ITC – model-based feed forward traction control

2018 ◽  
pp. 265-283 ◽  
Author(s):  
Lars König ◽  
Frieder Schindele ◽  
Jyotishman Ghosh
Keyword(s):  
Traction Control ◽  
Feed Forward ◽  
Model Based

Integrated Traction Control with Model-based Feed-forward Portion

ATZ worldwide ◽  
2018 ◽  
Vol 121 (1) ◽  
pp. 46-51
Author(s):  
Lars König ◽  
Dominik Merlein ◽  
Frieder Schindele ◽  
Andreas Zimmermann
Keyword(s):  
Traction Control ◽  
Feed Forward ◽  
Model Based

scholarly journals Model-based feed-forward control for time-varying systems with an example for SRF cavities

2020 ◽  
Vol 53 (2) ◽  
pp. 1331-1336
Author(s):  
Sven Pfeiffer ◽  
Annika Eichler ◽  
Holger Schlarb
Keyword(s):  
Time Varying ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based ◽  
Time Varying Systems ◽  
Srf Cavities

Roboterbasierte spanende Bearbeitung*/Robot-Based Milling Operation. Machine Learning Algorithm for a model-based feed-forward torque control

2019 ◽  
Vol 109 (05) ◽  
pp. 352-357
Author(s):  
C. Brecher ◽  
L. Gründel ◽  
L. Lienenlüke ◽  
S. Storms
Keyword(s):  
Machine Learning ◽  
Position Control ◽  
Learning Algorithm ◽  
Milling Process ◽  
Industrial Robots ◽  
Torque Control ◽  
Feed Forward ◽  
Control Loops ◽  
Model Based ◽  
Machine Learning Approach

Die Lageregelung von konventionellen Industrierobotern ist nicht auf den dynamischen Fräsprozess ausgelegt. Eine Möglichkeit, das Verhalten der Regelkreise zu optimieren, ist eine modellbasierte Momentenvorsteuerung, welche in dieser Arbeit aufgrund vieler Vorteile durch einen Machine-Learning-Ansatz erweitert wird. Hierzu wird die Umsetzung in Matlab und die simulative Evaluation erläutert, die im Anschluss das Potenzial dieses Konzeptes bestätigt.   The position control of conventional industrial robots is not designed for the dynamic milling process. One possibility to optimize the behavior of the control loops is a model-based feed-forward torque control which is supported by a machine learning approach due to many advantages. The implementation in Matlab and the simulative evaluation are explained, which subsequently confirms the potential of this concept.

Vibration Control for Parallel Manipulator Based on the Feed Forward Control Strategy

2013 ◽  
Author(s):  
Ming Li ◽  
Huapeng Wu ◽  
Heikki Handroos ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
External Disturbance ◽  
Machining Process ◽  
End Effector ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based

Due to the high stiffness, high dynamic performance, the parallel manipulator presents great advantages in the industrial manufacture. However in the machining process, the external low frequency disturbance, e.g. the varying cutting force, has a significant effect on the control system of parallel manipulator, which presents a chatter phenomenon on the end-effector of manipulator. In this paper, a feed forward control strategy is proposed to eliminate the effect of the random external disturbance on the control system of parallel manipulator. By applying the external disturbance force on the inverse dynamic model, the compensation torque is calculated and fed forward into the manipulator driving joints to cancel out the effect of the disturbance acting on the manipulator end-effector. The key issue herein is to be able to establish the accurate dynamic model for the parallel manipulator. Furthermore, in order to guarantee the position precision of the manipulator, a feed forward model-based control strategy combined with the feedback loop PV (position and velocity) control has been developed based on the reference trajectory, which could relatively simplify the highly nonlinear control system of the parallel manipulator and obtain a stable tracking error model. The whole research has been carried out on a parallel manipulator named CaPaMan which has been built in the laboratory of robotics and mechatronics in university of Cassino and South Latium. The results show that the chatter phenomenon could be utterly depressed by the force compensation from the feed forward path of the external disturbance; meanwhile the model-based controller can guarantee the trajectory tracking accuracy within a stable error by choosing the suitable PV gains.

scholarly journals Model-based Feed-forward Control of Flexible Link Systems

2007 ◽  
Vol 25 (4) ◽  
pp. 625-631 ◽  
Author(s):  
Daigoro Isobe ◽  
Akihiro Kato
Keyword(s):  
Flexible Link ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based
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