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Unbounded regulators with variable gains for a direct-drive robot manipulator

AUTOMATIKA 2016年第2期57卷 484-495页

作者： Limon-Diaz, Miguel A. Reyes-Cortes, Fernando Gonzalez-Galvan, Emilio Univ Autonoma San Luis Potosi Fac Ingn Ctr Invest & Estudios Posgrad Ave Manuel Nava 8Zona Univ San Luis Potosi 78290 Slp Mexico Benemerita Univ Autonoma Puebla Fac Ciencias Elect Grp Robot 18 Sur & Ave San ClaudioCiudad Univ Puebla 75570 Pue Mexico

This paper addresses the position-control problem with variable gains for robot manipulators. We present a new regulator based on a hyperbolic-sine structure with tuning rules for control gains. It is demonstrated that the equilibrium point of the closed-loop system is globally, asymptotically stable according to Lyapunov theory. By using a similar methodology, this concept can be extended to other unbounded controllers such as PD and PID. In order to show the usefulness of the proposed scheme and with the purpose of validating its asymptotical stability property, an experimental comparison involving constant gains controllers, for example: simple PD, PID and hyperbolic-tangent schemes vs variable-gains hyperbolic-sine and PD control schemes, was performed by using a three degree-of-freedom, direct-drive robot manipulator.

关键词： Regulator Variable Gain Robot manipulators control algorithms

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COMPARATIVE ANALYSIS OF THE controlLERS FOR PUMA 560 ROBOT

COMPARATIVE ANALYSIS OF THE CONTROLLERS FOR PUMA 560 ROBOT

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14th IFAC Conference on Programmable Devices and Embedded Systems (PDES)

作者： Jokic, Dejan Z. Lubura, Slobodan D. Fac Elect Engn East Sarajevo East Sarajevo 71123 Bosnia & Herceg

Regarding the fact that the industrial robot PUMA 560 is one of the robots with the best mathematical description of its kinematics, it found the new application in the research laboratories for educational purposes. For that reason there is a need to design new controllers which would be compatible with the contemporary CAD tools used for robot movement programming in a graphic manner. Basically, new controllers can be divided into two groups: PC-based and with embedded computer. It is well established that PC computers are known for their unreliability and sensitivity to computer viruses and the suggestion is that the stated shortcomings should be overcome by the use of FPGA based embedded computers. In this paper is suggested FPGA based controller which has to answer the following requirement of the hypothesis: realisation of the robot controller based on FPGA chip (single chip) which contributes the system availability and safety while answering all the functional, safety and economical requirements. The new controller will enable the use of advance CAD tools which is one of the aims of the research. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Robot control controllers arm movements digital circuits control algorithms

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Universal Fine Interpolation algorithms for Accuracy Improvements of Industrial Robots 8

Universal Fine Interpolation Algorithms for Accuracy Improve...

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8th International Congress on Ultra Modern Telecommunications and control Systems and Workshops (ICUMT)

作者： Buschhaus, Arnd Krusemark, Stefan Karlidag, Engin Franke, Joerg Friedrich Alexander Univ Erlangen Nurnberg FAU Inst Factory Automat & Prod Syst FAPS D-91058 Erlangen Bavaria Germany

ISBN: (纸本)9781467388184

Visual servoing possesses the capability to improve the absolute accuracy of jointed arm robots. In this context, an online closed-loop control of the tool center point movement offers the possibility to realize trajectories fulfilling high accuracy requirements. Thereby a robot independent external control efficiently interoperating with manufacturer specific robot controllers enables multifunctional usability. For a suitable external control, algorithms are needed, by which corrected movement instructions for each interpolation cycle are calculated, being compliant to the dynamic capabilities of different robot types. In the paper, control algorithms for calculating fine interpolation points are introduced, which serve the purpose of compensating positional deviations. The algorithm for compensating deviations on linear path segments is based on a movement orientation point forerunning the actual robots' position. In circular segments the corrective directional changes are limited to achieve smooth movement results. Multiple tests performed at real robot systems prove the effectiveness of the method.

关键词： Absolute accuracy jointed arm robot closed-loop control control algorithms

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ENVIRONMENTAL SYSTEMS INTEGRATION USING MATLAB-SIMULINK 16

ENVIRONMENTAL SYSTEMS INTEGRATION USING MATLAB-SIMULINK

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16th International Multidisciplinary Scientific Geoconference (SGEM 2016)

作者： Alexandru, Dumitrascu Univ Politehn Bucuresti Bucharest Romania

ISBN: (纸本)9786197105674

In this paper a method of integrating an environment system in MATLAB-SIMULINK has been proposed. We will shortly describe the method used in order to analyze its advantages and drawbacks, which made us to present an optimal solution of approaching the problem. The system is represented by a teaching platform consists of two interconnected tanks, sensors and actuators with exposed electrical outlets in a central panel. The system supports several experiments with different connections of water tanks to simulate several industrial processes. In industry, basins are widely used for storage of substances, both for processing slow in cases of continuous filling emptying and for preservation. For example, in water treatment centers pools play a leading role at each step of the technological process as temporary storage areas (in order of filtration, settling, chlorination etc.). Therefore, it is very useful to test algorithms and controllers on these kinds of processes at a smaller scale, before attempting large-scale implementation.

关键词： didactic platform control algorithms Modbus communication protocol PLC

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Time-varying observer of the supporting body velocity for vibration units

Time-varying observer of the supporting body velocity for vi...

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6th IFAC Workshop on Periodic control Systems (PSYCO)

作者： Fradkov, Alexander L. Tomchina, Olga P. Tomchin, Dmitry A. Gorlatov, Dmitry V. Russian Acad Sci Inst Problems Mech Engn St Petersburg Russia St Petersburg Natl Res Univ Informat Technol Mech St Petersburg Russia St Petersburg State Univ Architecture & Civil Eng St Petersburg Russia Peter Great St Petersburg Polytech Univ SPbPU St Petersburg Russia

The problem of controlled passage through resonance zone for mechanical systems with several degrees of freedom is analyzed. Existing control algorithms based on speed-gradient method require measurement of the full state vector of the system. In this paper a novel control algorithm based on a time-varying partial observer for the supporting body vertical velocity estimation is designed. The proposed observer is based on the simplified nonlinear model of the two-mass oscillatory system. Efficiency of the controlled passage through resonance zone with the control algorithm based on the proposed observer is analyzed by means of computer simulation for full model of the mechanical system. (C), 2016 IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： vibration unit resonant frequencies resonance zone control algorithms unbalanced rotors

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SIMULATION AND EXPERIMENTAL INVESTIGATIONS OF A DIGITAL HIGH SPEED CLOSE LOOP PROPORTIONAL DIRECTIONAL VALVE USING A SOLENOID TECHNOLOGY

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BATH/ASME 2016 Symposium on Fluid Power and Motion control

作者： Buono, Dario Senatore, Adolfo Frosina, Emma Gehlhoff, Wade Costin, Ina I. Univ Naples Federico II Dept Ind Engn Via Claudio 21 I-80125 Naples Italy Continental Hydraul Inc 5505 West 123rd St Savage MN 55378 USA Univ Politehn Bucuresti Splaiul Independeniei 313 Bucharest 060042 Romania Duplomat Oleodinam SpA Via Mario Re Depaolini 24 I-20015 Parabiago MI Italy

ISBN: (纸本)9780791850060

This paper describes the design, simulation and testing of a high response servo-proportional valve. The purpose of this work is to study the possibilities, using a modeling technology, to increase the dynamic performance of a servo-proportional directional developing new algorithms for the digital control system. The development of digital technology, introduced also in the control of proportional valves, have led to the reduction of the differences between the overall characteristics of proportional and servo valves so that the proportional ones can be a suitable solution in many applications, where servo-valves are traditionally used. The mathematical model of the servo-proportional valve has been developed by using the commercial software AMESim((R)) (Advanced Modeling and Simulation Environment for Systems Engineering). The model includes the proportional solenoid and the linear transducer. Digital control of the proportional valve proposed in this paper, is a key part of this research. Its mathematical model and the control algorithm have been built using Matlab((R)). Both models have been run in co-simulation to improve the overall valve performance. The experimental tests have been performed in the labs of Duplomatic Oleodinamica SpA and Continental Hydraulic Inc. The data have been used to validate the simulation models.

关键词： Computer software control algorithms Matlab Simulation algorithms Proportional valves Valves Servomechanisms Modeling control systems Design Transducers Solenoids Systems engineering Simulation models Testing

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Modeling Dynamic of the Human-Wheelchair System Applied to NMPC 9th

Modeling Dynamic of the Human-Wheelchair System Applied to N...

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9th International Conference on Intelligent Robotics and Applications (ICIRA)

作者： Andaluz, Gabriela M. Andaluz, Victor H. Teran, Hector C. Arteaga, Oscar Chicaiza, Fernando A. Varela, Jose Ortiz, Jessica S. Perez, Fabricio Rivas, David Sanchez, Jorge S. Canseco, Paul Univ Fuerzas Armadas ESPE Sangolqui Ecuador Univ Tecn Ambato Ambato Ecuador Escuela Super Politecn Chimborazo Riobamba Ecuador

ISBN: (纸本)9783319435183;9783319435176

This paper presents the development of algorithm nonlinear predictive controller based on the model, NMPC, trajectory tracking applied to a wheelchair. Also it illustrated the kinematic and dynamic modeling of human-wheelchair system is considered in which the deviation of the center of gravity of the system due to postural problems of man, limb amputations, or obesity user. In NMPC they considered restrictions on control measures, as well as in the states of the system. The results show that the movements of the wheelchair converge to the desired trajectory in accordance with the provisions of the theoretical design;with analysis times NMPC calculation algorithm concludes that the controller can be implemented in real time.

关键词： Dynamic modeling control algorithms Model predictive control Wheelchair Trajectory tracking Helpful robots

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OPTIMIZING SEPARATE EXHAUST TURBOFANS FOR CRUISE SPECIFIC FUEL CONSUMPTION

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ASME Turbo Expo: Turbine Technical Conference and Exposition

作者： Khalid, Syed Gas Turbine Syst Solut LLC Palm Beach Gardens FL 33418 USA

ISBN: (纸本)9780791849682

Cruise specific fuel consumption (SFC) of turbofan engines is a key metric for increasing airline profitability and for reducing CO2 emissions. Although increasing design bypass ratio (BPR) of separate exhaust turbofan configurations improves cruise SFC, further improvements can be obtained with control actuated variable geometry modulations of core nozzle throat area, bypass nozzle throat area, and compressor variable vanes(CVV). The scope of this paper is to show only the benefits possible, and the process used in determining those benefits, and not to suggest any particular control algorithm for searching the best combination of the control effectors. A parametric cycle study indicated that the effector modulations could increase the cruise BPR, core efficiency, transmission efficiency, propulsive efficiency, and ideal velocity ratio resulting in a cruise SFC improvement of as much as 2.6% depending upon the engine configuration. The changes in these metrics with control effector variations will be presented. Modulation of CVV is already possible in legacy digital controls, and modulation of nozzle areas should be explored in light of the low bandwidth requirements at steady-state cruise conditions.

关键词： Geometry Steady state Cycles Turbofans control algorithms Profitability Nozzles Compressors Emissions Engines Carbon dioxide Exhaust systems Design Fuel consumption

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SHOCKLESS EXPLOSION COMBUSTION - EXPERIMENTAL INVESTIGATION OF A NEW APPROXIMATE CONSTANT VOLUME COMBUSTION PROCESS

SHOCKLESS EXPLOSION COMBUSTION - EXPERIMENTAL INVESTIGATION ...

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ASME Turbo Expo: Turbine Technical Conference and Exposition

作者： Reicher, Thoralf G. Bobusch, Bernhard C. Paschereit, Christian Oliver Schaepel, Jan-Simon King, Rudibert Klein, Rupert Tech Univ Berlin Hermann Fottinger Inst Chair Fluid Dynam Berlin Germany Tech Univ Berlin Chair Measurement & Control Berlin Germany Free Univ Berlin Geophys Fluid Dynam Dept Math Berlin Germany

ISBN: (纸本)9780791849767

Approximate constant volume combustion (aCVC) is a promising way to achieve a step change in the efficiency of gas turbines. This work investigates a recently proposed approach to implement aCVC in a gas turbine combustion system: shock less explosion combustion (SEC). The new concept overcomes several disadvantages such as sharp pressure transitions, entropy generation due to shock waves, and exergy losses due to kinetic energy which are associated with other aCVC approaches like, e.g., pulsed detonation combustion. The combustion is controlled via the the fuel/air mixture distribution which is adjusted such that the entire fuel/air volume undergoes a spatially quasi homogeneous autoignition. Accordingly, no shock waves occur and the losses associated with a detonation wave are not present in the proposed system. Instead, a smooth pressure rise is created due to the heat release of the homogeneous combustion. An atmospheric combustion test rig is designed to investigate the autoignition behavior of relevant fuels under intermittent operation, currently up to a frequency of 2 Hz. Application of OH*- and dynamic pressure sensors allows for a spatially and time-resolved detection of ignition delay times and locations. Dimethyl ether (DME) is used as fuel since it exhibits reliable autoignition already at 920K mixture temperature and ambient pressure. First, a model-based control algorithm is used to demonstrate that the fuel valve can produce arbitrary fuel profiles in the combustion tube. Next, the control algorithm is used to achieve the desired fuel stratification, resulting in a significant reduction in spatial variance of the auto-ignition delay times. This proves that the control approach is a useful tool for increasing the homogeneity of the autoignition.

关键词： Fuels Pressure sensors Kinetic energy Gas turbines Delays Shock waves Waves Ethers (Class of compounds) Temperature Entropy Combustion systems Pressure Ignition delay Heat Valves control algorithms Explosions Combustion Ignition Exergy

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DYNAMIC SYSTEM SIMULATION USING DISTRIBUTED COMPUTATION HARDWARE

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ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems

作者： Williams, Keith A. Univ Alabama Dept Mech Engn Tuscaloosa AL 35487 USA

ISBN: (纸本)9780791850497

The availability of low-cost, readily programmable digital hardware offers numerous opportunities for novel modeling and control approaches. One such opportunity is the realization of hardware modeling of distributed dynamic systems. Such models could be useful for control algorithms that require highfidelity models operating in real-time. The ultimate goal is to utilize digital systems with programmable hardware. As a proof-of-concept, multiple discrete microcontrollers have been used to emulate how programmable hardware devices may be used to simulate a distributed vibrating system. Specifically, each microcontroller is treated as a single vibrating mass with stiffness and damping coupling between the masses. Each microcontroller has associated position and velocity variables. The only additional knowledge required to compute the acceleration of each "mass" is thus the position and velocity of each immediate neighboring mass/microcontroller. The computation time is independent of the number of nodes;adding nodes results in no reduction in processing speed. Consequently, the computational approach will be applicable to very high order models. Practical implementation of such models will require digitally programmable hardware such as field-programmable gate arrays (FPGA), however an added benefit will be a still greater reduction in cost, as multiple microcontrollers are replaced by a single FPGA. It is expected that the hardware modeling approach described in this work will have application not only in the field of vibration modeling and control, but also in other fields where control of distributed dynamic systems is desired.

关键词： control algorithms Simulation Stiffness Hardware Vibration Modeling control modeling Computation Dynamic systems Gates (Closures) Damping

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