ACTIVE POSITION CONTROL OF A FLEXIBLE SMART BEAM USING INTERNAL MODEL CONTROL

2001 ◽  
Vol 242 (5) ◽  
pp. 767-791 ◽  
Author(s):  
Y.-S. LEE ◽  
S.J. ELLIOTT
Keyword(s):  
Internal Model ◽  
Position Control ◽  
Internal Model Control ◽  
Model Control ◽  
Smart Beam

scholarly journals Improved Internal Model Control Technique for Position Control of AC Servo Motors

2020 ◽  
Vol 19 (1) ◽  
pp. 33-40
Author(s):  
Abdul Wali Abdul Ali ◽  
Abdullah Hadi Alquhali
Keyword(s):  
Internal Model ◽  
Position Control ◽  
Internal Model Control ◽  
Control Technique ◽  
Step Response ◽  
Servo Motor ◽  
External Disturbances ◽  
Ac Servo ◽  
Model Control ◽  
Ac Servo Motor

This paper focuses on the simulation analysis of the conventional Internal Model Control (IMC) technique and the development of two proposed control techniques for the position control of AC Servo Motor. Internal Model Control (IMC) technique [1] was only able to control the AC Servo Motor under static load condition. Also, it had step response problems, and it was not robust against external disturbances. For these reasons, the IMC technique was further improved to control the AC Servo Motor under dynamic load conditions by proposing Amended Internal Model Controller (AIMC). The step response and the robustness of AIMC against external disturbances were further improved by proposing AIMC+FLC. Where a Fuzzy Logic Controller (FLC) is designed and connected with the AIMC.

scholarly journals Force/Position Hybrid Control of 6PUS-UPU Redundant Driven Parallel Manipulator Based on 2-DOF Internal Model Control

2014 ◽  
Vol 2014 ◽  
pp. 1-6 ◽  
Author(s):  
Kuijing Zheng ◽  
Chao Wang
Keyword(s):  
Internal Model ◽  
Parallel Manipulator ◽  
Position Control ◽  
Hybrid Control ◽  
Internal Model Control ◽  
Servo Control ◽  
Current Loop ◽  
Control Precision ◽  
Model Control ◽  
Position Precision

To improve control performance of parallel manipulator, servo control is optimized according to 2-DOF control with Internal Model Control. Position loop of the controller is redesigned based on the original current loop and speed loop. The hybrid force/position control strategy on the basis of cross-coupling is proposed. With mechatronic cosimulation system, it is proved that the force/position hybrid control on the basis of 2-DOF Internal Model Control has better stability and position precision compared with the traditional PID control. The control precision and stability of the parallel manipulator are improved effectively in actual experiment. Two types of compliance operation including peg in hole and surface tracking are realized in 6PUS-UPU parallel manipulator and both have good applicable effect.

A novel IMC-FOF design for four wheel steering systems of distributed drive electric vehicles

2021 ◽  
pp. 095440702110314
Author(s):  
Yan Ti ◽  
Kangcheng Zheng ◽  
Wanzhong Zhao ◽  
Tinglun Song
Keyword(s):  
Fractional Order ◽  
Electric Vehicles ◽  
Internal Model ◽  
Rear Wheel ◽  
Internal Model Control ◽  
Steering Angle ◽  
Comparison Results ◽  
Model Control ◽  
Tracking Ability ◽  
Internal Model Controller

To improve handling and stability for distributed drive electric vehicles (DDEV), the study on four wheel steering (4WS) systems can improve the vehicle driving performance through enhancing the tracking capability to desired vehicle state. Most previous controllers are either a large amount of calculation, or requires a lot of experimental data, these are relatively time-consuming and laborious. According to the front and rear wheel steering angle of DDEV can be distributed independently, a novel controller named internal model controller with fractional-order filter (IMC-FOF) for 4WS systems is proposed and studied in this paper. The IMC-FOF is designed using the internal model control theory and compared with IMC and PID controller. The influence of time constant and fractional-order parameters which is optimized using quantum genetic algorithms (QGA) on tracking ability of vehicle state are also analyzed. Using a production vehicle as an example, the simulation is performed combining Matlab/Simulink and CarSim. The comparison results indicated that the proposed controller presents performance to distribute the front and rear wheel steering angle for ensuring better tracking capability to desired vehicle state, meanwhile it possesses strong robustness.

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