Dual-loop feedback control of servo motor systems using singular perturbation method

2004 ◽  
Author(s):  
Rongjun Zhang ◽  
Yaobin Chen
Keyword(s):  
Feedback Control ◽  
Singular Perturbation ◽  
Perturbation Method ◽  
Servo Motor ◽  
Singular Perturbation Method ◽  
Motor Systems ◽  
Loop Feedback

Pressure Feedback Control Based on Singular Perturbation Method of an Electro-Hydrostatic Actuator for an Exoskeletal Power-Assist System

2012 ◽  
Vol 24 (2) ◽  
pp. 354-362 ◽  
Author(s):  
Hirokazu Tanaka ◽  
◽  
Hiroshi Kaminaga ◽  
Yoshihiko Nakamura
Keyword(s):  
Feedback Control ◽  
Knee Joint ◽  
Singular Perturbation ◽  
Perturbation Method ◽  
Feedback Controller ◽  
Control Methods ◽  
Haptic Interaction ◽  
Singular Perturbation Method ◽  
Human Movements ◽  
Pressure Feedback

This paper describes control methods of an Electro-Hydrostatic Actuators (EHA) for an exoskeletal power-assist systems. By increasing backdrivability of the electro-hydrostatic actuators, the exoskeletal power-assist systems can achieve haptic interaction with a human. We propose a pressure feedback controller based on singular perturbation method, which is used in a power-assist controller of the exoskeletal power-assist system. The controller assists human movements by increasing the sensitivity of the electrohydrostatic actuator with estimated torque feedback. The controllers were implemented on an exoskeletal power-assist system for a knee joint with an electrohydrostatic actuator. Their efficacy was evaluated by experiments.

Singular Perturbation Method for Solving Non-Linear Vibration of Stay Cable (I) - Theory Research

2011 ◽  
Vol 147 ◽  
pp. 112-116
Author(s):  
Zhi Hong Ran ◽  
Jun Tong Qu ◽  
Fei He ◽  
Sheng Miao
Keyword(s):  
Singular Perturbation ◽  
Perturbation Method ◽  
Stay Cable ◽  
Linear Vibration ◽  
Singular Perturbation Method ◽  
Cable Structure ◽  
Non Linear ◽  
Cable Force ◽  
Set Up ◽  
Theory Research

In order to solve the difficult in calculating cable vibration, the non-linear dynamic model of cable was set up with geometrical non-linearity. The differential equation was solved using the singular perturbation method. The analytical expression of frequency and form function was deduced. The expression can be widely used for the field of measurement of cable force and identification of parameter in cable structure.

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