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Multi-step positioning control using a binary digital pneumatic-cylinder system

Advanced Robotics 1997年第1期12卷 81-97页

作者： Katakura, Hiroshi Yamane, Ryuichiro Park, Myeong-Kwan Jia, Zheng-Yu She, Jin-Hua Mechatronics Department Tokyo Engineering University Tokyo 192 Katakura 1404-1 Hachioji Japan Department of Mechanical Science and Engineering Tokyo Institute of Technology Tokyo 152 Ookayama 2-12-1 Meguro-Ku Japan Department of Control and Mechanical Engineering Pusan National University Pusan 609-735 30 Changjeon-don Kumjeong-ku South Korea TC Pneumatics and Hydraulics Co. Ltd. Jinan Shandong 250022 158 Nanxin Street Huaiyin China

This paper presents an analysis of the dynamics of binary digital pneumatic-cylinder systems, which was undertaken to achieve multi-step positioning control. Based on an experimental system and a new algorithm for numerical analysis, the positioning control problem was investigatedby means of simulations and experiments under various load conditions. Two methods are proposed to improve the transient response during positioning: timing control and braking control. © VSP and Robotics Society of Japan 1998.

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A Design Methodology for Robust Two-Degree-of-Freedom Digital Repetitive control

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IFAC Proceedings Volumes 1996年第1期29卷 1470-1475页

作者： Jin-Hua She Michio Nakano Department of Mechatronics Engineering Tokyo Engineering University 1404-1 Katakura Hachioji Tokyo 192 Japan Department of Control System Engineering Tokyo Institute of Technology 2-12-1 Oh-Okayama Meguro-ku Tokyo 152 Japan

This paper presents a design method for digital repetitive control systems for a plant with structured uncertainties. A two-degree-of-freedom (TDF) control system configuration has been employed in order to achieve the desired feedback and input-output performance independently. The lowest-order feedback repetitive controller is designed to guarantee the robust stability of the closed-loop system and provide the desired closed-loop performance. Afeedforward repetitive deadbeat controller has been designed to obtain the desired transient response.

关键词： Repetitive control Two-Degree-of-Freedom Sampled-Data control Discrete-Time H ∞ control Deadbeat control

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Joystick control of a motor go-cart

Joystick control of a motor go-cart

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IEE Colloquium on Mechatronic Aids for the Disabled

作者： J. Tisdall G. Paul Automatic Control Group Departmeat of Mechanical Engineering University College London London UK Department of Mechatronics King''s College London UK

A motor go-cart was altered such that a disabled child could control it with a single hand via a joystick. This required: (1) selecting power systems to servo the steering, throttle and brakes; (2) building analogue control circuits and amplifiers to drive and control the power systems; (3) designing and building mechanisms to connect the power systems to the various functions on the go-cart; (4) system testing on a group of disabled and steering problems identification; and (5) modifying a second kart using a 'mechatronic' solution. This entailed taking the driver input to a microprocessor which then controlled the servos. The system could be easily reprogrammed to cope with different demands. This enables the control response of the vehicle to the driver input to be simply varied in accordance with the drivers' skills and abilities and the type of track (i.e. a fast or slow track). For example, the steering sensitivity and the maximum vehicle speed can be programmed for a particular driver.< >

关键词： Road vehicles Road vehicle electronics Braking Digital control Handicapped aids Computer input-output mechatronics Microcomputer applications Programmable control Servomotors

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Computer-aids for modelling and conceptual design

Computer-aids for modelling and conceptual design

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IEEE International Conference on Systems, Man and Cybernetics

作者： P.C. Breedveld Electrical Engineering Department Control Systems and Computer Engineering Group Control Laboratory and Mechatronics Research Centre Twente University of Twente Enschede Netherlands

The author identifies incentives for the use of computer-aids in modelling and design of physical systems and discusses possible solutions.

The author identifies incentives for the use of computer-aids in modelling and design of physical systems and discusses possible solutions.< >

关键词： Systems engineering and theory Production control systems mechatronics Physics computing Process design Digital simulation Cultural differences Mathematics control engineering computing

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Optimal Identification Time for control

Optimal Identification Time for Control

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American control Conference (ACC)

作者： B. Franke P. Lohnberg Control Laboratory Department of Electrical Engineering and Mechatronics Research Centre Twente University of Twente Enschede Netherlands

This paper deals with consecutive (open-loop) identification and (closed-loop) control of a linear, time-invariant SISO process. The partition of a fixed total time between identification and control. is optimised according to an LQ criterion. For a static gain process, an analytical expression for the optimal identification time as a function of the a-priori parameter mean and variance is derived. For an integrator process, the optimal identification time obtained from simulations is approximated by an analytical formula. Both procedures are applied on-line by replacing the a-priori statistics by their estimates. Finding an analytical expression for higher order processes appeared infeasible. Therefore, for a static gain process, at each sampling instant, the predicted cost for continuing identification is compared to the predicted cost for starting control This procedure is expected to be applicable for dynamic systems of high order.

关键词： Optimal control Costs Open loop systems Marine vehicles Testing control systems Parameter estimation control theory Statistics Laboratories

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Semi-autonomous teleoperation control system with layered architecture-An application to space robots

Semi-autonomous teleoperation control system with layered ar...

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Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

作者： S. Koide H. Andou S. Suzuki M. Oda Control Engineering Department Mechatronics Development Center Ishikawajima-Harima Heavy Industries Company Limited Japan Engineering Test Satellite Group Office of Satellite Systems National Space Development Agency of Japan Japan

A layered architecture was proposed for the command and control system of semi-autonomous space robots, and the proposal was validated by the demonstration of replacing an orbital replacement unit on a testbed for space robots. The command and control system consists of four layers: a task scheduling module, a macro-task module, a micro-task module, and an intelligent control module. The macro- and micro-task modules were implemented on top of Lisp and have a symbolic world model which is integrated with an online robot simulator developed upon a commercial robot simulator for industrial robots. The task decomposition and expansion from macro commands to micro commands was carried out dynamically by consulting the world model, and the impending collision between a manipulator and obstacles was detected by the online robot simulator. A small visual marker which can measure 6-DOF was designed, and a visual feedback system was developed with the visual marker.

关键词： control systems Service robots Orbital robotics Command and control systems Proposals System testing Job shop scheduling Intelligent control Manipulator dynamics Extraterrestrial measurements

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A globoidal-cam type gearing

A globoidal-cam type gearing

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ASME 1992 Design Technical Conferences, DETC 1992

作者： Oizumi, Tetusya Emura, Takashi Department of Electronic Control Sendai National College of Technology Sendai Japan Department of Mechatronics and Precision Engineering Tohoku University Sendai Japan

ISBN: (纸本)9780791809372

This paper describes a globoidal-cam type gearing with roller-wheel composed of two lines of roller followers to obtain a no-backlash reduction gearing. A principal advantage of this system is the reduction of backlash of the gearing by holding the cam's rib with the roller followers of each line. We suggest that the roller's axis should make a reasonable angle to the wheel's axis. By setting this angle to a suitable amount, the power loss of the gearing will be reduced significantly. The gearing of which roller's axes are inclined can be apphed to high speed and large torque gearing indicating a remarkable improvement upon roller-wheel gearing. A typical globoidal-cam type gearing is analyzed geometrically, its frictional loss of power in meshing is calculated, and a substantial reduction of friction loss was resulted. Additionally, the stiffness of the roller-wheel was estimated and is practically sufficient for our application. © 1992 American Society of Mechanical Engineers (ASME). All rights reserved.

关键词： Wheels

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Supervisory control of Mode-Switch Processes: Application to a Flexible BEAM

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IFAC Proceedings Volumes 1992年第10期25卷 195-200页

作者： R.A. Hilhorst J. van Amerongen P. Löhnberg H.J.A.F. Tulleken Control Systems and Computer Engineering Group Department of Electrical Engineering University of Twente and Mechatronics Research Centre Twente P.O. Box 217 7500 AE Enschede The Netherlands

Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, an adaptive controller could be used. Then, if the operation point changes often, a large number of parameters would have to be adapted over and over again. This prohibits application of conventional adaptive control, which is more suited for processes with slowly changing parameters. Furthermore, continuous adaptation is not always needed or desired. An extension of adaptive control is presented, in which for each operation point the process behaviour can be stored in a memory, retrieved from it and evaluated. These functions are coordinated by a "supervisor". This concept is referred to as supervisory control. It leads to an adaptive control structure which, after a learning phase, quickly adjusts the controller parameters based on retrieval of old information, without the need to fully relcam each time. This approach has been tested on an experimental set-up of a flexible beam, but it is directly applicable to processes in e.g. the (petro)chemical industry as well.

关键词： Adaptive control Automatic tuning Learning systems Mode-switch processes Time-varying systems Supervisory control

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Supervisory control of mode-switch processes: Application to a flexible beam

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Annual Review in Automatic Programming 1992年 17卷 195-200页

作者： R.A. Hilhorst J. van Amerongen P. Löhnberg H.J.A.F. Tulleken Control Systems and Computer Engineering Group Department of Electrical Engineering University of Twente P.O. Box 217 7500 AE Enschede The Netherlands Mechatronics Research Centre Twente P.O. Box 217 7500 AE Enschede The Netherlands Department of Mathematics and Systems Engineering Operational Analysis and Optimization Group Koninklijkel Shell-Laboratorium (Shell Research B.V.) P.O. Box 3003 1003 AA Amsterdam The Netherlands

Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, an adaptive controller could be used. Then, if the operation point changes often, a large number of parameters would have to be adapted over and over again. This prohibits application of conventional adaptive control, which is more suited for processes with slowly changing parameters. Furthermore, continuous adaptation is not always needed or desired. An extension of adaptive control is presented, in which for each operation point the process behaviour can be stored in a memory, retrieved from it and evaluated. These functions are coordinated by a “supervisor”. This concept is referred to as supervisory control. It leads to an adaptive control structure which, after a learning phase, quickly adjusts the controller parameters based on retrieval of old information, without the need to fully releam each time. This approach has been tested on an experimental set-up of a flexible beam, but it is directly applicable to processes in e.g. the (petro)chemical industry as well.

关键词： Adaptive control Automatic tuning Learning systems Mode-switch processes Timevarying systems Supervisory control

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Intelligent Adaptive control of Mode-Switch Processes

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IFAC Proceedings Volumes 1991年第1期24卷 145-150页

作者： R.A. Hilhorst J. van Amerongen P. Löhnberg H.J.A.F. Tulleken Control Systems and Computer Engineering Group Dept of Electrical Engineering University of Twente and Mechatronics Research Centre Twente P. O. Box 217 7500 AE Enschede The Netherlands Process Systems Group Dept of Mathematics & Systems Engineering Koninklijke/Shell-Laboratorium (Shell Research B.V.) P.O. Box 3003 1003 AA Amsterdam The Netherlands

The intelligence of controllers has increased over the decades. However, the number of applications of adaptive controllers is still restricted, due to practical limits of the implemented continuous adaptation. For processes which operate only in a limited number of modes (so called mode-switch processes), constant adaptation is not needed or desired. In this paper an intelligent extension of adaptive control will be presented, in which process behaviour can be stored in a memory, retrieved from it and evaluated for each mode of operation. This intelligent memory concept leads to an adaptive control structure which, after a learning phase, quickly adjusts the controller parameters based on retrieval of old information, without the need to relearn every time. This approach has been tested on a simulation model of an assembly robot, but it is directly applicable to many processes in the (petro)chemical industry.

关键词： Adaptive control Supervisory control Automatic tuning Mode-switch Processes Bumpless transfer

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