drives, of the
telescope, to satisfy a perfect matching of the predefined desired position of the telescope arms. Both of FL controllers,
using AFS and SFS, are simulated and tested when the system is subjected to a step change in reference value. In addition,
these simulation results are compared with the conventional Proportional-Derivative (PD) controller, driven by fixed gain.
The proposed FL, using an adaptive fuzzy set, improve the dynamic response of the overall system by improving the damping
coefficient and decreasing the rise time and settling time compared with other two controllers. 相似文献
8.
阐述了CAN总线的工作原理,并运用SJA1000、PCA82C250和单片机ADuCS12实现了CAN节点与上位机的通信。 相似文献
9.
介绍了大型停车场系统设计实现以及安全性原理,针对现有停车场系统的缺点和不足因素,在保证传统停车场系统优势的基础上,采用先进的编程技术、硬件设计和网络技术建立适应不同停车场类型的软硬件系统,在实际应用中取得了很好的效果。 相似文献
10.
在经典PID控制律基础上,引入模糊控制的概念设计模糊自整定PID控制律改进无人直升机姿态回路控制器,实现了PID控制器的参数在线自整定,并改善了控制器性能.通过Matlab对闭环系统进行算法仿真,表明模糊自整定PID控制器能够发挥优于传统PID控制器的控制性能.最后对所设计的控制器进行半物理仿真验证,通过对比典型输入指令下经典PID和模糊自整定PID两种控制器的控制效果,验证了模糊自整定PID对系统性能的优化. 相似文献