Torque Control of Electrorheological Fluidic Resistive Actuators for Haptic Vehicular Instrument Controls

2005 ◽  
Vol 128 (2) ◽  
pp. 216-226 ◽  
Author(s):  
M. A. Vitrani ◽  
J. Nikitczuk ◽  
G. Morel ◽  
C. Mavroidis ◽  
B. Weinberg
Keyword(s):  
Electric Fields ◽  
Closed Loop ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Control Device ◽  
Torque Control ◽  
Feedback Mechanisms ◽  
Feedforward Loop ◽  
Integral Controller ◽  
Proportional Integral Controller

Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver’s visual attention. In this paper, the experimental closed loop torque control of electro-rheological fluids (ERF) based resistive actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress electroactively. Using the electrically controlled rheological properties of ERFs, we developed resistive-actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF resistive-actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feedforward loop.

Exploring the Dimensions of Haptic Feedback Support in Manual Control

2009 ◽  
Vol 9 (1) ◽  
Author(s):  
D. A. Abbink ◽  
M. Mulder
Keyword(s):  
Force Feedback ◽  
Haptic Feedback ◽  
Control Device ◽  
Order System ◽  
Manual Control ◽  
Steering Wheel ◽  
Feedback Systems ◽  
Control Task ◽  
Control Activity ◽  
Aerospace Applications

A promising way to support operators in a manual control task is to provide them with guiding feedback forces on the control device (e.g., the steering wheel). These additional forces can suggest a safe course of action, which operators can follow or over-rule. This paper explores the idea that the feedback forces can be designed not only to depend on a calculated error (i.e., force feedback) but also on the control device position (i.e., stiffness feedback). First, the fundamental properties of force and stiffness feedback are explained, and important parameters for designing beneficial haptic feedback are discussed. Then, in an experiment, the unassisted control of a second-order system (perturbed by a multisine disturbance) is compared with the same control task supported by four haptic feedback systems: weak and strong force feedback, both with and without additional stiffness feedback. Time and frequency-domain analyses are used to understand the changes in human control behavior. The experimental results indicate that—when well designed—stiffness feedback may raise error-rejection performance with the same level of control activity as during unassisted control. The findings may aid in the design of haptic feedback systems for automotive and aerospace applications, where human attention is still required in a visually overloaded environment.

Tracking Trajectories in a Continuous Anaerobic Bioreactor Employing a Nonlinear Proportional Controller

2007 ◽  
Vol 5 (1) ◽  
Author(s):  
M. Isabel Neria-Gonzalez ◽  
Ricardo Aguilar-López
Keyword(s):  
Internal Model ◽  
Closed Loop ◽  
Open Loop ◽  
Internal Model Control ◽  
Control Law ◽  
Anaerobic Bioreactor ◽  
Model Control ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Proportional Controller

This work is related to the tracking of sulfate concentration trajectories in a continuous anaerobic bioreactor, where Desulfovibrio alaskensis is considered for different operation purposes. A new design of a class of nonlinear proportional control law with an adaptive gain was proposed. The proposed controller was applied to the mathematical bioreactor's model with the kinetics experimentally corroborated; this describes the dynamics of biomass, sulfate and sulfide concentrations. The open-loop stability conditions of the optimum set points and the corresponding closed-loop performances were analyzed. The proposed control law is able to track trajectories, despite sustained disturbances. An Internal Model Control (IMC) Proportional-Integral Controller was implemented for comparison purposes and the corresponding performances were illustrated via numerical experiments.

Disturbance Observer Based Closed Loop Force Control for Haptic Feedback

2007 ◽  
Author(s):  
Abhishek Gupta ◽  
Marcia K. O’Malley ◽  
Volkan Patoglu
Keyword(s):  
Force Control ◽  
Disturbance Observer ◽  
Closed Loop ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Open Loop ◽  
Contact Forces ◽  
Force Sensing ◽  
Haptic Interfaces ◽  
Simulation Fidelity

Most commonly used impedance-type haptic interfaces employ open-loop force control under the assumption of pseudostatic interactions. Advanced force control in such interfaces can increase simulation fidelity through improvement of the transparency of the device, and can further improve robustness. However, closed loop force-feedback is limited both due to the bandwidth limitations of force sensing and the associated cost of force sensors required for its implementation. In this paper, we propose the use of a nonlinear disturbance observer for estimation of contact forces during haptic interactions. This approach circumvents the traditional drawbacks of force sensing while exhibiting the advantages of closed-loop force control in haptic devices. The feedback of contact force information further enables implementation of advanced robot force control techniques such as robust hybrid impedance and admittance control. Simulation and experimental results, utilizing a PHANToM Premium 1.0A haptic interface, are presented to demonstrate the efficacy of the proposed approach.

Comparative Analysis of Advanced Controllers for Standalone WECs for DC Microgrid Applications

2022 ◽  
pp. 38-82
Author(s):  
Bhavya Dharmesh Pandya ◽  
Siddharth Joshi
Keyword(s):  
Comparative Analysis ◽  
Wind Energy ◽  
Closed Loop ◽  
Simulation Analysis ◽  
Gain Scheduling ◽  
Proportional Integral ◽  
Perturb And Observe ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Power Point

The small-scale wind energy generation system is one of the solutions to empower the isolated loads and provides a promising solution to decrease the greenhouse effect. This chapter describes the simulation analysis for wind energy conversion system incorporated with maximum power point tracking feature. The MPPT algorithms like variable current perturb and observe algorithm and variable step perturb and observe algorithm are incorporated with WECS. The comparative analysis is done in the closed-loop model in continuous time-varying wind speed. The closed-loop simulation is performed using a conventional fixed gain controller. To address the limitations of the fixed gain controller, the analysis is done using the gain scheduling proportional integral controller and the good gain method to tune the proportional integral controller. The comparative analysis between the fixed gain controller, the gain scheduling proportional integral controller, and the good gain method to tune proportional integral controller for above-stated MPPT methods is shown.

Decoupling Control Strategy for Conergy Three-Level Three Phase Grid Converter

2014 ◽  
Vol 986-987 ◽  
pp. 1205-1209 ◽  
Author(s):  
Shi Min Shan ◽  
Wei Chi Ou ◽  
Ya Feng
Keyword(s):  
Control Strategy ◽  
Closed Loop ◽  
High Efficiency ◽  
Reactive Power ◽  
Decoupling Control ◽  
Active And Reactive Power ◽  
Three Phase ◽  
Integral Controller ◽  
Proportional Integral Controller ◽  
Grid Connected Inverter

Conergy three-level NPC topology is often used in grid connected inverter due to its high efficiency, fewer switching devices and better EMI performance. Traditional half-bridge topology can be transformed to Conergy NPC topology by adding bi-direction switches. This paper proposed a novel control strategy for Conergy three-level NPC three phase grid converter with real and reactive power closed-loop controller in the synchronous d-q rotating frame. The power control loop is based on the feed forward decoupling of d-axis and q-axis components of the output current, thus the active and reactive power can be controlled separately. Additionally a proportional-integral controller is added to enhance the robustness of the power controller. Simulation results verify the effectiveness of the proposed strategy.

Proportional-Integral Controller Assisted by GPI Observer for Microalgal Continuous Culture

2020 ◽  
Author(s):  
Viyils Sangregorio-Soto ◽  
Claudia L. Garzon-Castro ◽  
Gianfranco Mazzanti ◽  
Manuel Figueredo ◽  
John A. Cortes-Romero
Keyword(s):  
Continuous Culture ◽  
Proportional Integral ◽  
Integral Controller ◽  
Proportional Integral Controller
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