He Yongyi

Omni-directional opera robot motion planning based on wavelet

This paper presents a novel motion planning method based on wavelet sampling theorem and kinematics model of omni-directional opera robot. According to the method, the speed of each driving motor can be derived out in an easy way. However, the speeds at all the key points along the trajectory are the important parameters for the PLC control system of opera robot. Through experiment, the opera robot can be driven to move smoothly along the expected trajectory by the light of the method.

Design of a fuzzy pre-compensator PID tension controller for fabric based on DSP

A new control method is proposed for fabric tension regulation in an electronic let-off and take-up system designed for rapier loom. It is based on a fuzzy pre-compensator PID control strategy, which actively compensates for dynamic changes in the system and unpredictable external disturbances. The performance of scheme performed on an AC servomotor tension control has been tested under the varying load conditions. The experimental results show the effectiveness of the proposed tension controller in coping with large dynamic variations commonly seen in web tension applications.

DSP-Based Intelligent Tension Controller

Tension control is difficult and pivotal in lots of fields. This paper mainly discusses the design of intelligent tension controller by a novel 16-bit DSP module. DSP is designed to meet the need of control field. It can be used in some fields such as multi-lines cutting of microsystems manufacturing. Intelligent fuzzy-PID algorithm is adopted. This paper takes let-off and take-up control system of rapier loom for example and discusses how to design DSP-based intelligent tension controller. From the given experiment, test results show that the DSP-based fuzzy-PID intelligent controller has superior performance. It can be used widely to control tension in different fields