Consensus control has been proposed by our prior research to operate multiple battery energy storage systems (BESS). The objective of this paper is to validate the performance of consensus control using a controller-h...
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ISBN:
(纸本)9781728181929
Consensus control has been proposed by our prior research to operate multiple battery energy storage systems (BESS). The objective of this paper is to validate the performance of consensus control using a controller-hardware-in-the-loop (CHIL) testbed. This paper describes the system topology and the setup process of this testbed. The testbed emulates a microgrid with three parallel BESS connected to the IEEE-9 bus system. The circuit part is simulated in real-time simulator while the control systems for BESS are implemented in three fpga-based controllers. Using this testbed, the consensus control was tested under both of grid-connected mode and autonomous mode.
A motion-copying system is characterized by its ability to preserve and reproduce the motions of a human operator. The performance of a motion-copying system based on bilateral control is affected by friction and harm...
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A motion-copying system is characterized by its ability to preserve and reproduce the motions of a human operator. The performance of a motion-copying system based on bilateral control is affected by friction and harmonic disturbances. To improve the performance of this system, we propose a friction-free disturbance observer with a dither signal for both motion-saving and motion-loading systems. The dither signal reduces the effect of friction, while the friction-free disturbance observer suppresses oscillatory disturbances in force estimation. Moreover, the friction-free disturbance observer achieves effective harmonic disturbance suppression in force estimation. All control algorithms are implemented in a field-programmable gate array to achieve a short sampling period that reduces the controller execution time and enables a wider force-sensing bandwidth. The effectiveness of the proposed method is verified by experimental results.
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.
In this paper, a force controller design is considered for the fingers of the piano playing robot with a gain switched controller. Music playing robot is one kind of the service robots. In addition to playing music wi...
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ISBN:
(纸本)9781479944019
In this paper, a force controller design is considered for the fingers of the piano playing robot with a gain switched controller. Music playing robot is one kind of the service robots. In addition to playing music with the score, for a service robot, the robot, can play sweet sounds. In order to play a melodious music sound like musician, besides the robot can play the right note and right rhythm, the punching force of the fingers are controlled just right while the robot playing. In the proposed system, the finger is driven by a cylindrical linear motor. To play sounds of light, heavy, slow and anxious, the punching force of the finger is tuned according to the music score by controlling the cylindrical linear motor. Considering the playing requirements and load characteristics, the force controller is designed by a gain switchable controller to achieve the functions of force controllable and fast response. Also, the sound spectrum analysis is applied to analyze the quality of the robot's playing for the key punching and the force controlling in the viewpoint of frequency domain. based on the sound spectrum analysis for a musician playing, the force controller of the finger is designed to lead the robot playing is closing to human playing. Through the fpga-based implementation, each finger of the robot owns its independent control loop with parallel control structure designing to get the finger's action rapidly and precisely. From the experiments of the prototype, the results have given the verification about the practical control method and the realizable implementation.
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