Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots

1994 ◽  
Vol 116 (3) ◽  
pp. 344-356 ◽  
Author(s):  
Jahng-Hyon Park ◽  
Haruhiko Asada
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Structural Parameters ◽  
Integrated Design ◽  
Settling Time ◽  
Design Parameters ◽  
Concurrent Design ◽  
Programming Technique ◽  
Mechanical Structure ◽  
And Control

A concurrent design method of mechanical structure and control is developed for two-link high speed robots. An integrated design approach to achieve high speed positioning is explored, in which comprehensive design parameters describing arm link geometry, actuator locations, and feedback gains are optimized with respect to the settling time of the system. First, a two-link, nonrigid arm is analyzed and a simple dynamic model representing rapid positioning processes is obtained. Optimal feedback gains minimizing the settling time are obtained as functions of structural parameters involved in the dynamic model. The structural parameters are then optimized using a nonlinear programming technique in order to obtain an overall optimal performance. Based on the optimal design, a prototype high speed robot is built and tested. The resultant arm design shows an outstanding performance, which is otherwise unattainable if the structure and control are designed separately.

Experimental validation on the integrated design and control of a parallel robot

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 173-181 ◽  
Author(s):  
Qing Li
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Dynamic Models ◽  
Integrated Design ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Approximation Techniques ◽  
Control Approach ◽  
Modeling Errors ◽  
And Control

Due to the demands from the robotic industry, robot structures have evolved from serial to parallel. The control of parallel robots for high performance and high speed tasks has always been a challenge to control engineers. Following traditional control engineering approaches, it is possible to design advanced algorithms for parallel robot control. These approaches, however, may encounter problems such as heavy computational load and modeling errors, to name it a few. To avoid heavy computation, simplified dynamic models can be obtained by applying approximation techniques, nevertheless, performance accuracy will suffer due to modeling errors. This paper suggests applying an integrated design and control approach, i.e., the Design For Control (DFC) approach, to handle this problem. The underlying idea of the DFC approach can be illustrated as follows: Intuitively, a simple control algorithm can control a structure with a simple dynamic model quite well. Therefore, no matter how sophisticate a desired motion task is, if the mechanical structure is designed such that it results in a simple dynamic model, then, to design a controller for this system will not be a difficult issue. As such, complicated control design can be avoided, on-line computation load can be reduced and better control performance can be achieved. Through out the discussion in the paper, a 2 DOF parallel robot is redesigned based on the DFC concept in order to obtain a simpler dynamic model based on a mass-balancing method. Then a simple PD controller can drive the robot to achieve accurate point-to-point tracking tasks. Theoretical analysis has proven that the simple PD control can guarantee a stable system. Experimental results have successfully demonstrated the effectiveness of this integrated design and control approach.

Integrated design optimization of actuator structural parameters and control voltages for morphing structural shapes

2014 ◽  
Vol 22 (6) ◽  
pp. 1538-1546
Author(s):  
高仁璟 GAO Ren-jing ◽  
张莹 ZHANG Ying ◽  
吴书豪 WU Shu-hao ◽  
刘书田 LIU Shu-tian
Keyword(s):  
Design Optimization ◽  
Structural Parameters ◽  
Integrated Design ◽  
And Control

Aspects Regarding Pneumatic System Simulated Control

2010 ◽  
Vol 166-167 ◽  
pp. 291-296 ◽  
Author(s):  
Rares Ciprian Mîndru ◽  
Vistrian Maties ◽  
Ciprian Lapusan ◽  
Ioan Adrian Cosma
Keyword(s):  
Differential Equations ◽  
High Speed ◽  
Integrated Design ◽  
Control Algorithms ◽  
Pneumatic Actuators ◽  
Positioning Systems ◽  
Electromagnetic Valve ◽  
Modeling Simulation ◽  
Mathematical Analyses ◽  
And Control

The paper proposes a large approach to pneumatic systems starting from the mathematical laws, written in the form of differential equations, which govern the operation of pneumatic systems and continuing with the simulation model. The concept of integrated design includes all approaches, needed for an optimal and deep system understanding, such as modeling, simulation and control. Pneumatic actuators have a nonlinear functionality because of air compressibility, the existing frictions and the valves nonlinearities. Because of these, they are used in high speed applications and simple positioning systems. Thus, the mathematical analyses of pneumatic systems have received a special attention. The differential equations were implemented in Matlab Simulink, and the model input represents the voltage on the electromagnetic valve, and the output seen on the "scope" represents the movement of the piston pneumatic axis. Some control algorithms are implemented and applied to the model and seen the basic differences.

scholarly journals Research of Jiles-Atherton Dynamic Model in Giant Magnetostrictive Actuator

2016 ◽  
Vol 2016 ◽  
pp. 1-8
Author(s):  
Yongguang Liu ◽  
Xiaohui Gao ◽  
Chunxu Chen
Keyword(s):  
Mathematical Model ◽  
Dynamic Model ◽  
Control Strategies ◽  
Structural Parameters ◽  
Hysteresis Loops ◽  
Structural Dynamic ◽  
Magnetostrictive Actuator ◽  
Output Characteristics ◽  
And Control ◽  
Minor Hysteresis Loops

Due to the existence of multicoupled nonlinear factors in the giant magnetostrictive actuator (GMA), building precise mathematical model is highly important to study GMA’s characteristics and control strategies. Minor hysteresis loops near the bias magnetic field would be often applied because of its relatively good linearity. Load, friction, and disc spring stiffness seriously affect the output characteristics of the GMA in high frequency. Therefore, the current-displacement dynamic minor loops mathematical model coupling of electric-magnetic-machine is established according to Jiles-Atherton (J-A) dynamic model of hysteresis material, GMA structural dynamic equation, Ampere loop circuit law, and nonlinear piezomagnetic equation and demonstrates its correctness and effectiveness in the experiments. Finally, some laws are achieved between key structural parameters and output characteristics of GMA, which provides important theoretical foundation for structural design.

Active Control of a High-Speed Pantograph

1997 ◽  
Vol 119 (1) ◽  
pp. 1-4 ◽  
Author(s):  
D. N. O’Connor ◽  
S. D. Eppinger ◽  
W. P. Seering ◽  
D. N. Wormley
Keyword(s):  
Dynamic Model ◽  
Active Control ◽  
Contact Force ◽  
High Speed ◽  
High Speed Train ◽  
Single Measurement ◽  
Force Variation ◽  
Catenary System ◽  
And Performance ◽  
And Control

The design and performance of an active controller for a pantograph which collects current for a high-speed train are considered. A dynamic model of the pantograph/catenary system is described and control objectives are established. A design which incorporates a frame-actuated controller and requires only a single measurement is described. Over an array of train speeds, the contact force variation with the actively controlled pantograph is 50 percent less than for the equivalent passive pantograph system.

Train delay propagation under random interference on high-speed rail network

2019 ◽  
Vol 30 (08) ◽  
pp. 1950059
Author(s):  
Ziyan Feng ◽  
Chengxuan Cao ◽  
Yutong Liu
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Sensitivity Analyses ◽  
High Speed Rail ◽  
Control Policies ◽  
Passenger Train ◽  
Delay Propagation ◽  
Rail Network ◽  
Railway Traffic ◽  
And Control

To simulate passenger train movements on the high-speed rail network, this paper proposes a new dynamic model based on the discrete time method and provides some efficient control policies correspondingly. Besides that, an improved minimum safe headway in the moving-block system on the high-speed rail network is presented. Using the proposed method, the dynamic characteristics of railway traffic flow are analyzed under random interferences on the high-speed rail network. Then, some sensitivity analyses are implemented to investigate the propagation features of delays under different interferences. The results indicate that the proposed dynamic model and control policies for the passenger train movements on the high-speed rail network are effective and can be a fundamental research for subsequent research of delay propagation, rerouting and rescheduling problems.

Verification of a Wheeled Mobile Robot Dynamic Model and Control Ramifications

1999 ◽  
Vol 121 (1) ◽  
pp. 58-63 ◽  
Author(s):  
Daehie Hong ◽  
Steven A. Velinsky ◽  
Xin Feng
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Kinematic Model ◽  
High Load ◽  
Wheeled Mobile Robots ◽  
Model Based Control ◽  
Practical Applications ◽  
High Speeds ◽  
Kinematic Models ◽  
And Control

For low speed, low acceleration, and lightly loaded applications, kinematic models of Wheeled Mobile Robots (WMRs) provide reasonably accurate results. However, as WMRs are designed to perform more demanding, practical applications with high speeds and/or high loads, kinematic models are no longer valid representations. This paper includes experimental results for a heavy, differentially steered WMR for both loaded and unloaded conditions. These results are used to verify a recently developed dynamic model which includes a complex tire representation to accurately account for the tire/ground interaction. The dynamic model is then exercised to clearly show the inadequacy of kinematic models for high load and/or high speed conditions. Furthermore, through simulation, the failure of kinematic model based control for such applications is also shown.

A Convex Approach Solving Simultaneous Mechanical Structure and Control System Design Problems With Multiple Closed-loop Performance Specifications

2004 ◽  
Vol 127 (1) ◽  
pp. 57-68 ◽  
Author(s):  
Ke Fu ◽  
James K. Mills
Keyword(s):  
System Design ◽  
Transfer Matrix ◽  
Closed Loop ◽  
Mechanical Design ◽  
Design Method ◽  
Convex Combination ◽  
Integrated Design ◽  
Design Parameters ◽  
Performance Specifications ◽  
And Control

In this paper, a new integrated design method, referred to as the extended multiple simultaneous specification (EMSS) method, is proposed to solve simultaneous mechanical structure and control system design problems in which a set of n multiple closed-loop performance specifications must be simultaneously satisfied. To utilize this approach, all closed-loop performance specifications considered must have the property that they are convex with respect to the closed-loop system transfer matrix. With the proposed approach, a simply implemented two-stage design approach is used to determine a set of open-loop mechanical system design parameters and a closed-loop controller which simultaneously satisfies a set of n closed-loop performance specifications. In the first stage, for each closed-loop performance specification, one “sample system,” i.e., the closed-loop system with one set of mechanical design parameters with a closed-loop controller chosen from the set of all linear controllers, is determined by trial and error, such that the specification is satisfied. In the second stage, the transfer matrix of the final system, which satisfies all n performance specifications, is determined through the convex combination of the transfer matrices of n sample systems. A linear programming problem is solved to give the combination vector for this convex combination. With the closed-loop transfer matrix given, the mechanical design parameters, the closed-loop controller structure and its gains, are solved algebraically. In this paper, we establish conditions for the existence of a solution to this integrated design problem as well as prove that the EMSS approach retains the stability properties of the sample systems. Experimental results of the EMSS method, carried out on a linear positioning system are given, verifying the effectiveness of the proposed method. We note that the proposed EMSS method works well when the number of design parameters to be determined is small. Further, the proposed EMSS method also has some utility as a controller design method, to determine a closed-loop controller that satisfies a set of n multiple closed-loop performance specifications, given a fixed mechanical system structure.

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