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Non-linear control of advanced direct drive robots: theory and experiments

INTERNATIONAL JOURNAL OF CONTROL 2001年第6期74卷 638-647页

作者： Lyshevski, SE Purdue Univ Dept Elect & Comp Engn Indianapolis IN 46202 USA

Direct drive robots are widely used to perform high precision positioning, and advanced control algorithms are applied to attain the desired performance. Small direct drive manipulators are widely used in aerospace, biotechnology, instrumentation, medicine, micro manufacturing, high-density integrated circuits and VLSI fabrication, etc. This paper studies non-linear modelling, analysis and control of direct drive robots to guarantee the desired level of performance. We are particularly interested in the physical laws to model mechanical-electromagnetic phenomena and effects, and the integration of electric motors is a key factor to design high performance direct drive robots. The non-linear mathematical model, found using the Lagrange equations of motion, is applied in non-linear analysis and design. The design method is described and validated. The design concept uses the Hamilton-Jacobi and Lyapunov theories to synthesize robust tracking controllers. It is illustrated that minimizing a non-quadratic performance functional, a bounded control law is analytically designed using necessary conditions for optimality. The sufficient conditions for robust stability are examined using the criteria imposed on positive-definite return functions. Results indicate that the reported method allows one to guarantee robust accurate tracking and disturbance attenuation. A two-degree-of-freedom prototype of direct drive manipulator is described, and the achieved performance is documented and discussed.

关键词： LINEAR control systems ROBOTS programmable controllers

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Functional safety in the field of industrial automation - The influence of IEC 61508 on the improvement of safety-related control systems

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COMPUTING & CONTROL ENGINEERING JOURNAL 2000年第1期11卷 13-18页

作者： von Krosigk, H Siemens AG Funct Safety Ind Automat Automat & Dr Adv Grp Munich Germany

Safety of machinery depends on the correct functioning of its safety-related control equipment. The development of this equipment started with electromechanical devices performing simple interlocking and enabling functions. Meanwhile it is possible to use programmable electronics such as safety PLCs to implement sophisticated safety functions. The approach to achieve the necessary safety integrity is described in the new IEC 61508 standard.

关键词： control equipment industrial automation Standards and calibration Control applications in remote signalling, dispatching and safety devices functional safety control systems IEC 61508 standard interlocking functions sophisticated safety functions Control technology and theory IEC standards safety systems programmable controllers machinery Health and safety aspects electromechanical devices enabling functions safety integrity safety PLC programmable controllers Plant engineering, maintenance and safety Control equipment and processes in production engineering Control systems programmable electronics Control in industrial production systems Instrumentation industrial control safety-related control systems

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Software control of an active magnetic shield

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IEE PROCEEDINGS-SCIENCE MEASUREMENT AND TECHNOLOGY 2006年第1期153卷 13-21页

作者： Sergeant, P Dupré, L Univ Ghent Dept Elect Energy Syst & Automat B-9000 Ghent Belgium

An active shield is designed to reduce the stray magnetic field of an induction heater, which heats a workpiece using a strong magnetic excitation field. The shield consists of a number of coils at well-chosen positions and generates a magnetic field that is opposite to the induction heater stray field in a defined target area. The presented software controller maximises the field reduction by using amplitude and phase information of the relevant frequency components in the spectrum of the excitation current and of the Euclidian space components of the magnetic field at a point. The average field reduction in the target area is equal to 25 dB.

关键词： MAGNETIC fields ELECTRONIC excitation SPECTRUM analysis FREQUENCY spectra programmable controllers MAGNETIC measurements

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An eye on food - Analytical instrumentation and assays serve as important tools to ensure quality and safety in the food and dairy industry

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CHEMICAL & ENGINEERING NEWS 2005年第27期83卷 28-34页

作者： Ritter, SK C&EN WASHINGTON

Analytical instrumentation and assays serve as important tools to ensure quality and safety in the food and dairy industries. Components of instruments are pretty standard, and the accuracy is reasonably good, but wha... 详细信息

关键词： programmable controllers PROCESS control FOOD industry PRODUCTION engineering BUSINESS enterprises

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A multiple harmonic open-loop controller for hydro/aerodynamic force measurements in rotating machinery using magnetic bearings

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JOURNAL OF ENGINEERING FOR GAS TURBINES AND POWER-TRANSACTIONS OF THE ASME 2002年第4期124卷 827-834页

作者： Baun, DO Maslen, EH Knospe, CR Flack, RD Univ Virginia Dept Mech & Aerosp Engn Charlottesville VA 22903 USA

Inherent in the construction of many experimental apparatus designed to measure the hydrolaerodynamic forces of rotating machinery are features that contribute undesirable parasitic forces to the measured or test forces. Typically, these parasitic forces are due to seals, drive couplings, and hydraulic and/or inertial unbalance. To obtain accurate and sensitive measurement of the hydrolaerodynamic forces in these situations, it is necessary to subtract the parasitic forces from the test forces. In general, both the test forces and the parasitic forces will be dependent on the system operating conditions including the specific motion of the rotor. Therefore, to properly remove the parasitic forces the vibration orbits and operating conditions must be the same in tests for determining the hydrol aerodynamic forces and tests for determining the parasitic forces. This, in turn, necessitates a means by which the test rotor's motion can be accurately controlled to an arbitrarily defined trajectory. Here in, an interrupt-driven multiple harmonic open-loop controller was developed and implemented on a laboratory centrifugal pump rotor supported in magnetic bearings (active load cells) for this purpose. This allowed the simultaneous control of subharmonic, synchronous, and superharmonic rotor vibration frequencies with each frequency independently forced to some user defined orbital path. The open-loop controller was implemented on a standard PC using commercially available analog input and output cards. All analog input and output functions, transformation of the position signals from the time domain to the frequency domain, and transformation of the open-loop control signals from the frequency domain to the time domain were performed in an interrupt service routine. Rotor vibration was attenuated to the noise floor vibration amplitude approximate to0.2 mum, or forced to a user specified orbital trajectory. Between the whirl frequencies of 1 and 2 times running speed, the o

关键词： programmable controllers Rotors -- Bearings

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Variable structure controller with neural compensator

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2001年第4期32卷 425-431页

作者： Lee, M Kyungpook Natl Univ Dept Sensor Engn Sensor Technol Res Ctr Taegu 702701 South Korea

This paper proposes a new variable structure controller combined with a multilayer neural network using an error back-propagation learning algorithm. The neural network acts as a compensator for a conventional variable structure controller in order to improve the control performance when the initial assumptions of the uncertainty bounds of the system parameters are violated. Also, the proposed controller can reduce the steady-state error a conventional variable structure controller using the boundary layer technique. Computer simulation results show that the proposed method is effective in controlling dynamic systems with unexpected large uncertainties.

关键词： programmable controllers NEURAL networks (Computer science) ALGORITHMS

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Microprocessor generates programmable clock sequences

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EDN 2006年第15期51卷 83-84页

作者： Grill, William Honeywell BRGA Lenexa KS USA

To produce trains of pulses suitable for keying transmitters, testingcircuits, and debugging data links, designers requiring continuous or event-driven pulse sequenceshave traditionally relied on pulse generators or collections of simple circuits. Today's inexpensivemicroprocessors make it possible to design and build low-cost, dedicated pulse-sequence generatorswith a minimum of resources. In a small, SOT-23-packaged, 10F200 controller from Microchip(*** ***), the design in Figure 1 uses a code-based embedded table algorithm to generatean application-set-table period and table-based PWM (pulse-width-modulation) sequence. Theapplication produces a continuously pulsed sequence and requires only three constants and apulse-width profile table that it copies into the microprocessor's assembler-based code beforecompiling (Figure 2).

关键词： programmable controllers Algorithms Integrated circuits Electronic controllers Electric controllers Embedded computer systems Microprocessors

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An arithmetic controller design for numerical control

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COMPUTERS & ELECTRICAL ENGINEERING 2013年第7期39卷 2045-2052页

作者： Yi, Shu-Chung Hsieh, Chin-Fa Natl Changhua Univ Educ Dept Comp Sci & Informat Engn Changhua 500 Taiwan Asia Univ Dept Comp Sci & Informat Engn Taichung Taiwan Univ Sci & Technol China Dept Elect Engn Taipei 11581 Taiwan

This paper provides an arithmetic controller comprising: an arithmetic logic unit having a plurality of arithmetic instructions, such as ADD (Addition), SUB (Subtraction), MUL (Multiplication), and DIV (Division) instructions. This arithmetic processor was implemented by a cell-based flow and supports the basic mathematical operations, and numerical control. All mathematical instructions are composed of three bytes. In the first byte, it contains the operation code and the address of the operand, while the operands are in the second and third bytes. While the processor architecture compared with the conventional CPU, the performance is speed up for the number reduction of instruction cycle. The number of instruction cycle is decreased to five T-states. All of these circuits were implemented by the TSMC 0.35 mu m cell library. A 20-pin I/O PAD was selected to package this processor. The experimental results are showed and discussions are made. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： programmable controllers NUMERICAL analysis ARITHMETIC coding MODULES (Algebra) ENERGY consumption ELECTRIC capacity

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MICROPROCESSOR CONTROL OF A HIDDEN-LINK CONVERTER DRIVE

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IEE PROCEEDINGS-B ELECTRIC POWER APPLICATIONS 1985年第2期132卷 87-92页

作者： CHAPPELL, PH DAVIS, RM UNIV NOTTINGHAM DEPT ELECT & ELECTR ENGN NOTTINGHAM NG7 2RD ENGLAND

This synchronous motor drive, unlike the DC link convertor drive, has a single mode of operation from starting to above synchronous speeds. The simple control scheme requires synchronism to the supply waveforms and rotor position. Hardware, software and interface circuits for a Z80 microprocessor-based controller are described. A modest clock rate of 2.5 MHz is sufficient and still leaves the microprocessor 88% idle. High levels of control, and possibly some diagnostic features, can therefore be included.

关键词： programmable controllers Control engineering computing electric drives programmed control controllers synchronous speeds Drives Z80 microprocessor-based controller computerised control Power convertors and power supplies to apparatus power convertors Power engineering computing synchronous motor drive synchronous motors programmable controllers rotor position Synchronous machines Control of electric power systems

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Vague controller: a generalization of fuzzy logic controller

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 1999年第11期30卷 1167-1186页

作者： Chen, CL Hsieh, CT Natl Taiwan Univ Dept Chem Engn Taipei 10617 Taiwan

In this research, a vague controller (VC) is synthesized by using the notion of vague sets, which are a generalization of fuzzy sets and characterized by a truth-membership function and a falsity-membership function. The vague sets follow the basic set operations and logic operations defined for fuzzy sets, and are superior to fuzzy sets in that they could deal with the uncertainty encountered in real-world applications in a move natural way. Depending on the vague sets, the VC is developed as a generalization of fuzzy logic controller (FLC). The design procedures of the VC, which allow an arbitrary number of input variables, and each variable could have a distinct number of linguistic values, are outlined in this paper. In order to compensate the effort in constructing two series of membership functions for vague sets and to ease the difficulties in designing VCs, a new means of designating membership functions for VCs is also presented in this article. This method constructs a set of membership functions systematically by using only two parameters: number of linguistic values of a linguistic variable and shrinking factor. The membership functions generated by this method, shrinking-span membership functions (SSMFs), have different spans over the universe of discourse and, therefore, ave more rational and more practical from the human expert's point of view.

关键词： programmable controllers FUZZY sets TRUTH functions (Mathematical logic)

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