Comparison of NURBS trajectory interpolation algorithms for high-speed motion control systems

2021 ◽  
Author(s):  
Krystian Erwinski ◽  
Marcin Paprocki ◽  
Gabriel Karasek
Keyword(s):  
Control Systems ◽  
Motion Control ◽  
High Speed ◽  
Interpolation Algorithms ◽  
Trajectory Interpolation

Modeling and Identification for Lightweight High-Speed Machines with Loads Variation

2011 ◽  
Vol 141 ◽  
pp. 350-354
Author(s):  
Shi Xun Fan ◽  
Da Peng Fan ◽  
Ryozo Nagamune
Keyword(s):  
Control Systems ◽  
Motion Control ◽  
High Speed ◽  
Vibration Suppression ◽  
Nonlinear Least Squares ◽  
Affine Function ◽  
Mass Variation ◽  
Parameter Varying ◽  
Robust Control Design ◽  
Load Mass

The positioning performance of high-speed, high-accuracy light-weight motion control systems is usually restricted by the structure flexibility and model parameter-varying caused by load mass variation. It needs to develop novel motion control algorithm to eliminate the residual vibration in the end-effectors, as well as to be robust over the load mass variation. This paper addresses the first and crucial step of this problem, modeling and identification technique. The linear parameter-varying model of the system is constructed and analyzed. The parameters and affine function identification method based on nonlinear least-squares and principle component analysis technique is proposed. The validity of the proposed method is demonstrated through a lightweight machine experimental setup. It is general enough to be applicable to the dynamic behaviors analysis and gain-scheduling robust control design for industrial lightweight vibration suppression and motion control systems that possess flexible elements and variable loads.

scholarly journals Distributed Control

1999 ◽  
Vol 121 (01) ◽  
pp. 68-69
Author(s):  
Daryl Prince
Keyword(s):  
Control Systems ◽  
Motion Control ◽  
Distributed Control ◽  
Pulse Width ◽  
High Speed ◽  
Pulse Width Modulation ◽  
Current Control ◽  
Analog Output

This article discusses servo motion systems, which are motion control systems that combine hardware and software, have innumerable applications in compact modules. Some motion controllers operate on multiple platforms and buses, with units providing analog output to a conventional amplifier, as well as units that provide current control and direct pulse width modulation (PWM) output for as many as 32 motors simultaneously. There are amplifiers that still require potentiometers to be adjusted for the digital drives’ position, velocity, and current control. All major value-adding components of motion control systems will soon have to comply with the demands for faster controllers with high-speed multi axis capabilities supplying commands in multitasking applications.

Measured Loading Response of Model Motion Control Stern Tabs

2013 ◽  
Vol 155 (A1) ◽  
Keyword(s):  
Control Systems ◽  
Motion Control ◽  
High Speed ◽  
Lift Force ◽  
Lift Coefficient ◽  
Test Apparatus ◽  
Circulating Water ◽  
Ride Control ◽  
Hydraulics Laboratory ◽  
The University

Active trim tabs are commonly used as part of the ride control systems of high-speed craft. This paper investigates the lift characteristics of rectangular stern tabs that are commonly fitted to INCAT wave-piercer catamarans. A test apparatus was developed to enable the testing of a model scale trim tab in a circulating water tunnel in the University of Tasmania hydraulics laboratory. The magnitude and location of the lift force produced by the tab were measured over a range of tab angles and flow velocities. From this the lift coefficient of the tab was calculated and the performance of the tab under varying conditions was analysed. The lift force produced by the tab was shown to increase with velocity and tab angle as expected, with the lift coefficient of the tab increasing linearly with tab angle and remaining relatively constant with increases in flow velocity. The magnitude of the measured lift coefficient was lower than had been previously estimated in shallow water tests and the force was found to act forward of the tab hinge, indicating that much of the lift force generated by the tab is due to the increased pressure on the underside of the hull forward of the tab.

MEASURED LOADING RESPONSE OF MODEL MOTION CONTROL STERN TABS

2021 ◽  
Vol 155 (A1) ◽  
Author(s):  
J Bell ◽  
T Arnold ◽  
J Lavroff ◽  
M R Davis
Keyword(s):  
Control Systems ◽  
Motion Control ◽  
High Speed ◽  
Lift Force ◽  
Lift Coefficient ◽  
Test Apparatus ◽  
Circulating Water ◽  
Ride Control ◽  
Hydraulics Laboratory ◽  
The University

Active trim tabs are commonly used as part of the ride control systems of high-speed craft. This paper investigates the lift characteristics of rectangular stern tabs that are commonly fitted to INCAT wave-piercer catamarans. A test apparatus was developed to enable the testing of a model scale trim tab in a circulating water tunnel in the University of Tasmania hydraulics laboratory. The magnitude and location of the lift force produced by the tab were measured over a range of tab angles and flow velocities. From this the lift coefficient of the tab was calculated and the performance of the tab under varying conditions was analysed. The lift force produced by the tab was shown to increase with velocity and tab angle as expected, with the lift coefficient of the tab increasing linearly with tab angle and remaining relatively constant with increases in flow velocity. The magnitude of the measured lift coefficient was lower than had been previously estimated in shallow water tests and the force was found to act forward of the tab hinge, indicating that much of the lift force generated by the tab is due to the increased pressure on the underside of the hull forward of the tab.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

scholarly journals Variable step control to improve scanning speed of gene sequencing stage

2021 ◽  
pp. 002029402110022
Author(s):  
Xiaohua Zhou ◽  
Jianbin Zheng ◽  
Xiaoming Wang ◽  
Wenda Niu ◽  
Tongjian Guo
Keyword(s):  
Motion Control ◽  
High Precision ◽  
High Speed ◽  
Stable State ◽  
Gene Sequencing ◽  
Scanning Speed ◽  
Settling Time ◽  
Step Motion ◽  
Variable Step ◽  
Step Control

High-speed scanning is a huge challenge to the motion control of step-scanning gene sequencing stage. The stage should achieve high-precision position stability with minimal settling time for each step. The existing step-scanning scheme usually bases on fixed-step motion control, which has limited means to reduce the time cost of approaching the desired position and keeping high-precision position stability. In this work, we focus on shortening the settling time of stepping motion and propose a novel variable step control method to increase the scanning speed of gene sequencing stage. Specifically, the variable step control stabilizes the stage at any position in a steady-state interval rather than the desired position on each step, so that reduces the settling time. The resulting step-length error is compensated in the next acceleration and deceleration process of stepping to avoid the accumulation of errors. We explicitly described the working process of the step-scanning gene sequencer and designed the PID control structure used in the variable step control for the gene sequencing stage. The simulation was performed to check the performance and stability of the variable step control. Under the conditions of the variable step control where the IMA6000 gene sequencer prototype was evaluated extensively. The experimental results show that the real gene sequencer can step 1.54 mm in 50 ms period, and maintain a high-precision stable state less than 30 nm standard deviation in the following 10 ms period. The proposed method performs well on the gene sequencing stage.

Sign in / Sign up

Export Citation Format

Share Document