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2007 IEEE/ASME International Conference on Advanced Intelligent mechatronics, AIM

作者： Sankaranarayanan, V. Emekli, M. Engin Güvenç, Bilin Aksun Güvenç, Levent Öztürk, E. Serdar Ersolmaz, S. Server Eyol, I. Erhan Sinal, Mustafa Automotive Control and Mechatronics Research Center Department of Mechanical Engineering Istanbul Technical University Gümüssuyu Istanbul Turkey Ford Otosan Gölcük Kocaeli Turkey

ISBN: (纸本)1424412641

This paper is on the development of a semi-active suspension control system for a light commercial vehicle and concentrates on the implementation of observer based semi-active suspension controllers for ride comfort improvement. A quarter car suspension model is considered in which the sprung and unsprung mass velocities are calculated from the corresponding acceleration measurements using an observer. These velocities are then used to compute various semi-active control strategies and further applied to the Continuously Varying Dampers (CVD) of a light commercial vehicle. Both simulation and experimental results are presented to verify the performance of the proposed observer based controllers. ©2007 IEEE.

关键词： controllers

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Two-degree-of-freedom based cross-coupled control for high-accuracy tracking systems

Two-degree-of-freedom based cross-coupled control for high-a...

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3rd IEEE International Conference on Automation Science and engineering, IEEE CASE 2007

作者： Jiangzhao, Yang Jijie, Xu Zexiang, Li Division of Control and Mechatronics Shenzhen Graduate School Harbin Institute of Technology Xi Li Shenzhen 518055 China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Kowloon Hong Kong

ISBN: (纸本)1424411548

Recent work recognizes that cross-coupled control (CCC) can significantly improve the accuracy of contour tracking in biaxial systems. However, it's complicated to apply CCC to arbitrary contour because of extra requirements to calculation and switching the cross-coupled gains. In addition, since most of CCC are based on the PID controlled loops of the individual axes, performances are conserved in some sense. In this paper, we propose a structure for arbitrary regular contours by efficiently determining the cross-coupling gains for CCC with the two-degree-of-freedom (2DOF) controlled to the single axes. Furthermore, an approach for stability analysis of the CCC is posed. Experimental results for a two-axial motion system indicate that the proposed structure eliminates the contouring error significantly. © 2007 IEEE.

关键词： Degrees of freedom (mechanics)

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control architecture suitable for wide range operation of power plants

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WSEAS Transactions on Systems 2007年第3期6卷 438-443页

作者： Tůma, Libor Hanuš, Bořivoj Hlava, Jaroslav Department of Control Engineering Technical University of Liberec Faculty of Mechatronics Hálkova 6 416 17 Liberec Czech Republic

Fossil fuelled power plants have traditionally been designed to run at base-load constant conditions. Nowadays, due to deregulation in power electric generation industry and competitive market conditions they are often required to run in wide-range load following operation. Because of the considerable dynamics changes at different operating points classical linear controllers with fixed parameters are no more adequate. On the other hand, the complexity of advanced adaptive control algorithms usually prevents them from successful and reliable practical applications. This paper proposes a suitable alternative: controller architecture based on controller and estimator switching. This architecture is able to cope with dynamics changes due to load variations and other external disturbances. At the same time it is less complex and better suitable for practical implementation than adaptive control. From the control theoretic point of view it includes three main components: switched controllers, switched estimators and switching logic. The bank of switched controllers is used to cope with dynamics changes, the bank of switched estimators is used to give reliable estimates of unmeasurable state variables under the influence of different kinds of external disturbances. Switching logic selects the most suitable estimator that yields the most reliable estimate in any particular control situation and the most appropriate controller. A considerable deal of attention is devoted to extensive testing of the proposed architecture using computer simulation. The testing results are promising.

关键词： Fossil fuel power plants

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A Study on Integrated Design Methodology: A Single Beam Case

A Study on Integrated Design Methodology: A Single Beam Case

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IEEE International Conference on mechatronics and Automation

作者： Jinbo Shi Yunjiang Lou Jianjun Zhang Zexiang Li Department of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Graduate School Shenzhen Guangdong China

As a preliminary study for a 4 degree of freedom wafer handling robot, an integrated design methodology for high-speed high precision single beam system is proposed in this paper. Strict mathematical modelling and identification processes of the actuating subsystem are performed. Parametric studies and experiments of step response of the system are conducted to investigate the influence of the interactions between control and mechanical parameters on the system, where the stiffness and inertia of the system is taken as the mechanical design variables. According to the analysis of the system performance, a multi-objective optimization problem together with nonlinear constraints is formulated. Two algorithms to solve such optimization problem, CRS (controlled random search) and SQP (sequential quadratic programming), are programmed and the optimizing results respectively are compared and discussed. Some conclusions was drawn at last.

关键词： Design methodology Mechanical variables control Robots Mathematical model Parametric study control systems Performance analysis System performance Constraint optimization Quadratic programming

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Adaptive Estimation of Friction Forces under a Sector Condition

Adaptive Estimation of Friction Forces under a Sector Condit...

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International Conference on Innovative Computing, Information and control (ICICIC)

作者： Kouichi Mitsunaga Takami Matsuo Control Engineering Department Oita Institute of Technology Oita Japan Department of Architecture and Mechatronics Oita University Oita Japan

In this paper, we design an adaptive observer to estimate the nonlinear friction model with the position measurement. An adaptive observer is designed to estimate the nonlinear friction force with full-states measurement. The nonlinear friction is approximated by the fuzzy basis function expansion. An incremental sector condition as in Putra et al. are assumed. Moreover, we introduce an adaptive differential filter to estimates the velocity.

关键词： Adaptive estimation Friction Force measurement Steady-state Kinetic theory Position measurement Adaptive filters Velocity measurement control engineering mechatronics

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On modal kinetic energy and effective independence

On modal kinetic energy and effective independence

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2nd International Operational Modal Analysis Conference, IOMAC 2007

作者： Li, Dong-Sheng Li, Hong-Nan Fritzen, Claus-Peter Dalian Univ. of Technology Department of Civil Engineering Linggong RD.2 Dalian 116023 China University of Siegen Institute of Mechanics and Automatic Control - Mechatronics Paul-Bonatz Str. 9-11 D-57076 Siegen Germany

ISBN: (纸本)9788791606144

The comparison and inherent relationship between two influencing sensor placement methods, i.e. Modal Kinetic Energy and Effective Independence, are addressed in this paper. The problem is of primary concern for dynamic testing, damage identification and structural health monitoring. By analyzing the sensor placement problem with Effective Independence method from the perspective of a new reduced system, the connection of Modal Kinetic Energy with Effective Independence method is revealed. The latter is an iterated version of the former, and the reduced mode shapes are ortho-normalized repeatedly during iterations of the latter. Two alternative forms for efficient computation of the iterative Effective Independence method are presented. Finally, both methods are applied to the I-40 Bridge, and the relationship is verified.

关键词： Structural health monitoring

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Fixed Structure Feedforward controller Tuning Exploiting Iterative Trials, Applied to a High-Precision Electromechanical Servo System

Fixed Structure Feedforward Controller Tuning Exploiting Ite...

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American control Conference (ACC)

作者： Stan van der Meulen Rob Tousain Okko Bosgra Department of Mechanical Engineering Control Systems Technology Group Eindhovan University of Technology Eindhoven Netherlands Department of Mechatronics Drives and Control Group Philips Applied Technologies Eindhoven Netherlands

In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed structure of the feedforward controller and the optimization of the controller parameters on the basis of measurement data from iterative trials. A linear parameterization of the feedforward controller in a two-degree- of-freedom control architecture is chosen, which for a linear time-invariant (LTI) plant results in a feedforward controller that is applicable to a class of motion profiles as well as in a convex optimization problem with the objective function being a quadratic function of the tracking error. Optimization by iterative trials results in the controller parameter values that are optimal with respect to the actual plant, which leads to a high tracking performance. The use of iterative trials in general outperforms techniques that are based on a detailed a priori plant model only, whereas the fixed structure of the feedforward controller, i.e., the approximative inverse plant model, guarantees a high tracking performance for a class of motion profiles, unlike for example iterative learning control (ILC). Experimental results on a high-precision wafer stage illustrate the procedure.

关键词： control systems Servomechanisms Motion control Tracking Error correction Adaptive control Optimization methods Iterative methods Semiconductor device modeling Inverse problems

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Observer-based output tracking of engine speed and torque reserve at idle with sliding mode control

Observer-based output tracking of engine speed and torque re...

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European control Conference (ECC)

作者： Benedikt Alt Jan Peter Blath Klaus-Dieter Otto Ferdinand Svaricek Matthias Schultalbers Department of Aeronautical Engineering Chair of Control Engineering at the University of the German Armed Forces Neubiberg Germany Department of Powertrain Mechatronics Development Gasoline Engines at IAV Gmbh Gifhorn Germany

A controller design procedure based on sliding-mode control is adopted to automotive engine control at idle condition. The aim is to track the engine speed and the torque reserve at their reference values despite unknown load-torque disturbances on the engine. Uncertainties in the system parameters and additional time delays are also taken into account. A validated nonlinear simulation model is used to assess the performance of the closed-loop system. Finally, it is shown by experimental results that the closed-loop system is robust with respect to the aforementioned uncertainties and disturbances.

关键词： Torque Engines Mathematical model Sparks Equations Velocity control Manifolds

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Identification and hybrid impedance control of human skin muscle by multi-fingered robot hand

Identification and hybrid impedance control of human skin mu...

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2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Keisuke Mouri Kazuhiko Terashima Panya Minyong Hideo Kitagawa Takanori Miyoshi Production Systems Engineering Toyohashi University of Technology Toyohashi Aichi Japan Department of Mechatronics Engineering Pathumwan Institute of Technology Bangkok Thailand Department of Electronic Control Engineering Gifu National College of Technology Gifu Japan

This paper proposes an intelligent massage control system by using multi-fingered robot hand with hybrid impedance control, which is able to create the movement and the force of robot such as the human's massage. Therefore, the various massage points, such as the change of the stiffness of human skin muscle, can be controlled by using impedance control method. The hybrid impedance control is comprised of the two methods of the position-based and the force-based impedance control were applied. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also gives the identification of human skin muscle through robot perception of impedance to decide the parameter of impedance controller. The control strategy using impedance control to implement an adaptive control system is presented, when human condition is changed with soft and hard skin muscle. Effectiveness of massage control system by using multi- fingered robot hand with hybrid impedance control is demonstrator through actual massage experiments of pushing and rubbing motion.

关键词： Impedance Humans Skin Muscles Force control control systems Intelligent robots Motion control Hybrid intelligent systems Intelligent control

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Hybrid impedance and force control for massage system by using humanoid multi-fingered robot hand

Hybrid impedance and force control for massage system by usi...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Panya Minyong Keisuke Mouri Hideo Kitagawa Takanori Miyoshi Kazuhiko Terashima Department of Mechatronics Engineering Pathumwan Institute of Technology Pathumwan Thailand Production Systems Engineering Toyohashi University of Technology Toyohashi Aichi Japan Department of Electronic Control Engineering Gifu National College of Technology Gifu Japan

This paper proposes an intelligent massage control system by using multi-fingered robot hand with hybrid impedance and force control, which is able to create the movement and force of robot to behave as similar as the human's massage. Therefore, the various massage points, such as the changing of hardness and softness of human skin muscle condition, can be appropriately controlled by using hybrid impedance and force control method. The impedance control is used to control the lateral position of massage on the human skin muscle. The perpendicular direction one, while force control is carried out for the vertical direction on human skin muscle. This paper also gives a modeling of human skin muscle through robot perception of impedance to decide the parameter of impedance controller. The control strategy using a hybrid impedance and force control to implement an adaptive control system is presented, when human condition is changed with soft and hard skin muscle. For the robot fingertip force, PI servo compensation is used together with impedance control. Based on using both impedance and PI servo compensation, the effectiveness of the massage position and force control is shown through actual massage motion experiments.

关键词： Impedance Force control Humanoid robots Humans Skin Muscles Intelligent robots control systems Servomechanisms Hybrid intelligent systems

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