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Data-driven tuning of a hybrid integrator-gain system

IFAC-PapersOnLine 2017年第1期50卷 10851-10856页

作者： Heertjes M. Irigoyen N. Deenen D. Mechanical Engineering Department Eindhoven University of Technology Netherlands Mechatronics System Design Department ASML Netherlands

In an attempt to surpass Bode's gain-phase relationship, a hybrid integrator-gain system is studied that has significantly less phase lag in its describing function description when compared to a linear integrator. The hybrid integrator is designed to obtain improved low-frequency disturbance rejection properties under double-integrator (PI2D-like) control, but without the unwanted increase of overshoot otherwise resulting from adding an extra linear integrator. Closed-loop stability of the hybrid control design is guaranteed on the basis of a circle-criterion-like argument and checked through (measured) frequency response data. Closed-loop performance is obtained by data-driven optimization using gradients derived from a state-space description of the hybrid integrator, frequency response data from the linear part of the control system, and data obtained from machine-in-the-loop measurement. © 2017

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Preliminary study for smoother vibrotactile flow generation on thin plates by using piezoelectric actuators

Preliminary study for smoother vibrotactile flow generation ...

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2011 IEEE World Haptics Conference, WHC 2011

作者： Kang, Jeonggoo Kim, Heewon Lee, Jongsuh Cho, Kwangsu Wang, Semyung Ryu, Jeha Human-Machine-Computer Interface Laboratory Department of Mechatronics GIST Gwangju Korea Republic of Intelligent System Design Laboratory Department of Mechatronics GIST Gwangju Korea Republic of Sungkyunkwan University Seoul Korea Republic of

ISBN: (纸本)9781457702976

This paper presents a preliminary study on a new vibrotactile rendering method which can make smoother directional vibrotactile flows on a thin plate. Both by actuating two piezoelectric actuators sequentially from one side to the opposite side and by controlling amplitude-modulated input excitation frequency from zero to the 1st mode of the resonant frequency of a thin plate, a user can feel a smoother directional vibrotactile flows on his/her palm as he/she touches the surface of the thin plate. Experimental results and a user study show that the proposed vibrotactile flow is smoother than the vibrotactile flow that can be generated by the traditional apparent tactile movement and phantom sensation generation methods. The smooth directional vibrotactile flow may be useful for identifying callers or give directional information in navigation maps in mobile devices. © 2011 IEEE.

关键词： Piezoelectric actuators

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Robot motion planning considering the utterance-timing and its experimental evaluation

Robot motion planning considering the utterance-timing and i...

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2012 12th IEEE International Workshop on Advanced Motion Control, AMC 2012

作者： Suzuki, Satoshi Goto, Jun Igarashi, Hiroshi Kobayashi, Harumi Yasuda, Tetsuya Harashima, Fumio Department of Robotics and Mechatronics Tokyo Denki University Japan Division of Information System Design Tokyo Denki University Japan Tokyo Metropolitan University Japan

ISBN: (纸本)9781457710711

For a natural communication robot cooperating with human' an adequate control mechanism of motion and utterance is required. This paper presents a robot motion planning method which considers utterance timing by utilizing Self-Organizing Map (SOM). Adequate target position of the robot motion and the utterance timing for an autonomous robot are decided by searching the best-matching-node on the SOM which was trained using normative data of human behavior. Applying the presented method to cooperative carrying situation in a virtual cooperative simulator' human impression to the robot behavior was investigated. As a result' it was confirmed by the Tukey-Kramer test that several human could recognize an effect of the utterance timing and motion planning method. © 2012 IEEE.

关键词： Self organizing maps

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Influence of servo motion on forming limit of thin metallic foils using micro bulge test 16th

Influence of servo motion on forming limit of thin metallic ...

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16th Metal Forming International Conference, 2016

作者： Yamaguchi, Ryo Shimizu, Tetsuhide Yang, Ming Department of Human Mechatronics Systems Graduate School of System Design Tokyo Metropolitan University 6-6 Asahigaoka Hino-shi Tokyo191-0065 Japan

ISBN: (纸本)9783038357049

The demand of microforming is increasing as one of the economical production methods for small metallic parts. However, the formability of metallic foils decreases with decreasing ratio of thickness to grain size. In the present study, a process combining step motion and ultrasonic vibration is proposed to enhance the formability by stress relaxation. To investigate the effect of stress relaxation on forming limit of metallic foils in different stress states, micro bulge tests were carried out. The material used was brass foils with a thickness of 0.03, 0.05 and 0.08 mm. For calculating the strains of the deformed specimens, a pattern of dots with a diameter and a pitch of 50 and 60 μm was fabricated on the surface of the specimens by photolithography. The results of micro bulge tests showed that the forming limit increases by the stress relaxation regardless of stress states, except for the foil with a thickness of 0.03 mm. The possibility of enhancing the formability of metallic foils by stress relaxation was experimentally demonstrated. © 2016 Trans Tech Publications, Switzerland.

关键词： Microfabrication

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Hybrid Integrator-Gain system for Active Vibration Isolation with Improved Transient Response

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IFAC-PapersOnLine 2019年第15期52卷 454-459页

作者： Marcel Heertjes Sebastiaan van den Eijnden Bardia Sharif Maurice Heemels Henk Nijmeijer Mechanical Engineering Department Eindhoven University of Technology The Netherlands Mechatronics System Design Department ASML The Netherlands

In this paper a linear bandpass filter is compared to a hybrid integrator-gain based bandpass filter regarding its usefulness in active vibration isolation. Vibration isolation refers to a form of skyhook damping in which a velocity output signal from a system having structural dynamics is fed back to a controller, the latter having bandpass characteristics. At those frequencies where the controller passes the input signal (after gain multiplication) a force proportional to velocity is obtained that can be used to provide active damping to the system, i.e., damping of one (or more) of its structural modes. Outside this frequency band the controller input signal is attenuated, which is often desirable in view of incorrect sensor information at low frequencies and/or to avoid amplification of high-frequency noise. In this context, the use of a hybrid integrator-gain system will be studied regarding its possible phase advantages compared to linear integrators. These advantages stem from the control design itself, in the sense that by design the control output force signal and the input velocity error signal have equal sign. In the context of vibration control, an enhanced transient (closed-loop) response is obtained, i.e., less overshoot and reduced settling times, but at the cost of increased rise times.

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Overcoming Performance Limitations of Linear Control with Hybrid Integrator-Gain systems ⁎

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IFAC-PapersOnLine 2021年第5期54卷 289-294页

作者： D. van Dinther B. Sharif S.J.A.M. van den Eijnden H. Nijmeijer M.F. Heertjes W.P.M.H. Heemels Department of Mechanical Engineering Eindhoven University of Technology The Netherlands Mechatronics System Design Department ASML The Netherlands

It is well-known that the performance of linear time-invariant (LTI) feedback control is hampered by fundamental limitations. In this paper, it is shown that by using a so-called hybrid integrator-gain system (HIGS) in the controller, important fundamental LTI performance limitations can be overcome. In particular, in this paper, we show this for two well-known limitations, where overshoot in the step-response of the system has to be present for any stabilizing LTI controller. For each case, it is shown that by using HIGS-based control, one can avoid overshoot in the step-response of the system. Key design considerations for HIGS-based controllers as well as the stability of the resulting closed-loop interconnections are discussed.

关键词： Hybrid integrator-gain systems Fundamental performance limitations LTI control

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A new approach to fault pattern classification of gasoline engine vibration

A new approach to fault pattern classification of gasoline e...

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2011 8th International Conference on Fuzzy systems and Knowledge Discovery, FSKD 2011, Jointly with the 2011 7th International Conference on Natural Computation, ICNC'11

作者： Li, Ning Zhou, Rui School of Mechanical and Electrical Engineering Shanghai Second Polytechnic University Shanghai China Department of Mechatronics System Engineering China Ship Development and Design Center Shanghai China

ISBN: (纸本)9781612841816

This paper presents a new approach to fault pattern classification of gasoline engine vibration based on statistics analysis, rough set and the support vector machines. First, different time domain statistical features are extracted from the resultant subband signals which derived from multiscale analysis of the raw vibration data, to acquire more fault characteristic information. Second, a rough set model is utilized to select the most superior features from the initial feature set. Finally, the selected superior features are input into the support vector machines classifier to accomplish faulty pattern classification. The experimental result show that the proposed method can extract the faulty features with better classification ability and at the same time reduce lots of features in case of assuring the classification accuracy, accordingly a better performance of fault diagnosis is obtained. © 2011 IEEE.

关键词： Support vector machines

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An operational algorithm for satellite attitude determination from GPS carrier phase

An operational algorithm for satellite attitude determinatio...

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2012 9th International Conference on Electrical Engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2012

作者： Tatiyaworanun, C. Purivigraipong, S. Department of Control and Instrumentation and Mechatronics Engineering Mahanakorn University of Technology Bangkok Thailand Centre for Electronic System Design and Signal Processing Department of Electronic Engineering Mahanakorn University of Technology Bangkok Thailand

ISBN: (纸本)9781467320245

This paper presents an operational approach for determining satellite attitude from carrier phase GPS (Global Positioning system) measurements. A conventional recursive least square (RLS) estimator was implemented without requiring spacecraft dynamics. The proposed approach can be applicable for general space missions, particularly for real-time operation onboard-spacecraft. The attitude angles and electrical path difference (line bias) between antenna chains caused an offset error in GPS observables, can be estimated. The implemented estimator was tested with a simulated data, and the flight data collected onboard a mini-satellite orbiting in low Earth orbit. © 2012 IEEE.

关键词： Global positioning system

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Sound insulation design of periodic core structures for train applications 44

Sound insulation design of periodic core structures for trai...

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44th International Congress and Exposition on Noise Control Engineering, INTER-NOISE 2015

作者： Kim, Seockhyun Kim, Jeung Tae Lee, Joong Hyeok Department of Mechatronics Engineering Kangwon National University Chooncheon200-701 Korea Republic of Department of Mechanical and System Design Engineering Hongik University Seoul127-791 Korea Republic of Department of Convergence System Engineering Kangwon National University Chooncheon200-701 Korea Republic of

Corrugated steel panels and extruded aluminum panels are widely used as the body structures of trains owing to their extremely high bending stiffness per weight. However, these panels exhibit lower sound insulation performance than that predicted by mass law result, and in a specific frequency band, their transmission loss decreases significantly. This is because these panels have a periodic core structure and a number of local resonance modes. This study proposes design methods for the core section in order to shift the local resonance frequency band to a higher-frequency region and improve the sound insulation performance. As applications of the developed methods, design modifications of the corrugated steel panel and extruded aluminum panel are proposed and the effectiveness of these methods is verified experimentally. © 2015 by ASME.

关键词： Sound insulation

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Investigation of an optimal motion pattern for a robotic fish

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World Forum on Smart Materials and Smart Structures Technology, SMSST 07

作者： Han, Cheolheui Lee, Seunghee Park, Jonghyeon Biomimetics and Aircraft System Engineering Laboratory Department of Aeronautical and Mechanical Design Chungju National University Chungju Korea Republic of Mechatronics Laboratory School of Mechanical Engineering Hanyang University Seoul Korea Republic of

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