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- 저자 : Chengzhi Tan (검색결과 2 건)
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Numerical semi-empirical modeling of lidar attenuation characteristics in atmosphere
Tan Zhuangbin,Zhang Yan,Yang Yang,Chen Jintao,Qu Chengzhi,Ma Feifan 한국물리학회 2022 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.81 No.12
Long-distance measurement of lidar is a critical problem in various felds, such as airborne lidar detection, surveying, and mapping. Attenuation characteristic is the key factor afecting the lidar detection capability. However, some long-distance measurement methods based on the widely used and validated theoretical models are usually inefcient, while others relying on empirical models have limited applications due to experimental difculties. This study proposes a semi-empirical model of long-distance measurement based on the Beer–Lambert–Bouguer law adopting mathematical methods. Compared to the theoretical model, the calculation efciency of the semi-empirical model we constructed has been improved by more than two orders of magnitude, and the accuracy can reach more than 98% of the theoretical model. Compared to other empirical models, its accuracy is closer to the theoretical model, and the computational efciency is similar. It can be more efectively applied to the actual long-distance detection scene.
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Jiqing Chen,Chaoyang Zhao,Qingsong Tang,Xu Liu,Zhikui Wang,Chengzhi Tan,Jiahua Wu,Teng Long 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.2
The improvement of the performance of the multi-joint manipulator control system is of great significance to improve the level of industrial automation. The existing sliding mode control methods are difficult to ensure the high-precision and fast-tracking of joints of a manipulator to the desired trajectory under low chattering control input. Therefore, a non-singular fast terminal sliding mode control method based on a nonlinear disturbance observer is proposed. In addition, a new non-singular fast terminal sliding mode surface is designed. The performance comparison method of the sliding mode surface proves its better control quality. Aiming at the problem of serious chattering, the nonlinear disturbance observer technology, and saturation function method are introduced to effectively weaken the chattering. Finally, taking the 3-DOF manipulator as the research object, a comparative simulation experiment is carried out in the MATLAB / Simulink environment. The results show that under the uncertainty of modeling error, external disturbance, and joint friction, the designed control method not only solves the problems of singular control input and serious chattering but also realizes the high-precision and fast-tracking of each joint to the desired trajectory. Thus, the effectiveness and feasibility of the design method are verified. The improvement of the performance of the multi-joint manipulator control system is of great significance to improve the level of industrial automation. The existing sliding mode control methods are difficult to ensure the high-precision and fast-tracking of joints of a manipulator to the desired trajectory under low chattering control input. Therefore, a non-singular fast terminal sliding mode control method based on a nonlinear disturbance observer is proposed. In addition, a new non-singular fast terminal sliding mode surface is designed. The performance comparison method of the sliding mode surface proves its better control quality. Aiming at the problem of serious chattering, the nonlinear disturbance observer technology, and saturation function method are introduced to effectively weaken the chattering. Finally, taking the 3-DOF manipulator as the research object, a comparative simulation experiment is carried out in the MATLAB / Simulink environment. The results show that under the uncertainty of modeling error, external disturbance, and joint friction, the designed control method not only solves the problems of singular control input and serious chattering but also realizes the high-precision and fast-tracking of each joint to the desired trajectory. Thus, the effectiveness and feasibility of the design method are verified.
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