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ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference

作者： Gaul, Lothar Becker, Jens Univ Stuttgart Inst Appl & Expt Mech D-70550 Stuttgart Germany

ISBN: (纸本)9780791848982

Reduction of structural vibrations is of major interest in mechanical engineering for lowering sound emission of vibrating structures, improving accuracy of machines and increasing structure durability. Besides design optimization and passive damping treatments, active structural vibration control can be applied to reduce unwanted vibrations. In this contribution, two semi-active control laws for control of friction dampers are derived and investigated in simulations and experiments. Thereby, semi-active control concepts have the advantage over active control to yield intrinsically stable closed-loop systems and low energy consumption. In the experimental implementation, the control makes use of piezoelectric stack actuators to apply adjustable normal forces between structure and attached friction dampers. The control uses an observer based on reduced finite-element models to estimate the unknown relative displacement beneath the normal force actuator from acceleration measurements. Experimental results of the control algorithms for a structure with attached friction damper show the effectiveness of the proposed control algorithms.

关键词： Optimization Design Passive damping Closed loop systems Displacement Actuators Mechanical engineering Durability control algorithms Dampers Simulation Emissions Vibration Friction Machinery Finite element model Engineering simulation Vibration control Energy consumption

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KINEMATICS ANALYSIS AND control OF A THREE:FINGERED METAMORPHIC ROBOT HAND

KINEMATICS ANALYSIS AND CONTROL OF A THREE:FINGERED METAMORP...

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ASME International Design Engineering Technical Conference / Computer and Information in Engineering Conference (IDETC/CIE)

作者： Calzati, Matteo Zhang, Ketao Castelli, Vincenzo Parenti Dai, Jian S. Univ London Kings Coll London Ctr Robot Res London WC1E 7HU England Univ Bologna Alma Mater Studiorum Viale Risorgimento 2 Bologna Italy Univ London Kings Coll London Sch Nat & Math Sci Ctr Robot Res London WC2R 2LS England Univ Bologna Alma Mater Studiorum Dipartimento Ingn Ind Meccan Applicata Macchine Bologna Italy

ISBN: (纸本)9780791850169

This paper presents the kinematics analysis of a three fingered metamorphic hand (Metahand) and the Lab View based control system of the robotic hand. In this study, the structure of the Metahand composed of an articulated palm and three fingers is introduced first. With the design parameters of the hybrid structure of the Metahand, analytical modeling of both forward and inverse kinematics is revealed, leading to reachable workspace and trajectory of all three fingertips. In particular, the analytical modeling of inverse kinematics is further verified by a numeric method Following the theoretical investigation, a complete prototype with integrated servomotors and electric circuit for control system are produced. Further, a control system with Lab View software is developed to realize the kinematics based control algorithm. A number of grasping tests are implemented to demonstrate the dexterity of the three fingered Metahand.

关键词： Computer software control algorithms Trajectories (Physics) Kinematics Servomotors Grasping Modeling End effectors Numerical analysis control systems Design Circuits Engineering prototypes

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Regenerative Power Converters Representation of Grid control and Actuation Emulator

Regenerative Power Converters Representation of Grid Control...

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IEEE Energy Conversion Congress and Exposition (ECCE)

作者： Wang, Jing Yang, Liu Ma, Yiwei Shi, Xiaojie Zhang, Xiaohu Hang, Lijun Lin, Keman Tolbert, Leon M. Wang, Fred Tomsovic, Kevin Univ Tennessee Ctr Ultra Wide Area Resilient Elect Energy Transm Knoxville TN 37996 USA

ISBN: (纸本)9781467308014

An ultra-wide-area transmission network emulator represented by regenerative converters is developed in this paper. The converters are paralleled to provide and share power similar to electromechanical generators. Others are controlled to emulate loads, such as, induction motors and constant impedance, current, power (ZIP) loads. The structure and control algorithms of these power system component emulators are discussed in detail, and the performance of overall system architecture is presented. As is well-known, the induction motor will induce large power perturbation when it starts. The simulation results clearly show the dynamic response and starting up process of the load.

关键词： Hardware testbed regenerative converter ultra-wide-area transmission emulator power electronic load control algorithms dynamic performance

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Overcoming control Challenges in the Artificial Pancreas 11

Overcoming Control Challenges in the Artificial Pancreas

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11th International Conference on Intelligent Systems - Theories and Applications (SITA)

作者： El Hachimi, M. Ballouk, A. Lebbar, H. Mohammedia Univ Hassan II Casablanca FST Lab Elect Energy Automat & Data Proc LEEA & TI BP 146 Mohammadia 20650 Morocco

ISBN: (纸本)9781509057818

This study compares recent control algorithms of Artificial Pancreas;Proportional-Integral-Derivative (PID) and Model Predictive control (MPC). PID controller is applicable to many controls problem, often performs satisfactorily and eliminates the offset. However, it can perform poorly in some applications, does not in general provide optimal control and is unstable with integral control. On the other hand, MPC is able to deal with large multivariable constraints and can be used for non-minimal phase. Then this study focus on two issues, the first one is the nonlinearity of the control problem, and it is demonstrated how this can be tackled via asymmetric objective functions, the proposed MPC strategy employs an asymmetric, state-dependent objective function that leads to a nonlinear optimization problem, The second issue is to propose a velocity-weighting mechanism, within an MPC problem's cost function, that facilitates penalizing predicted hyperglycemic blood-glucose excursions based on the predicted blood-glucose levels' rates of change.

关键词： control algorithms Artificial Pancreas nonlinearity PID MPC multivariable constraints

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A Novel Speed Sensorless control of Brushless DC Motor in Position Servo System

A Novel Speed Sensorless Control of Brushless DC Motor in Po...

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International Conference on Manufacturing Science and Technology (ICMST 2011)

作者： Chen, Changchun Wei, Jiadan Zhou, Bo Li, Guosheng Nanjing Univ Aeronaut & Astronaut Lab Aeronaut Power Syst Nanjing 210016 Peoples R China

ISBN: (纸本)9783037852958

Zero crossing points of back-electromotive force (EMF) is the most mature and widely used method of the speed sensorless control of brushless DC motor (BLDCM). However, with the poor performance from standstill to low speed, it is not suitable for the position servo system. Therefore, this paper first analyzes several conventional speed sensorless control schemes in the BLDCM, then presents a novel control algorithms for the BLDCM. In the proposed method, the short pulse sensing method for the rotor position in the start-up process and self-synchronization with zero cross points of back-EMF are combined together. As a result, the BLDCM used in the position servo system can be easily controlled from zero to high speed, the theoretical analysis is verified by the simulation results based on Matlab, it shows that the proposed algorithms can improve the performances of position servo system compared with the conventional methods.

关键词： Sensorless Brushless DC motor Start-up process Position servo system control algorithms

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Dynamic analysis and identification of gas tungsten arc welding process for weld penetration control

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Journal of Manufacturing Science and Engineering, Transactions of the ASME 1996年第1期118卷 123-136页

作者： Zhang, Y.M. Kovacevic, R. Wu, L. Center for Robotics and Manufacturing Systems Department of Mechanical Engineering University of Kentucky Lexington KY United States National Key Laboratory for Advanced Welding Production Harbin Institute of Technology Harbin China

In this study, gas tungsten arc welding is analyzed and modeled as a 2-input (welding current and arc length) 2-output (weld depression and width) multivariable process. Experiments under a number of typical welding conditions are performed to excite and identify the process characteristics and variations. It is observed that the model parameters vary in a large range with the experimental conditions. A real-time model frame with only a few parameters to be identified on-line is proposed. Based on the obtained models, the process characteristics in terms of inertia, delay, nonminimum phase, and coupling are given. These characteristics suggest an adaptive predictive decoupling control algorithm. By designing and implementing the suggested control algorithm with the real-time model, excellent results have been achieved for both simulation and practical control. This shows that the dynamic analysis and identification provide sufficient process information for design of the control system. © 1996 by ASME.

关键词： Delays Simulation Design control algorithms Dynamic analysis control systems Welding Inertia (Mechanics) Gas tungsten arc welding

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MOTION control OF AN INDEPENDENT METERING SYSTEM WITH POLYNOMIAL APPROXIMATIONS FOR VALVE FLOW NONLINEARITY

MOTION CONTROL OF AN INDEPENDENT METERING SYSTEM WITH POLYNO...

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33rd Bath/ASME International Symposium on Fluid Power and Motion control (FPMC)

作者： Li, Chen Chen, Zheng Yao, Bin Lyu, Litong Helian, Bobo Zhejiang Univ State Key Lab Fluid Power & Mechatron Syst Hangzhou 310027 Peoples R China Zhejiang Univ Ocean Coll Hangzhou 310027 Peoples R China Purdue Univ Sch Mech Engn W Lafayette IN 47907 USA

ISBN: (纸本)9780791883754

In recent years, many works focusing on improving motion tracking accuracy of hydraulic actuators have been done by developing nonlinear control algorithms. Model nonlinearity compensation, such as valve deadband, nonlinear friction force, and flow leakages, is one of the key points in the control design. However, the inherently nonlinear valve flow characteristic is usually treated as linear for simplicity, which might lead to undesirable flow rate deviation and reduce the tracking precision especially when the cylinder moves at a low speed. In this study, an online valve flow nonlinearity compensation method is developed to improve the motion tracking precision of hydraulic actuators. Specifically, polynomials are used to mimic the nonlinear valve flow characteristic between the valve control input, pressure difference, and flow. The coefficients in polynomials are synthesized based on the offline identification experiments while the lumped discrepancy is updated online in the proposed control design. The adaptive robust control approach is also used to develop the closed-loop motion controller, which can handle the parametric uncertainties and uncertain nonlinearities in the electrohydraulic system. Comparative experiments are conducted on an independent metering system with a differential cylinder and the results show the improved tracking precision with nonlinear valve flow comparing to the linear one, verifying the effectiveness of the proposed approach.

关键词： Motion control Robust control Pressure Polynomial approximation control algorithms Hydraulic actuators Leakage Valves Cylinders control equipment Flow (Dynamics) Polynomials Uncertainty Friction Design

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Advanced method for run-to-run control of photolithography overlay registration in high-mix semiconductor production

Advanced method for run-to-run control of photolithography o...

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Conference on Data Analysis and Modeling for Process control II

作者： Toprac, AJ Wang, Y Yield Dynam Inc Sunnyvale CA USA

ISBN: (纸本)0819457353

The application of overlay run-to-run control in high-mix production fabs (such as development fabs, ASIC fabs or foundries) encounters some unique problems. A new observer algorithm called JADE (TM) (Just-in-Time Adaptive Disturbance Estimation) was developed to solve the high-mix run-to-run control problem. JADE uses recursive weighted least-squares parameter estimation to identify the contributions to variation that are dependent upon tool, product, reference tool, and reference reticle. With the JADE Observer algorithm, run-to-run controllers use all available feedback data independent of the length of time since a particular product was processed. The application of JADE, compared to traditional control techniques, will be demonstrated on high and low-mix fab lithography overlay data. This comparison illustrates the degradation of the typical streamline observer formulation under high-mix operation, with an actual worsening of overlay control relative to open-loop (no run-to-run control) operation. In contrast, the JADE algorithm control performance, while matching the typical streamline formulation at low-mix operation, will be shown to be unaffected under very high-mix photolithography operation.

关键词： run-to-run R2R overlay control registration control control algorithms high mix

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LQR FEEDBACK control DEVELOPMENT FOR WIND TURBINES FEATURING A DIGITAL FLUID POWER TRANSMISSION SYSTEM 9

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9th FPNI Ph D Symposium on Fluid Power (FPNI2016)

作者： Pedersen, Niels H. Johansen, Per Andersen, Torben O. Aalborg Univ Fluid Power & Mechatron Syst Dept Energy Technol DK-9220 Aalborg Denmark

ISBN: (纸本)9780791850473

Research within digital fluid power (DFP) transmissions is receiving an increased attention as an alternative to conventional transmission technologies. The use of DFP displacement machines entails a need for applicable control algorithms. However, the design and analysis of controllers for such digital systems are complicated by its non-smooth behavior. In this paper a control design approach for a digital displacement machine (R) is proposed and a performance analysis of a wind turbine using a DFP transmission is presented. The performance evaluation is based on a dynamic model of the transmission with a DFP motor, which has been combined with the NREL 5-MW reference wind turbine model. A classical variable speed control strategy for wind speeds below rated is proposed for the turbine, where the pump displacement is fixed and the digital motor displacement is varied for pressure control. The digital motor control strategy consists of a full stroke operation strategy, where a Delta-Sigma pulse density modulator is used to determine the chamber activation sequence. In the LQR-control design approach, the discrete behavior of the motor and Delta-Sigma modulator is described by a discrete linear time invariant model. Using full-field flow wind profiles as input, the design approach and control performance is verified by simulation in the dynamic model of the wind turbine featuring the DFP transmission. Additionally, the performance is compared to that of the conventional NREL reference turbine, transmission and controller.

关键词： control algorithms Displacement Wind turbines Performance evaluation Feedback Simulation Motors Turbines Pressure control Wind Fluids Design Engines Flow (Dynamics) Motor controls Pumps control equipment Wind velocity Dynamic models Machinery Density

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POWERTRAIN control OF PARALLEL HYBRID ELECTRIC VEHICLES VIA EXTREMUM SEEKING ALGORITHM

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10th ASME Biennial Conference on Engineering Systems Design and Analysis

作者： Dincmen, Erkin Uygan, Ismail M. C. Guvenc, Bilin Aksun Acarman, Tankut Istanbul Tech Univ Dept Mech Engn TR-80626 Istanbul Turkey

ISBN: (纸本)9780791849170

A control algorithm for a parallel hybrid electric vehicle is proposed in this paper An upper level controller chooses vehicle operation mode such as regenerative braking, electric motor only, combustion engine only, engine+motor in battery discharge or engine+motor in battery charge modes. In engine+motor mode, optimum torque distribution between the engine and the motor is determined via extremum seeking algorithm that searches maximum drivetrain efficiency. Simulations are given to illustrate the effectiveness of the proposed control algorithm.

关键词： Engines Batteries control algorithms algorithms Regenerative braking Simulation Electric motors Vehicles Torque Engineering simulation Combustion Hybrid electric vehicles control equipment

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