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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

7th Annual International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Suteeratanapirom, Wijin Rattanawaorahirankul, Rapeepong Laosapan, Chutima Sanposh, Peerayot Chayopitak, Nattapon Tungpimolrut, Kanokvate Kunieda, Hiroaki TAIST Tokyo Tech ICTES Program Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-65 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward controller (FFC-PFC) are presented.

关键词： Friction

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Parameter identification of a linear permanent magnet motor using particle swarm optimization

Parameter identification of a linear permanent magnet motor ...

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7th Annual International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Therdbankerd, Tithiwat Sanposh, Peerayot Chayopitak, Nattapon Fujita, Hideaki Department of Electrical Engineering Intelligent Mechatronics Automation Robotics and Control Laboratory Kasetsart University 50 Phahonyothin Rd. Ladyao Jatujak Bangkok 10903 Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center 112 Thailand Science Park Phahonyothin Rd. Klong 1 Klong Luang Pathumthani 12120 Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology S3-18 2-12-1 Ookayama Meguro-ku Tokyo 152-8550 Japan

ISBN: (纸本)9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation

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Digital control and simulation of parallel current mode for Buck converter

Digital control and simulation of parallel current mode for ...

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IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG)

作者： Xiaodong Liu Yang Ye Jiaojiao Deng Yan-Fei Liu Key Laboratory of Power Electronics & Motion Control Anhui University of Science and Technology China Department of Electrical and Computer Engineering Queen''s University Canada

Parallel current mode control algorithm for DC-DC converters is introduced in this paper. This control strategy is composed of two parallel terms: voltage term and current term which is calculated based on the input voltage, inductor current and output voltage. The new duty cycle algorithm requires only one multiplication, one division and three additions in digital implementation. The simulation results demonstrate that parallel current mode control has superior steady-state response over the conventional current mode control, and maintains a good dynamic response. A 400-kHz switching frequency Buck converter based on FPGA implementation shows that the new duty cycle control strategy is optimal for digital control.

关键词： Voltage control Inductors Digital control Field programmable gate arrays Switches Converters Simulation

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Model Predictive controller for Networked control Systems

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IFAC Proceedings Volumes 2010年第8期43卷 274-279页

作者： Grzegorz Ewald Mietek A. Brdys Department of Automatic Control Gdansk University of Technology ul. Narutowicza 11/12 80-233 Gdańsk Poland School of Electronic Electrical and Computer Engineering College of Engineering and Physical Sciences University of Birmingham Edgbaston Birmingham B15 2TT UK

control of the networked control systems is a crucial challenge. In the environment of shared communication media, data may be randomly delayed or even lost. As the shared communication links are used in the critical infrastructure systems, the problem becomes even more important. As opposed to network compensation, solutions presented in the paper integrate network with the controlled plant. The proposed networked control system employs the model predictive control technology and is based on the buffer in the actuator. Stability of the presented solution used to control a linear discrete time system is analyzed. A simulation example is also provided.

关键词： control system design model predictive control stability analysis networked control system dynamic models networks.

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Adaptive flocking with a virtual leader of multiple agents governed by nonlinear dynamics

Adaptive flocking with a virtual leader of multiple agents g...

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作者： Su, Housheng Chen, Guanrong Wang, Xiaofan Lin, Zongli Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China Department of Electronic Engineering City University of Hong Kong Tat Chee Avenue Kowloon Hong Kong Department of Automation Shanghai Jiao Tong University Dongchuan Road 800 Shanghai 200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400473 Charlottesville VA 22904-4743 United States

ISBN: (纸本)9787894631046

We investigate the flocking problem of multiple nonlinear dynamical mobile agents with a virtual leader in a dynamic proximity network. We assume that only a fraction of agents in the network are informed and propose a connectivity-preserving flocking algorithm. Under the assumption that the initial network is connected, we introduce local adaptation strategies for both the weights on the velocity navigational feedback and the coupling strengths that enable all agents to track the virtual leader, without requiring the knowledge of the agent dynamics. The resulting flocking algorithm works even for the case where only one agent is informed.

关键词： Dynamics

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T2: A novel two degree-of-freedom translational parallel robot for pick-and-place operation

T2: A novel two degree-of-freedom translational parallel rob...

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2010 8th IEEE International Conference on control and Automation, ICCA 2010

作者： Li, Zhibin Lou, Yunjiang Li, Zexiang Yang, Guilin Gao, Jian Division of Control and Mechatronics Engineering Shenzhen Graduate School Harbin Institute of Technology Shenzhen China School of Mechanical and Electrical Engineering Shenzhen Polytechnic China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Singapore Institute of Manufacturing Technology Singapore Singapore School of Electromechanical Engineering Guangdong University of Technology 729 East Dongfeng Road Guangzhou 510090 China

ISBN: (纸本)9781424451951

This paper deals with the conceptual design and kinematic analysis of a novel 2-DOF translational parallel robot for pick-and-place operations named as T2. The proposed architecture is composed of two actuated kinematic chains in the vertical plane and a passive chains in the transversal plane to make the orientation of the moving platform unchangeable. It not only has high speed and high acceleration, but also has a simple and symmetrical mechanism, and will be easier to control and cheaper than the existing 2-DOF robot. In this paper, the loop-closure equations of the robot is derived. the inverse kinematics, forward kinematics, singularity, and workspace analysis are presented. © 2010 IEEE.

关键词： Robots

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Torus problems in jointly-connected no-beacon networks

Torus problems in jointly-connected no-beacon networks

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IEEE Conference on Decision and control

作者： Zhiyong Chen Hai-Tao Zhang School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Control Science and Engineering and the National Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9781424477456

In this paper, a decentralized control algorithm is proposed for a group of nonholonomic vehicles to form a class of collective circular motion behavior. Without the guidance of a global position reference or a beacon, the desired collective behavior occurs provided that the multi-agent system is jointly-connected. Moreover, a repulsion mechanism is considered to improve the distribution evenness of the agents' circular motion phases and hence to avoid collision. The effectiveness of the approach is verified through both theoretical analysis and numerical simulation.

关键词： Stability analysis Trajectory Multiagent systems Algorithm design and analysis Convergence Velocity control Numerical simulation

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Simulation of Switched Reluctance machine with the operation at four-quadrant

Simulation of Switched Reluctance machine with the operation...

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World Congress on Intelligent control and Automation (WCICA)

作者： Hao Chen Xiuli Ju Jason J. Gu Pude Yu Liang Qu School of Information and Electrical Engineering China University of Mining and Technology Xuzhou China Department of Electrical and Computer Engineering Dalhousie University Halifax NS Canada School of Control Science and Engineering Shandong University Jinan Shandong China

An nonlinear simulation model of the Switched Reluctance machine with the operation at four-quadrant founded on MATLAB is presented. The simulation of the prototype with three given rotor speeds and four different loads are made. The simulated results on the rotor speed curves, the rotor speed ascending time and the phase current waveforms are given. It is shown that the operation of the Switched Reluctance machine at four-quadrant and the conversion course can be simulated efficaciously by the model. There is the impact phase current during the conversion course at four-quadrant. The phase current of the Switched Reluctance machine with the operation at four-quadrant is unipolar so that the unipolar power converter is need.

关键词： Load modeling Reluctance machines Computational modeling Rotors Switches Pulse width modulation Mathematical model

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Robust Performance Issues in Tracking control over Networks

Robust Performance Issues in Tracking Control over Networks

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International Conference on Intelligent Systems, Modelling and Simulation (ISMS)

作者： Leonidas Dritsas Vasilis N. Tsoulkas Athanasios A. Pantelous Antony Tzes Division of Automatic Control Hellenic Air Force Academy Athens Greece General Secretariat for Research and Technology Athens Greece Department of Mathematical Sciences University of Liverpool UK Electrical and Computer Engineering Department University of Patras Greece

ISBN: (纸本)9781424459841;9780769539737

This paper is concerned with the investigation of robust performance of linear tracking controllers affected by unmodelled delays acting in the loop. The incentive comes from the area of Networked control System (NCS) where the inevitable network-induced (transmission) delays are either time-varying or constant. The main contribution (based on extensive simulation work rather than strict mathematical proof) is that the tracking performance of (typical or more sophisticated) linear tracking control laws is drastically reduced when applied to NCS. The provided simulation results (i) demonstrate the impact of the network-induced delays on the tracking performance of single-input single-output NCS, (ii) provide initial guidelines for the tuning of the controllers and (iii) pave the road for further work to be done.

关键词： Robust control control systems Networked control systems Protocols Robust stability Stability analysis Tracking loops automatic control Force control Communication system control

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Asymptotic synchronization and collision avoidance for multi-agent flocking

Asymptotic synchronization and collision avoidance for multi...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Zhiyong Chen Hai-Tao Zhang Chao Zhai School of Electrical Engineering and Computer Science University of Newcastle Callaghan NSW Australia Department of Control Science and Engineering State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan China

A novel individual-based alignmen/repulsion algorithm is proposed in this paper for a flock of multiple agents. With this algorithm, each individual repels its sufficiently close neighbors and aligns to the average velocity of its neighbors with moderate distances. In both mathematical analysis and numerical simulation, we prove that the algorithm guarantees an uncrowded flocking behavior with asymptotical velocity synchronization when sufficiently intensive communication exists within the agents. Moreover, we provide the conditions for collision avoidance along the whole transient procedure. The proposed flocking model has its references in natural collective behaviors like escaping panic and traffic jam motions.

关键词： Joints Synchronization Collision avoidance Algorithm design and analysis Analytical models Robot sensing systems

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