Convergence Analysis of a Steerable Nip Mechanism for Full Sheet Control in Printing Devices

2009 ◽  
Vol 132 (1) ◽  
Author(s):  
Edgar Ergueta ◽  
Rene Sanchez ◽  
Roberto Horowitz ◽  
Masayoshi Tomizuka
Keyword(s):  
Convergence Analysis ◽  
Local Control ◽  
Control Strategy ◽  
High Speed ◽  
State Feedback ◽  
Experimental Setup ◽  
Image Transfer ◽  
Paper Briefly ◽  
Transfer Station ◽  
Performance Specifications

Current approaches for high speed color printers require sheets be accurately positioned as they arrive to the image transfer station (ITS). This goal has been achieved by designing and building a steerable nip mechanism, which is located upstream from the ITS. This mechanism consists of two rollers that not only rotate to advance the paper along the track, but also steer the paper in the yaw direction. This paper briefly reviews the design and experimental setup of the system, and focuses on the design and analysis of a controller that precisely corrects the lateral, longitudinal, and angular positions of the sheet. The control strategy used is based on linearization by state feedback with the addition of internal loops for the local control of the actuators. This paper also provides a methodology to tune the controller parameters so that the desired performance specifications are met. The success of this mechatronic approach is corroborated through simulation and experimental results, which show that the system is able to correct sheet errors and meet all the performance specifications.

Full Sheet Control Through the Use of Steer-Able Nips

2007 ◽  
Author(s):  
Edgar I. Ergueta ◽  
Rene E. Sanchez ◽  
Roberto Horowitz ◽  
Masayoshi Tomizuka
Keyword(s):  
Control Strategy ◽  
High Speed ◽  
State Feedback ◽  
State Of The Art ◽  
Nonholonomic Constraints ◽  
System Model ◽  
Control Law ◽  
Experimental Setup ◽  
Image Transfer ◽  
Transfer Station

State of the art high speed color printers require sheets being accurately positioned as they arrive to the image transfer station (ITS). This goal has been achieved by constructing and building a steerable nips mechanism, which is located upstream from the ITS. This mechanism consists of two rollers which not only rotate to advance the paper along the track, but also steer the paper in the yaw direction. This paper presents the design, experimental setup, system model, and the control law necessary to precisely correct for the lateral and angular positions of the sheet as well as to deliver it on time to the ITS. The system model is nonlinear and subject to four nonholonomic constraints. The control strategy used is based on linearization by state feedback with the addition of internal loops for the control of the process direction velocity and steering position of the rollers. This paper also provides a formal convergence analysis for the controller designed as well as the methodology required to tune it. The success of this mechatronic approach is corroborated through simulation and experimental results, which show that the controller is able to correct sheet errors under the condition that the page has nonzero initial and final longitudinal velocities.

Mixed H2/H∞ guaranteed cost control for high speed elevator active guide shoe with parametric uncertainties

2020 ◽  
Vol 21 (5) ◽  
pp. 502
Author(s):  
Chen Chen ◽  
Ruijun Zhang ◽  
Qing Zhang ◽  
Lixin Liu
Keyword(s):  
Control Strategy ◽  
High Speed ◽  
State Feedback ◽  
Vibration Suppression ◽  
Ride Comfort ◽  
Optimization Method ◽  
State Feedback Control ◽  
Guide Rail ◽  
Vibration Displacement ◽  
Guaranteed Cost

Aiming at the phenomenon that the elevator car system generates horizontal vibration due to the unevenness of the guide rail and the guide shoe modeling uncertainty caused by friction, wear and spring aging between the rolling guide shoe and the guide rail, a mixed H2/H∞ optimal guaranteed cost state feedback control strategy is proposed. Firstly, as the high-speed elevator car system always exist the phenomenon of stiffness and damping uncertainty in the guide shoe, the LFT method is adopted to construct the state space equation of the car system with parameter uncertainty. Secondly, considering the performance indexes of horizontal acceleration at the center of the car floor and the guide shoe vibration displacement system, an optimal guaranteed performance state feedback controller is designed based on the linear convex optimization method, which to minimize H2 performance index and achieve the specified H∞ performance level. Thirdly, the free matrix is introduced to reduce the conservatism of the controller. Finally, by comparing the simulation results with other control methods under the same conditions, it is verified that the control strategy can make the car system have better vibration suppression ability, and can significantly improve the ride comfort of the elevator.

Robust H2/H∞Control Strategy for Linear Markovian Jump Systems

2014 ◽  
Vol 525 ◽  
pp. 646-652
Author(s):  
Min Bian ◽  
Qing Yun Guo
Keyword(s):  
Control Strategy ◽  
State Feedback ◽  
Control Strategies ◽  
State Feedback Control ◽  
Linear Matrix ◽  
Bounded Real Lemma ◽  
Finite State ◽  
Linear State ◽  
Feasible Solutions ◽  
Jump Systems

The robust H2/<em>H</em>∞ control strategy for a class of linear continuous-time uncertain systems with randomly jumping parameters is investigated. The transition of the jumping parameters is decided by a finite-state Markov process. The uncertainties are supposed to be norm-bounded. It is desired to design a linear state feedback control strategies such that the closed-loop system satisfies H performance and minimizes the H2 norm of the system. A sufficient condition is first established on the existence of the robust H2/<em>H</em>∞controller bases on the bounded real lemma. Then the corresponding state-feedback law is given in terms of a set of linear matrix inequalities (LMIs). It is showed that this condition is equivalent to the feasible solutions problem of LMI. Furthermore, the control strategy design problem is converted into a convex optimization problem subject to LMI constraints, which can be easily solved by standard numerical software.

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