Modeling and Control of Single-Link Flexible Arms With Lumped Masses

1992 ◽  
Vol 114 (1) ◽  
pp. 59-69 ◽  
Author(s):  
V. Feliu ◽  
K. S. Rattan ◽  
H. B. Brown
Keyword(s):  
Control Method ◽  
Flexible Beam ◽  
Outer Loop ◽  
Modeling And Control ◽  
Control Scheme ◽  
Single Link ◽  
Tip Position ◽  
Flexible Arms ◽  
Lumped Masses ◽  
And Control

This paper deals with the modeling and control of a special class of single-link flexible arms. These arms consist of flexible massless structures having some masses concentrated at certain points of the beam. In this paper, the dynamic model of such flexible arms is developed and some of the control properties are deduced. A robust control scheme to remove the effects of friction in the joins is proposed. The control scheme consists of two nested feedback loops, an inner loop to control the position of the motor and an outer loop to control the tip position. The inner loop is described in other publications. A simple feedforward-feedback controller is designed for the outer loop to drive the beam accurately along a desired trajectory. Effects of the changes in the tip’s mass are studied. This modeling and control method is then generalized to the distributed-mass flexible beam case. Finally, experimental results are presented.

Research of Modeling and Control Method for Electromagnetic Levitation System

2014 ◽  
Vol 651-653 ◽  
pp. 812-817 ◽  
Author(s):  
Jian Guo Zheng ◽  
Zhi Gang Zou ◽  
Hui Zeng ◽  
Tian Peng He
Keyword(s):  
Control Method ◽  
State Space Model ◽  
Electromagnetic Levitation ◽  
Open Loop ◽  
Modeling And Control ◽  
Control Approach ◽  
Control Scheme ◽  
Levitation System ◽  
And Control ◽  
Assignment Scheme

There has been wide interest in the control scheme of the electromagnetic levitation system due to its disadvantages of nonlinearity and open-loop uncertainty. A typical coil-ball levitation system is used in research. The forces of the ball are analyzed and a dynamic model of the whole electromagnetic levitation system is established. Based on the nonlinear state-space model, the coil-ball system is linearized and then a LQR control approach is proposed. Simulation results show that, compared with conventional pole assignment scheme, the electromagnetic levitation system under the proposed control approach gets a better performance, including smaller overshot and faster response.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

NEURAL MODELING AND CONTROL OF DYNAMIC SYSTEMS WITH HYSTERESIS

2007 ◽  
Vol 31 (1) ◽  
pp. 127-141
Author(s):  
Yonghong Tan ◽  
Xinlong Zhao
Keyword(s):  
Dynamic Systems ◽  
Control Strategy ◽  
Neural Modeling ◽  
Modeling And Control ◽  
Control Scheme ◽  
The Neural Networks ◽  
Adaptive Control Strategy ◽  
Set Up ◽  
Modeling Strategy ◽  
And Control

A hysteretic operator is proposed to set up an expanded input space so as to transform the multi-valued mapping of hysteresis to a one-to-one mapping so that the neural networks can be applied to model of the behavior of hysteresis. Based on the proposed neural modeling strategy for hysteresis, a pseudo control scheme is developed to handle the control of nonlinear dynamic systems with hysteresis. A neural estimator is constructed to predict the system residual so that it avoids constructing the inverse model of hysteresis. Thus, the control strategy can be used for the case where the output of hysteresis is unmeasurable directly. Then, the corresponding adaptive control strategy is presented. The application of the novel modeling approach to hysteresis in a piezoelectric actuator is illustrated. Then a numerical example of using the proposed control strategy for a nonlinear system with hysteresis is presented.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

scholarly journals Hybrid modeling and control of ICPT system with synchronous three-phase triple-parallel Buck converter

2020 ◽  
Vol 7 (1) ◽  
pp. 10-18
Author(s):  
Songcen Wang ◽  
Xiaokang Wu ◽  
Ying Yang ◽  
Cong Zhu ◽  
Zhen Wu ◽  
...  
Keyword(s):  
Coupling Coefficient ◽  
Control Method ◽  
Buck Converter ◽  
Constant Voltage ◽  
Modeling And Control ◽  
Coefficient Variation ◽  
Current Sharing ◽  
Voltage Output ◽  
Three Phase ◽  
And Control

AbstractAiming at the influence of coupling coefficient variation on the output voltage of a high-power LCC-S topology inductively coupled power transfer (ICPT) system, a synchronous three-phase triple-parallel Buck converter is used as the voltage adjustment unit. The control method for the three-phase current sharing of synchronous three-phase triple-parallel Buck converter and the constant voltage output ICPT system under the coupling coefficient variation is studied. Firstly, the hybrid model consisting of the circuit averaging model of the three-phase triple-parallel Buck converter and the generalized state-space average model for the LCC-S type ICPT system is established. Then, the control methods for three-phase current sharing of the synchronous three-phase triple-parallel Buck converter and constant voltage output of ICPT system are studied to achieve the multi-objective integrated control of the system. Finally, a 3.3 kW wireless charging system platform is built, the experimental results have verified the effectiveness of the proposed modeling and control method, and demonstrated the stability of the ICPT system.

scholarly journals Dynamic Modeling and Control of a Coupled Reforming/Combustor System for the Production of H2 via Hydrocarbon-Based Fuels

Processes ◽  
2020 ◽  
Vol 8 (10) ◽  
pp. 1243
Author(s):  
Dimitris Ipsakis ◽  
Theodoros Damartzis ◽  
Simira Papadopoulou ◽  
Spyros Voutetakis
Keyword(s):  
H2 Production ◽  
Saturated Hydrocarbons ◽  
Modeling And Control ◽  
Start Up ◽  
Control Scheme ◽  
Reactor Temperature ◽  
Zero Offset ◽  
And Control ◽  
Water Gas ◽  
Reforming Reactions

The present work aims to provide insights into the dynamic operation of a coupled reformer/combustion unit that can utilize a variety of saturated hydrocarbons (HCs) with 1–4 C atoms towards H2 production (along with CO2). Within this concept, a preselected HC-based feedstock enters a steam reforming reactor for the production of H2 via a series of catalytic reactions, whereas a sequential postprocessing unit (water gas shift reactor) is then utilized to increase H2 purity and minimize CO. The core unit of the overall system is the combustor that is coupled with the reformer reactor and continuously provides heat (a) for sustaining the prevailing endothermic reforming reactions and (b) for the process feed streams. The dynamic model as it is initially developed, consists of ordinary differential equations that capture the main physicochemical phenomena taking place at each subsystem (energy and mass balances) and is compared against available thermodynamic data (temperature and concentration). Further on, a distributed control scheme based on PID (Proportional–Integral–Derivative) controllers (each one tuned via Ziegler–Nichols/Z-N methodology) is applied and a set of case studies is formulated. The aim of the control scheme is to maintain the selected process-controlled variables within their predefined set-points, despite the emergence of sudden disturbances. It was revealed that the accurately tuned controllers lead to (a) a quick start-up operation, (b) minimum overshoot (especially regarding the sensitive reactor temperature), (c) zero offset from the desired operating set-points, and (d) quick settling during disturbance emergence.

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Modeling and Control of a Rotary Crane

1985 ◽  
Vol 107 (3) ◽  
pp. 200-206 ◽  
Author(s):  
Y. Sakawa ◽  
A. Nakazumi
Keyword(s):  
Feedback Control ◽  
Equilibrium State ◽  
Open Loop ◽  
The State ◽  
Control Input ◽  
Loop Control ◽  
Modeling And Control ◽  
Control Scheme ◽  
Rotary Crane ◽  
And Control

In this paper we first derive a dynamical model for the control of a rotary crane, which makes three kinds of motion (rotation, load hoisting, and boom hoisting) simultaneously. The goal is to transfer a load to a desired place in such a way that at the end of transfer the swing of the load decays as quickly as possible. We first apply an open-loop control input to the system such that the state of the system can be transferred to a neighborhood of the equilibrium state. Then we apply a feedback control signal so that the state of the system approaches the equilibrium state as quickly as possible. The results of computer simulation prove that the open-loop plus feedback control scheme works well.

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