design of robot controllers are typically based on the second order model of rigid robot arms. However, the robot joint motor dynamics constitutes an important part of the overall robot dynamics, and should be include...
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design of robot controllers are typically based on the second order model of rigid robot arms. However, the robot joint motor dynamics constitutes an important part of the overall robot dynamics, and should be included in robot controller design. A third order robot dynamic model is obtained in this paper which includes the robot arm dynamics as well as the actuator dynamics. Extensive computer simulations are carried out using the joint actuators. They demonstrate that the controller designed in this paper produces excellent steady state as well as transient system performance, and it is robust in the presence of robot model parameter inaccuracy.
In the introductional part of this paper a review about CADCS techniques from a historical point of view is given. Some new aspects from numerics will be addressed. The main part will not give an all-embracing survey,...
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In the introductional part of this paper a review about CADCS techniques from a historical point of view is given. Some new aspects from numerics will be addressed. The main part will not give an all-embracing survey, but calls special attention to some remarkable points. The state of the art in CADCS will be discussed by the characteristics of tools using performance criteria. A tabular survey shows a representative profile of CADCS tools. The importance of standards in CADCS are stressed. The influence of expert system technology in generating a new computing environment is discussed.
TDP-SELF, a computer program that facilitates the simulation of multivariable self-tuning controllers with distributed parameter process models, has been described. As such TDP-SELF is an interesting tool for research...
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TDP-SELF, a computer program that facilitates the simulation of multivariable self-tuning controllers with distributed parameter process models, has been described. As such TDP-SELF is an interesting tool for research, which was the basic motivation to write the program. However, the author feels that sooner or later also distributed parameter modelling will be included into the commercially available packages like SIMMON or PC-MATLAB. The good solution for distributed parameter system simulation would indeed be a very high level language like a superset of SIMNON. When that type of simulation languages emerge TDP-SELF will become obsolate but as far as the author knows such languages are not yet commercially available.
The use of adaptive controllers requires the pre-setting of a number of controller parameters. The sum of such user-specified parameters varies in different controller packages, and determines to a large degree how we...
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The use of adaptive controllers requires the pre-setting of a number of controller parameters. The sum of such user-specified parameters varies in different controller packages, and determines to a large degree how well a controller may be tailored in order to handle a difficult control problem. In this paper we investigate the use of an expert-system as an aid when choosing the user-specified parameters. The incentive for studying this is to try to simplify the commissioning stage, e.g., by excluding the need for experts in adaptive control, while, at the same time, being able to have a controller which is closely linked to the control-loop in question. The expert system is implemented on an IBM PC-AT using the shell Insight 2, while a rather general adaptive control package, ADAPREG, is used as the controller. Some simulation results are given as well as a discussion on the experience gained in this study.
An experimental CAD system is built, demonstrating the utility of coupling numerical and logic programming in solving model identification problems. The feasibility study is performed on a software package for model b...
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An experimental CAD system is built, demonstrating the utility of coupling numerical and logic programming in solving model identification problems. The feasibility study is performed on a software package for model based signal processing (SIG) coupled together with a standard Edinburgh PROLOG interpreter. The rule-based advisor written in PROLOG helps the identification algorithm written in the SIG command language to choose the structure of an ARMAX model that fits best a given time series sequence. Simulation experiments confirm the utility of coupling the numerical and logic programming packages for this purpose.
The paper describes software written for the investigation of the stability of, and limit cycles in, nonlinear sampled-data systems. The software uses a new approach based on the z-transform describing function and in...
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The paper describes software written for the investigation of the stability of, and limit cycles in, nonlinear sampled-data systems. The software uses a new approach based on the z-transform describing function and includes two sections. A numerical section which consists of solving numerically the system characteristic equation and a graphical section which plots the ZDF of the nonlinearity and the Nyquist locus of the linear plant on a z- or a w-plane. Both methods investigate automatically the different limit cycles that may occur at the same frequency but with different waveshapes at the output of a two segment nonlinearity.
This paper presents an interactive tool to be used in the design of flexible manufacturing systems. This tool is integrated in IDN's CASPAIM project based on a methodological approach and computer tools to cover a...
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This paper presents an interactive tool to be used in the design of flexible manufacturing systems. This tool is integrated in IDN's CASPAIM project based on a methodological approach and computer tools to cover all stages in design of FMS. Our interactive specification tool deals with the first stage. Given the basic idea of the planned system or the basic system requirements sheets written in natural language, this tool uses a few primitives to build structured descriptions of the operating sequences defined as movements of parts between workstations where they are processed. This software also performs a number of syntaxical and consistency verifications on the entered descriptions. It should be noted that the interactive tool is developed to be used by people without particular programming knowledge, and that no physical layout description for the FMS is required, so that our software can be used either for pedagogical or industrial purposes.
The EXACT controller is a commercially available, adaptive PID controller, that is based on pattern recognition. The effect that control loop interaction has on the performance of EXACT controllers is studied. The 2X2...
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The EXACT controller is a commercially available, adaptive PID controller, that is based on pattern recognition. The effect that control loop interaction has on the performance of EXACT controllers is studied. The 2X2 system shown is treated. Both feedback controllers are EXACT's. It should be emphasized that the EXACT was not designed to cope with this multiloop case. Thus, one should not expect, a priori, that all interacting cases will be handled well by it. However, interaction exists in a number of industrial controlsystems. If the EXACT is used in these cases it is important to know when it will work well and when it will not. Our goal is to develop broad guidelines about the effect of interaction on the performance of EXACT controllers.
In this paper, an applied software package for identifying MIMO system is introduce. It is suitable for implementation on microcomputers. The package contains six algorithms of parameter estimation and five methods of...
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In this paper, an applied software package for identifying MIMO system is introduce. It is suitable for implementation on microcomputers. The package contains six algorithms of parameter estimation and five methods of determining model structure. A new model structure test method viz. model response comparison method and several transformation algorithms in recusive form from input-output difference equation into other model forms are included in the package. The modelling procedure involves two steps: (1), looking for a middle model with high order the dynamics of which is approximate to true object;(2), reducing model order to obtain a suitable parameteric model. The package is equipped for a special microcomputer to identify the dynamics. The identification experiments for a 350 MW boiler-turbine-generator (BTG) set by using the special microcomputer have been carried out, and the data are processed off-line by the package. Then the more overall mathematical models of the BTG set are obtained in the form of transfer functions.
A frequency-domain technique for input/output (I/O) characterization of stable, multivariable, and highly nonlinear systems (e.g., industrial robots, aerospace vehicles, chemical processes) is presented. We require on...
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A frequency-domain technique for input/output (I/O) characterization of stable, multivariable, and highly nonlinear systems (e.g., industrial robots, aerospace vehicles, chemical processes) is presented. We require only that the nonlinear system is representable in state-variable differential equation form, and that it is possible to integrate the system of equations numerically when input signals are sinusoidal. Otherwise, the technique is not restricted with respect to system order, number of nonlinearities, configuration, or nonlinearity type. The I/O characterization technique involves determining the gain and phase of the nonlinear system response to sinusoidal inputs of various excitation amplitudes at a set of user-defined discrete frequencies. These sinusoidal-input describing function (SIDF) models are obtained by exciting all input channels at one time with sinusoids of different but nearly equal frequencies, integrating the dynamic equations of motion over time, and simultaneously performing a Fourier analysis (evaluating Fourier integrals) on the output signals after they are at steady-state. Repeating this procedure for various amplitude-levels of the excitation signal will result in a number of matrix sinusoidal-input describing function I/O models.
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