Suppression of Residual Vibration in Nonlinear Systems with Temporal Variation and Uncertainty in Parameters by Elimination of the Natural Frequency Component

2021 ◽  
Author(s):  
Hiroki Mori ◽  
Kai Kurihara ◽  
Nobuyuki Sowa ◽  
Takahiro Kondou
Keyword(s):  
Temporal Variation ◽  
Natural Frequency ◽  
Low Cost ◽  
Frequency Component ◽  
Open Loop ◽  
Complete Suppression ◽  
Control Input ◽  
Modeling Error ◽  
Residual Vibration ◽  
Loop Control

Abstract A systematic approach is developed for determining a control input for the point-to-point control of an overhead crane that exhibits temporal variation of rope length in addition to damping and nonlinearity, without inducing residual vibration. Complete suppression of the residual vibration is achieved by eliminating the natural frequency component of the cargo from the apparent external force, which is defined to include the effects of damping, nonlinearity, and parameter variation. Furthermore, an effective technique previously proposed by the authors for improving robustness to the modeling error of the natural frequency is extended. Numerical simulation results show that, even when cargo is hoisted up or down during operation, the proposed method realizes accurate positioning of the cargo without inducing residual vibration and sufficiently improves robustness. To the best of the authors' knowledge, this is the first frequency-domain robust open-loop control strategy that ensures a theoretical zero amplitude for residual vibration in the absence of modeling error in nonlinear crane hoisting operation. The developed method is not only a contribution to the realization of low-cost and efficient crane hoisting operation, but is also applicable to the control of other nonlinear damped systems that include time-varying parameters.

An Integrated Design for a CNC Machine

2014 ◽  
pp. 254-265
Author(s):  
Amro Shafik ◽  
Salah Haridy
Keyword(s):  
Low Cost ◽  
Integrated Design ◽  
Numerical Data ◽  
Open Loop ◽  
Numerical Control ◽  
Future Research ◽  
Cnc Machine ◽  
Loop Control ◽  
Loop Control System ◽  
Stepper Motors

Computer Numerical Control (CNC) is a technology that converts coded instructions and numerical data into sequential actions that describe the motion of machine axes or the behavior of an end effector. Nowadays, CNC technology has been introduced to different stages of production, such as rapid prototyping, machining and finishing processes, testing, packaging, and warehousing. The main objective of this chapter is to introduce a methodology for design and implementation of a simple and low-cost educational CNC prototype. The machine consists of three independent axes driven by stepper motors through an open-loop control system. Output pulses from the parallel port of Personal Computer (PC) are used to drive the stepper motors after processing by an interface card. A flexible, responsive, and real-time Visual C# program is developed to control the motion of the machine axes. The integrated design proposed in this chapter can provide engineers and students in academic institutions with a simple foundation to efficiently build a CNC machine based on the available resources. Moreover, the proposed prototype can be used for educational purposes, demonstrations, and future research.

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.

Research and Design of Control System for a 3-DOF Hybrid Robot

2010 ◽  
Vol 43 ◽  
pp. 207-210 ◽  
Author(s):  
Ju Li ◽  
Hui Ping Shen ◽  
Y.X. Jiang ◽  
Jia Ming Deng ◽  
Shan Shu Liu ◽  
...  
Keyword(s):  
Control System ◽  
Low Cost ◽  
Hybrid Structure ◽  
Open Loop ◽  
The Body ◽  
Step Motor ◽  
Parallel Structure ◽  
Loop Control ◽  
Loop Control System ◽  
Research And Design

This paper studied a novel 3-DOF hybrid robot, and invented a new hybrid structure which was composed of 2-DOF parallel structure and 1-DOF serial structure. The structure of this mechanism was simple, stiffness and positioning accuracy was high. The control system based on ARM micro-controller was a step motor open-loop control system, which features compact and low cost while the control accuracy can be guaranteed. In this paper, the body composition of the robot was described, and its inverse kinematics were derived and further simplified. Hardware and software of the motion control system was designed in detail and experimented through prototype.

The Design of Spraying Manipulator Control System in Mines

2014 ◽  
Vol 602-605 ◽  
pp. 1157-1160
Author(s):  
Mei Yu ◽  
Guo Wei Liu ◽  
Bing Kong
Keyword(s):  
Control System ◽  
Position Control ◽  
Low Cost ◽  
Open Loop ◽  
Open Loop Control ◽  
Mining Equipment ◽  
Loop Control ◽  
Precise Position ◽  
Loop Control System ◽  
Manipulator Control

In view of the present mining spraying manipulator operation is not flexible ,spraying effect is poor, susceptible to interference and other issues, this paper studies and realizes a kind of low cost, strong practicability of spraying manipulator control system. Using S7-200PLC and 2MA860H drive to control the 86BYG250A stepper motor open-loop control system, and the precise position control is realized. By controlling of the x-y axis mine spraying manipulator. Validate the system operation is simple, highly efficient and stable, energy conservation and environmental protection, strong anti-jamming capability, it can be widely used in all kinds of mining equipment.

Wheel Slip Regulation for Heavy Commercial Road Vehicles Using Model Predictive Control Subsumed With Auto-Regressive Time-Series Modelling

2019 ◽  
Author(s):  
Pavel Vijay Gaurkar ◽  
Akhil Challa ◽  
Shankar C. Subramanian ◽  
Gunasekaran Vivekanandan ◽  
Sriram Sivaram
Keyword(s):  
Time Series ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Open Loop ◽  
Simulation Software ◽  
Control Input ◽  
Wheel Slip ◽  
Loop Control ◽  
Time Series Modelling ◽  
Auto Regressive

Abstract Wheel Slip Regulation (WSR) is one of the Active Vehicle Safety Systems (AVSSs) for maintaining vehicle stability and maneuverability during emergency braking An approach for wheel slip prediction is proposed in this paper, which involves Auto-Regressive (AR) Time-Series modelling of longitudinal vehicle acceleration. This technique allows the usage of linear longitudinal vehicle dynamics for wheel slip estimation. A wheel slip prediction model was developed considering measurements from accelerometer and wheel speed sensor. This modified the Model Predictive Control (MPC) formulation to a univariate control input problem, involving braking torque. The objective function was devised for solving a least-squares reference tracking problem. An analytical solution for the MPC optimization problem was derived and implemented towards WSR. The proposed framework was programmed in MATLAB Simulink® and co-simulated with IPG TruckMaker® (a vehicle dynamic simulation software). The algorithm was tested in a Hardware-in-Loop (HiL) setup consisting of a pneumatic air brake system interfaced with IPG TruckMaker®. Open loop studies from HiL led to the inclusion of Kalman filter for estimate tuning and PID inner loop control for brake pressure transients, which improved wheel slip regulation.

Progress of liquid crystal adaptive optics for applications in ground-based telescopes

2020 ◽  
Vol 494 (3) ◽  
pp. 3536-3540
Author(s):  
Xingyun Zhang ◽  
Zhaoliang Cao ◽  
Quanquan Mu ◽  
Dayu Li ◽  
Zenghui Peng ◽  
...  
Keyword(s):  
Energy Efficiency ◽  
Liquid Crystal ◽  
Adaptive Optics ◽  
Low Cost ◽  
Response Speed ◽  
Open Loop ◽  
Loop Control ◽  
Compact Size ◽  
Control Scheme ◽  
Resolution Imaging

ABSTRACT Liquid crystal (LC) adaptive optics systems (AOS) can potentially be used in ground-based large aperture telescopes, because of their high spatial resolution, low cost and compact size. However, their disadvantages, such as low energy efficiency and slow response speed, still hinder their application. In this paper, we demonstrate solutions to these problems. With newly synthesized fast nematic LC material and using an overdriving technique, the response time of a LC wavefront corrector was reduced to 0.75 ms. Under an open-loop control scheme, a novel optical system was designed to improve the energy efficiency of LC AOS. With those problems resolved, a LC AOS was built for a 1.23-m telescope. This system has a disturbance rejection bandwidth of 80 Hz, and could fully use the energy of 400–900 nm wavebands. Observation results showed that the diffraction limit resolution imaging of the telescope could be obtained after correction, which indicates that the LC AOS is ready to be used in ground-based telescopes for visible waveband imaging.

scholarly journals Implicit Euler Implementation of Twisting Controller and Super-Twisting Observer without Numerical Chattering: Precise Quasi-Static MEMS Mirrors Control

2019 ◽  
Vol 256 ◽  
pp. 03004 ◽  
Author(s):  
Dong Luo ◽  
Xiaogang Xiong ◽  
Shanhai Jin ◽  
Wei Chen
Keyword(s):  
Sliding Mode Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Industrial Applications ◽  
Euler Method ◽  
Open Loop ◽  
Closed Loop Control ◽  
Control Input ◽  
Loop Control ◽  
Mode Control

The quasi-static operations of MEMS mirror are very sensitive to undesired oscillations due to its very low damping. It has been shown that closed-loop control can be superior to reduce those oscillations than open-loop control in the literature. For the closed-loop control, the conventional way of implementing sliding mode control (SMC) algorithm is forward Euler method, which results in numerical chattering in the control input and output. This paper proposes an implicit Euler implementation scheme of super twisting observer and twisting control for a commercial MEMS mirror actuated by an electrostatic staggered vertical comb (SVC) drive structure. The famous super-twisting algorithm is used as an observer and twisting SMC is used as a controller. Both are discretized by an implicit Euler integration method, and their implementation algorithms are provided. Simulations verify that, as compared to traditional sliding mode control implementation, the proposed scheme reduces the chattering both in trajectory tracking output and control input in presence of model uncertainties and external disturbances. The comparison demonstrates the potential applications of the proposed scheme in industrial applications in terms of feasibility and performance.

New Electromagnetic Design of Miniature AF VCM Actuator with Low Cost

2015 ◽  
Vol 32 (4) ◽  
pp. 421-426 ◽  
Author(s):  
C.-S. Liu ◽  
L. Kuo ◽  
B.-J. Tsai
Keyword(s):  
High Performance ◽  
Closed Loop ◽  
Cell Phones ◽  
Low Cost ◽  
Voice Coil Motor ◽  
Open Loop ◽  
Closed Loop Control ◽  
Electromagnetic Design ◽  
Loop Control ◽  
Auto Focusing

AbstractRecently, compact and high-resolution camera modules with auto-focusing (AF) function have been integrated into cell phones in order to capture sharp photographs. Consumer demands AF camera modules in cell phones to have high performance with low cost. Accordingly, the present study proposes a new electromagnetic design of miniature AF voice coil motor (VCM) actuator with closed-loop control for cell phone camera modules to satisfy the requirements. The structure of the proposed AF VCM actuators was designed by using simulation methods. The performance of the proposed AF VCM actuators was demonstrated by a laboratory-built prototype. The experimental results have shown that the proposed AF VCM actuator has excellent performance with lower power consumption, higher positioning repeatability, and lower cost, when compared to previous AF VCM actuators with open-loop control or closed-loop control.

Active Damping in a Three-Axis Robotic Manipulator

1985 ◽  
Vol 107 (1) ◽  
pp. 38-46 ◽  
Author(s):  
P. Meckl ◽  
W. Seering
Keyword(s):  
Control Function ◽  
Open Loop ◽  
Optimal Time ◽  
Robot Arm ◽  
Residual Vibration ◽  
Loop Control ◽  
Time Optimal ◽  
Lumped Masses ◽  
Bang Bang Control ◽  
Cartesian Manipulator

This paper explores several methods to eliminate residual vibration of a robot arm at the end of a move, using open-loop control. The robot structure is modeled as lumped masses and springs with negligible damping, representative of a three-axis Cartesian manipulator. Vibration control is achieved using two different types of forcing functions: (1) a “bang-bang” control function for time-optimal response, and (2) a function constructed to avoid exciting resonance throughout the move. These functions are then compared in their ability to attenuate residual vibration in practice and the response time using (2) is compared with the optimal time using (1).

scholarly journals Open loop control of piezoelectric tube transducer

2018 ◽  
Vol 38 (1) ◽  
pp. 23-28 ◽  
Author(s):  
Frederik Stefanski ◽  
Bartosz Minorowicz
Keyword(s):  
Piezoelectric Actuator ◽  
Harmonic Functions ◽  
Open Loop ◽  
Control Line ◽  
Positioning Error ◽  
Open Loop Control ◽  
Hysteresis Model ◽  
Modeling Error ◽  
Loop Control ◽  
Inverse Hysteresis

Abstract This paper is focused on the open loop control of a piezoelectric tube actuator, hindered by a strong hysteresis. The actuator was distinguished with 22 % hysteresis, which hinders the positioning of piezoelectric actuator. One of the possible ways to solve this problem is application of an accurate analytical inversed model of the hysteresis in the control loop. In this paper generalized Prandtl-Ishlinskii model was used for both modeling and open loop control of the piezoelectric actuator. Achieved modeling error does not exceed max. 2.34 % of the whole range of tube deflection. Finally, the inverse hysteresis model was applied to the control line of the tube. For the same input signal (damped sine 0.2 Hz) as for the model estimation the positioning error was max. 4.6 % of the tube deflection. Additionally, for a verification reason three different complex harmonic functions were applied. For the verification functions, still a good positioning was obtained with positioning error of max.4.56 %, 6.75 %and5.6%of the tube deflection.

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