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检索条件"任意字段=2009 ASME Dynamic Systems and Control Conference, DSCC2009"

共 371 条记录，以下是21-30 订阅

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Experimental evaluation of two bilateral control schemes applied to a tele-operated hydraulic actuator

Experimental evaluation of two bilateral control schemes app...

引用

2009 asme dynamic systems and control conference, dscc2009

作者： Zarei-nia, Kurosh Goharrizi, Amin Yazdanpanah Sepehri, Nariman Fung, Wai-Keung Department of Mechanical Engineering University of Manitoba Winnipeg MB R3T 5V6 Canada Department of Electrical and Computer Engineering University of Manitoba Winnipeg MB R3T 5V6 Canada

ISBN: (纸本)9780791848920

Providing force feedback along with other sensory information can greatly increase task quality, productivity, and safety during teleoperation of hydraulic manipulators. However, as compared to the class of electrically-actuated robots, research on application of bilateral control schemes applied to the class of hydraulic manipulators is sparse. In this paper, we present experimental results of implementing two bilateral control scheme, previously developed for electrically-actuated manipulators, to a hydraulic actuator having additional nonlinear dynamics. The two schemes chosen are force reflection ' and 'position error'. The performance of each scheme is evaluated in terms of position tracking, force tracking, and fidelity of perceived stiffness by the human operator. The results reveal specific features of each scheme paving the road for future research in this direction in terms of designing appropriate bilateral control schemes for hydraulic manipulators. Copyright © 2009 by asme.

关键词： Hydraulic actuators

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DESIGN AND IMPLEMENTATION OF DUAL-STAGE TRACK-FOLLOWING control FOR HARD DISK DRIVES

引用

2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Nie, Jianbin Horowitz, Roberto Univ Calif Berkeley Dept Mech Engn Comp Mech Lab Berkeley CA 94720 USA

ISBN: (纸本)9780791848920

This paper discusses the design and implementation of two track-following controllers for dual-stage hard disk drive servo systems. The first controller is designed by combining an outer loop sensitivity-decoupling (SD) controller with an inner loop disturbance observer (DOB). The second is designed by combining mixed H-2/H-infinity, synthesis techniques with an add-on integral action. The designed controllers were implemented and evaluated on a disk drive with a PZT-actuated suspension-based dual-stage servo system. Position error signal (PES) for the servo system was obtained by measuring the slider displacement with an LDV and injecting a simulated track runout.

关键词： Disks Displacement Signals Servomechanisms Design control equipment Errors

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controlLED SYNCHRONIZATION OF ROBOTIC MANIPULATORS IN THE TASK SPACE

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2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Liu, YenChen Chopra, Nikhil Univ Maryland Dept Mech Engn College Pk MD 20742 USA

ISBN: (纸本)9780791848920

Due to its practical applicability, recently several algorithms for robot synchronization have been developed in the literature. However, the focus of these control schemes has primarily been on joint-space control and in the absence of communication unreliabilities between the agents. In this paper, we study the problem of task space synchronization and trajectory tracking for heterogeneous robots under dynamic uncertainties. Exploiting passivity based synchronization results developed previously, a new control algorithm is proposed to guarantee task space synchronization for a group of robotic manipulators. Both non-redundant and redundant robots are considered and the proposed scheme is validated by a numerical example.

关键词： Synchronization Manipulators control algorithms Algorithms Trajectories (Physics) Uncertainty Robots

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DIRECT ADAPTIVE DISTURBANCE OBSERVER DESIGN FOR REJECTING THE NARROW-BAND DISTURBANCE WITH UNKNOWN FREQUENCY IN HARD DISK DRIVES

引用

2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Zheng, Qixing Tomizuka, Masayoshi Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

ISBN: (纸本)9780791848920

This paper presents an adaptive add-on compensator to handle a single narrow-band disturbance with unknown frequency in hard disk drives (HDDs). A disturbance observer (DOB) loop with a narrow band pass Q filter is built around the baseline servo controller to reject the narrow-band disturbance. The frequency parameter of the Q filter is directly adapted to the optimal value in the sense of minimizing the track following track mis-registration (TMR). The performance of the proposed compensator is demonstrated by simulation on an open-source realistic hard disk drive system.

关键词： Simulation Disks Servomechanisms Design Filters control equipment

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TIMING ERROR COMPENSATOR DESIGN FOR SELF-SERVOWRITING SYSTEM IN HARD DISK DRIVES

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2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Dong, Feng Dan Tomizuka, Masayoshi Univ Calif Berkeley Berkeley CA 94720 USA

ISBN: (纸本)9780791848920

In Self-Servowriting (SSW) process, an accurate timing system is required for propagating the servo patterns. The timing jitters in this process induce significant timing error propagation in both radial direction and circumferential direction. In this paper, a control scheme based on Adaptive Feedforward Compensation (AFC) is proposed for SSW timing control loop. An adaptive filter is designed to minimize the closure error along circumferential direction and contain the timing error propagation along radial direction. The Filtered-X Least Mean Square (FXLMS) technique is used to design the adaptive filter. Simulation results prove that the proposed control method has achieved its objectives.

关键词： Simulation results Disks Servomechanisms Design Filters Feedforward control Errors

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NONLINEAR STABILITY ANALYSIS OF VEHICLE LATERAL MOTION WITH A HYBRID PHYSICAL/dynamic TIRE/ROAD FRICTION MODEL

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2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Yi, Jingang Tseng, Eric H. Rutgers State Univ Dept Mech & Aerosp Engn Piscataway NJ 08854 USA

ISBN: (纸本)9780791848920

We present a nonlinear analysis of vehicle motion using a hybrid physical/dynamic tire/road friction model. The advantage of the proposed LuGre dynamic tire/road friction model is the simple and attractive structural properties for real-time friction estimation and control. Moreover the model provides a property of capturing coupling effects between the longitudinal and lateral friction forces. We take advantages of these properties and analyze the vehicle lateral motion stability. We have shown that the existence of longitudinal slip affects the lateral motion stability. The quantitative analysis and relationship are also demonstrated through numerical simulation examples.

关键词： Tires Vehicles Mechanical properties Computer simulation Roads Friction Stability

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WHEEL TORQUE controlLER DEVELOPMENT USING A SIMPLIFIED TIRE MODEL FOR VEHICLE HANDLING ENHANCEMENT

引用

2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Adireddy, Ganesh Shim, Taehyun Rhode, Douglas Univ Michigan Dept Mech Engn Dearborn MI 48128 USA

ISBN: (纸本)9780791848920

A tire model is an essential element in the vehicle controller development and various complexities of tire models have been developed and used. It is highly desirable for the control systems to use a tire model that is computationally efficient and easy to implement in control algorithms while providing desired performance. In this paper, a wheel torque controller was developed using a non-linear predictive control theory 8 degree of freedom vehicle model, and a simplified nonlinear tire model in order to control the vehicle yaw rate and side slip angle. The performance of this controller was compared to that based on well known Magic Formula tire model. The effectiveness and limitations of the proposed controller were discussed through simulation.

关键词： control algorithms Simulation Tires Vehicles Torque control systems Wheels Predictive control control equipment Yaw Degrees of freedom

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ON THE HYBRID PHYSICAL/dynamic TIRE/ROAD FRICTION MODEL

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2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Yi, Jingang Rutgers State Univ Dept Mech & Aerosp Engn Piscataway NJ 08854 USA

ISBN: (纸本)9780791848920

We present new development of a hybrid physical/dynamic tire/road friction model for real-time friction estimation and control. We extend the LuGre tire/road friction model by considering the physical model-based deformation distribution on the tire/road contact patch. Relationship between the physical friction model and the LuGre dynamic friction model has been built and developed. We have shown that the LuGre dynamic friction model predicts the similar deformation and stress characteristics of the physical model, and therefore the friction model parameters can be interpreted with physical meaning and estimated experimentally. We demonstrate preliminary model comparison study through the "smart tire" sensor measurements on a mobile robot platform.

关键词： Deformation Sensors Tires Mobile robots Sliding friction Roads Friction Stress

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OPTIMAL NEUROMUSCULAR control OF SPINE systems

OPTIMAL NEUROMUSCULAR CONTROL OF SPINE SYSTEMS

引用

2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Xu, Yunfei Choi, Jongeun Reeves, N. Peter Cholewicki, Jacek Michigan State Univ Dept Mech Engn E Lansing MI 48824 USA

ISBN: (纸本)9780791848920

The goal of this work is to present methodology to first evaluate the performance of an in vivo spine system and then to synthesize optimal neuromuscular control for rehabilitation interventions. This is achieved 1) by determining control system parameters such as static feedback gains and delays from experimental data, 2) by synthesizing the optimal feedback gains to attenuate the effect of disturbances to the system using modem control theory, and 3) by evaluating the robustness of the optimized closed-loop system. We also apply these methods to a postural control task, with two different control strategies, and evaluate the robustness of the spine system with respect to longer latencies found in the low back pain population. This framework could be used for rehabilitation design as discussed at the end of the paper.

关键词： Robustness control systems Feedback Delays Design control theory Closed loop systems

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VALIDATION OF dynamic MODELS BY IMAGE DISTANCES IN THE TIME-SCALE DOMAIN

VALIDATION OF DYNAMIC MODELS BY IMAGE DISTANCES IN THE TIME-...

引用

2nd Annual dynamic systems and control conference (dscc 2009)/Bath/asme Symposium on Fluid Power and Motion control

作者： Danai, Kourosh McCusker, James R. Currier, Todd Kazmer, David O. Univ Massachusetts Dept Mech & Ind Engn Amherst MA 01003 USA

ISBN: (纸本)9780791848920

Model validation is the procedure whereby the fidelity of a model is evaluated. The traditional approaches to dynamic model validation either rely on the magnitude of the prediction error between the process observations and model outputs or consider the observations and model outputs as time series and use their similarity to assess the closeness of the model to the process. Here, we propose transforming these time series into the time-scale domain, to enhance their delineation, and using image distances between these transformed time series to assess the closeness of the model to the process. It is shown that the image distances provide a more consistent measure of model closeness than available from the magnitude of the prediction error.

关键词： dynamic models Errors Time series Model validation

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