On the Cable Pseudo-Drag Problem of Cable-Driven Parallel Camera Robots at High Speeds

Robotica ◽  
2019 ◽  
Vol 37 (10) ◽  
pp. 1695-1709 ◽  
Author(s):  
Huiling Wei ◽  
Yuanying Qiu ◽  
Ying Sheng
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Control Method ◽  
Tension Control ◽  
Cable Tension ◽  
High Speeds ◽  
Simulation Results

SummaryThis paper presents a control strategy for solving the cable pseudo-drag problem of cable-driven parallel camera robots at high speeds. The control strategy belongs to a hybrid position/tension control method based on cable tension optimization. The cable catenary model and cable pseudo-drag problem are considered firstly. Then, the dynamic model of the cable-driven parallel camera robot is established. The cable tension optimization is proposed. And then a control strategy is put forward and its stability is proved. Simulation results of a four-cable camera robot are presented and discussed.

Control Strategy of the Dual Motors Coupling Propulsion for Battery Electric Buses

2014 ◽  
Vol 528 ◽  
pp. 364-370 ◽  
Author(s):  
Guang Wei Han ◽  
Cheng Ning Zhang ◽  
Shuo Zhang ◽  
Xiao Hua Wu
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Control Method ◽  
Coordinated Control ◽  
Drive System ◽  
Simulation Platform ◽  
City Bus ◽  
Working Principle ◽  
Simulation Results

A novel drive system the Dual Motors Coupling Propulsion (DMCP) for battery electric buses was proposed, and its structure and working principle were introduced. For the power and comfort performance of the vehicle, the control method of the motors and the coordinated control strategy of the DMCP were developed. The co-simulation platform of AMESim and Simulink was established, based on which the dynamic model of the vehicle equipped the DMCP was built. The simulation results show that the DMCP runs smoothly in the Chinese typical city bus driving schedule. This indicates that the control strategy can manipulate the DMCP to drive the bus powerfully and smoothly. This has laid the foundation of the further research of the DMCP.

Intelligent Information of TS Fuzzy PID Control System of BLDCM

2013 ◽  
Vol 846-847 ◽  
pp. 313-316 ◽  
Author(s):  
Xiao Yun Zhang
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Pid Control ◽  
Control Method ◽  
Design Method ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Control Precision ◽  
Simulation Results ◽  
Intelligent Information

This paper presented a new method based on the Fuzzy self - adaptive PID for BLDCM. This method overcomes some defects of the traditional PID control. Such as lower control precision and worse anti - jamming performance. It dynamic model of BLDCM was built, and then design method for TS fuzzy PID model is given, At last, it compared simulation results of PID control method with TS Fuzzy PID control method. The results show that the TS Fuzzy PID control method has more excellent dynamic antistatic performances, as well as anti-jamming performance. The experiment shows that TS fuzzy PID control has the stronger adaptability robustness and transplant.

Proposed Topology for Voltage Sag Mitigation with New Control Strategy

2019 ◽  
Vol 15 (2) ◽  
pp. 138-144
Author(s):  
Adnan Diwan ◽  
Khalid Abdulhasan
Keyword(s):  
Duty Cycle ◽  
Control Strategy ◽  
Output Voltage ◽  
System Analysis ◽  
Control Method ◽  
Boost Converter ◽  
Voltage Sag ◽  
Voltage Sags ◽  
Long Duration ◽  
Simulation Results

voltage sags represent the greatest threat to the sensitive loads of industrial consumers, the microprocessor based-loads, and any electrical sensitive components. In this paper, a special topology is proposed to mitigate deep and long duration sags by using a modified AC to AC boost converter with a new control method. A boost converter is redesigned with a single switch to produces an output voltage that is linearly proportional to the duty cycle of the switch. On the other hand, the proposed control system is based on introducing a mathematical model that relates the missing voltage to the duty cycle of the boost converter switch. The simulation results along with the system analysis are presented to confirm the effectiveness and feasibility of the proposed circuit.

scholarly journals Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
Hongzhe Jin ◽  
Yang Zhang ◽  
Hui Zhang ◽  
Zhangxing Liu ◽  
Yubin Liu ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Control Strategy ◽  
Pitch Angle ◽  
Control Method ◽  
Steering Control ◽  
Dynamics Model ◽  
Gyroscope System ◽  
Simulation Results ◽  
Balance Structure ◽  
Gyroscope Precession

This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.

Dynamic and Control Strategy of Payload Motion for Deployment System

2012 ◽  
Vol 229-231 ◽  
pp. 2361-2364 ◽  
Author(s):  
Zi Fan Fang ◽  
Bing Fei Xiang ◽  
Qing Song He ◽  
De Xin Wu ◽  
Hua Pan Xiao
Keyword(s):  
Finite Element Method ◽  
Dynamic Model ◽  
Control Strategy ◽  
Wire Rope ◽  
Tension Control ◽  
Analysis Software ◽  
Collaborative Simulation ◽  
Body Dynamics ◽  
Multi Body ◽  
And Control

The dynamic model of wire rope with contact is presented based on finite element method and the flexible multi-body dynamics theory by putting the contact force between the wire rope and drum. The unilateral anti-sway and tension control strategy is put forward, and the dynamic model and collaborative simulation of payload motion for deployment system is modeled by dynamic analysis software RecurDyn and control library Colink. The correctness of the collaborative simulation model and control strategy is validated by analysis and comparison , which lays the foundation for further research on dynamic simulation of virtual prototype in nonlinear and complex mechanical-control system.

scholarly journals A Stiffness-Adjusting Method to Improve Thrust Efficiency of a Two-Joint Robotic Fish

2014 ◽  
Vol 6 ◽  
pp. 537905 ◽  
Author(s):  
Dong Xu ◽  
Shaoguang Zhang ◽  
Li Wen
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Cfd Simulation ◽  
Control Method ◽  
Wake Flow ◽  
Negative Power ◽  
Stiffness Control ◽  
Thrust Efficiency ◽  
Cfd Analyses ◽  
Two Degree Of Freedom

Fish are very efficient swimmers. In this paper, we studied a two degree-of-freedom (DOF) propeller that mimic fish caudal fin like locomotion. Kinematics modelling and hydrodynamic CFD analyses of the two DOF propellers were conducted. According to the CFD simulation, we show that negative power was generated within the flapping cycle, and wake flow at different instant was demonstrated. Based on the dynamic model, we compared the thrust efficiency under different stiffness control method. The results show that the thrust efficiency was enhanced under moderate stiffness control strategy.

Dynamic Analysis and Control Research of a 3-DOF Hydraulic Driven Parallel Mechanism

2020 ◽  
Vol 13 (2) ◽  
pp. 156-170
Author(s):  
Bing Zhang ◽  
Saike Jiang ◽  
Ziliang Jiang ◽  
Jiandong Li ◽  
Kehong Zhou ◽  
...  
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Mechanism ◽  
Control Method ◽  
Simulation Method ◽  
Euler Method ◽  
Parallel Mechanisms ◽  
Rigid Body Dynamic ◽  
And Control

Background: The parallel mechanism is widely used in motion simulators, parallel machine tools, medical equipment and other fields. It has advantages of high rigidity, stable structure and high carrying capacity. However, the control strategy and control method are difficult to study because of the complexity of the parallel mechanism system. Objective: The purpose of this paper was to verify the dynamic model of a hydraulic driven 3-DOF parallel mechanism and propose a compound control strategy to broaden the bandwidth of the control system. Methods: The single rigid body dynamic model of the parallel mechanism was established by the Newton Euler method. The feed forward control strategy based on joint space control with inverse kinematic was designed to improve the bandwidth and control precision. The co-simulation method based on MATLAB / SIMULINK and ADAMS was adopted to verify the dynamics and control strategy. Results: The bandwidth of each degree of freedom in the 3-DOF parallel mechanism was used to expand about 10Hz and the amplitude error was controlled below 5%. Conclusion: Based on the designed dynamic model and composite control strategy, the controlled accuracy of the parallel mechanism is improved and the bandwidth of the control system is broadened. Furthermore, the improvements can be made in aspects of control accuracy and real-time performance to compose more patents on parallel mechanisms.

scholarly journals Dynamical Adaptive Integral Sliding Backstepping Control of Nonlinear Nontriangular Uncertain Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-14 ◽  
Author(s):  
Mahmood Pervaiz ◽  
Qudrat Khan ◽  
Aamer Iqbal Bhatti ◽  
Shahzad Ahmed Malik
Keyword(s):  
Control Strategy ◽  
Uncertain Systems ◽  
Control Method ◽  
Sliding Mode ◽  
Control Law ◽  
Continuous Stirred Tank Reactor ◽  
Adaptive Backstepping ◽  
Recursive Procedure ◽  
Continuous Stirred Tank ◽  
Simulation Results

We present a control strategy for nonlinear nontriangular uncertain systems. The proposed control method is a synergy between the dynamic adaptive backstepping (DAB) and integral sliding mode (ISM) and is referred to as DAB-ISMC. Our main objective is to find a recursive procedure to transform a nontriangular system into an implementable form that enables designing a control law which almost eliminates the reaching-phase. The proposed method further facilitates minimization of chattering which is believed to be a shortcoming of the sliding mode control. In this methodology, the ISM, as an integrated subsystem of DAB, is introduced at the final stage of backstepping. This strategy works very well to obtain a system that is robust against model imperfections, matching and unmatching uncertainties. The DAB-ISMC method is applied on a continuous stirred tank reactor (CSTR) and simulation results obtained on Matlab are found to be very promising.

Single-Primary-Winding Current-Fed Multiple-Input Full-Bridge Converter

2012 ◽  
Vol 461 ◽  
pp. 250-254
Author(s):  
Qin Wang ◽  
Mu Yu Cheng ◽  
Lan Xiao ◽  
Lei Wang
Keyword(s):  
Fuel Cell ◽  
Control Strategy ◽  
Control Method ◽  
Current Source ◽  
Flexible Control ◽  
Multiple Input ◽  
Pv Cell ◽  
Multiple Primary ◽  
Simulation Results ◽  
Pulsating Current

This paper proposes the topological generated method, control method and circuit feature of the single primary winding current-fed full-bridge MIC. The MIC has only one primary winding. Compared with the traditional multiple primary winding current-fed MIC, it has simpler structure, more flexible control and can power the load simultaneously or individually. The Pulsating Current Source Cell in the converter is Boost type. The input current is continuous and it can prolong the usage age of PV cell and fuel cell. The single primary winding current-fed double-input full-bridge converter based on Boost converter is taken as an example to analyze its operation principle, control strategy. Simulation results are presented to verify the theoretical analysis

Study on a Control Method Used in the Semi-Active Suspension

2011 ◽  
Vol 128-129 ◽  
pp. 1025-1030
Author(s):  
Yun Tang Zhao ◽  
Si Zhong Chen ◽  
Zhan Zong Feng
Keyword(s):  
Control Strategy ◽  
Ride Comfort ◽  
Control Method ◽  
Active Suspension ◽  
The Other ◽  
Isolation Effect ◽  
Suspension Spring ◽  
Simulation Results ◽  
Active Damper ◽  
The Ideal

A new control method used in the semi-active suspension is studied. The force generated by the semi-active damper can be divided into two parts, one is the uncontrollable force, and the other is the controllable force. In order to make the sprung mass have the ideal isolation effect, the controllable force should be equal to the sum of the uncontrollable force and the force generated by the suspension spring. But the controllable force is limited by many constraints. Therefore, the control strategy can be concluded. The simulation results show that the ride comfort and handling stability are both improved by the control method.

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