Jiuhong Ruan

ADRC based ship tracking controller design and simulations

Because of the strong non-linearity, uncertainty and typical underactuated properties, as well as the restraints of rudder, the design of ship tracking controller is yet a challenge work. In this paper, the problem was investigated by utilizing the active disturbance rejection control (ADRC) method. Firstly, the ADRC was introduced briefly and the characteristics of ship tracking motion were analyzed. And the systempsilas nonlinear mathematical model with restraints and uncertainties was established. Then the system was described as a series structure, and the tracking ADRC controller was designed based on a kind of three order polynomial trajectory planning algorithm. At last, the simulations were performed. The results show that the controller designed can achieve high precision on ship tracking control and has strong robustness to ship parameter perturbations and environment disturbances.

Study on ADRC-based intelligent vehicle lateral locomotion control

Lateral locomotion control is a key technology for intelligent vehicle and ITS, and is significant to vehicle active safety. Firstly, the vehicle lateral locomotion mathematic model with constraints was given and the active disturbance rejection control(ADRC) was introduced briefly. Then the model was transformed to series format and the vehicle lateral locomotion system was expressed as a series system constructed with two sub systems, and the two ADRC controllers were designed for the two sub systems, respectively. The simulation results show that within the large velocity scale, the ADRC controllers can make the intelligent vehicle to accomplish smooth and high precision on lateral locomotion, and being robust to system parameter perturbations and disturbances. The work can give guidance to the engineering control study and design for the advanced vehicle.

Road utilization adhesion coefficient real-time estimation for ASR system

The real-time estimation of road utilization adhesion coefficient is an important issue for the ASR (Anti-Slip Regulation) system of electric wheel independent drive vehicle. Firstly, the 1/4 vehicle dynamics model was built based on the LuGre tire model. Then combined with wheel angular velocity information, the exponential approach law-based sliding mode observer for the road utilization adhesion coefficient estimation was designed. And the observers asymptotic stability was proved also. Finally, at different conditions of constant target slip rate, variable target slip rate and ASR controllers of different type, the simulations of road utilization adhesion coefficient real-time estimation were done in the vehicle ASR process. The results show the effectiveness and robustness of the observer proposed.

ADRC based study on the Anti-braking system of electric vehicles with regenerative braking

The control method for the Anti- lock braking system (ABS) with Regenerative Braking of Electric Vehicles was studied. A quarter dynamic model of vehicle for braking and Regenerative Braking model of motor in-wheel were given firstly, then braking torque produced by motor was thought as inner disturbance, ABS controller was developed based on Active Disturbance Rejection Control technique (ADRC) with the aim at anticipant slippage and with Regenerative Braking function. Simulations were made at last. Simulation results indicated that the system was robust under outer disturbance and inner parameters changed. It can regulate the slip rate at expired value at all conditions, at same time ,it can restore the kinetic energy of vehicle to electrical source.

Control and simulation of the ABS based on ADRC

The control method for the Anti- lock braking system (ABS) of Wheel was studied. A quarter dynamic model of vehicle was given based on Magic formulation firstly, then ABS controller was developed based on ADRC with the aim at anticipant slippage. Simulation results were given at different conditions, includes representative road, road changed suddenly and parameters changed with time while braking. These results indicate that the controller based on ADRC ensures excellent longitudinal adhesion stability, and very powerful robustness under disturbance and parameters change.

Tuning multi_parameters of PID with integral function divided by improved GA and its simulation

The PID controller with the integral function divided is used widely. But it is difficult to tuning for too many parameters in this arithmetic. In this paper, a method integrated Genetic Algorithm theory with the Jury stability criterion was adopt to optimize the parameters of this arithmetic. And the profits of this means is proved by simulation, it reduced the dependence on experience of technologist greatly and can find out the optimized parameters quickly.

Study on ADRC based lateral control for tracked mobile robots on stairs

This paper presents an Active disturbance rejection controller (ADRC) based lateral control algorithm for tracked robots on stairs, with the heading angle estimated by the vision system fixed on the robot. It can help the robot keeping its posture in order to avoid the serious influences caused by a wrong operation. Or with some further efforts on intelligent control, the robot can also auto guided on the stairs. Simulation results show that this algorithm can keep the robot a smooth and precise lateral control and effectively overcome the disturbance.