Force tracking control of grinding end effector based on backstepping + PID

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Shining Li ◽  
Wenbin Ji ◽  
Zhenlin Sun ◽  
Yufeng Zhao
Keyword(s):  
Mathematical Model ◽  
Linear System ◽  
Control Strategy ◽  
Grinding Force ◽  
Constant Force ◽  
End Effector ◽  
Content Type ◽  
Modeling And Analysis ◽  
The Mathematical Model ◽  
Automobile Wheel

Purpose This study aims to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A force control strategy of backstepping + proportion integration differentiation (PID) is proposed. The grinding end effector is installed on the flange of the robot. The robot controls the position and posture of the grinding end actuator and the grinding end actuator controls the grinding force output. First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. Finally, the feasibility of the proposed method is verified by simulation and experiment. Findings The simulation and experimental results show that the backstepping + PID strategy can track the expected force quickly, and improve the dynamic response performance of the system and the quality of grinding and polishing of automobile wheel hub. Research limitations/implications The mathematical model is based on the pneumatic system and ideal gas, and ignores the influence of friction in the working process of the cylinder, so the mathematical model proposed in this study has certain limitations. A new control strategy is proposed, which is not only used to control the grinding force of automobile wheels, but also promotes the development of industrial control. Social implications The automatic constant force grinding of automobile wheel hub is realized, and the manpower is liberated. Originality/value First, the modeling and analysis of the grinding end effector are carried out, and then the backstepping + PID method is adopted to control the grinding end effector to track the expected grinding force. The nonlinear model of the system is controlled by backstepping method, and in the process, the linear system composed of errors is obtained, and then the linear system is controlled by PID to realize the combination of backstepping and PID control.

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

scholarly journals Modeling and analysis of fractional order Zika model

2021 ◽  
Vol 7 (3) ◽  
pp. 3912-3938
Author(s):  
Muhammad Farman ◽  
◽  
Ali Akgül ◽  
Sameh Askar ◽  
Thongchai Botmart ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Fixed Point ◽  
Control Strategy ◽  
Zika Virus ◽  
Fixed Point Theory ◽  
Point Theory ◽  
Fractional Operator ◽  
Modeling And Analysis ◽  
Virus Model ◽  
Positivity And Boundedness

<abstract> <p>We propose mathematical model for the transmission of the Zika virus for humans spread by mosquitoes. We construct a scheme for the Zika virus model with Atangna-Baleanue Caputo sense and fractal fractional operator by using generalized Mittag-Leffler kernel. The positivity and boundedness of the model are also calculated. The existence of uniquene solution is derived and stability analysis has been made for the model by using the fixed point theory. Numerical simulations are made by using the Atangana-Toufik scheme and fractal fractional operator with a different dimension of fractional values which support the theoretical outcome of the proposed system. Developed scheme including simulation will provide better understanding in future analysis and for control strategy regarding Zika virus.</p> </abstract>

scholarly journals Mathematical modeling and harmonic analysis of SISFCL

2017 ◽  
Vol 36 (1) ◽  
pp. 258-270
Author(s):  
Debraj Sarkar ◽  
Debabrata Roy ◽  
Amalendu Bikash Choudhury ◽  
Sotoshi Yamada
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Harmonic Analysis ◽  
Voltage Drop ◽  
Element Model ◽  
Iron Core ◽  
Content Type ◽  
Hysteresis Characteristic ◽  
The Core ◽  
The Mathematical Model

Purpose A saturated iron core superconducting fault current limiter (SISFCL) has an important role to play in the present-day power system, providing effective protection against electrical faults and thus ensuring an uninterrupted supply of electricity to the consumers. Previous mathematical models developed to describe the SISFCL use a simple flux density-magnetic field intensity curve representing the ferromagnetic core. As the magnetic state of the core affects the efficient working of the device, this paper aims to present a novel approach in the mathematical modeling of the device with the inclusion of hysteresis. Design/methodology/approach The Jiles–Atherton’s hysteresis model is utilized to develop the mathematical model of the limiter. The model is numerically solved using MATLAB. To support the validity of model, finite element model (FEM) with similar specifications was simulated. Findings Response of the limiter based on the developed mathematical model is in close agreement with the FEM simulations. To illustrate the effect of the hysteresis, the responses are compared by using three different hysteresis characteristics. Harmonic analysis is performed and comparison is carried out utilizing fast Fourier transform and continuous wavelet transform. It is observed that the core with narrower hysteresis characteristic not only produces a better current suppression but also creates a higher voltage drop across the DC source. It also injects more harmonics in the system under fault condition. Originality/value Inclusion of hysteresis in the mathematical model presents a more realistic approach in the transient analysis of the device. The paper provides an essential insight into the effect of the core hysteresis characteristic on the device performance.

scholarly journals Mathematical Modeling and Analysis of Multirobot Cooperative Hunting Behaviors

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Yong Song ◽  
Yibin Li ◽  
Caihong Li ◽  
Xin Ma
Keyword(s):  
Mathematical Modeling ◽  
Mathematical Model ◽  
Numerical Solutions ◽  
Rate Equations ◽  
Ratio Analysis ◽  
Hunting Behavior ◽  
Modeling And Analysis ◽  
Cooperative Hunting ◽  
Model Equations ◽  
The Mathematical Model

This paper presents a mathematical model of multirobot cooperative hunting behavior. Multiple robots try to search for and surround a prey. When a robot detects a prey it forms a following team. When another “searching” robot detects the same prey, the robots form a new following team. Until four robots have detected the same prey, the prey disappears from the simulation and the robots return to searching for other prey. If a following team fails to be joined by another robot within a certain time limit the team is disbanded and the robots return to searching state. The mathematical model is formulated by a set of rate equations. The evolution of robot collective hunting behaviors represents the transition between different states of robots. The complex collective hunting behavior emerges through local interaction. The paper presents numerical solutions to normalized versions of the model equations and provides both a steady state and a collaboration ratio analysis. The value of the delay time is shown through mathematical modeling to be a strong factor in the performance of the system as well as the relative numbers of the searching robots and the prey.

Simplified Adaptive Nonlinear Robust Controller for Linearized Pantagraph-Type Manipulator

1995 ◽  
Vol 7 (3) ◽  
pp. 242-249 ◽  
Author(s):  
Kiyotaka Izumi ◽  
◽  
Keigo Watanabe ◽  
Masatoshi Nakamura ◽  
◽  
...  
Keyword(s):  
Mathematical Model ◽  
Physical Parameters ◽  
Additional Mass ◽  
Robust Controller ◽  
End Effector ◽  
Linear Controller ◽  
The Mathematical Model ◽  
Nonlinear Robust

If physical parameters are adjusted suitably in the pantagraph-type manipulator, the mathematical model becomes linear so that we can apply a linear controller. However, when the manipulator has an additional mass as an end-effector, the linear controller does not work well because the resultant model becomes nonlinear. In this paper, we propose a simplified adaptive nonlinear robust controller which we can apply to the manipulator, irrespective of the system linearity or nonlinearity. The effectiveness of the controller is illustrated by some simulations.

Study of Topology and Control Strategy of the Bidirectional Energy Storage Converter Based on Three-Level

2013 ◽  
Vol 397-400 ◽  
pp. 1169-1173
Author(s):  
Hong Wei Tang ◽  
Xi Kun Chen ◽  
Yan Xia Gao
Keyword(s):  
Mathematical Model ◽  
Energy Storage ◽  
Control Strategy ◽  
Lithium Battery ◽  
Decoupling Control ◽  
Midpoint Potential ◽  
Simulation Results ◽  
And Control ◽  
The Mathematical Model ◽  
Battery Module

To adapt to the requirements of the charging and discharging of the lithium battery, the paper presents a three-level based bidirectional energy storage converter topology.It has strong adaptability and can manage the charge and discharge of multi-series and parallel battery module. The mathematical model of the converter is analyzed, and the two operation modes of the converter control strategy are studied; Analysis the feed-forward decoupling control of three-level rectifier, and the variable scale factor is used to control midpoint potential. The simulation results demonstrate the feasibility of the design.

Wind-driven land-yacht robot mathematical modeling and verification

2016 ◽  
Vol 43 (1) ◽  
pp. 77-90 ◽  
Author(s):  
Jiqing Chen ◽  
Shaorong Xie ◽  
Jun Luo ◽  
Hengyu Li
Keyword(s):  
Mathematical Model ◽  
Experimental Tests ◽  
Outer Planet ◽  
Mechanism Analysis ◽  
Content Type ◽  
The Antarctic ◽  
The Mathematical Model ◽  
The Given ◽  
Practical Implications ◽  
Wind Resources

Purpose – The purpose of this paper was to solve the shortage of carrying energy in probing robot and make full use of wind resources in the Antarctic expedition by designing a four-wheel land-yacht. Land-yacht is a new kind of mobile robot powered by the wind using a sail. The mathematical model and trajectory of the land-yacht are presented in this paper. Design/methodology/approach – The mechanism analysis method and experimental modeling method are used to establish a dual-input and dual-output mathematical model for the motion of land-yacht. First, the land-yacht’s model structure is obtained by using mechanism analysis. Then, the models of steering gear, servomotors and force of wing sail are analyzed and validated. Finally, the motion of land-yacht is simulated according to the mathematical model. Findings – The mathematical model is used to analyze linear motion and steering motion. Compared with the simulation results and the actual experimental tests, the feasibility and reliability of the proposed land-yacht modeling are verified. It can travel according to the given signal. Practical implications – This land-yacht can be used in the Antarctic, outer planet or for harsh environment exploration. Originality/value – A land-yacht is designed, and the contribution of this research is the development of a mathematical model for land-yacht robot. It provides a theoretical basis for analysis of the land-yacht’s motion.

The Influence of the Grinding Force to the Material Removal Rate in the Heavy Load Honing

2011 ◽  
Vol 63-64 ◽  
pp. 719-722
Author(s):  
Jian Ye Guo ◽  
Chao Yu ◽  
Guang Qi Cai
Keyword(s):  
Mathematical Model ◽  
Material Removal Rate ◽  
Material Removal ◽  
Removal Rate ◽  
Grinding Force ◽  
Processing Technology ◽  
Heavy Load ◽  
Theoretical Significance ◽  
The Mathematical Model ◽  
The Relationship

This paper took the grinding force in the heavy load honing as the object to research, it mainly analyzed the influence of the grinding force to the material removal rate. First the mathematical model of grinding force was established from starting with the honing pressure. Then the mathematical model of material removal rate was established according to the relationship between material removal volume and honing pressure. Finally the influence of the honing pressure to the material removal rate was analyzed with the aid of software. The results of this paper have important theoretical significance to optimize the processing technology of heavy load honing and further enhance the machining precision and the honing efficiency.

Mathematical Model of Three-Phase Boost Converter

2012 ◽  
Vol 507 ◽  
pp. 96-100
Author(s):  
Zhong Zhang ◽  
Wei Ming Tong
Keyword(s):  
Mathematical Model ◽  
Nonlinear Control ◽  
Control Strategy ◽  
Boost Converter ◽  
Analysis Method ◽  
Topology Structure ◽  
Conservation Of Energy ◽  
Three Phase ◽  
Converter Topology ◽  
The Mathematical Model

Now the nonlinear control strategy used by a lot of power electronic converters is not dependent on the mathematical model of the system. They are only based on the error of control variables to control the output voltage or other variables, and this leads to the shortcomings of poor control and not easy to optimize. The fundamental reason is that they are not based on the mathematical model of converter topology structure. This paper presents a new way to build mathematical model. The paper established the unified mathematical model of the three-phase Boost converter topology structure by studied the three-phase Boost converter topology structure deeply and based on the law of conservation of energy and combined with small-signal modeling analysis method, and done the systematic analysis for it. The analysis method is also applicable to other converter topology, such as the buck, buck-boost, etc., and the model not only can be used in the controller design, can also provide a theoretical basis for the applications of a new nonlinear control strategy.

scholarly journals Effect of Control on the Mathematical Model of Hepatitis B Virus with Infective Migrant

2020 ◽  
pp. 58-70
Author(s):  
Folahan S. Akinboro ◽  
T. O. Oluyo ◽  
O. O. Kehinde ◽  
S. Alao
Keyword(s):  
Mathematical Model ◽  
Hepatitis B Virus ◽  
Hepatitis B ◽  
Control Strategy ◽  
Transmission Dynamics ◽  
Optimal Control Strategy ◽  
Control Variables ◽  
B Virus ◽  
Implicit Finite Difference ◽  
The Mathematical Model

The transmission dynamics of Hepatitis B Virus in a population with infective immigrant is presented with the inclusion of an optimal control strategy to curtail the spread of the virus. To understand the spread of this infection, we develop a mathematical model with control variables of migrant screening and public sensitization. The optimality system is characterized using Pontryagin’s maximum principle and solve numerically with an implicit finite difference method.  Result of the numerical simulation is presented to illustrate the feasibility of this control strategy. The analysis reveals that combination of both control variables could be the most fruitful way to reduce the incidence of Hepatitis B virus.

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