Point-to-point positioning control of a pneumatic muscle actuated system using improved-PID control

2016 ◽  
Author(s):  
T. F. Tang ◽  
S. H. Chong ◽  
C. Y. Chan ◽  
V. Sakthivelu
Keyword(s):  
Pid Control ◽  
Positioning Control ◽  
Pneumatic Muscle ◽  
Point Positioning ◽  
Point To Point

Application of Gain Scheduled PID Control in the Lithography Positioning System

2012 ◽  
Vol 220-223 ◽  
pp. 1752-1756
Author(s):  
Gui Rong Dong
Keyword(s):  
Control System ◽  
Pid Control ◽  
Pid Controller ◽  
Structural Vibration ◽  
Positioning System ◽  
Mean Square ◽  
Positioning Control ◽  
System A ◽  
Gain Scheduled ◽  
Small Disturbances

According to the perturbation in lithography positioning control system, a novel gain scheduled PID controller using a root mean square (RMS) signal is proposed. Perturbation is also referred as the stage hunting, and the positioning control system will be very weak against small disturbances such as electrical noise or even structural vibration of the building in which the stage is installed. The gain scheduled PID controller is used to minimize the stage hunting and simultaneously maximize the immunity to disturbances. Simulations results verify the effectiveness of the gain scheduled PID controller for the positioning control in the lithography stage, as compared with the traditional PID controller.

A mechatronic kit with a control methodology for a modualized cable-suspended robot

2016 ◽  
Vol 22 (20) ◽  
pp. 4211-4226 ◽  
Author(s):  
J Lin ◽  
CS Huang ◽  
J Chang
Keyword(s):  
Inverse Kinematic ◽  
Superior Performance ◽  
Input Shaping ◽  
Positioning Control ◽  
Control Command ◽  
Position And Orientation ◽  
S Curve ◽  
Point To Point ◽  
Control Methodology ◽  
Input Shaping Control

Cable-suspended robots are categorized as a type of parallel manipulator that has recently attracted interest in terms of manipulation tasks. The main goal of this paper is to develop a novel mechatronic kit with a control methodology for a modularized cable-suspended robot. The advantages of such system owns modular and reconfigurable over conventional robots. In addition, position and orientation of the end-effector is forced toward the desired values by control of cable lengths. Hence, the new approach for forward and inverse kinematic calculation procedure based on the change of the cable lengths is used to measure the position and orientation of the mobile platform. Furthermore, the input shaping algorithm is implemented for point-to-point control purposes. The modified input shaping uses the s curve command (S-type) to offer superior performance than conventional trapezoidal command (T-type) in point-to-point positioning control. Experimental validation demonstrates the cable oscillation suppression effectiveness of the proposed S-type input shaping control command.

scholarly journals A Study on the Dynamic Positioning Control Algorithm Using Fuzzy Gain Scheduling PID Control Theory

2017 ◽  
Vol 54 (2) ◽  
pp. 102-112 ◽  
Author(s):  
Ma-Ro Jeon ◽  
Hee-Su Kim ◽  
Jae-Hak Kim ◽  
Su-Jeong Kim ◽  
Soon-Seok Song ◽  
...  
Keyword(s):  
Control Theory ◽  
Pid Control ◽  
Control Algorithm ◽  
Gain Scheduling ◽  
Dynamic Positioning ◽  
Positioning Control

scholarly journals Anti-Windup Scheme for Practical Control of Positioning Systems

1970 ◽  
Vol 5 (2) ◽  
Author(s):  
Wahyudi Tarig Faisal and Abdulgani Albagul
Keyword(s):  
Controller Design ◽  
Actuator Saturation ◽  
Fast Response ◽  
High Accuracy ◽  
Positioning System ◽  
Practical Application ◽  
Positioning Control ◽  
Positioning Systems ◽  
Trajectory Following ◽  
Point To Point

Positioning systems generally need a good controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application.  For satisfying these requirements, nominal characteristic trajectory following controller (NCTF) has been proposed as a practical point-to-point (PTP) positioning control. However, the effect of actuator saturation can not be completely compensated for due to the integrator windup as the plant parameters vary. This paper presents a method to improve the NCTF controller for overcoming the problem of integrator windup using simple and classical tracking anti-windup scheme. The improved NCTF controller is evaluated through simulation using a rotary positioning system. The results show that the improved NCTF controller is adequate to compensate for the effect of integrator windup. Keywords: Positioning, point-to-point, integrator windup, compensation, controller, robustness.

Control Methods for Energy-Efficient Pneumatic Servos Employing Asymmetric Cylinders

Volume 2 ◽  
2004 ◽  
Author(s):  
Aaimin Yang ◽  
Junsheng Pu ◽  
C. B. Wong ◽  
Philip Moore
Keyword(s):  
Energy Efficiency ◽  
Energy Efficient ◽  
Energy Use ◽  
Pneumatic Cylinder ◽  
Positioning System ◽  
Control Methods ◽  
Pneumatic Actuation ◽  
Improved Stability ◽  
Point Positioning ◽  
Point To Point

Pneumatic drives or actuators are most widely used in industry, in comparison to their hydraulic and electrical counterparts. However, they are low in energy efficiency and have typically been used in performing simple actuation tasks. This paper investigates the use of pneumatic actuation for point-to-point positioning applications in the context of employing asymmetric cylinders. The focus of this research is to study appropriate control methods, aiming for improved energy efficiency in the use of pneumatic servo positioning system. Relevant mathematical models and stability analysis will be presented in this paper, with results from simulation and experimental verification. In particular, a hydraulic circuit (rapid motion circuit) is adopted in the case for pneumatic actuation. For point-to-point positioning application, in the forward moving phase, the inlet and outlet chambers will be connected via by-pass valve allowing exhausted compress air to be reused. In comparison with the conventional way in controlling the motion of an asymmetric pneumatic cylinder, a portion of the compressed can be re-used leading to an enhancement in energy-efficiency. The results show that some 15% saving in energy use can be acquired with improved stability while the settling time of the positioning system is maintained. Relevant design and applications issues will be outlined and discussed in this paper as well.

Precise Point-to-Point Positioning Control of Flexible Structures

1990 ◽  
Vol 112 (4) ◽  
pp. 667-674 ◽  
Author(s):  
S. P. Bhat ◽  
D. K. Miu
Keyword(s):  
Position Control ◽  
Flexible Structures ◽  
Design Procedure ◽  
Control Technique ◽  
Control Input ◽  
Bounded Control ◽  
Linear Quadratic Optimal Control ◽  
Flexible Mode ◽  
Point Positioning ◽  
Point To Point

Control strategies to accomplish precise point-to-point positioning of flexible structures are discussed. First, the problem is formulated and solved in closed form using a linear quadratic optimal control technique for a simple system with only one rigid and one flexible mode; the resulting analytical solutions are examined in both the time and frequency domain. In addition, the necessary and sufficient condition for zero residual vibration is derived which simply states that the Laplace transform of the time bounded control input must vanish at the system poles. This criteria is then used to highlight the common features of existing techniques and to outline an alternative design procedure for precise position control of more complicated structures having multiple flexible modes.

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