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Article
Publication date: 18 March 2024

Min Zeng, Jianxing Xie, Zhitao Li, Qincheng Wei and Hui Yang

This study aims to introduce a novel technique for nonlinear sensor time constant estimation and sensor dynamic compensation in hot-bar soldering using an extended Kalman filter…

Abstract

Purpose

This study aims to introduce a novel technique for nonlinear sensor time constant estimation and sensor dynamic compensation in hot-bar soldering using an extended Kalman filter (EKF) to estimate the temperature of the thermocouple.

Design/methodology/approach

Temperature optimal control is combined with a closed-loop proportional integral differential (PID) control method based on an EKF. Different control methods for measuring the temperature of the thermode in terms of temperature control, error and antidisturbance are studied. A soldering process in a semi-industrial environment is performed. The proposed control method was applied to the soldering of flexible printed circuits and circuit boards. An infrared camera was used to measure the top-surface temperature.

Findings

The proposed method can not only estimate the soldering temperature but also eliminate the noise of the system. The performance of this methodology was exemplary, characterized by rapid convergence and negligible error margins. Compared with the conventional control, the temperature variability of the proposed control is significantly attenuated.

Originality/value

An EKF was designed to estimate the temperature of the thermocouple during hot-bar soldering. Using the EKF and PID controller, the nonlinear properties of the system could be effectively overcome and the effects of disturbances and system noise could be decreased. The proposed method significantly enhanced the temperature control performance of hot-bar soldering, effectively suppressing overshoot and shortening the adjustment time, thereby achieving precise temperature control of the controlled object.

Details

Soldering & Surface Mount Technology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0954-0911

Keywords

Article
Publication date: 6 December 2022

Xinhong Zou, Hongchang Ding and Jinhong Li

This paper aims to present a sliding mode control method based on disturbance observer (DO) for improving the reaching law of permanent magnet synchronous motor (PMSM).

Abstract

Purpose

This paper aims to present a sliding mode control method based on disturbance observer (DO) for improving the reaching law of permanent magnet synchronous motor (PMSM).

Design/methodology/approach

Aiming at the insufficiency of the traditional exponential reaching law used in sliding mode variable structure control, an exponential reaching law related to the speed error is proposed. The improved exponential reaching law can adaptively adjust the size of the constant velocity term in the reaching law according to the size of the speed error, so as to adaptively adjust the speed of the system approaching the sliding mode surface to overcome the control deviation and improve the dynamic and steady state performance. To improve the anti-interference ability of the system, a DO is proposed to observe the external disturbance of the system, and the observed value is used to compensate the system. The stability of the system is analyzed by Lyapunov theorem. The effectiveness of this method is proved by simulation and experiment.

Findings

Simulation and experiment show that the proposed method has the advantages of fast response and strong anti-interference ability.

Research limitations/implications

The proposed method cannot observe the disturbance caused by the change of internal parameters of the system.

Originality/value

A sliding mode control method for PMSM is proposed, which has good control performance. The proposed method can effectively suppress chattering, ensure fast response speed and have strong anti-interference ability. The effectiveness of the algorithm is verified by simulation and experiment.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering , vol. 42 no. 6
Type: Research Article
ISSN: 0332-1649

Keywords

Article
Publication date: 4 March 2024

Yonghua Huang, Tuanjie Li, Yuming Ning and Yan Zhang

This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit…

Abstract

Purpose

This paper aims to solve the problem of the inability to apply learning methods for robot motion skills based on dynamic movement primitives (DMPs) in tasks with explicit environmental constraints, while ensuring the reliability of the robot system.

Design/methodology/approach

The authors propose a novel DMP that takes into account environmental constraints to enhance the generality of the robot motion skill learning method. First, based on the real-time state of the robot and environmental constraints, the task space is divided into different regions and different control strategies are used in each region. Second, to ensure the effectiveness of the generalized skills (trajectories), the control barrier function is extended to DMP to enforce constraint conditions. Finally, a skill modeling and learning algorithm flow is proposed that takes into account environmental constraints within DMPs.

Findings

By designing numerical simulation and prototype demonstration experiments to study skill learning and generalization under constrained environments. The experimental results demonstrate that the proposed method is capable of generating motion skills that satisfy environmental constraints. It ensures that robots remain in a safe position throughout the execution of generation skills, thereby avoiding any adverse impact on the surrounding environment.

Originality/value

This paper explores further applications of generalized motion skill learning methods on robots, enhancing the efficiency of robot operations in constrained environments, particularly in non-point-constrained environments. The improved methods are applicable to different types of robots.

Details

Industrial Robot: the international journal of robotics research and application, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 25 August 2023

Shuai Yue, Ben Niu, Huanqing Wang, Liang Zhang and Adil M. Ahmad

This paper aims to study the issues of adaptive fuzzy control for a category of switched under-actuated systems with input nonlinearities and external disturbances.

Abstract

Purpose

This paper aims to study the issues of adaptive fuzzy control for a category of switched under-actuated systems with input nonlinearities and external disturbances.

Design/methodology/approach

A control scheme based on sliding mode surface with a hierarchical structure is introduced to enhance the responsiveness and robustness of the studied systems. An equivalent control and switching control rules are co-designed in a hierarchical sliding mode control (HSMC) framework to ensure that the system state reaches a given sliding surface and remains sliding on the surface, finally stabilizing at the equilibrium point. Besides, the input nonlinearities consist of non-symmetric saturation and dead-zone, which are estimated by an unknown bounded function and a known affine function.

Findings

Based on fuzzy logic systems and the hierarchical sliding mode control method, an adaptive fuzzy control method for uncertain switched under-actuated systems is put forward.

Originality/value

The “cause and effect” problems often existing in conventional backstepping designs can be prevented. Furthermore, the presented adaptive laws can eliminate the influence of external disturbances and approximation errors. Besides, in contrast to arbitrary switching strategies, the authors consider a switching rule with average dwell time, which resolves control problems that cannot be resolved with arbitrary switching signals and reduces conservatism.

Details

Robotic Intelligence and Automation, vol. 43 no. 5
Type: Research Article
ISSN: 2754-6969

Keywords

Book part
Publication date: 25 October 2023

Md Sakib Ullah Sourav, Huidong Wang, Mohammad Raziuddin Chowdhury and Rejwan Bin Sulaiman

One of the most neglected sources of energy loss is streetlights that generate too much light in areas where it is not required. Energy waste has enormous economic and…

Abstract

One of the most neglected sources of energy loss is streetlights that generate too much light in areas where it is not required. Energy waste has enormous economic and environmental effects. In addition, due to the conventional manual nature of operation, streetlights are frequently seen being turned ‘ON’ during the day and ‘OFF’ in the evening, which is regrettable even in the twenty-first century. These issues require automated streetlight control in order to be resolved. This study aims to develop a novel streetlight controlling method by combining a smart transport monitoring system powered by computer vision technology with a closed circuit television (CCTV) camera that allows the light-emitting diode (LED) streetlight to automatically light up with the appropriate brightness by detecting the presence of pedestrians or vehicles and dimming the streetlight in their absence using semantic image segmentation from the CCTV video streaming. Consequently, our model distinguishes daylight and nighttime, which made it feasible to automate the process of turning the streetlight ‘ON’ and ‘OFF’ to save energy consumption costs. According to the aforementioned approach, geo-location sensor data could be utilised to make more informed streetlight management decisions. To complete the tasks, we consider training the U-net model with ResNet-34 as its backbone. Validity of the models is guaranteed with the use of assessment matrices. The suggested concept is straightforward, economical, energy-efficient, long-lasting and more resilient than conventional alternatives.

Details

Technology and Talent Strategies for Sustainable Smart Cities
Type: Book
ISBN: 978-1-83753-023-6

Keywords

Content available
Book part
Publication date: 25 October 2023

Abstract

Details

Technology and Talent Strategies for Sustainable Smart Cities
Type: Book
ISBN: 978-1-83753-023-6

Open Access
Article
Publication date: 8 February 2024

Van Thien Ngo

This study aims to examine the perceptions of students about learning science and physics using the engineering design process (EDP).

Abstract

Purpose

This study aims to examine the perceptions of students about learning science and physics using the engineering design process (EDP).

Design/methodology/approach

The study employed a mixed-methods research design: The quantitative session features a pre–post-test control group study. In the qualitative aspect, the study conducted semistructured interviews for data collection. In the experimental group, the flipped classroom (FC) model and an instructional design are combined to design, develop and implement a physics course using the steps of the EDP, while the conventional method was applied to the control group. The respondents are students of the Department of Mechanical Engineering at Cao Thang Technical College in Vietnam for the academic year 2022–2023. The control and experimental groups are composed of 80 students each. An independent sample Mann–Whitney U test is applied to the quantitative data, while thematic analysis is employed for the qualitative data.

Findings

The results demonstrate a statistically significant difference between the experimental and control groups in terms of perceptions about learning science and physics using the EDP, which, when combined with a FC, enhances physics learning for engineering students.

Research limitations/implications

This study implemented the EDP in teaching physics to first-year engineering students in the Department of Mechanical Engineering using the combined FC and instructional design models. The results revealed that a difference exists in the perception of the students in terms of integrating the EDP into learning physics between the experimental and control groups. The experimental group, which underwent the EDP, obtained better results than did the control group, which used the conventional method. The results demonstrated that the EDP encouraged the students to explore and learn new content knowledge by selecting the appropriate solution to the problem. The EDP also helped them integrate new knowledge and engineering skills into mechanical engineering. This research also introduced a new perspective on physics teaching and learning using the EDP for engineering college students.

Practical implications

The research findings are important for teaching and learning physics using EDP in the context of engineering education. Thus, educators can integrate the teaching and learning of physics into the EDP to motivate and engage student learning.

Originality/value

Using the EDP combined with a FC designed under stages of the analyze, design, develop, implement and evaluate (ADDIE) model has enhanced the learning of physics for engineering college students.

Details

Journal of Research in Innovative Teaching & Learning, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 2397-7604

Keywords

Article
Publication date: 13 March 2024

Ziyuan Ma, Huajun Gong and Xinhua Wang

The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for…

Abstract

Purpose

The purpose of this paper is to construct an event-triggered finite-time fault-tolerant formation tracking controller, which can achieve a time-varying formation control for multiple unmanned aerial vehicles (UAVs) during actuator failures and external perturbations.

Design/methodology/approach

First, this study developed the formation tracking protocol for each follower using UAV formation members, defining the tracking inaccuracy of the UAV followers’ location. Subsequently, this study designed the multilayer event-triggered controller based on the backstepping method framework within finite time. Then, considering the actuator failures, and added self-adaptive thought for fault-tolerant control within finite time, the event-triggered closed-loop system is subsequently shown to be a finite-time stable system. Furthermore, the Zeno behavior is analyzed to prevent infinite triggering instances within a finite time. Finally, simulations are conducted with external disturbances and actuator failure conditions to demonstrate formation tracking controller performance.

Findings

It achieves improved performance in the presence of external disturbances and system failures. Combining limited-time adaptive control and event triggering improves system stability, increase robustness to disturbances and calculation efficiency. In addition, the designed formation tracking controller can effectively control the time-varying formation of the leader and followers to complete the task, and by adding a fixed-time observer, it can effectively compensate for external disturbances and improve formation control accuracy.

Originality/value

A formation-following controller is designed, which can handle both external disturbances and internal actuator failures during formation flight, and the proposed method can be applied to a variety of formation control scenarios and does not rely on a specific type of UAV or communication network.

Details

Aircraft Engineering and Aerospace Technology, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 12 December 2023

Qing Zhou, Yuanqing Liu, Xiaofeng Liu and Guoping Cai

In the post-capture stage, the tumbling target rotates the combined spacecraft system, and the detumbling operation performed by the space robot is required. To save the costly…

Abstract

Purpose

In the post-capture stage, the tumbling target rotates the combined spacecraft system, and the detumbling operation performed by the space robot is required. To save the costly onboard fuel of the space robot, this paper aims to present a novel post-capture detumbling strategy.

Design/methodology/approach

Actuated by the joint rotations of the manipulator, the combined system is driven from three-axis tumbling state to uniaxial rotation about its maximum principal axis. Only unidirectional thrust perpendicular to the axis is needed to slow down the uniaxial rotation, thus saving the thruster fuel. The optimization problem of the collision-free detumbling trajectory of the space robot is described, and it is optimized by the particle swarm optimization algorithm.

Findings

The numerical simulation results show that along the trajectory planned by the detumbling strategy, the maneuver of the manipulator can precisely drive the combined system to rotate around its maximum principal axis, and the final kinetic energy of the combined system is smaller than the initial. The unidirectional thrust and the lower kinetic energy can ensure the fuel-saving in the subsequent detumbling stage.

Originality/value

This paper presents a post-capture detumbling strategy to drive the combined system from three-axis tumbling state to uniaxial rotation about its maximum principal axis by redistributing the angular momentum of the parts of the combined system. The strategy reduces the thrust torque for detumbling to effectively save the thruster fuel.

Details

Aircraft Engineering and Aerospace Technology, vol. 96 no. 1
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 5 December 2023

Zhirui Zhao, Lina Hao, Guanghong Tao, Hongjun Liu and Lihua Shen

This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using…

110

Abstract

Purpose

This study discusses the tracking trajectory issue of the exoskeleton under the bounded disturbance and designs an useful tracking trajectory control method to solve it. By using the proposed control method, the tracking error can be successfully convergence to the assigned boundary. Meanwhile, the chattering effect caused by the actuators is already reduced, and the tracking performance of the pneumatic artificial muscles (PAMs) elbow exoskeleton is improved effectively.

Design/methodology/approach

A prescribed performance sliding mode control method was developed in this study to fulfill the joint position tracking trajectory task on the elbow exoskeleton driven by two PAMs. In terms of the control structure, a dynamic model was built by conforming to the adaptive law to compensate for the time variety and uncertainty exhibited by the system. Subsequently, a super-twisting algorithm-based second-order sliding mode control method was subjected to the exoskeleton under the boundedness of external disturbance. Moreover, the prescribed performance control method exhibits a smooth prescribed function with an error transformation function to ensure the tracking error can be finally convergent to the pre-designed requirement.

Findings

From the theoretical perspective, the stability of the control method was verified through Lyapunov synthesis. On that basis, the tracking performance of the proposed control method was confirmed through the simulation and the manikin model experiment.

Originality/value

As revealed by the results of this study, the proposed control method sufficiently applies to the PAMs elbow exoskeleton for tracking trajectory, which means it has potential application in the actual robot-assisted passive rehabilitation tasks.

Details

Industrial Robot: the international journal of robotics research and application, vol. 51 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

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