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Stability Analysis of Force Feedback and Force Control of a Constrained Arm with a Symmetric Rigid Tip Body Considering Bending and Torsional Flexibility

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IFAC Proceedings Volumes 1997年第20期30卷 485-490页

作者： Fumitoshi Matsuno Takao Kanzawa Department of Computational Intelligence and Systems Science Interdisciplinary Graduate School of Science and Engineering Tokyo Institute of Technology Nagatsuta Midori Yokohama 226 Japan Tel.& Fax. : +81-45-924-5546 Department of Computer and Systems Engineering Faculty of Engineering Kobe University Nada Kobe 657 Japan

In this paper, stability analysis and robust control of a force-controlled arm having a symmetric rigid tip body, of which the mass center lies on the central axis of the arm, are discussed. We consider link flexibility as uncertainty and derive dynamic equations of the force-controlled arm. As the obtained boundary condition of the vibraton equation of the arm is nonhomogeneous, we introduce a change of variables to derive homogeneous boundary conditions. On the basis of a finite-dimensional modal model of distributed-parameter systems, stability of the force feedback is analyzed by using the root locus technique, and an optimal controller with low-pass property is constructed. Simulations have been carried out.

关键词： Bending and torsional flexibility Stability analysis Force-controlled arm distributed parameter model Spillover instability

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A model for Otolith Dynamic Response with a Viscoelastic Gel Layer

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Journal of Vestibular Research 1991年第2期1卷 139-151页

作者： Grant, J.W. Cotton, J.R. Engineering Science and Mechanics Department Virginia Polytechnic Institute and State University Blacksburg Virginia

The otolith organs were modeled mathematically as a 3-element system consisting of a viscous endolymph fluid in contact with a rigid otoconial layer that is attached to the skull by a gel layer. The gel layer was considered to be a viscoelastic solid, and was modeled as a simple Kelvin material. The governing differential equations of motion were derived and nondimensionalized, yielding 3 nondimensional parameters: nondimensional density, nondimensional viscosity, and nondimensional elasticity. The equations were solved using finite difference techniques on a digital computer. By comparing the model’s response with previous experimental research, values for the nondimensional parameters were found. The results indicate that the inclusion of viscous and elastic effects in the gel layer are necessary for the model to produce otoconial layer deflections that are consistent with physiologic displacements. Future experimental data analysis and mathematical modeling effects should include viscoelastic gel layer effects, as this is a major contributor to system damping and response.

关键词： otolith viscoelastic gel layer distributed parameter model dynamic response

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Flatness-based Heavy Rope Control: Experimental results with a 6R Industrial Manipulator

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IFAC-PapersOnLine 2022年第26期55卷 71-77页

作者： Arthur Angerer Frank Woittennek UMIT Tirol 6060 Hall in Tirol Austria

Flatness-based control schemes for a heavy rope with freely movable suspension point are compared in simulation and experiment. These schemes are based on a nonlinear distributed parameter model (DPM) of the chain and two different approximations, firstly a rigid body approximation as a physical pendulum, secondly a tangent linearization of the original model. The flat output is given by the free end of the rope for the DPMs and by the center of oscillation for the rigid body approximation. The design is achieved by prescribing a desired path for the flat output and computing the corresponding path of the suspension point. Numerical simulations are performed by means of a finite-difference approximation of the original non-linear DPM. For the experimental studies the chain is suspended from the end effector of a 6R industrial manipulator. The required joint angles of the manipulator are computed by selecting one of the eight solutions of the inverse kinematics of the robot.

关键词： heavy rope distributed parameter model flatness inverse kinematics

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Robust Force Control of One-Link Flexible Arms

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IFAC Proceedings Volumes 1996年第1期29卷 115-120页

作者： Fumitoshi Matsuno Shozaburo Kasai Miwako Tanaka Kuniko Wakashiro Department of Computer and Systems Engineering Kobe University Nada Kobe 657 Japan Department of Electronic Engineering Kobe City College of Technology Nishi Kobe 651-21 Japan Mitsubishi Electric Ltd. Amagasaki Hyougo Japan

In this paper, we consider robust force control of flexible one-link arms. Since the tip of the flexible arm contacts with a given constraint surface, a constraint condition should be satisfied. By using Hamilton's principle, we derive dynamic equations of the joint angle, the vibration of the flexible arm. and the constraint force. We construct an optimal controller with low-pass property to compensate the spillover instability. ASet of experiments has been carried out. Experimental results confirm that the controllers perform remarkably well.

关键词： Force control Flexible arm distributed parameter model Robust control

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Robust Cooperative Control of Two Two-Link Flexible Manipulators

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IFAC Proceedings Volumes 1996年第1期29卷 67-72页

作者： Fumitoshi Matsuno Michinori Hatayama Department of Computer and Systems Engineering Faculty of Engineering Kobe University Nada Kobe 657 Japan Hitachi System Technology Ltd. Kokubunji Tokyo 185 Japan

In this paper, a dynamic model of distributed parameter system and a robust control architecture are developed for the closed chain motion of two two-link flexible manipulators holding a common rigid object in a horiz... 详细信息

关键词： Cooperative control Flexible manipulators distributed parameter model Quasi-static approximation parameter uncertainty Robust control

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modeling and Quasi-Static Hybrid Position/Force Control of Two-link Flexible Manipulators

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IFAC Proceedings Volumes 1993年第2期26卷 887-892页

作者： F. Matsuno T. Asano Department of Computer and Systems Engineering Kobe University Nada Kobe 657 Japan Sumitomo Steel Corporation Amagasaki Works Amagasaki Hyougo 660 Japan

In this paper, a method is proposed whereby both contact force exerted by a flexible manipulator and position of end-effector while in contact with a surface are controlled. We derive dynamic equations of joint angles, vibration of the flexible links, and contact force by means of Hamilton's principle. On the basis of some assumptions we derive the quasi-static equations and design the hybrid position/force controller of the flexible manipulator. A set of experiments for the hybrid control of the flexible manipulator using a force sensor has been carried out. Several experimental results are shown

关键词： Flexible manipulators Hybrid position/force control Constraint surface Contact force distributed parameter model

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An investigation on the irreversibility in the CO2 two-phase ejector based on the one-dimensional distribution model

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INTERNATIONAL JOURNAL OF THERMAL SCIENCES 2022年第0期182卷

作者： Zheng, Lixing Wang, Lingmei Deng, Jianqiang Shanxi Univ Sch Elect Power Civil Engn & Architecture Taiyuan 030006 Peoples R China Wind Turbine Monitoring & Diag NTRC Shanxi Prov Taiyuan 030006 Peoples R China Xi An Jiao Tong Univ Sch Chem Engn & Technol Xian 710049 Peoples R China

The irreversibility inside a CO2 two-phase ejector was investigated based on the one-dimensional distributed parameter method and experiment measurement. The global ejector model was developed, in which the suction chamber was modeled by the conservation equations, and the mixing chamber and diffuser model was established by the double-flow model. The validity of presented model was verified by the experimental data. The entropy change rates and exergy destructions of each component of ejector were discussed under different nozzle exit positions (NXP) and throat areas of motive nozzle. Then the conical structure of mixing chamber was compared to the cylindrical structure to optimize the mixing performance. The results showed that the entropy generation rates of motive nozzle increased with the raise of NXP, and there was optimal NXP to decrease entropy change and irreversible loss of suction chamber. Moreover, the increment of specific entropy of primary flow in the mixing chamber and diffuser occupied 68.6% of the total entropy increase of the ejector. The largest exergy destruction in the ejector derived from the mixing chamber, followed by the motive nozzle, suction chamber and diffuser. The convergent conical mixing structure brought about the large increment of the entropy generation and pressure lift of the ejector. While the divergent conical mixing structure contributed to controlling pressure lift and reducing the entropy generation during the diffuser.

关键词： Irreversibility CO2 ejector Entropy generation distributed parameter model Conical mixing structure

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Study on the Influence of Structural parameters of Multi-channel Cylinder Dryer on Heat Transfer Performance

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Journal of Energy and Power Engineering 2017年第7期11卷 454-464页

作者： Yan Yan Dong Jixian Shaanxi University of Science & Technology Xi 'an 710021 China

An approach to design multi-channel cylinder dryer was proposed. The heat transfer performance and flow characteristic under various structural parameters were analyzed. First, an experiment was designed and set up to measure the condensing heat transfer coefficient and the pressure drop in order to ,~erify the applicability of the Cavallini＇s correlation. Then, the relationship among the count of channels, aspect ratio, spacing ratio, width, height and hydraulic diameter of a channel was given. Finally, the correlation of condensing heat transfer and the homogeneous model was introduced in order to observe the heat transfer performance and flow characteristic of the multi-channel cylinder dryer affected by different structures. The study reveals that the structural parameters including count of channels, aspect ratio, spacing ratio of a channel dramatically influence the condensation heat transfer coefficient and frictional resistance of the steam. Based on the selected paper machine, it is suggested that the overall performance of the multi-channel cylinder dryer is best if the count of channels is 150-200, the aspect ratio is 1 ： 3 and the spacing ratio is 1 ： 1-1 ： 3.

关键词： Multi-channel cylinder dryer condensation heat transfer distributed parameter model numerical simulation.

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Problems of Automatic Control of Food Raw Materials Conditioning During Storage

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IFAC Proceedings Volumes 1983年第10期16卷 285-289页

作者： G.N. Dobrinski I.G. Shopov N.P. Ginov Department of Automation Higher Institute for Food Industry bul. Lenin 26 4000 Plovdiv Bulgaria

The paper is concerned with some problems of automatic control systems of food raw materials storages equipped with .. active ventilation devices. A distributed parameter model of the plant is applied to describe the dynamics of heat transfer in the bulk and to determine the number and configuration of sensors and local control loops. Multichannel control systems designed for both flat grain and open sugar beet storages are described. Results of the control systems operation are presented.

关键词： Food processing industry grain storage sugar beet storage distributed parameter model multivariable control system relay control adaptive control

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New scheme of UHVDC transmission line protection based on Chebyshev window filter

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The Journal of Engineering 2017年第13期2017卷 935-939页

作者： Zhenxing Li Hong Tan College of Electrical Engineering and New Energy China Three Gorges University Yichang People's Republic of China

Based on the analysis of the fault current characteristics in ultra-high-voltage DC (UHVDC) transmission lines, a new method to identify the fault by using the polarity of the current mutation is proposed here. Firstly, the protection scheme here is set up as the distributed parameter model to eliminate the influence of distributed capacitance current and data synchronisation on protection. Furthermore, not only the characteristic harmonics of the DC side but also the electromagnetic coupling of the bipolar DC lines and the interference of the high-frequency pulse are considered; the Chebyshev filter is used to select the low-frequency component. Finally, the results of PSCAD/EMTDC simulation show that the proposed scheme not only has the advantages of reliable and low sampling rate, but also has the ability to withstand the transition resistance and the lightning resistance. In a word, the scheme has important reference value for the actual UHVDC projects.

关键词： lightning protection electromagnetic coupling synchronisation fault diagnosis power transmission faults fault currents Chebyshev filters HVDC power transmission power transmission protection power transmission lines transition resistance lightning resistance PSCAD/EMTDC simulation low-frequency component selection high-frequency pulse bipolar DC lines electromagnetic coupling data synchronisation distributed capacitance current influence elimination distributed parameter model current mutation polarity fault identify fault current characteristics Chebyshev window filter UHVDC transmission line protection

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