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Sensitivity Analysis of Robot control Systems Based on Disturbance Observers

IFAC Proceedings Volumes 1991年第9期24卷 123-128页

作者： R. Gorez D. Galardini Université Catholique de Louvain Laboratoire d’Automatique Dynamique et Analyse des Systèmes Bâtiment Maxwell Place du Levant 3 B-1348 Louvain-la-Neuve Belgium

A decentralized control system consisting of discrete-time single input single output P-D controllers and simple disturbance observers is proposed for the positional control of multi-degree of freedom manipulators. Stability of the control system is proved and its robustness is investigated through a theoretical analysis and simulation results.

关键词： control systems decentralized control industrial robots model reference control position control servomechanisms

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Monitoring of a Static Converter Fed Machine using Average reference models

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IFAC Proceedings Volumes 1991年第6期24卷 467-472页

作者： S. Catellani J. Saadi G. Champenois Laboratoire d’Electotechnique de Grenoble ENSIEG BP 46 - Saint Martin d'Heres Cedex France

Failure detection in a chopper and its supply is presented. The technique consists in comparing real state variables with the calculated state variables of average models representing flawless model and faulty systems... 详细信息

关键词： Failure detection d.c. motors modeling model reference control process models simulation

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Position control for Elastic Pointing and Tracking Systems with Gear Play and Coulomb Friction and Application to Robots

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IFAC Proceedings Volumes 1991年第9期24卷 61-70页

作者： U. Schäfer G. Brandenburg Technische Universität München Lehrstuhl für Elektrische Antriebstechnik Arcisstraße 21 D-8000 München 2 Germany

Backlash and Coulomb friction in combination with compliant gears, couplings and shafts render it difficult to achieve high-precision speed, position and force control in pointing and tracking systems, such as robots, robot grippers and machine tools. For an elastic two-mass system with backlash and Coulomb friction as an effective model of higher-order industrial systems, in which friction and backlash may act simultaneously or each one on its own, stability conditions are described. They lead to linear and nonlinear stabilization and compensation measures, which are combined with a polynomial controller and ensure optimal operation down to lowest speeds and standstill. The results which have been proven experimentally are applicable to various types of industrial plants.

关键词： Robots grippers machine tools Coulomb friction backlash stability criteria model reference control polynomial controller position control force control

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STABILITY OF DISCRETE model-reference ADAPTIVE-control REVISITED

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SYSTEMS & control LETTERS 1989年第5期13卷 429-438页

作者： YDSTIE, BE UNIV MASSACHUSETTS DEPT CHEM ENGNAMHERSTMA 01003

We demonstrate that the model reference adaptive controller is robust with respect to small model/plant mismatch. The sign and a lower bound on the high frequency gain are known and the control parameters are constrained to belong to a compact set which contains the parameters of a stabilizing controller. Data normalization and deadzones do not play a role in the analysis. A constructive proof is used to develop bounds for the allowable gain of the model mismatch. When the algorithm state is far from equilibrium the signals are measured by a decaying exponential. The rate of convergence is estimated. An expression which can be used to calculate the size of an overbounding set is developed. Its size scales uniformly with respect to the external disturbances, the inverse of the adaptive gain and the reference. The ideal case is obtained as these tend to zero. This result holds true even when there is a model mismatch.

关键词： Adaptive control model reference control nonlinear system robustness stability chaotic system

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A controller Design Method Based on model Matching in the Frequency Domain

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IFAC Proceedings Volumes 1991年第8期24卷 29-32页

作者： L.A. Aguirre Department of Control Engineering The University of Sheffield Mappin Street Sheffield S1 3JD UK

The present work introduces a controller design method carried out in the frequency domain. The controller is determined in such a way that the overall system behaviour approximates the dynamics of a reference model. The closed loop transfer function matches the first time moments and some Markov parameters of the reference model. The method is illustrated with numerical examples

关键词： control system design controllers linear systems model reference control

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SIMPLIFIED ADAPTIVE-control OF AN ELECTROHYDRAULIC SERVOSYSTEM

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IEE PROCEEDINGS-D control THEORY AND APPLICATIONS 1990年第2期137卷 107-111页

作者： HORI, N UKRAINETZ, PR NIKIFORUK, PN BITNER, DV UNIV SASKATCHEWAN DEPT MECH ENGN SASKATOON S7N 0W0 SASKATCHEWAN CANADA

An improved method of robust adaptive control is developed in the discrete-time form using the Euler operator and is applied to the positioning control of an electrohydraulic servosystem. The number of parametersto be identified is reduced by using the knowledge of plant model structure and carrying out the design procedure for model reference control, treating the plant parameters as unknown coefficients. It was found from the experiments that the proposed method reduces the computation time significantly, compared with the method used in an earlier work, while maintaining the same control performance.

关键词： plant parameters model reference control MRACS model reference adaptive control systems Euler operator discrete-time Self-adjusting control systems control performance robust adaptive control electrohydraulic control equipment design procedure position control electrohydraulic servo-system positioning control servomechanisms Spatial variables control control of other power systems computation time plant model structure Electrohydraulic and electropneumatic control equipment

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Generalized Predictive Cascade control (GPCC) for Machine Tools Drives

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CIRP Annals - Manufacturing Technology 1990年第1期39卷 357-360页

作者： Boucher, P. Dumur, D. Rahmani, K. Faissal Ecole Supérieure d'Electricité Gif-sur-Yvette Cedex France

The use of self synchronous motors in the machine tools field has many advantages: The absence of brushes gives better accuracies in position and a small rotor inertia allows shorter time responses in speed and position. We propose in this paper n performant real time algorithm (GPCC) development this kind of performant motors. The use of predictive control algorithms instead of classical controllers is now possible due to the rapidity of numerical processors, and takes into account more informations about the future. According to this, a first part will develop the GPCC algorithm in a theoretical point of view. Then a second part will present the results obtained with this algorithm on a brushless motor used to drive machine tools axes. © 1990 CIRP.

关键词： brushless motor computer control correlation methods idendification machine tools model reference control predictive control

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Further Developments in Variable Structure Adaptive control Based Only on Input/Output Measurements

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IFAC Proceedings Volumes 1990年第8期23卷 449-454页

作者： A.D. de Araujo L. Hsu Department of Electrical Engineering COPPE/UFRJ Caixa Postal 68504 21945-Rio de Janeiro RJ Brazil

The design of variable structure control systems using only input/output (I/O) measurements is considered. Some improvements for a recently proposed variable structure model reference adaptive control system (VS-MRAC) are presented, concerning the simplification of the control structure, the reduction of the "chattering" phenomena and the elimination of "off-set ". In particular, a drastically simplified controller is proposed for control problems where only local stability is required. The effect of the averaging filters used to obtain the equivalent controls is also discussed. Simulations about theposition control of a DC motor show excellent performance and robustness.

关键词： Adaptive control model reference control Variable Structure control DC Motor control

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model Following control of Hybrid 4WD Vehicles

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IFAC Proceedings Volumes 1990年第8期23卷 437-442页

作者： Y. Amano K. Asano S. Okada T. Mori N. Iwama Toyota Central Res. and Develop. Labs. Inc. 41-1 Aza Yokomichi Oaza Nagakute Nagakute-cho Aichi-gun Aichi-ken 480-11 Japan

This paper presents a method to design a rear wheel torque control system for hybrid four wheel drive vehicles (H4WD) and the results of its construction to an experimental vehicle. In the H4WD the front wheels are driven by an engine and the rear wheels are independently driven by two motors. The rear wheel torque control system employs a model following approach in which the yaw rate of the vehicle is controlled to track a reference yaw rate. The reference yaw rate is produced from a yaw rate reference model, a first order lag system which has a steering angle as the input signal. From results of computer simulations and experiments, this control system has been found to decrease the deflection of the vehicle due to lateral force disturbance such as lateral wind gusts. It also improves both the stahility and the controllability of the vehicle.

关键词： model reference control tracking system torque control vehicles robust control

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Structure-variable model-following control for Hydraulic Drives

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IFAC Proceedings Volumes 1990年第8期23卷 545-550页

作者： H. Lausch K. Lierschaft H. Schwarz Faculty of Mechanical Engineering Institute of Measurement and Control Engineering University of Duisburg Lotharstr. 1 D-4100 Duisburg 1 FRG

Mechanical systems can be improved in their efficiency, if electronic signal processing is added. A typical example is the digital control of hydraulic drives. A successful industrial application of hydraulic drives depends on robustness, reliability and low cost. This paper presents a control scheme for hydraulic drives, in which low cost proportional valves are used instead of much more expensive servovalves. In order to reduce the electronic expense, the concept of pulse modulation is proposed. Therefore, digital-analog converters and relatively expensive analog power amplifiers can be saved. An essential disadvantage of the components mentioned above is their rather non-linear behaviour. For this reason, a special model-following control scheme is developed in order to force a linear system behaviour. The intended linearization is achieved in three steps. 1. feed forward compensation of the static nonlinearities of the valve. 2. partial improvement of the dynamics by a proportional feedback and. 3. inbedding of the just mentioned compensated feedback system into a particular structure-variable model-following control scheme. By prescribing the linear model system, the dynamic behaviour of the hydraulic drive can be influenced within some practical limits. The paper describes the nonlinear hydraulic components lations of the proposed control scheme. In particular, investigations are given. and presents the theoretic reresults of practical test-stand.

关键词： Computer control control applications hydraulic systems model reference control nonlinear systems proportional control

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