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IEEE Conference on control Technology and Applications (CCTA)

作者： Hahn Piepenbrink Leimbach Control Engineering and System Theory Group Department of Mechanical Engineering (FB 15) University of Kassel Kassel Germany

This paper presents a nonlinear control concept for servo-hydraulic actuators based on exact i/o-linearization techniques. Servo-hydraulic actuators have dominant nonlinearities due to the valve orifice flow characteristics. In most applications, they cannot be globally approximated by linear models over an extended working range. In this paper an input-output linearization technique, which exactly compensates the global nonlinearities of the system, is applied to a servo-hydraulic actuator and compared with a standard linear multi-sensor controller. The controlled actuator provides excellent transient and robustness behaviour shown in the simulation results.< >

关键词： Robustness Servosystems Hydraulic equipment Nonlinear systems

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Inertia parameter identification of rigid bodies using a multi-axis test facility

Inertia parameter identification of rigid bodies using a mul...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Hahn Leimbach Piepenbrink Control Engineering and System Theory Group Department of Mechanical Engineering (FB 15) University of Kassel Kassel Germany

Multi-axis test facilities are usually used in industry to perform vibration tests. This paper proposes a new field of application for such systems. Based on detailed model equations of a rigid body in space an identification strategy is derived, which experimentally identifies the ten rigid body inertia parameters of the loaded or unloaded test table in only one test run.< >

关键词： Testing Mechanical factors Identification Matrices

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Parameter Identification and Model Validation of a Servopneumatic Actuator

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IFAC Proceedings Volumes 1994年第8期27卷 233-239页

作者： H. Hahn A. Piepenbrink University of Kassel Department of Mechanical Engineering (FB 15) Control Engineering and System Theory Group Mönchebergstr. 7 34109 Kassel Germany Phone 0561/804 3260 Fax 0561/804 2330

This paper presents an experimental parameter identification and a model validation concept applied to a servopneumatic actuator. The mathematical actuator model includes the nonlinear differential equations of essential thermodynamical, fluid mechanical and mechanical processes of the actuator components. Special sensing elements for experimental identification of the model parameters have been developed and successfully applied. The identification algorithms used are different types of LS and RLS methods. Excellent agreement between measured and predicted time histories of laboratory experiments have been achieved based on the identified model parameters.

关键词： Identification parameter estimation fluidic devices servopneumatic actuator special purpose sensors

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Simultaneous Identification of the Complete Set of Inertia Parameters of a Rigid Body

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IFAC Proceedings Volumes 1994年第8期27卷 557-562页

作者： H. Hahn M. Niebergall University of Kassel Department of Mechanical Engineering (FB 15) Control Engineering and System Theory Group 34109 Kassel Mönchebergstr. 7 Germany Phone 0561/804 3260 Fax 0561/804 2330

This paper presents a new method for the simultaneous automatic experimental identification of the ten inertia parameters of a rigid body. Nonlinear model equations based on the rigid body equations of motion are used for the simultaneous identification of the complete inertia parameters of a rigid body in space. The identification experiment is carried out by a new developed test robot based on the following steps: - controlled acceleration of the test body in space, - measurement of the test body position state vector, accelerations, forces and torques, - identification of the ten inertia parameters and - comparison of measured and predicted outputs.

关键词： Identification parameter estimation inertia parameters least-squares estimation robot

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HYBRID SATELLITE AND TERRESTRIAL NETWORKS

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INTERNATIONAL JOURNAL OF SATELLITE COMMUNICATIONS 1994年第3期12卷 313-327页

作者： CHITRE, DM SHYY, DJ EPHREMIDES, A GUPTA, S COMSAT Laboratories 22300 Comsat Drive Clarksburg MD 20871–9475 USA. Received his B.Sc. from the University of Bombay India an M.A. in mathematics from the University of Cambridge U.K. and a Ph.D. in physics from the University of Maryland. He is currently an Associate Executive Director of the Network Technology Division at COMSAT Laboratories. He has been involved in research and development activities in ISDN VSAT networks data communications and network systems and architectures. Prior to his current positions Dr. Chitre was a Principal Scientist in the Network Technology Division at COMSAT Laboratories. Dr. Chitre joined COMSAT Laboratories in 1980. He has made major contributions to the analysis and architecture of data communication ISDN and BISDN via satellite. Dr. Chitre directs and participates in the international and national standards activities in ISDN BISDN and data communication as they apply to satellite communication. He was Chairman of the Working Group on Protocols and Network Timing Function of the CCIR/CCITT Joint Ad Hoc Group on ISDN/Satellite Matters during 1990–1992. Currently he is the Chairman of the Working Group on New Technologies in the ITU Intersector Coordinating Group (ICG) on Satellite Matters. Dr. Chitre was a programme manager during 1990 and 1991 on a contract from INTELSAT on systems studies on satellite communications systems architectures for ISDN and broadband ISDN systems. Currently he is the technical manager of the DoD Contract on ATM via satellite demonstration and the programme manager for the INTELSAT contract on analysis and top-level specification of INTELSAT ISDN subnetworks and SDH compatible transport network. Received the B.S. degree in electrical engineering from national Chiao-Tung University Hsin-Chu Taiwan in 1983 and the M.S. and Ph.D. degrees in electrical engineering from Georgia Institute of Technology Atlanta GA in 1986 and 1990 respectively. From June 1987 to October 1987 he worked for the Department of Neurology Emory Univers

The role of satellite communications in networks that provide new services, such as frame relay and multimedia, is investigated. Both passive and active (on-board switching/processing) satellite systems are considered. Novel techniques are developed for each system to demonstrate, via detailed analysis and simulation, how the communications bandwidth agility of multipoint/broadcast satellite channels, and the on-board switching/processing, makes it feasible to provide these new services via hybrid satellite and terrestrial networks in a resource-efficient manner.

关键词： HYBRID NETWORKS ON-BOARD PROCESSING FRAME RELAY

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Force-controlled Robotic Deburring

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IFAC Proceedings Volumes 1993年第2期26卷 855-858页

作者： M.-H. Liu H. Tolle Control System Theory and Robotics Group Department of Control Engineering Technical University of Darmstadt Schlossgraben 1 Darmstadl Germany

In this paper a three-step active deburring strategy is proposed based on force feedback control. Strategies for automatic contour following are developed to identify unknown workpiece contours, to automatically generate desired robot motions, and to detect unknown burr sizes. Under the active deburring strategy burr size variations are identified through contour following and different sizes of burrs are removed with a specification of a variable desired deburring force. Implementation of and experiments with the proposed strategies are described.

关键词： Deburring force control grinding machining position control robots teaching

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Nonlinear control of a Spatial Multi-Axis Servo-hydraulic Test Facility

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IFAC Proceedings Volumes 1993年第2期26卷 133-136页

作者： H. Hahn K.-D. Leimbach X. Zhang Control Engineering and System Theory Group Department of Mechanical Engineering (FB 15) University of Kassel 3500 Kassel Mönchebergstrasse 7 Germany

This paper presents a nonlinear control concept of a spacial multi axis servohydraulic test facility. Based on nonlinear model equations including the servohydraulic actuator dynamics and the test table and payload mechanics, a global nonlinear diffeomorphism is derived which maps the model equations into nonlinear canonical form. Using symbolic languages, a nonlinear control law is developped and calculated based on exact linearization techniques. The efficiency and applicability of this control concept with respect to the tracking and decoupling behaviour of the test facility is demonstrated by computer simulations.

关键词： multi-axis test facility nonlinear control systems vibration control exact linearization symbolic languages

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Robotic Deburring Based on Fuzzy Force control

Robotic Deburring Based on Fuzzy Force Control

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1992 IEEE/RSJ International Conference on Intelligent Robots and systems, IROS 1992

作者： Liu, M.-H. Department of Control Engineering Control System Theory and Robotic Group Technical University of Darmstadt Schlossgraben 1 Darmstadt6100 Germany

ISBN: (纸本)0780307372

The static and dynamic behaviour of the deburring process is analysed and with the help of fuzzy logic a linguistic description of the process is established. A fuzzy force control strategy for robotic deburring based on a corrective position/force control structure is put forward. This deburring strategy solves the problems of compensating positional inaccuracies and adjusting the feedrate according to unknown burr sizes in a systematic way. Experimental results have verified the effectiveness of the proposed deburring strategy. © 1992 IEEE.

关键词： Force control

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Robotic Deburring Based On Fuzzy Force control

Robotic Deburring Based On Fuzzy Force Control

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： M.-H. Liu Department of Control Engineering Control System Theory & Robotic Group Technical University of Darmstadt Darmstadt Hessen Germany

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Theoretical Modeling and control Concept of a Multi-axis Servo-Hydraulic Test Facility

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IFAC Proceedings Volumes 1992年第18期25卷 335-340页

作者： H. Hahn K.-D. Leimbach X. Zhang Control Engineering and System Theory Group Department of Mechanical Engineering (FB 15) University of Kassel Mönchebergstr. 7 3500 Kassel Germany

This paper presents a linear control theoretical investigation of a spatial multi-axis test facility with six servo-hydraulic actuators. Starting with a linear modeling of the control plant including the spatial equations of motion of the rigid test facility and the servo-hydraulic actuator dynamics, different control concepts are investigated. These are a standard single axis P-controller concept using actuator displacement measurements, an extended multi-sensor control concept using measurements of the actuator displacements, velocities and accelerations, and a multi-axis decoupling control concept based on test facility degree of freedom measurements.

关键词： multi-axis servo-hydraulic test facility hydraulie systems multivariable systems vibration control control applications

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