scholarly journals A model-based control law for vibration reduction of serial robots with flexible joints

2021 ◽  
Vol 22 ◽  
pp. 38
Author(s):  
Jacques Farah ◽  
Hélène Chanal ◽  
Nicolas Bouton ◽  
Vincent Gagnol
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Control Law ◽  
Flexible Joints ◽  
Dynamic Identification ◽  
Model Based Control ◽  
Model Based ◽  
Serial Robots ◽  
Pick And Place ◽  
The Impact

The presence of flexibilities in rotational joints can limit the kinematic performances of manipulators doing high speed tasks as Pick and Place. The problem addressed in this work concerns the vibration control of serial robots with flexible joints performing Pick and Place tasks in order to improve productivity. Based on a dynamic model of a robot with flexible joints, a model-based control law is proposed with its associated tuning methodology. The robot dynamic model is then the key point of our methodology. This dynamic model considers stiffness and damping of each flexible joint. To guarantee its accuracy, a geometrical and dynamic identification procedure is realized. The objective is to show the relevancy of the proposed approach which integrates joint flexibilities in the control law. Theoretical results based on a representative model are used to illustrate the benefit of this model-based control law compare to two other control strategies (Feedforward control and control dedicated to rigid structures). Finally, a sensitivity analysis of this control law is realized to quantify the impact of modelling error and conclude on the criticality of joint damping value on vibration decreasing.

Dynamic model for high-speed rotors based on their experimental characterization

2017 ◽  
Vol 2 (4) ◽  
pp. 25
Author(s):  
L. A. Montoya ◽  
E. E. Rodríguez ◽  
H. J. Zúñiga ◽  
I. Mejía
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Natural Frequencies ◽  
Mode Shapes ◽  
Experimental Characterization ◽  
Rotating Systems ◽  
Computing Performance ◽  
The Impact ◽  
Stiffness Distribution ◽  
Good Agreement

Rotating systems components such as rotors, have dynamic characteristics that are of great importance to understand because they may cause failure of turbomachinery. Therefore, it is required to study a dynamic model to predict some vibration characteristics, in this case, the natural frequencies and mode shapes (both of free vibration) of a centrifugal compressor shaft. The peculiarity of the dynamic model proposed is that using frequency and displacements values obtained experimentally, it is possible to calculate the mass and stiffness distribution of the shaft, and then use these values to estimate the theoretical modal parameters. The natural frequencies and mode shapes of the shaft were obtained with experimental modal analysis by using the impact test. The results predicted by the model are in good agreement with the experimental test. The model is also flexible with other geometries and has a great time and computing performance, which can be evaluated with respect to other commercial software in the future.

Dynamic precision analysis and experimental verification of high-speed precision punch press

2016 ◽  
Vol 230 (20) ◽  
pp. 3655-3662 ◽  
Author(s):  
Fengfeng Hu ◽  
Yu Sun ◽  
Binbin Peng
Keyword(s):  
Elastic Wave ◽  
Dynamic Model ◽  
High Speed ◽  
Impact Factors ◽  
Superposition Method ◽  
Bottom Dead Center ◽  
Dynamic Precision ◽  
Modal Superposition Method ◽  
The Impact ◽  
Punch Press

In order to investigate the impact factors and their affection on high-speed precision multilink punch press (MPP), the dynamic model with different joint clearance was established, and the influence of different clearance and speed on the dynamic positional repeatability of bottom dead center (BDC) was analyzed. The elastic dynamic model of high-speed MPP was established, the affection of the elastic deformation and elastic wave on the positional repeatability of the BDC were presented by using modal superposition method to solve dynamic equation. Meanwhile, experiments on the dynamic repeatability of the BDC of the punch during working were completed. At last, the comparison of the experimental results with the analyzed results was given, and based on which, it can be concluded that the clearance, elastic wave and deformation are the key factors of the dynamic repeatability precision of the BDC.

A Model-Based Fault Detection Methodology for Vacuum Circuit Breaker

2013 ◽  
Vol 321-324 ◽  
pp. 739-742
Author(s):  
Yu Huang Zheng
Keyword(s):  
Fault Diagnosis ◽  
Fault Detection ◽  
Dynamic Model ◽  
Test Data ◽  
High Speed ◽  
Circuit Breaker ◽  
Theoretical Data ◽  
Experimental Results ◽  
Model Based ◽  
Vacuum Circuit Breaker

Vacuum circuit breaker becomes more and more complicated, integrated, high-speed and intellectualized. To insure vacuum circuit breaker in its good conditions, the function of fault diagnosis gets more important than before in the process of repairing. This paper is addressed a model-based fault detection methodology for vacuum circuit breaker. At first, the dynamic model of vacuum circuit breaker is built. Secondly, DTW algorithm is introduced to compute the similarity value between the test data and the theoretical data. At last, the value comparison between the similarity and the threshold concludes whether a fault has occurred or the vacuum circuit breaker has potential hazardous effects. The experimental results show that this method is effective.

Model-based control of a thermal regenerator. Part 1: dynamic model

2000 ◽  
Vol 24 (11) ◽  
pp. 2519-2531 ◽  
Author(s):  
Kenneth R Muske ◽  
James W Howse ◽  
Glen A Hansen ◽  
Dominic J Cagliostro
Keyword(s):  
Dynamic Model ◽  
Model Based Control ◽  
Model Based

scholarly journals Vibration reduction of Cable-Driven Parallel Robots through elasto-dynamic model-based control

2019 ◽  
Vol 139 ◽  
pp. 329-345 ◽  
Author(s):  
Sana Baklouti ◽  
Eric Courteille ◽  
Philippe Lemoine ◽  
Stéphane Caro
Keyword(s):  
Dynamic Model ◽  
Vibration Reduction ◽  
Parallel Robots ◽  
Model Based Control ◽  
Model Based

scholarly journals Suppression Research Regarding Low-Frequency Oscillation in the Vehicle-Grid Coupling System Using Model-Based Predictive Current Control

Energies ◽  
2018 ◽  
Vol 11 (7) ◽  
pp. 1803 ◽  
Author(s):  
Yaqi Wang ◽  
Zhigang Liu
Keyword(s):  
High Speed ◽  
Low Frequency ◽  
Current Control ◽  
Control Voltage ◽  
Continuous Control ◽  
Frequency Oscillation ◽  
Low Frequency Oscillation ◽  
Model Based ◽  
Coupling System ◽  
The Impact

Recently, low-frequency oscillation (LFO) has occurred many times in high-speed railways and has led to traction blockades. Some of the literature has found that the stability of the vehicle-grid coupling system could be improved by optimizing the control strategy of the traction line-side converter (LSC) to some extent. In this paper, a model-based predictive current control (MBPCC) approach based on continuous control set in the dq reference frame for the traction LSC for electric multiple units (EMUs) is proposed. First, the mathematical predictive model of one traction LSC is deduced by discretizing the state equation on the alternating current (AC) side. Then, the optimal control variables are calculated by solving the performance function, which involves the difference between the predicted and reference value of the current, as well as the variations of the control voltage. Finally, combined with bipolar sinusoidal pulse width modulation (SPWM), the whole control algorithm based on MBPCC is formed. The simulation models of EMUs’ dual traction LSCs are built in MATLAB/SIMULINK to verify the superior dynamic and static performance, by comparing them with traditional transient direct current control (TDCC). A whole dSPACE semi-physical platform is established to demonstrate the feasibility and effectiveness of MBPCC in real applications. In addition, the simulations of multi-EMUs accessed in the vehicle-grid coupling system are carried out to verify the suppressing effect on LFO. Finally, to find the impact of external parameters (the equivalent leakage inductance of vehicle transformer, the distance to the power supply, and load resistance) on MBPCC’s performance, the sensitivity analysis of these parameters is performed. Results indicate that these three parameters have a tiny impact on the proposed method but a significant influence on the performance of TDCC. Both oscillation pattern and oscillation peak under TDCC can be easily influenced when these parameters change.

Verification of a Wheeled Mobile Robot Dynamic Model and Control Ramifications

1999 ◽  
Vol 121 (1) ◽  
pp. 58-63 ◽  
Author(s):  
Daehie Hong ◽  
Steven A. Velinsky ◽  
Xin Feng
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Kinematic Model ◽  
High Load ◽  
Wheeled Mobile Robots ◽  
Model Based Control ◽  
Practical Applications ◽  
High Speeds ◽  
Kinematic Models ◽  
And Control

For low speed, low acceleration, and lightly loaded applications, kinematic models of Wheeled Mobile Robots (WMRs) provide reasonably accurate results. However, as WMRs are designed to perform more demanding, practical applications with high speeds and/or high loads, kinematic models are no longer valid representations. This paper includes experimental results for a heavy, differentially steered WMR for both loaded and unloaded conditions. These results are used to verify a recently developed dynamic model which includes a complex tire representation to accurately account for the tire/ground interaction. The dynamic model is then exercised to clearly show the inadequacy of kinematic models for high load and/or high speed conditions. Furthermore, through simulation, the failure of kinematic model based control for such applications is also shown.

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