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A sliding mode variable structure control approach for a pneumatic force servo system

A sliding mode variable structure control approach for a pne...

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6th World Congress on Intelligent control and Automation, WCICA 2006

作者： Ruihua, Li Guoxiang, Meng Zhengjin, Feng Yijie, Li Weixiang, Shi Mechatronics and Control Institute Shanghai Jiaotong University Shanghai 200030 China Department of Mechatronics Engineering Xi'an Jiaotong University Xi'an Shaanxi Province 710049 China

ISBN: (纸本)1424403324

A sliding mode control (SMC) approach was used in a pneumatic force control servo-system with uncertainties and external disturbances in this paper. To reach exact force control in pneumatic force servo-system, the E/P pressure proportional valve was used as an electro-pneumatic converter in constructing an electro-pneumatic force control servo system. The dynamic model of the pneumatic force servo system was built firstly, and then a Boundary Layer Approach was used to the design of controller, in which using a saturation function to substitute for the sign function based on leyapunov theory. Finally, the performance of the controller was simulated and tested. The results show that the system performance has been much improved when compared with a conventional PID controller, and it has a good control precision and robustness. © 2006 IEEE.

关键词： Sliding mode control

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Surface reconstruction based on radial basis functions network

Surface reconstruction based on radial basis functions netwo...

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3rd International Symposium on Neural Networks, ISNN 2006 - Advances in Neural Networks

作者： Liu, Han-Bo Wang, Xin Wu, Xiao-Jun Qiang, Wen-Yi Department of Control and Mechatronics Engineering Harbin Institute of Technology Shenzhen Graduate School Shenzhen China Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen Graduate School Shenzhen China Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)3540344829

A new method for arbitrary 3d-object reconstruction in unknown environment is proposed in this paper. The implicit surface is reconstructed based on radial basis functions network from range scattered data. For the property of locality of radial basis function, the method is fast and robust with respect to large data. Furthermore, an adapted K-Means algorithm is used to reduce RBF centers for reconstruction. Experiment results show that the presented approach is helpful in speed improvement and is a good solution for large data reconstruction. © Springer-Verlag Berlin Heidelberg 2006.

关键词： Radial basis function networks

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Robust regression in model-based structural health monitoring

Robust regression in model-based structural health monitorin...

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24th Conference and Exposition on Structural Dynamics 2006, IMAC-XXIV

作者： Fritzen, C.P. Bohle, K. Institute of Mechanics and Control - Mechatronics Department of Mechanical Engineering University of Siegen Paul-Bonatz-Str. 9-11 D-57068 Siegen Germany

ISBN: (纸本)0912053941

It is an essential step in model-based damage identification to accurately determine the parameters which localize and quantify damage from the measured changes of vibration characteristics. This task is formulated as an inverse problem and optimisation or regression methods are used. The resulting inverse problem is usually illposed and therefore requires regularization. Usually, the assumption is made that disturbances e.g. caused by measurement noise have a normal distribution. If this assumption is true a weighted Least Squares (LS) estimator yields the best unbiased estimation. If not, a second issue in solving the inverse problem arises which is the high sensitivity of least squares regression methods to statistical outliers or systematic errors in the residual data, for example caused by expansion errors or by linearization errors. Therefore robust regression methods in combination with regularization are applied to solve the inverse problem in order to get reliable and stable solutions for damage identification. The difference between the least squares method and robust regression is worked out. The methods are compared in different simulation studies, performed on the two-storey "Steelquake" structure, which was a benchmark structure of the European COST-F3-Action. Finally, the identification procedure is performed with measured data from the Steelquake-structure, which has been damaged by an artificial earthquake. The conclusion is that the robust regression shows more stable results.

关键词： Inverse problems

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Design and hardware-in-the-loop simulation of an automatic headlight control system

Design and hardware-in-the-loop simulation of an automatic h...

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作者： Karaman, S. Hacibekir, T. Kural, E. Öztürk, E.S. Demirci, M. Aksun Güvenç, B. Automotive Control and Mechatronics Research Center Department of Mechanical Engineering Istanbul Technical University Gümüşsuyu Taksim Istanbul TR-34437 Turkey

ISBN: (纸本)9783902661173

This paper presents the hardware in the loop simulation of an Adaptive Headlight System for motor vehicles. The headlamp orientation control system rotates the right and left low beam headlights independently. It also possesses an automatic headlamp levelling system, which, in addition to compensating for different loads, also cancels out the pitching effect during acceleration or braking to provide better night time visibility. The real time vehicle model used in this paper is the single track model with a half car suspension system. The hardware-in-the-loop simulation setup proposed for testing the adaptive headlight concept is based on a driving simulator. Real time simulations using this simulator are used to illustrate the approach. Copyright © 2006 IFAC.

关键词： Real time systems

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Modeling and simulation of lapping processes based on grain size sensitivity model

Modeling and simulation of lapping processes based on grain ...

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作者： Dai, Y. Yuan, J.L. Zhou, Z.Z. Zheng, J.J. Zhao, P. Precision Engineering Laboratory Zhejiang University of Technology Hangzhou 310014 China Department of Mechatronics and Control West Branch of Zhejiang University of Technology Quzhou 324006 China

It is of high importance to avoid scratches in lapping process. A Grain Size Sensitivity (GSS) model is put forward in this paper. The GSS is a relative parameter which defines the relative change of the depth of cutting, influenced by the change of the size of grain powders, by which it is possible to evaluate quantificationally the capability of lapping machines in avoiding scratches. It is useful for designing and using lapping machines. The simulating of lapping processes based on GSS model is carried out. The transferring of error is also discussed and a new structure of lapping plate with spring cells developed by the authors is introduced.

关键词： Lapping

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Switched state-feedback controllers with multi-estimators for MIMO systems

Switched state-feedback controllers with multi-estimators fo...

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Proceedings of the 5th WSEAS International Conference on Computational Intelligence, Man-Machine Systems and Cybernetics, CIMMACS '06

作者： Tůma, Libor Hanuš, Bořivoj Hlava, Jaroslav Department of Control Engineering Technical University of Liberec Faculty of Mechatronics Liberec Hálkova 6416 17 Czech Republic

ISBN: (纸本)9608457564

Switched controllers can often outperform traditional adaptive control. The paper starts with a brief overview of the development of the field of switched controllers. After that, it describes an original control architecture based on controller and estimator switching. This architecture uses state-feedback control with switched controllers to cope with controlled system dynamics changes. If conventional observer were used to estimate the unmeasurable state variables, the control performance would deteriorate because the estimation results could be corrupted by disturbances acting at various points of the controlled system. To overcome this problem, the proposed architecture includes also a bank of switched estimators. Each of these estimators is tuned for a specific input point of a disturbance. Switching logic is used to select the most suitable estimator that yields the most reliable estimate in any particular control situation. 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： MIMO systems

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Combination of global and local methods for Structural Health Monitoring

Combination of global and local methods for Structural Healt...

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24th Conference and Exposition on Structural Dynamics 2006, IMAC-XXIV

作者： Mengelkamp, G. Fritzen, C.-P. Institute of Mechanics and Aut. Control- Mechatronics Department of Mechanical Engineering University of Siegen Paul-Bonatz-Str. 9-11 D-57068 Siegen Germany

ISBN: (纸本)0912053941

The SHM methodology offers the possibility to assess the integrity of a structure without using visual inspections. This is of great advantage especially in areas where the accessibility of the structure is not given, e.g. aero- and astronautics applications. In this paper the Stochastic Subspace based Fault Detection Method (SSFDM) and Ultrasonic Guided Waves are applied to detect and to localise damage. Piezo-electric sensors and actuators are used to measure the structural response and to excite the structure respectively. The input signal for the SSFDM is a band limited white noise signal, whereas the input signal for the Ultrasonic Waves is a narrow band Gaussianmodulated sinusoidal pulse. The SSFDM as a global vibration-based method should decide whether the structure is damaged or not while, in the case of damage, the ultrasonic waves should determine the damage position. This multi-scale combination of global and local approach improves the performance of the Structural Health Monitoring. Experiments are carried out on a stiffened aluminium plate and on a GFRP-plate. Damage scenarios such as artificially introduced cracks as well as delaminations are investigated and could be reliably detected even in an early state. Further investigations have been carried out on the simulation of wave propagation to find an appropriate sensor placement.

关键词： Structural health monitoring

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Primary study of polishing with flotative abrasive balls

Primary study of polishing with flotative abrasive balls

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作者： Dai, Y. Liu, W.T. Yuan, J.L. Yu, X.J. Zhou, Z.Z. Precision Engineering Laboratory Zhejiang University of Technology Hangzhou Zhejiang 310014 China Department of Mechatronics and Control West Branch Zhejiang University of Technology Quzhou Zhejiang 324006 China

The grain size and its identity of abrasives are of high importance to obtain the damage-free and low roughness surfaces in traditional polishing processes. The undesirable scratches will appear on the surface of workpiece, if the grain size of abrasives is of high decentralization, or some abnormal larger grains or impurities are interfused in polishing process. And it is very difficult to polish curved surfaces. A new polishing technology, which is called as polishing with flotative abrasive balls, is put forward in this paper, in order to solve the problems mentioned above. Some primary experiments and theoretical analyses are carried out. It is found that the contact pressure between workpiece and abrasive grains may be easily controlled, as a result, the depth of cutting may also be easily controlled and it is not sensitive to the grain size of abrasives. The new technology may also be used in the polishing of curved surfaces.

关键词： Abrasives

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Study on wear mode of silicon nitride balls in lapping process

Study on wear mode of silicon nitride balls in lapping proce...

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作者： Lv, B.H. Yuan, J.L. Yao, Y.X. Wang, Z.W. Tao, B.C. Zhen, J.J. Zhao, P. Department of Mechanical Engineering Harbin Institute of Technology Harbin 150001 China Precision Engineering Labortary Zhejiang University of Technology Hangzhou 310014 China Department of Mechatronics and Control West Branch of Zhejiang University of Technology Quzhou 324006 China

To understand the mechanism involved in the lapping process of the silicon nitride balls, the wear mode is investigated in this paper. The abrasion tests were performed on a ball-plate wear test apparatus with different loads (0-2N/ball) and slurry concentrations (5%wt-30%wt W20 B4C 3). The abraded surface is observed by optical telescope. A wear-mode map, which defines the regimes for two-body abrasion or three-body abrasion dominating in the micro-scale abrasion test, is plotted with two axes: load and concentration of abrasive. An empirical formula for the wear mode transition is adopted to calculate the transition point S*, which can then used to predict the wear mode in lapping process of silicon nitride ball.

关键词： Silicon nitride

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Semi active suspension control system development for a light commercial vehicle

Semi active suspension control system development for a ligh...

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作者： Güvenç, Bilin Aksun Kural, Emre Keşli, Bülent Gülbudak, Kemal Güngör, Serdar Kanbolat, Ahmet Automotive Control and Mechatronics Research Center Department of Mechanical Engineering Istanbul Technical University Gümüşsuyu Istanbul Turkey Ford Otosan Gölcük Kocaeli Turkey

ISBN: (纸本)9783902661173

A semi active suspension system for a light commercial vehicle, based on four shock absorbers with continuously adjustable damping characteristics is treated in this paper. Quarter car, half car and full car simulation models are developed. These models are used to develop and test the low level and high level suspension controllers. Several different low level control algorithms like: skyhook, groundhook and hybrid control were considered. The higher level supervisory controller coordinates the operation of the four low level suspension controllers during acceleration/braking, entering curves or evasive maneuvers. The experimental vehicle that is used to test the developed controllers is also presented along with experimental results. Copyright © 2006 IFAC.

关键词： Shock absorbers

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