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Robotic force control using virtual trajectory generation

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1999年第2期121卷 320-322页

作者： Fielding, TS Mills, JK Univ Toronto Dept Mech & Ind Engn Lab Nonlinear Syst Control Toronto ON M5S 3G8 Canada

A control method is introduced to permit the retrofit of a large class of commercially available industrial robots with a contact force control capability. In this control algorithm, the outer force loop modifies the desired position input trajectory by solving two sets of differential equations as initial value problems. Experimental results, obtained on a CRS Robotics Corporation A460 six degree of freedom industrial robot, are presented which demonstrate the effectiveness of the proposed approach.

关键词： Differential equations Robotics control algorithms Force control Trajectories (Physics) Robots Degrees of freedom

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On the limitations of force tracking control for hydraulic servosystems

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1999年第2期121卷 184-190页

作者： Alleyne, A Liu, R Univ Illinois Dept Mech & Ind Engn Urbana IL 61801 USA

This paper presents analysis of a particular force tracking control problem for rectilinear hydraulic actuators governed by a servovalve. It presents no new theory, bur rather uses a revealing model reduction insight coupled with Classical analysis to explain a physical phenomenon. As such, this work is an attempt to explain why a seemingly innocuous problem is more subtle than initially believed. A motivation for this problem is given along with prior attempts at a simple solution. It is shown that simple controller solutions are quite adequate for other types of control objectives such as force regulation or position tracking. However, most simple solution methods are shown to be inadequate for force tracking due to fundamental limitations of the problem formulation. Due to an inherent feedback mechanism, the poles of the plant being forced by the hydraulic actuator become zeros of the open loop force transfer function. Therefore, more advanced control algorithms are shown to be a necessity rather than a luxury.

关键词： Actuators Tracking control Poles (Building) control algorithms Hydraulic actuators Transfer functions Feedback control equipment Servomechanisms

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Development and implementation of a semi-adaptive H_∞ active control algorithm for duct noise

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JOURNAL OF VIBRATION AND ACOUSTICS-TRANSACTIONS OF THE ASME 1999年第1期121卷 123-125页

作者： Bai, MR Lin, H Lin, Z Natl Chiao Tung Univ Dept Mech Engn Hsinchu Taiwan

A hybrid active noise control (ANC) scheme for suppressing duct noise based on the H-infinity control synthesis is proposed. The controllers are designed in terms of performance, and robustness using a general framework of the H-infinity robust control theory. In addition to the fixed controller, the system is further enhanced by introducing an adaptive compensator based on the least-mean-square (LMS) algorithm. Youla parameterization is employed in designing the adaptive compensator so that the resulting system is stable. Experimental investigations demonstrate that the proposed methods are effective in suppressing broadband random noise in finite-length duct.

关键词： Stability Noise control Noise (Sound) Ducts control algorithms Design Random noise Robust control Robustness control equipment algorithms

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Effects of synchronous vibration of bearing on stability of externally pressurized air journal bearings

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JOURNAL OF TRIBOLOGY-TRANSACTIONS OF THE ASME 1999年第4期121卷 830-835页

作者： Lee, JB Kim, KW Samsung Elect Co Ltd Suwon 442742 Kyonggi Do South Korea Korea Adv Inst Sci & Technol Dept Mech Engn Taejon 305701 South Korea

An active control of bearing is proposed as a new method to improve the stability characteristics of the externally pressurized nir journal bearing and the results of numerical investigations of the stability characteristics of the actively controlled air journal bearing are presented. The synchronous control, where the bearing center whirls with the same frequency as the journal center with respect to the position in the steady state, is proposed as a control algorithm of the active air bearing. The step jump method is used to calculate the locus of the journal center which whirls or vibrates relative to the whirling bearing. The stability characteristics of the high speed rotor supported by actively controlled bearing system for zero steady-state eccentricity are investigated for various phase difference between the bearing and journal. It is shown that the stability of the air bearing can be greatly increased by the controlled synchronous motion of the bearing, and there is an optimum phase difference, which gives the maximum stability limit of the system.

关键词： Bearings Stability Rotors control algorithms Air bearings Whirls Steady state Vibration Journal bearings

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A strategy of designing routing algorithms based on ideal routings

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INTERNATIONAL JOURNAL OF MODERN PHYSICS C 1999年第1期10卷 63-94页

作者： Shinjo, K Shimogawa, S Yamada, J Oida, K ATR Adapt Communicat Res Labs Seika Kyoto 61902 Japan

This paper proposes a strategy of designing routing algorithms for connectionless packet-switched networks. This strategy consists of three design elements as follows: [A] the notion of ideal routings is introduced to provide the upper performance limits attained by improving routing algorithm and it serves as a standard to measure the performance of other algorithms;[B] a method of constructing simple algorithms is presented under implementation conditions from ideal routings;[C] a method is described to enhance the performance limits of [A]. By using these elements, simple algorithms with a maximum degree of performance attainment are realized. By "degree of performance attainment", we mean that we can see how much room is left for the improvement of algorithms. We develop [A] and [B] with the performance measures of throughput and average packet delay and the M/M/1 queuing network. We decide ideal static routings and their performance limits from [A]. We obtain a new simple algorithm from [B] based on the notion of the ideal routings in implementation conditions. The designed algorithm improves the throughput and the average delay, which are comparable to those from ideal static routings. This improvement is contrasted to the adaptive and distributed OSPF (Open Shortest Path First), a standard Internet routing protocol.

关键词： control algorithms routing algorithms connectionless networks ideal routings

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Time-delay sliding mode control for a servo

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1999年第1期121卷 143-148页

作者： Park, JH Kim, YM Hanyang Univ Sch Mech Engn Seoul 133791 South Korea

In this paper, a new control algorithm called the time-delay sliding mode control (TDSMC), based on the time delay control (TDC) and the integral sliding mode control (SMC), is proposed and applied for controlling DC servos with a seal installed on their rotating axes. This algorithm adopts the robustness of sliding model control and improves the robustness of the TDC. The results of a series of experiments on a DC servo motor system with stick-slip friction show TDSMC is compatable with the TDC in the nominal performance, but is superior to the TDC and the PID control in the performance robustness. Settling time is used as a measure of the performance.

关键词： Stick-slip Delays Friction Robustness control algorithms Time delay systems Servomotors Sliding mode control Servomechanisms algorithms

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controlling diode laser bar temperature by micro channel liquid cooling

Controlling diode laser bar temperature by micro channel liq...

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Conference on Microsystems Metrology and Inspection

作者： Unger, K Müller, D Lorenzen, D Daiminger, F Chemnitz Univ Technol Dept Circuit & Syst Design Chemnitz Germany

ISBN: (纸本)081943311X

In this paper investigations of temperature control of micro channel cooled high power diode lasers are presented. After a short motivation the theoretical background of a complete liquid cooling system is introduced and the simulation results are compared to the behaviour of a real-world system. Because of the nonlinear dependence of the thermal resistance on the water flux modern control algorithms are required to achieve a sufficiant control quality and robustness. Their design and characterization are presented as well. Based on the results of diode laser temperature control the potentials to realize a highly efficient wavelength control are discussed. To support future system integration and to realize the controller with minimal hardware expenditure an application specific integrated circuit (ASIC) was developed.

关键词： diode laser micro channel liquid cooling control algorithms embedded control

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Stability guarantee in predictive control delta domain

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IFAC Proceedings Volumes 1999年第2期32卷 4624-4629页

作者： C. Prada S. Cristea A.G. Kuznetsov Dpt. of Systems Engineering and Automatica Faculty of Sciences University of Valladolid 47011 Valladolid Phone: + 34 983 423164 Fax: +34 983 423161 Spain Edinburgh Petroleum Services Ltd. Research Park Riccarton Edinburgh EH14 4AP U.K.

In this paper the problem of assuring nominal stability in constrained predictive control is addressed for the case when, due to disturbances, inadequate constraints, etc., the reference cannot be reached within the prediction horizon. The proposed algorithm is formulated in the delta domain, but the idea can be extended to other kind of models. It combines the cancellation of modes at the end of the prediction horizon with a minimization of the distance to the controller reference. In this way, it assures stability even with open loop unstable processes while, at the same time, avoids the feasibility problems.

关键词： Predictive control Stability Constraints control algorithms Delta domain

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control of the drying process of grass hay production in a barn

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IFAC Proceedings Volumes 1999年第2期32卷 5607-5610页

作者： Jiri Stencl Pavel Homola Vaclav Sladky Mendel University of Agriculture and Forestry Zemedelska 1 613 00 Brno Phone: ++420 5 45132116 Fax: ++420 5 45212044 Czech Republic Research Institute of Agricultural Engineering K sancim 50 163 07 Praha Czech Republic

Good quality hay production in barns requires automation of farm operations. The paper presents control algorithms for near ambient air drying of the fresh grass Festuca pratensis on grates. The depth of layer of the material stored was 1.3 m. No moisture condensation appeared during drying tests. Major factors controlling the drying process through fan operation on/off, i.e. near ambient air temperature, relative air humidity, temperature of the material stored and its moisture content measured as bioimpedance, were continuously tested in real time. Another control variable was equilibrium moisture content of the grass hay, presented in graphs as water sorption isotherms. The predeterminated maximum temperature of forage in a barn was 37°C.

关键词： control algorithms temperature real time

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Advanced Combustion Power control With Full-Scale Application

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IFAC Proceedings Volumes 1999年第2期32卷 7226-7230页

作者： J. Mononen J. Hiltunen U. Kortela H. Mikkonen University of Oulu Systems Engineering Laboratory P.O.Box 4300 FIN-90401 Oulu Finland Fax: +358 8 553 2439

The main problem when burning inhomogeneous fuels like peat and wood is the changes in fuel quality, which are usually not detected until after they affect the drum pressure. With combustion power control (CPC) based on oxygen consumption in the furnace these disturbances can be detected earlier, giving opportunities stabilize the burning conditions. At the same time more stable burning conditions give a possibility to decrease the excess-air ratio causing lower flue-gas emissions and increased thermal efficiency of the boiler. The combustion power control is developed and implemented by Matlah and Simulink environment, allowing good testing facilities of the CPC strategy in different automation systems. The CPC strategy using external PC as a controller has been tested by connecting PC to Damatic XD system (DCS) in a 300 MW circulating fluidized bed boiler.

关键词： control algorithms control application compensation boilers process control

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