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Coordinated position control of multi-axis mechanical systems

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1998年第3期120卷 389-393页

作者： Chiu, GTC Tomizuka, M Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

Position coordination of multi-axis mechanical systems is studied. Under the assumption that the coordination objective can be represented by smooth functions of the positions of the multiple axes control systems, a necessary coupling effect can be introduced to each axis by the proper choice of a Lyapunov-like function. The resulting control law requires the knowledge of the desired trajectories and their time derivatives as well as actual position and velocity information. Implementation of the proposed control algorithm on a CNC feed drive system shows significant improvement in dimensional accuracy during high speed contouring.

关键词： Position control Computer numerical control machine tools control algorithms control systems

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MODEL FOLLOWING control OF GAS-TURBINE ENGINES

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1981年第3期103卷 285-289页

作者： MONOPOLI, RV Electrical and Computer Engineering University of Massachusetts Amherst Mass. 01003

As gas turbine engines become more complex, they also become more difficult to control. Classical control techniques and modern control theory such as multivariable optimal control have been used for design of engine control systems. Since these methods apply to linear time invariant systems, they suffer certain shortcomings when applied to the highly nonlinear gas turbine engine. In this paper, Liapunov’s direct method is used as the basis for a different approach to this problem. It is a technique specifically intended to deal with nonlinear systems. The resulting control system forces specified engine variables to track the corresponding variables generated in an ideal model of the engine. Results presented include a description of the design approach, its application to a generalized gas turbine engine with fuel flow and exhaust nozzle area as inputs, and data indicating the performance achieved when the control algorithm was tested on a detailed nonlinear digital simulation of the engine.

关键词： Nonlinear systems Fuels Exhaust systems control algorithms Design control systems Gas turbines Engine design Flow (Dynamics) Time-invariant systems Optimal control control theory Computer simulation Nozzles Engines

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Variable structure hybrid control of manipulators in unconstrained and constrained motion

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1996年第2期118卷 327-332页

作者： Zhen, RRY Goldenberg, AA Robotics and Automation Laboratory Department of Mechanical Engineering University of Toronto Canada M5S 3G8

This paper addresses the problem of robust hybrid position and force control of robot manipulators. Variable structure control with sliding mode is used to implement the hybrid control strategy. Two variable structure control algorithms are developed in task space. One of the algorithms is based on hierarchical control method, and the other is developed for control of robot manipulators used to carried out both unconstrained and constrained tasks.

关键词： algorithms control algorithms Force control Hybrid control Manipulators

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A MUSIC-BASED MECHATRONIC SYSTEM FOR TEACHING MODELING AND control

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ASME International Mechanical Engineering Congress and Exposition

作者： Shilpiekandula, Vijay Song, Yun Seong MIT Dept Mech Engn Cambridge MA 02139 USA

ISBN: (纸本)9780791848708

Audio-based tools call enhance the learning experience in introductory modeling and control classes at the undergraduate (sophomore) level ill the mechanical engineering curriculum. An example audio-based learning tool that we propose is the "FlexSynth," servo-actuated flexural rocker arm that sways to an electronically generated music. We have built and tested the FlexSynth as part of a project under the MIT advanced graduate subject 2.737 Mechatronics class offered in Fall 2007. The angular range of the rocking motion of the flexural arm ill the FlexSynth is mapped to a set of musical notes. While the flexural rocker swayed to the generated 'command' music. its motion is also converted into all equivalent 'response' music. Two speakers are used, one to play the commanded music and the other to play the response music. The performance of control algorithms (such as proportional or proportional-integral control) call he discerned from the command and response music. and compared for better musical quality. The appeal of all electromechanical system, driven by music and controlled to see the 'dancing' flexural rocket: snakes the overalls system an interesting show-and-tell for young kids or the public at large, getting their excited about science and engineering automation. Advanced control issues,such as filtering of flexural damping modes of the rocker cart also he addressed with this system implementation. Advanced students ill the controls area can study the design tradeoffs between robustness and speed in following the command music. While the usual debugging tools such as multimeters, oscilloscopes, and dynamic signal analyzers allow for hands-on learning about the performance of a control system, all audio-based emit such as the FlexSynth cart he a valuable addition to the innovative teaching tool kit.

关键词： control algorithms Mechanical engineering Signals Servomechanisms control modeling Teaching control systems Design Filtration Robustness Tradeoffs Undergraduate students Mechatronics Oscilloscopes Damping Students

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Enhancing hydrostatic gear efficiency through nonlinear optimal control strategies

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1996年第4期118卷 727-732页

作者： delRe, L Goransson, A Astolfi, A Automatic Control Laboratory Swiss Federal Institute of Technology (ETH) CH-8092 Zu¨rich Switzerland

Energy efficiency and short response times are usually conflicting goals. In the case of hydrostatic gears, two basic system configurations are commonly used, which allow to obtain better efficiency - the primary control setup - or faster responses - the secondary control. In this paper, (1) a different control setup is proposed, combining both primary and secondary control, and this new setup is shown to allow even faster responses than the secondary control having, in general, much lower energy requirements. We also address (2) the question of the design of a multiobjective optimal control for the proposed nonlinear structure, showing that the noninferior set, i.e., the set of points where the reduction of one cost function needs the increase of the others, depends on the control algorithm used. It is shown that combined use of pump and motor swash plate displacement yields a better trade-off between response speed and efficiency, and that solving approximately the nonlinear optimization problem delivers better efficiency than optimizing a system consisting of the original plant and a linearizing feedback.

关键词： Tradeoffs Energy efficiency Optimization Motors Displacement control algorithms Hydrostatics Design Pumps Optimal control Feedback Gears Engines

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control applications of the TRYM model

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control ENGINEERING PRACTICE 1997年第4期5卷 549-560页

作者： Louis, C Modelling Section Commonwealth Treasury Canberra ACT 2600 Australia

This paper outlines a control framework being developed for the TRYM model. The current procedure minimises a quadratic social loss function that targets non-steady-state settings for unemployment and inflation. The iterative technique is described in detail, and illustrated using the example of a temporary terms of trade shock. The effects of the shock on the model are compared for two separate policy regimes, one using the default TRYM policy reactions, and the other from the optimal control procedure. The limitations of using control techniques as an aid to the policy-formation process, and the benefits to be derived from implementing optimal control on a model like TRYM, are briefly discussed. Copyright (C) 1997 Elsevier Science Ltd.

关键词： control algorithms estimation theory least squares models nonlinear models numerical algorithms steady-state values

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Bird's Eye View on Systems and control - General View and Case Studies

Bird's Eye View on Systems and Control - General View and Ca...

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11th IFAC Symposium on Advances in control Education (ACE)

作者： Vamos, T. Bars, R. Sik, D. Hungarian Acad Sci Inst Comp Sci & Control MTA SZTAKI Budapest Hungary Budapest Univ Technol & Econ Dept Automat & Appl Informat MTA BME Control Engn Res Grp Budapest Hungary

Systems and control are all around us. System view, understanding systems and how they are controlled is important for everyone. The behavior of systems is determined by some fundamental principles which can be understood by everyone. The main principles governing systems and control are presented on different levels. The first level is dedicated for everyone. Comics-like interpretation is provided with explanations. The second level discusses the main topics dedicated for the interested students. Several case studies demonstrate how system view is considered in different areas of life. With this approach systems in different areas of life could be better understood contributing to better decisions influencing their performance. The third level provides deeper insight into some aspects of modern mathematical system theory, to geometric view of control systems. The material is available on a web site on the internet. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elservier Ltd. All rights reserved.

关键词： control education control case studies systems and control for everyone control disciplines control structures control algorithms geometric view of control systems

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Using fractional derivatives in joint control of hexapod robots

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JOURNAL OF VIBRATION AND control 2008年第9-10期14卷 1473-1485页

作者： Silva, Manuel F. Machado, J. A. Tenreiro Barbosa, Ramiro S. Inst Engn Porto Dept Elect Engn P-4200072 Oporto Portugal

This article studies several Fractional Order control algorithms used for joint control of a hexapod robot. Both Pade and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density of energy used per unit distance travelled, and the control effort. A set of simulation experiments reveals the influence of the different approximations upon the proposed indices. The results show that the fractional proportional and derivative algorithm, implemented using the Pade approximation with a small number of terms, gives the best results.

关键词： robotics locomotion control algorithms fractional calculus performance analysis

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Core control circuit for SubmillimiterRobot

Core control circuit for SubmillimiterRobot

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25th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society

作者： Jarry, M Otis, MJD Semmaoui, H Haché, G Fontaine, R Univ Sherbrooke Dept Elect Engn & Comp Engn Sherbrooke PQ J1K 2R1 Canada

ISBN: (纸本)0780377893

The BioMicroRobotic is an emerging technology involving microelectronic, robotic and biomedical sciences and technologies in order to help medicine to perform better treatments. Autonomous BioMicroRobots (BMR) needs a control core to perform special tasks. This paper describes a microcontroller architecture selected to perform BMR's control algorithms for legs displacement. This microcontroller is based on an 8-bits RISC architecture and coupled with a Manchester decoder for communication purpose. As input signal goes through a serial port, a serial/parallel converter has been implemented to load instructions in the microcontroller. The technology CMOS 0.18 mum is targeted for implementation. The output signals for legs control will be transmitted through a 8-bits parallel ports.

关键词： BioMicroRobot control algorithms CMOS integrated circuit design microcontroller microrobot decoder

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Simple discrete control of industrial processes (finite time settling control algorithm for single-loop digital controller)

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Journal of Dynamic Systems, Measurement and control, Transactions of the ASME 1975年第4期97卷 354-361页

作者： Takahashi, Y. Tomizuka, M. Auslander, D.M. Mechanical Engineering Department University of California at Berkeley Berkeley CA United States

Due to the rapid growth in LSI (large-scale integration) technology, it is now/lossible to consider implementing a discrete (digital) single-loop programmable controller. This paper discusses some software aspects of digital single-loop controllers for i j-dustrial processes. Based on the S-shaped response pattern typical in many industrial processes, a simple algorithm for a finite-time settling controller with an observer is proposed. © 1975 by ASME.

关键词： control algorithms Programmable controllers Computer software control equipment algorithms

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