A Joint Control Strategy for Automobile Active Grille Shutter and Cooling Fan

2021 ◽  
Vol 22 (6) ◽  
pp. 1675-1682
Author(s):  
Chuanbo Liu ◽  
Zhengju Wang ◽  
Chaojie Fan ◽  
Ruonan Zhang ◽  
Xingjia Man
Keyword(s):  
Control Strategy ◽  
Joint Control ◽  
Cooling Fan

scholarly journals The Puller-Follower Control of Compliant and Noncompliant Antagonistic Tendon Drives in Robotic Systems

10.5772/10690 ◽  
2011 ◽  
Vol 8 (5) ◽  
pp. 69 ◽  
Author(s):  
Veljko Potkonjak ◽  
Bratislav Svetozarevic ◽  
Kosta Jovanovic ◽  
Owen Holland
Keyword(s):  
Control Strategy ◽  
Energetic Efficiency ◽  
Joint Control ◽  
Biologically Inspired ◽  
External Disturbances ◽  
Joint System ◽  
System A ◽  
Agonist And Antagonist ◽  
On Line ◽  
Robust Control Design

This paper proposes a new control strategy for noncompliant and compliant antagonistic tendon drives. It is applied to a succession of increasingly complex single-joint systems, starting with a linear and noncompliant system and ending with a revolute, nonlinearly tendon coupled and compliant system. The last configuration mimics the typical human joint structure, used as a model for certain joints of the anthropomimetic robot ECCEROBOT. The control strategy is based on a biologically inspired puller-follower concept, which distinguishes the roles of the agonist and antagonist motors. One actuator, the puller, is considered as being primarily responsible for the motion, while the follower prevents its tendon from becoming slack by maintaining its tendon force at some non-zero level. Certain movements require switching actuator roles; adaptive co-contraction is used to prevent tendons slackening, while maintaining energetic efficiency. The single-joint control strategy is then evaluated in a multi-joint system. Dealing with the gravitational and dynamic effects arising from the coupling in a multi-joint system, a robust control design has to be applied with on-line gravity compensation. Finally, an experiment corresponding to object grasping is presented to show the controller's robustness to external disturbances.

scholarly journals Research on Active Control of Rotating Motion and Vibration of Flexible Manipulator

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Qingpeng Han ◽  
Wenwen Dong ◽  
Bin Wu ◽  
Xinhang Shen ◽  
Meilin Zhang ◽  
...  
Keyword(s):  
Control Strategy ◽  
Piezoelectric Actuators ◽  
Flexible Manipulator ◽  
Joint Control ◽  
Command Line ◽  
Control Torque ◽  
Pd Control ◽  
Lagrange Principle ◽  
Lyapunov Approach ◽  
Command Line Tool

In this study, PZT (piezoelectric) actuators and PD control (PDs’ command line tool) method is selected to control the vibration of the flexible manipulator. The dynamic equations of the flexible manipulator system are established based on Lagrange principle. The control strategy of PZT actuators and joint control torque are designed. It is investigated by a Lyapunov approach that a combined scheme of PD feedback and command voltages applies to segmented PZT actuators. By comparison, only PD feedback control is also considered to control the flexible manipulator. The numerical simulations prove that the method of the designed PZT actuators’ control strategy and PD control is effective to compress the vibration of the flexible manipulator.

Experimental Joint Control Studies With a Flexible Two-Link System

2001 ◽  
Author(s):  
Wenwei Xu ◽  
Xiaoping Zhang ◽  
Satish S. Nair
Keyword(s):  
Adaptive Control ◽  
Control Strategy ◽  
Joint Angle ◽  
Control Design ◽  
Learning Control ◽  
Continuous Functions ◽  
Joint Control ◽  
System Uncertainties ◽  
Bounded Continuous Functions ◽  
Gaussian Network

Abstract This paper investigates experimentally an adaptive control design for a flexible two-link system considering joint angle control in the presence of system uncertainties. The system uncertainties are treated as unknown bounded continuous functions of the states and a Gaussian network is used to map the uncertainties. Experiment results show the effectiveness of the proposed learning control strategy.

Multi-joint Control Strategy Of The Lower Limb During Running

2015 ◽  
Vol 47 ◽  
pp. 817-823
Author(s):  
Yuliang Sun ◽  
Jiabin Yu ◽  
Chen Yang ◽  
Yu Liu
Keyword(s):  
Control Strategy ◽  
Lower Limb ◽  
Joint Control

scholarly journals Temperature Control for a Proton-Exchange Membrane Fuel Cell System with Unknown Dynamic Compensations

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Yashan Xing ◽  
Ramon Costa-Castelló ◽  
Jing Na
Keyword(s):  
Fuel Cell ◽  
System Dynamics ◽  
Invariant Manifold ◽  
Control Strategy ◽  
Proton Exchange Membrane ◽  
Control Strategies ◽  
Proton Exchange ◽  
Cooling Fan ◽  
Unknown System ◽  
Exchange Membrane

Numerous control strategies of temperature regulation have been carried out for proton-exchange membrane fuel cell systems including a cooling fan in order to ensure operation at the desired condition and extend the lifetime of the fuel cell stack. However, most existing control strategies are developed without considering the efficiency limitation of the cooling system such that the cooling fan may be unable to eliminate the additional heat. Moreover, there are unknown modelling errors, external disturbance and noise during modelling and experiment processes for fuel cells. Due to those unknown dynamics, the conventional control strategies may fail to achieve the expectant results. To address this issue, an alternative control strategy is proposed in this paper, which consists of a composite proportional-integral (PI) controller with an unknown system dynamics estimator. First, the control strategy is developed by reducing the temperature of input air through the humidifier and simultaneously increasing the mass flow of air in order to eliminate the excess heat that a cooling fan cannot remove. Moreover, an unknown system dynamics estimator is proposed in order to compensate the effect of the unknown dynamics. The construction of the estimator is designed through finding an invariant manifold which implies the relation between known variables and the unknown manifold. The invariant manifold is derived by applying a simple low-pass filter to the system which is beneficial to avoid the requirement of the unmeasurable state derivative. Furthermore, the proposed estimator is easily merged into the proposed PI control strategy and ensures the exponential convergence of estimated errors. Besides, the estimator is further modified such that the derivative of the desired temperature is not required in the controller. Finally, numerical simulations of the PEMFC system are provided and the results illustrate the efficacy of the proposed control strategy.

Effects of Fuzzy-Tuning the Boundary Conditions on the Active Control of a Single-Link Flexible Robotic Manipulator

2006 ◽  
Author(s):  
Y. A. Abdelgalil ◽  
N. G. Chalhoub
Keyword(s):  
Boundary Conditions ◽  
Control Strategy ◽  
Digital Simulation ◽  
Robotic Manipulator ◽  
Joint Control ◽  
Main Task ◽  
Flexible Link ◽  
Point Tracking ◽  
Single Link ◽  
Good Set

A new approach has been proposed in this study to effectively control the rigid and flexible motions of a single-link robotic manipulator. This is done by developing a two-layered control strategy. The upper layer is solely concerned with the process of fuzzy-tuning the boundary conditions of the flexible link. The rationale is to exploit the advantages, attributed to varying the boundary conditions of the compliant beam, in rendering the joint controller more effective in suppressing the unwanted vibrations of the arm. The lower or second layer of the control strategy is considered herein to be either a conventional or a fuzzy-tuned control scheme. Its main task is to determine the appropriate joint control torque needed to perform good set-point tracking while suppressing the undesired vibrations of the robot. The digital simulation results confirm that the process of fuzzy-tuning the boundary conditions of the flexible link has a tendency to significantly enhance the capability of the joint controller in suppressing the unwanted vibrations of the manipulator.

scholarly journals Study on motion analysis and force/position hydraulic control of a parallel cylinder transmission system of heavy-duty quadruped robot

2019 ◽  
Vol 16 (1) ◽  
pp. 172988141983155
Author(s):  
Junpeng Shao ◽  
Chaohui Jin ◽  
Xigui Wang ◽  
Yongmei Wang ◽  
Jing Jing ◽  
...  
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Internal Force ◽  
Quadruped Robot ◽  
Control Synthesis ◽  
Joint Control ◽  
Phase Lag ◽  
Heavy Duty ◽  
Transmission Scheme ◽  
Heavy Load

In the article, a heavy-duty quadruped robot was designed. A parallel cylinder transmission scheme for the heavy load torque of the hip joint of heavy-duty hydraulic quadruped robot is proposed, the mathematical model of the parallel cylinder system is derived, the model characteristics of the parallel cylinder system are analyzed, the characteristics of internal force and joint control of parallel cylinders are considered, the force/position hybrid control of parallel cylinder is proposed to eliminate the internal forces and realize the requirement of joint control and the force/position control is decoupled by the design of the force and position signal. According to the characteristics of the servo cylinder force control model, the flow compensation and speed compensation are introduced, the minimum control synthesis controller is used to control the servo cylinder force and the proportional integral controller is applied to control the position of servo cylinder. The compound control strategy is analyzed on the table of parallel cylinder, and the experimental results show that the amplitude attenuation and phase lag of position and force are less than 10% and 18°, respectively, and the efficiency of the proposed control strategy is verified. The research results of this article will be widely used in many fields of robot control in the future.

scholarly journals Validation of Faster Joint Control Strategy for Battery- and Supercapacitor-Based Energy Storage System

2018 ◽  
Vol 65 (4) ◽  
pp. 3286-3295 ◽  
Author(s):  
Ujjal Manandhar ◽  
Narsa Reddy Tummuru ◽  
Sathish Kumar Kollimalla ◽  
Abhisek Ukil ◽  
Gooi Hoay Beng ◽  
...  
Keyword(s):  
Energy Storage ◽  
Control Strategy ◽  
Storage System ◽  
Energy Storage System ◽  
Joint Control

scholarly journals Application of Three-Dimensional Animation in Mechanical Control Mechanism

2021 ◽  
Vol 2066 (1) ◽  
pp. 012098
Author(s):  
Dong Shao
Keyword(s):  
Path Planning ◽  
Control Strategy ◽  
Control Mechanism ◽  
Three Dimensional ◽  
Robotic Arm ◽  
Experimental Investigations ◽  
Joint Control ◽  
3D Animation ◽  
Robot Arm ◽  
Mechanical Control

Abstract With the development of the times and the advancement of science and technology, the development of 3D animation has gradually been applied in various fields. In the field of mechanical control, three-dimensional animation has gradually become a very important application. In the actual application process, the use of three-dimensional animation effects cannot be applied in the field of mechanical control only by imagination. It must be applied in practice from the perspective of mechanical control. Analyze from its own stability and external factors to realize its application value. The purpose of this paper is to study the application of 3D animation in mechanical control mechanism. This article will take mechanical control as an entry point to discuss the application of three-dimensional animation in its mechanism. The research is carried out from two aspects. The first is the application of the robot arm. Based on the kinematic path planning of the shortest time priority strategy, the shorter the motion time of the robot arm, the faster the speed, and the vibration is more difficult to avoid. This is the vibration of the flexible arm. Improve its work efficiency, lay the foundation for more complex path planning problems; create conditions for lighter and faster robotic arm applications. The second is the application of the mechanical foot. The proposed ankle joint control strategy based on the lateral and forward cycle matching can be combined with the forward plane walking control strategy under the stable initial gait of the robot to realize the humanlike virtual prototype of the biped robot. Dynamic walking for analysis. Experimental investigations have shown that in the process of normal walking, there is a dynamic swing process and a static support process. The swing process refers to the lifting of the foot to move forward or backward, and the supporting process refers to the immobilization of one foot to the other. One fulcrum on each foot allows it to move forwards and backwards. Among them, the dynamic swing process accounts for 40% of the whole process, and the static support process accounts for 60%. In general, based on these data, the three-dimensional robotic arm and three-dimensional robotic foot can be better studied.

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