Deceleration Control Algorithm Research Articles

Characterization of chaotic mixing effects in hydrometallurgical leaching process based on deep learning

Traditional stirring methods in the wet metallurgy leaching process suffer from low efficiency, high consumption, and low output, leading to increased production costs and energy consumption. Therefore, this study evaluates reactor performance using deep learning and introduces variable-speed stirring to enhance laminar mixing and reduce stirring reactor power consumption. An S-Type acceleration and deceleration control algorithm is constructed to ensure that stepper motors do not experience step loss, stalling, or overshoot when the frequency changes abruptly. A deep learning tracking model based on dual cameras is established to dynamically track tracer particles inside the stirring reactor, and a Euclidean distance evaluation method is proposed to characterize and evaluate the mixing performance of the stirring reactor. Experimental results demonstrate that the use of complex function variable-speed stirring and shortening the variable-speed cycle both contribute to improving mixing efficiency. Under a variable-speed cycle of 5 seconds, chaotic speed increases mixing efficiency by 53.1% compared to constant speed. This study provides a theoretical basis for optimizing the wet metallurgy leaching process.

Design and Experiment of Plate Taking Control System of Edible Sunflower (Edulis helianthus catino L.) Harvester

This study aims at the problems of high labor intensity, high cost and high loss rate of mechanical picking of seeds, low mechanization level and difficulty to guarantee the quality of picking plates in the process of picking edible sunflower. Based on the principle of manual plate taking, a plate taking control system for a sunflower harvesting table was designed. The principle of taking the plate of the edible sunflower harvesting table was analyzed. According to the actual operation requirements, the overall scheme of the sunflower plate control system is determined, and the control strategy of imitating artificial low-loss harvesting is designed. To reduce the grain loss in the process of taking the plate and improve the control accuracy of the system on the movement speed and displacement of the key components in the process of taking the plate, a trapezoidal acceleration and deceleration control algorithm is designed as the control algorithm of taking the plate. The working performance of the plate control system was verified with the absolute error, relative error and total loss rate of the harvest as objectives. Bench and field verification experiments were both carried out. The bench experiment showed that the speed error of the plate parts was not more than 0.028 m/s. In the bench experiments of the device, the maximum positioning error was 1.25 mm, the average relative error was only 0.94% and the grain loss rate was not more than 2.26%. Its result showed that the system algorithm was reliable, the positioning accuracy was high and the plate taking operation can be completed well. The field verification experiment showed that the forward speed of the unit was in the range of 0.4~0.8 m/s, and the total loss rate of harvest was less than 5%. When the forward speed is 0.6 m/s, the minimum harvest loss rate is 2.32%, which indicated the control system meets the requirements of sunflower harvesting operation.

Fuzzy Neural Network PID-Based Constant Deceleration Control for Automated Mine Electric Vehicles Using EMB System.

It is urgent for automated electric transportation vehicles in coal mines to have the ability of self-adaptive tracking target constant deceleration to ensure stable and safe braking effects in long underground roadways. However, the current braking control system of underground electric trackless rubber-tired vehicles (UETRVs) still adopts multi-level constant braking torque control, which cannot achieve target deceleration closed-loop control. To overcome the disadvantages of lower safety and comfort, and the non-precise stopping distance, this article describes the architecture and working principle of constant deceleration braking systems with an electro-mechanical braking actuator. Then, a deceleration closed-loop control algorithm based on fuzzy neural network PID is proposed and simulated in Matlab/Simulink. Finally, an actual brake control unit (BCU) is built and tested in a real industrial field setting. The test illustrates the feasibility of this constant deceleration control algorithm, which can achieve constant decelerations within a very short time and maintain a constant value of -2.5 m/s2 within a deviation of ±0.1 m/s2, compared with the deviation of 0.11 m/s2 of fuzzy PID and the deviation of 0.13 m/s2 of classic PID. This BCU can provide electric and automated mine vehicles with active and smooth deceleration performance, which improves the level of electrification and automation for mine transport machinery.

Acceleration and deceleration control algorithm of CNC system based on deep neural network reinforcement learning and MCU

Acceleration and deceleration control, as one of the key technologies in high-speed CNC system, directly affects the machining efficiency, the stability of machining process and the error of machining follow. Therefore, it is necessary to study and explore new acceleration and deceleration control methods in high-speed CNC system to ensure the smooth feed and improve the machining accuracy. Therefore, the acceleration and deceleration control algorithm of NC system based on deep reinforcement learning and single chip microcomputer is studied. The theoretical basis of deep reinforcement learning is analyzed, and the acceleration of acceleration and deceleration is calculated based on the linear acceleration and deceleration control. The whole integer operation of single chip microcomputer is used to estimate the value range of each step. The variation characteristics of trajectory motion are predicted so that acceleration and deceleration can be processed across program segments. The velocity of transfer point is calculated by the rate of change of feed velocity vector, and the speed of multi-program is smoothed by adjusting the allowable contour error. Based on the proximal strategy optimization algorithm in deep reinforcement learning, the acceleration and deceleration control model of CNC system is established to realize the acceleration and deceleration control. The experimental results show that the proposed algorithm has better control effect, shorter time and smaller interpolation error, which can ensure the NC system to feed smoothly at high speed.

A Practical Deceleration Control Method, Prototype Implementation and Test Verification for Rail Vehicles

Currently, the theoretical braking force control mode, characterized by actual deceleration as an unstable open-loop output, is the most widely used brake control mode in trains. To overcome the shortcomings of non-deceleration control modes, a deceleration control mode is proposed to realize the closed-loop control of train deceleration. First, a deceleration control algorithm based on parameter estimation was derived. Then, the deceleration control software logic was designed based on the existing braking system to meet the engineering requirements. Finally, the deceleration control algorithm was verified through a ground combination test bench with real brake control equipment and pneumatic brakes. The test results show that the deceleration control can make the actual braking deceleration of the train accurately track the target deceleration in the presence of disturbances, such as uncertain brake pad friction coefficients, line ramps, vehicle loads and braking force feedback errors, as well as their combined effects, and does not affect the original performance of the braking system. The average deceleration in the deceleration control mode is relatively stable, and the control error of instantaneous deceleration is smaller.

Smooth toolpath interpolation for a 5-axis hybrid machine tool

AbstractDue to the merits of high rigidity and good dynamics, hybrid machine tools have been gradually applied to efficient machining of thin-walled workpiece with complex geometries. However, the discontinuity of tangential component of toolpath in hybrid machine tools may cause velocity fluctuations, leading to poor surface quality of workpiece. In this paper, a novel 5-axis hybrid machine tool is taken as an example to demonstrate a smooth toolpath interpolation method. First, an adaptive acceleration and deceleration control algorithm is presented to realize the smooth transition between two constrained velocity points. Second, a spline curve-based interpolation algorithm is proposed to realize the smoothness of the trajectory. Meanwhile, a parameter synchronization method is proposed to ensure the synchronization of the interpolated tool-axis vector and the interpolated tool tip. Thirdly, an inverse kinematic analysis is conducted based on an inverse position solution model and a velocity mapping model. Finally, a set of machining tests on S-shape workpiece in line with the ISO standard is carried out to verify the effectiveness of the proposed smooth toolpath interpolation method.

Experimental Study on the Optimal Strategy for Power Regulation of Governing System of Hydropower Station

Active power instability during the power regulation process is a problem that affects the operation security of hydropower stations and the power grid. This paper focuses on the dynamic response to power regulation of a hydro-turbine governor in the power control mode. Firstly, the mathematical model for the hydro-turbine governing system connected to the power grid is established. Then, considering the effect of water hammer and the guide vane operating speed on power oscillation and reverse power regulation, a novel control strategy based on the S-curve acceleration and deceleration control algorithm (S-curve control algorithm) is proposed to improve power regulation. Furthermore, we carried out field tests in a real hydropower station in order to compare the regulation quality of the novel control strategy based on the S-curve control algorithm with the traditional linear control strategy. Finally, the obtained results show that the proposed optimal control strategy for the hydro-turbine governor improves the stability of power regulation by effectively suppressing reverse power regulation and overshoot. This study provides a good solution for the instability of power and reverse power regulation during the regulation process of the hydro-turbine governor in the power control mode.

The implementation and experimental research on an S-curve acceleration and deceleration control algorithm with the characteristics of end-point and target speed modification on the fly

For modern equipment manufacturing industries, advanced manufacturing technologies have significant impact on the production quality and efficiency. Specifically, high-speed and high-accuracy technology is widely used in aerospace, automotive, and power-generation equipment to reduce the processing costs and improve the machining accuracy. However, the traditional velocity planning methods cannot satisfy the requirements of advanced equipment in point-to-point movement occasions. To solve these problems, a novel S-curve acceleration and deceleration (Acc/Dec) control model is proposed in this study, and the discretization of the Acc/Dec process was investigated. Furthermore, the derivation of the actual interpolation periods of each segment, actual achieved Acc/Dec, and actual achieved jerk of Acc/Dec zone are addressed in detail. To ensure the positioning accuracy and reduce the computational load, discrete formulae for the deceleration displacement, maximal achieved speed, and displacement of the constant acceleration segment are derived. To satisfy the product diversification and improve the efficiency, the function of the aforementioned S-curve Acc/Dec control algorithm was extended in this study. As a result, the end-point modification and target speed modification algorithms were developed. Finally, a series of numerical simulations and a real experiment were conducted. The results show that the proposed algorithms exhibit a good performance both in terms of reliability and efficiency. Thus, its feasibility was validated.

Design of the Embedded Control System of Laser Engraving Machine

The control system of laser engraving machine based on ARM processor realize the precise control of the two-dimensional stepping motor and the laser head. This article focuses on the proposed stepping motor speed and trajectory control algorithm, and meanwhile, the speed control adopt linear acceleration and deceleration control algorithm; Trajectory control, based on the traditional point by point comparison arc interpolation method, puts forward the improved algorithm which can effectively improve the interpolation speed and interpolation accuracy. The experimental results show that the method can improve the machining precision and machining efficiency of laser engraving machine, and also can realize the high precision carving.

Drawing motion profile planning and optimizing for heavy servo press

An efficient drawing mode for heavy servo press was proposed with four sections which are defined on the whole slide motion stroke. Four key control points, which represent the requirements of drawing process, were employed to realize the eccentric drawing motion profile planning. To reduce the power requirement of the servo motor, a flexible acceleration and deceleration control algorithm was proposed, and the eccentric motion profile of the servo press was constructed based on the algorithm. Then, the optimization model of the drawing eccentric motion profile was established to maximize the production rate, taking into account all boundary conditions including the maximum velocity and acceleration of slide, the space and time limit of feeder, the torque and thermal limit of servo motor. This optimization model was solved by the combination of the penalty function and the complex method, which need the least time. The program of the drawing motion profile optimization was developed and applied on a 2,500 t servo press. Finally, the experimental validation of the body side panel drawing was carried out. The results show that the proposed efficient drawing mode and the optimization method could obtain the optimal motion profile and the maximum production rate. This research provides the theoretical foundation and optimization method for the drawing motion profile optimization design for heavy servo press.

Simulation of NURBS Curve Interpolation Algorithm and Five S-Phased Acceleration and Deceleration Control Algorithm

The computer simulation method is used to test the correctness of the NURBS curve interpolation algorithm, through the comparison of the five S-phased curve acceleration and deceleration control method and the line acceleration and deceleration control method, to validate the superiority of the five S-phased curve acceleration and deceleration control method.

The Realization of Linear Motion Control in Dedicated Digital Control of Marking

In this paper, using Bresenham line algorithm and uniform acceleration , uniform deceleration control algorithm, Combining compensation control about Z-axis motion on cylindrical surface, the author has writed a complete linear motion control program by integer addition, subtraction, logic operations. The program applies to specific numerical marking machine, you can part the plane, cylindrical surface marking.

2A1-Q10 広域無段変速装置搭載車両の研究 : 加減速制御アルゴリズム(【交通・物流部門】自動車分野におけるロボティクス)

Wide Range CVT(WRCVT) is a combination of half toroidal CVT and differential gear. The gear ratio of this transmission can be changed continuously from forward to reverse. This paper describes the acceleration and deceleration control algorithm of the vehicle which is driven by the WRCVT. Because the engine speed is kept by a regulator, the vehicle speed corresponds to the WRCVT reduction ratio. Acceleration or deceleration signal produced by an accelerator pedal is combined with the actual speed signal to be the reference signal to the controller. When breaking, brake activation signal cut off the accelerator signal, and the reference of reduction ratio controller follows the actual vehicle speed. This algorithm was verified successfully by an engine driven small cart.

Active Deceleration Support in Car Following

A haptic gas pedal feedback system is developed that provides car-following information via haptic cues from the gas pedal. During normal car-following situations, the haptic feedback (HF) cues were sufficient to reduce control activity and improve car-following performance. However, in more critical following situations, drivers use the brake pedal to maintain separation with the lead vehicle. A deceleration control (DC) algorithm is designed that, in addition to the HF, provided increased deceleration upon release of the gas pedal during car-following situations that required faster deceleration than releasing the gas pedal alone would do. For the design, a driver model for car following in different situations was estimated from driving simulator data. A Monte Carlo analysis with the driver model yielded subjective decision points, where drivers released the gas pedal to start pressing the brakes. This enabled the definition of a reaction field, which determined the needed deceleration input for the DC algorithm. The tuned DC algorithm was tested in a fixed-base driving simulator experiment. It was shown that the active deceleration support improved the car-following performance while reducing the driver brake pedal input magnitude in the conditions tested.

An Open CNC System Based on RTLinux for the 5-DOF Parallel Laser Processing Machine

An open CNC(computerized numerical control) system based on RTLinux for the 5-DOF(degree of freedom) parallel laser processing machine is studied,and the forward and inverse displacement models for the five degrees of freedom parallel configuration with three branches is embedded in the system.In the models,the multi-solution problem of the special displacement is solved.In the interpolating process,S-shape acceleration and deceleration control algorithm and small line segment interpolation are used.In addition,process control module is incorporated into the CNC system to adjust laser processing parameters including laser power and defocus length etc.