In this paper, a motion control module design is considered for multi actuator control system with parallel control capability. And, the control module is implemented to a music playing robot. This robot control syste...
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ISBN:
(纸本)9781467351942;9781467351928
In this paper, a motion control module design is considered for multi actuator control system with parallel control capability. And, the control module is implemented to a music playing robot. This robot control system with parallel controlling of two hands and ten fingers is implemented by a hierarchical control structure, i.e. host controller (PC-based) and local controller (fpga-based), to achieve the anthropomorphic piano robot control. The host controller is in charge of the whole system integration and the music codes encoding of playing music to command the robot via the target controller. The target controller, or called local controller or distributed control module, actually performs the close loop control task of each actuator while it receives the command code. The palms of the robot are driving by a PM linear motor that consists with two movers in a common track stator and they are controlled by the target controller directly. In this paper, we will focus on the fpga-based controllers design use a practical technique including the velocity and position control loops design for the anthropomorphic piano robot. With some experiments of hard ware in the loop, the control gain can be calculated easily in S-domain and digitizing to Z-domain for fpga-based controller implementing. The control modules have been applied to control the anthropomorphic piano robot successfully. The results of experiment have given verification about the practical controller design method and the hierarchical control structure.
Force sensing is an important part of a motion-copying system. To achieve the high performance of the control system, high quality of force sensing is required. This paper focuses on suppressing harmonic disturbances ...
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ISBN:
(纸本)9781479902255
Force sensing is an important part of a motion-copying system. To achieve the high performance of the control system, high quality of force sensing is required. This paper focuses on suppressing harmonic disturbances in the force estimation to improve the performance of force sensing. A friction-free disturbance observer with a dither signal is applied for both motion-saving and motion-loading systems. The dither signal reduces the friction effect on force estimation and the friction-free disturbance observer eliminates the oscillatory signal on force estimation. Moreover, the friction-free disturbance observer achieves effective harmonics suppression in force estimation. All control algorithms are implemented in fpga to achieve short sampling period, and enable a wider force sensing bandwidth. The effectiveness of the proposed method is verified by experimental results.
Simple and friendly operation panel, intelligent algorithm, high performance control and driving circuit and precision and reliable plant are the necessary conditions for music playing robot design. In this paper, a h...
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ISBN:
(纸本)9781467317900
Simple and friendly operation panel, intelligent algorithm, high performance control and driving circuit and precision and reliable plant are the necessary conditions for music playing robot design. In this paper, a hierarchical control structure, host controller (PC) and local controller (fpga), is proposed to implement the anthropomorphic piano robot control with parallel controlling of two hands and ten fingers. In order to simplify the programming on the host controller and increase the performance of the whole system, the actuators of the hands (linear motors) and fingers (servo motors) are controlled and driving by local controllers, the fpga-based controllers. The host PC is in charge of to integrate and encode the music codes of playing music to command the robot via the local controller, namely fpgacontroller or distributed control module. The host controller is programmed with an intelligent algorithm to generate the music control code and an interactive man-machine interface. Giving a music score, the intelligent algorithm will generate a series of optimum positions commands for the hands and fingers of the piano robot to play the piano. The series of optimum positions commands are programmed with crashing protection and minimum movement for the hands and fingers to anthropomorphize the robot. After the codes receiving, the local controller will quick decode the commanding such as the position of two hands, opening angle of ten fingers and key rapping of ten fingers to control the driving circuits of actuators of the hands and fingers.
This paper presents a short state-of-the-art Field Programmable Gate Array (fpga) technology. An efficient design methodology for designing fpga-based controllers is also described. To illustrate the interest of this ...
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ISBN:
(纸本)9781424450466
This paper presents a short state-of-the-art Field Programmable Gate Array (fpga) technology. An efficient design methodology for designing fpga-based controllers is also described. To illustrate the interest of this methodology, a complex sensorless algorithm for AC drives has been chosen. It consists in an Extended Kalman Filter (EKF), which is most of the time implemented in a DSP controller. In the last part of the paper, authors try to demonstrate all the benefits of using fpgas for power electronic and drive applications. Two cases are discussed, the high demanding applications and the constrained switching frequency applications.
This paper presents a comparison between a standard fpga-based controller and a full fpga-based controller for electrical systems. The first controller uses a standard low cost fpga such as Xilinx Spartan and the seco...
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ISBN:
(纸本)9781424407545
This paper presents a comparison between a standard fpga-based controller and a full fpga-based controller for electrical systems. The first controller uses a standard low cost fpga such as Xilinx Spartan and the second one uses an Actel Fusion fpga which integrates all the peripherals required for these kinds of applications. The purpose here, is to analyze in details the potential benefits offered by this last solution compared to the first one. To this purpose, a current control algorithm for AC drives has been implemented on both targets. This comparison concerns the design methodology (evaluation of the reusability of designs), the time/area performances and also the quality of the system control.
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