Automatic Tracking Control Research Articles

Phase evolution and control in a synchronized Duffing-type nonlinear micro-oscillator

Synchronization, as a typical nonlinear phenomenon, has been widely observed and harnessed in various natural and engineered systems. However, the limited synchronization range restricts its potential applications. In this study, conducting comprehensive theoretical analysis and experimental exploration of the phase evolution, we gain valuable insights into the transition process from synchronization to desynchronization, focusing on the perspective of phase. For the first time, we unveil the restriction imposed on the synchronization range by the phase and propose an automatic phase tracking controller that can expand the synchronization range to encompass the entire hysteresis region of the Duffing-type nonlinear micro-resonator. This breakthrough opens up new possibilities for a broader array of applications in diverse fields.

Automatic Tracking Control Strategy of Autonomous Trains Considering Speed Restrictions: Using the Improved Offline Deep Reinforcement Learning Method

Automatic Tracking Control Strategy of Autonomous Trains Considering Speed Restrictions: Using the Improved Offline Deep Reinforcement Learning Method

A METHOD FOR SYNTHESIS OF HIGH PRECISION RADIO TRACKING SYSTEMS WITH SPLIT CONTROL AND FILTERING PROCEDURES

Context. In combined automatic control systems (ACS) with the principle of control by disturbance, there are difficulties in controlling disturbances in some objects of radio engineering systems and somewhat lower accuracy. This is especially noticeable when the object is affected by several equal disturbances. Taking them into account requires increasing the complexity and reducing the reliability of the ACS. And neglect sharply reduces the accuracy of the system. Therefore, there is a need to develop a method of synthesis of radio technical tracking systems that eliminates the indicated shortcomings.
 Objective. The article presents a synthesis method for high precision radio tracking systems, which are equivalent to combined systems with split control and filtering procedures when the entry useful (preset) action, which is not measured and external disturbances and interferences are present simultaneously.
 Method. Methods of automatic control theory were used to achieve the goal of the research.
 Results. It has been demonstrated that there is a conflict between the conditions for split synthesis of the evaluation (smoothing) filter and the control filter (regulator) in automatic tracking control systems operating with deviation.
 The article offers a solution to the problem of control and evaluation in the framework of two-circuit systems, which are equivalent to combined systems. The second circuit can be presented as a product of a reverse transfer function with an error in the first circuit to the transfer function of Controller, which has a positive feedback from the operator, as well as the reverse transfer function of the control object without integrating links. It is proposed to use for evaluation an evaluation filter with closed filter transfer function instead of an open regulator.
 The characteristic polynomial of a two-circuit automatic control system (ACS) excludes the influence of the stable second-circuit evaluation filter on the stability of the entire ACS. The polynomial of the numerator of the transfer function must have the difference of polynomials by error, which ensures the achievement of invariance.
 A double-circuit ACS is equivalent to a combined one, since it provides the following: invariance of the error with respect to the preset action without directly measuring it; stability of the first circuit with a stable second circuit.
 The synthesized double-circuit ACS is equivalent to a combined one. The author has calculated and constructed the evaluation filter, the influence of this filter on ACS astatism (i. e., on its accuracy) has been analyzed.
 Conclusions. The scientific novelty of the developed method of synthesis of high-precision automatic tracking systems with separate control and filtering procedures in conditions where the controlled value is not measured in the presence of disturbances is as follows. Equivalence to combined systems, in contrast to the methods of differential connections, is achieved not by three, but by two control loops. The practical significance lies in the fact that the proposed method is advisable to use for the construction of surveillance radio engineering systems, where the input useful effect is not measured in the presence of external influences and disturbances. In aircraft control systems.

Deep Learning-Based Trajectory Planning and Control for Autonomous Ground Vehicle Parking Maneuver

In this paper, a novel integrated real-time trajectory planning and tracking control framework capable of dealing with autonomous ground vehicle (AGV) parking maneuver problems is presented. In the motion planning component, a newly-proposed idea of utilizing deep neural networks (DNNs) for approximating optimal parking trajectories is further extended by taking advantages of a recurrent network structure. The main aim is to fully exploit the inherent relationships between different vehicle states in the training process. Furthermore, two transfer learning strategies are applied such that the developed motion planner can be adapted to suit various AGVs. In order to follow the planned maneuver trajectory, an adaptive learning tracking control algorithm is designed and served as the motion controller. By adapting the network parameters, the stability of the proposed control scheme, along with the convergence of tracking errors, can be theoretically guaranteed. In order to validate the effectiveness and emphasize key features of our proposal, a number of experimental studies and comparative analysis were executed. The obtained results reveal that the proposed strategy can enable the AGV to fulfill the parking mission with enhanced motion planning and control performance. <i>Note to Practitioners</i>&#x2014;This article was motivated by the problem of optimal automatic parking planning and tracking control for autonomous ground vehicles (AGVs) maneuvering in a restricted environment (e.g., constrained parking regions). A number of challenges may arise when dealing with this problem (e.g., the model uncertainties involved in the vehicle dynamics, system variable limits, and the presence of external disturbances). Existing approaches to address such a problem usually exploit the merit of optimization-based planning/control techniques such as model predictive control and dynamic programming in order for an optimal solution. However, two practical issues may require further considerations: 1). The nonlinear (re)optimization process tends to consume a large amount of computing power and it might not be affordable in real-time; 2). Existing motion planning and control algorithms might not be easily adapted to suit various types of AGVs. To overcome the aforementioned issues, we present an idea of utilizing the recurrent deep neural network (RDNN) for planning optimal parking maneuver trajectories and an adaptive learning NN-based (ALNN) control scheme for robust trajectory tracking. In addition, by introducing two transfer learning strategies, the proposed RDNN motion planner can be adapted to suit different AGVs. In our follow-up research, we will explore the possibility of extending the developed methodology for large-scale AGV parking systems collaboratively operating in a more complex cluttered environment.

Novel ARC-Fuzzy Coordinated Automatic Tracking Control of Four-Wheeled Mobile Robot

Four-wheeled, individual-driven, nonholonomic structured mobile robots are widely used in industries for automated work, inspection and exploration purposes. The trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic structure. The wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile robots. However, there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s motion. As a result, the mobile robot has limited performance, such as chattering during curved movement. In this research work, a three-tiered adaptive robust control with fuzzy parameter estimation, including dynamic modeling, direct torque control and wheel slip control is proposed. Fuzzy logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller (ARC) parameters and tracking the trajectories with less tracking error as well as high tracking accuracy. This research considers the O type and 8 type trajectories for performance analysis of the proposed novel control technique. Our suggested approach outperforms the existing control methods such as Fuzzy, proportional–integral–derivative (PID) and adaptive robust controller with discrete projection (ARC–DP). The experimental results show that the scheduled performance index decreases by 2.77% and 4.76%. All the experimental simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.

Determination of thrusts for different cylinder groups during shield tunneling

The hydraulic thrust system that emphasizes grouped controlling of the shield machine is used for driving forward and pose adjustment. To control and regulate the pose of the shield machine precisely, it is of great significance to solve the total thrust and grouped thrusts (thrusts for different cylinder groups) reasonably. This study aims to develop a novel thrust model to calculate the total thrust and grouped thrust. Firstly, a soil-machine interaction model is developed to predict the loads acting on the shield machine during tunneling. Then an inverse kinematic analysis is performed to describe the velocity Jacobian and soil displacement induced by pose adjustment. Based on the kinematic mechanism of the shield machine under soil resistance, a thrust model is proposed to determine the total thrust and grouped thrusts employing static mechanics. In this model, both the soil properties and the shield parameters, such as operating parameters, pose parameters and geometric parameters are considered. The proposed thrust model is verified through a case application and the results indicate that the model could be used for assessing the total thrust and grouped thrusts during shield tunneling, which provides a theoretical basis for pose adjustment and automatic trajectory tracking control of the shield machine.

Kinematic Analysis and Virtual Prototype Simulation of the Thrust Mechanism for Shield Machine

The hydraulic thrust system of the shield machine is used for driving forward and pose adjustment. It is of great significance to figure out the thrust mechanism and motion characteristics of the shield machine to ensure the safety of tunnel excavation. This study aims to develop a model to explore the influence of thrust cylinder advancement on the motions of the shield machine. Firstly, the study carried out mechanism analysis of the thrust mechanism for the shield machine and established a method to describe the position and attitude of the shield machine during the tunneling process by the homogeneous transformation matrix. Then, a new inverse kinematic model was proposed to quantify the relationship between the telescoping movements of cylinders and shield machine motions, and the Jacobian matrix was derived to solve the instantaneous kinematics analysis. Furthermore, a virtual prototype model was developed to simulate the kinematic behavior of the shield machine and validate the accuracy of the kinematic model. The model provides the basic constraint relations for the practical position control system and lays a strong foundation for the dynamic model and automatic trajectory tracking control of shield machines for future studies. Based on the proposed model, the displacement, velocity, and acceleration of cylinders that drive the shield machine to the target motions can be solved exactly. It can provide a reference for the pose control of the shield machine during the practical shield tunneling.

Study on Extension of the 6-DOF Measurement Area for a Model Ship by Developing Auto-tracking Technology for Towing Carriage in Deep Ocean Engineering Tank

The deep ocean engineering basin (DOEB) of the Korea Research Institute of Ship and Ocean Engineering (KRISO) is equipped with an extreme-environment reproduction facility that can analyze the motion characteristics of offshore structures and ships. In recent years, there have been requirements for a wide range of six-degree-of-freedom (6-DOF) motion measurements for performing maneuvering tests and free-running tests of target objects (offshore structures or ships). This study introduces the process of developing a wide-area motion measurement technology by incorporating the auto-tracking technology of the towing carriage system to overcome the existing 6-DOF motion measurement limitation. To realize a wide range of motion measurements, the automatic tracking control system of the towing carriage in the DOEB was designed as a speed control method. To verify the control performance, the characteristics of the towing carriage according to the variation in control gain were analyzed. Finally, a wide range of motions was tested using a model test object (a remotely operated vehicle (ROV)), and the wide-area motion measurement technology was implemented using an automatic tracking control system for a towing carriage.

The invention relates to an intermediate frequency power supply fast start and digital phase locked loop control technology

Intermediate frequency induction heating is widely used because of its low energy consumption and high thermal efficiency, but the speed of traditional intermediate frequency power supply is slow and its frequency tracking accuracy is limited. In order to maintain the resonant state of the load during the working process of the induction heating power supply and realize the automatic frequency tracking control during the working process. The frequency tracking of the 40kW intermediate frequency power supply is researched, and a method of combining the resonant frequency automatic identification algorithm and the digital phase locked loop frequency tracking control method is proposed. MATLAB simulation and experiment show that the system based on this control method can save the time of searching the load resonance frequency in the initial stage of the power supply, improve the frequency tracking speed, accelerate the dynamic response speed of the system, avoid the failure of frequency lock, and play the role of fast and stable startup.

Automatic Manipulator Tracking Control Based on Moving Target Trajectory Prediction

The core issue of automatic manipulator tracking control is how to ensure the given moving target follows the expected trajectory and adapts to various uncertain factors. However, the existing moving target trajectory prediction methods rely on highly complex and accurate models, lacking the ability to generalize different automatic manipulator tracking scenarios. Therefore, this study tries to find a way to realize automatic manipulator tracking control based on moving target trajectory prediction. In particular, a moving target trajectory prediction model was established, and its parameters were optimized. Next, a tracking-training-testing algorithm was proposed for manipulator’s automatic moving target tracking, and the operating flows were detailed for training module, target detection module, and target tracking module. The proposed model and algorithm were proved effective through experiments.

Route Planning and Tracking for Ships Based on the ECDIS Platform

Automatic route planning and tracking control are important for unmanned surface vehicles (USVs). This study presents a final-optimized A* (FO A*) algorithm for automatic route planning of USVs and designs a nonlinear tracking controller to ensure that the ship navigates on the route. Ship domain theory is employed in the FO A* algorithm to ensure that the planning route is far from shorelines and reefs. Meanwhile, water depth is used to determine the safety area in the search process. The nonlinear feedback algorithm is also applied to reduce the rudder angle when the ship tracks the planning route in wind and waves. Finally, the proposed algorithms are well validated on the ship-based Electronic Chart Display and Information System (ECDIS). The experiment shows that the FO A* algorithm and the nonlinear tracking controller are effective and deterministic for route planning offline. It can be put into navigation practice, which will make some contribution in accelerating the USV development.

Laser‐based SLAM automatic parallel parking path planning and tracking for passenger vehicle

Automatic parking system (APS) plays an important role in alleviating drivers' burden and improving vehicle safety. This study proposes a laser-based simultaneous localisation and mapping (SLAM) automatic parallel parking and tracking control scheme, which include environment perception and reconstruction, parking path planning, and path following. First, the proposed approach selects short-range lidar to enlarge its perceptron on parking environment and senses available parking space to build neighbourhood mapping with the help of simultaneous localisation. The test evaluation indicates that laser-SLAM has achieved good performance for recognising free spaces. Then, scene-dependent B-spline parallel parking path planning algorithm is proposed to optimise the parking path curve and makes the path meet vehicle kinematics model constrains well, in which vehicle actuator's dynamic performance and parking path smoothness are taken as key attributes. The experiment results indicate that the designed parallel parking path is better smooth. At last, a path following control method based on model predictive control (MPC) algorithm is proposed. The authors built an intelligent vehicle APS platform, and the results indicate that the designed MPC algorithms has excellent robustness and can minimise the tracking error. All the proposed scheme is quantitatively evaluated using different parking scene simulation with satisfactory performance.

Quintic Polynomial-based Obstacle Avoidance Trajectory Planning and Tracking Control Framework for Tractor-trailer System

In this paper, a dynamic automatic obstacle avoidance trajectory planning and tracking control framework is proposed for tractor-trailer system. Tractor-trailer is a special class of multibody and nonholonomic system, whose backward and forward operations have difference kinetic mechanisms. Because the obstacle avoidance behaviors are concerned with the two motion modes, the kinematic models including backward and forward movements are firstly derived. Secondly, a time-based quintic polynomial function is developed to plan two kinds of dynamic obstacle avoidance trajectories based on dynamics constraints and the information from on board sensors, so as to minimize the collision risk. Thirdly, a model predictive control (MPC)-based posture controller is designed, by which better tracking performance can be achieved for both forward and backward obstacle avoidance maneuvers. Lastly, the simulation results validate the effectiveness of the proposed dynamic obstacle avoidance framework and the designed methods.

Mathematical Model of the Surveillance, Tracking and Fire Control System of the Short-Range ADGM System

The paper presents the development and simulation of a mathematical model of an automatic tracking and fire control system. The authors focused on very short-range air defense (VSHORAD) gun/missile systems.

Research on Light Source Tracking Method of Photovoltaic Power Generation System

In this paper, a new type of solar energy automatic tracking controller based on single chip microcomputer is designed to improve the utilization rate of solar energy. Using AT89S52 microcontroller as the core control components, through two photoelectric sensors, signal is collected through the comparison circuit and A / D, the results will be outputted to the single-chip microcontroller for data analysis and processing before output to ULN2003A to control the five-wire four-phase step motor to achieve the tracking of the sun position. The system has the advantages of low cost, and has good anti-interference ability improving the utilization rate of solar energy. The design firstly completed the simulation of the program, and then mainly editing using C programming to complete the program design. Through the downloader the program will be programmed into the microcontroller. Finally, through the construction of hardware experiments to achieve the objective of designed tracking.

Mechatronic design and implementation of a two axes sun tracking photovoltaic system driven by a robotic sensor

In the study presented in this paper , the problem of the design and implementation of a two-axis sun tracking system was addressed by applying a set of two robotic systems, one for the automatic orientation of the photovoltaic modules and the second for providing the reference trajectory (robotic sensor). The design methodology was based on mechatronic concepts, in particular the VDI 2206 standard, according to which the system is divided into interconnected modules to be designed, validated, and integrated. This approach provides an efficient energy collection system in terms of the mechanism, instrumentation system, energy supply, and automatic trajectory tracking control. Experimental results illustrate the behavior of the proposed system, which achieves a better performance than fixed systems, as well as one-axis tracking mechanisms.

A photodiode based on PbS nanocrystallites for FYTRONIX solar panel automatic tracking controller

The structural, optical and photoelectrical properties of the fabricated Al/PbS/p-Si/Al photodiode based on PbS nanocrystallites were investigated. The PbS nanocrystallites were characterized by X-ray diffraction (XRD), UV–VIS–NIR, Infrared and Raman spectroscopy. The XRD diffraction peaks show that the prepared PbS nanostructure is in high crystalline state. Various electrical parameters of the prepared photodiode were analyzed from the electrical characteristics based on I-V and C-V-G. The photodiode has a high rectification ratio of 5.85×104 at dark and ±4V. Moreover, The photocurrent results indicate a strong photovoltaic behavior. The frequency dependence of capacitance and conductance characteristics was attributed to depletion region behavior of the photodiode. The diode was used to control solar panel power automatic tracking controller in dual axis. The fabricated photodiode works as a photosensor to control Solar tracking systems.

A Robust Observer-Based Sensor Fault-Tolerant Control for PMSM in Electric Vehicles

This paper investigates the problem of automatic speed tracking control of an electric vehicle (EV) that is powered by a permanent-magnet synchronous motor (PMSM). A reconfiguration scheme, based on higher order sliding mode (HOSM) observer, is proposed in the event of sensor faults/failures to maintain a good control performance. The corresponding controlled motor output torque drives EVs to track the desired vehicle reference speed for providing uninterrupted vehicle safe operation. The effectiveness of the overall sensor fault-tolerant speed tracking control is highlighted when an EV is subjected to disturbances like aerodynamic load force and road roughness using high-fidelity software package CarSim. Experiments with a 26-W, three-phase PMSM are presented to demonstrate the validity of the proposed fault-detection scheme.

基于单片机的室内红外超声波定位和电机的跟踪调速控制

本文提出了一种基于51单片机的室内目标定位并反馈指导电机控制的方案。采用红外线触发，超声波测距，三点定位技术，使用51单片机结合L298N电机驱动芯片来控制步进电机和单相直流电机，实现了电风扇自动跟踪目标和自动调速的功能。 In this essay, a system of indoor object locating and feedback motor controlling based on single chip is introduced. The method has realized the goal of automatic tracking and automatic speed control for the electric fan by using the technologies including infrared trigger, ultrasonic ranging and three-point localization, and using MCU with L298N chip to control stepper motor and single- phase DC motor.

Study on Solar Photovoltaic Tracking System Based on Servo Control

The demand on resource is increasing when human beings have entered the 21st century, as the one-time fossil fuels get mined-out, such as coal, natural gas and petroleum the energy crisis has become a central issue. Because the solar energy density is small and the solar orientation changes over time, it’s difficult to collect, transmit and store the solar energy. Therefore, the utilization of solar energy is improved by using the technology of high-power condenser and automatic tracking, and the scope of solar energy application is also expanded. Tracking photovoltaic system be made of sun sensor, automatic tracking control system, the tracking actuator, solar panel, battery. With the guidance of the sensor, the control system can accurately track the position of the sun, so that the solar panel is always vertical to sunlight, to maximize use of eventually reaching solar efficiency. Data show that the utilization efficiency of solar energy can be improved about 10%.