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To the optical mechanical complexes of tracking and positioning, strict requirements are produced on the dynamics and permissible errors under such conditions as external and internal nonstationary disturbances, as well as presence of elastic deformations in the links of the driven mechanism. In modern systems, adaptive control algorithms have proven themselves as complementary to the main control...
This paper presents the design and implementation of a motion control system using EtherCAT. The EtherCAT frame with an embedded motion profile is introduced. Additionally, a closed loop stepper motor that uses the embedded data of the EtherCAT frame is shown. For position control purposes, a lead angle estimation was designed. The Proportional Integral Feed Forward (PI-FF) controller was implemented...
The article presents results of parametric identification of mechanical part of drive system with permanent magnet synchronous motor by means of heuristic method of Particle Swarm Optimization (PSO). The assumed mechanical part has a complex structure, consisting of two-mass connected by an elastic joint with backlash. The optimization process was designed to find model parameters that assure the...
Torque pulsation in permanent magnet synchronous motor impairs their performance in critical applications, particularly for direct-drive. A practical approach to compensation of selected torque harmonics is presented. The approach consists of two steps: identification of dominant torque harmonics (the cogging harmonics and the flux linkage harmonics) and cuckoo search algorithm to tune the compensation...
This paper addresses a novel slip-ratio-based torque distribution strategy for electric vehicles (EVs) to avoid slippage when driving over a split friction surface. With the combination to an upper and middle controller, the desired driving force and yaw moment can be distributed to four driving wheels by utilizing the proposed lower controller. Stability analysis by using Lyapunov theorem is presented...
In the paper, an adaptive structure for two-sided electrical drive is presented. The control object has a multiple-input multiple output structure, since two input signals (motor torques) are available for the controller. The assumed model of the plant is non-linear (presence of backlash) and reveals resonant nature (elasticity in the mechanical structure). The controller is a two-layer recursive...
This paper concerntrates on the analysis, design and control methodology in the machining servo system. The overall architecture of motion system is investigated to realize the drawbacks of traditional scheme. Then, this research proposes the suitable design of controller due to rapid calculation, high precision and friendly graphical user interface. The diagram of Fuzzy self-tuning PID and feedforward...
To realize the contour control of the full flexible nozzle in the new 0.6m × 0.6m transonic and supersonic wind tunnel of CARDC, compare with Hydraulic Mode, Hydraulic+Motor Mode, Motor Mode and solve the multi-axis synchronous control problem. Adopt electric cylinders and electric putters as the actuators of the control system. Address Virtual Axis synchronization strategy and optimize the relevant...
Modern electromechanical systems due to the respective electric drives control algorithms, have to ensure maximum achievable requirements for precision and control dynamics of the spatial coordinates of the bodies that make up their structure. The features of these systems are changing the dynamic parameters, which include, changing the moment of inertia of bodies relative to the axis of rotation,...
The article discusses the features of the control system of telescope axes' drive. Conventional PID control system can not reach a satisfaction tracking accuracy in the case of low speeds of axes movement due to elastic coupling and friction action in these two-mass systems. As a consequence in the systems oscillations occur. In this study, fuzzy adaptive PID controller is described and this controller...
Advanced control strategies for efficiency optimization in interior PMSMs are usually model-based, potentially providing very accurate results and good performance at the cost of parameter dependency and the associated drawbacks. Search-based methods, on the contrary, perform more modestly but depend neither on models nor on parameters. This paper compares both approaches in terms of steady-state...
Direct, physical interaction between a human and a robot has potential to provide assistance or rehabilitation which can extend the human user's physical capabilities. To be successful, the robot must be able to realize the system-level objectives without compromising the subject's safety. For applications which involve a powered robot, compliant actuators may help guarantee safety. However, the more...
Proportional-Integral (PI) control is usually employed in motion control design for mobile robots. However, external torque disturbances induced by ill-conditioned road situations still deteriorate the running performance of the driving motors, and thus limit the robots' motion performance. To improve motion accuracy, a torque-compensated PI control is presented that integrates conventional PI control...
The paper presents results of analytical and experimental investigations on advanced control functions of decoupled electro-hydraulic brake system. These functions address continuous wheel slip control, variation of the brake pedal feel, and brake judder compensation. The performed study demonstrates that the electro-hydraulic brake system has improved performance by relevant criteria of safety and...
This paper proposes a motion control method for a remote-controlled vehicle with an accelerator pedal by mixing two types of bilateral control, namely, transformer-type bilateral control and gyrator-type bilateral control. Transformer-type bilateral control has a function to satisfy haptic transmission between the master and slave. However, it has a weakness that the position control limits the movable...
This paper analyzes three-degree-of-freedom (Three-DoF) control based multiple disturbance observers (TDoF-DOB). Three-DoF control has multiple DOBs equivalently; therefore, its explicit implementation is verified in this paper for the force estimation problem. As the comparative study, differences between TDoF-DOB and position and acceleration integrated disturbance observer (PAIDO) are analyzed...
This paper presents an analysis of the relation between effort and gravitational stiffness, two physical measures that depend on the configuration of the robot. It is shown that whenever the gravitational stiffness is maximized, the effort is indirectly minimized. A minimum effort attractor that controls the gravitational stiffness is presented. This attractor together with an attractor to zero joint...
This paper proposes an implementation method of a workspace observer (WOB) considering a fluctuation of an equivalent mass matrix. WOB is one of useful methods to achieve robust control systems. The stability and transient response of WOB is influenced from a modeling error of a nominal plant model. For a high performance of WOB, a precise modeling of a nominal plant model should be used. From this...
In motion control systems, detailed characteristics of power converters and motors are usually not considered. Practically, voltage ripple, harmonics, and electromagnetic interferences (EMI) generated in widely used 2-level converters become concerns to realize a high-performance control. Those possibly degrade the control performance especially in sensitive applications such as the case of small...
This paper presents an algorithm of fuzzy adaptive PID controller and addresses its application in vibration suppression of a two mass rotating system. In a performance comparison between the proposed controller strategy and a classical PID control scheme extensive simulations confirmed the superiority of the proposed fuzzy adaptive controller. The results show that accurate tracking performance of...
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