Integrated Design and Control for a Programmable Four-Bar Linkage

1999 ◽  
Author(s):  
Q. Li ◽  
W. J. Zhang ◽  
L. S. Guo
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Design Methodology ◽  
Motion Tracking ◽  
Closed Loop ◽  
Controller Design ◽  
Integrated Design ◽  
Dynamic Performances ◽  
And Control ◽  
Four Bar Linkage

Abstract As the demand increases for machines of high accuracy, high speed and high stiffness, programmable closed-loop linkages emerge in the development of modern machinery. A mechatronic design methodology is proposed in this paper for the integrated design of mechanical structure and control algorithm for a programmable closed-loop mechanism system. This design methodology suggests a negative mass redistribution scheme, which follows the principle of a shaking force/shaking moment balancing scheme, for the modification of an existing four-bar mechanism, with the aim to obtain a simple system dynamic model and thus to facilitate controller design. In consequence, motion tracking performance and vibration behavior of the linkage system are significantly improved by simply applying a conventional PD control algorithm. The dynamic performances are further improved by using a model-based controller. The effectiveness of the proposed methodology has been verified by simulation studies.

Integrated Design and PD Control of High-Speed Closed-loop Mechanisms

2002 ◽  
Vol 124 (4) ◽  
pp. 522-528 ◽  
Author(s):  
F. X. Wu ◽  
W. J. Zhang ◽  
Q. Li ◽  
P. R. Ouyang
Keyword(s):  
High Speed ◽  
Closed Loop ◽  
Controller Design ◽  
Mechanical Design ◽  
Integrated Design ◽  
Pd Controller ◽  
Pd Control ◽  
Link Mechanism ◽  
Mass Redistribution ◽  
The Stability

The performance of an electromechanical system not only depends on its controller design, but also on the design of its mechanical structure. In order to achieve the excellent performance of the four-bar-link mechanism by employing the simple PD control, we redesign the structure of the four-bar-link mechanism by a mass-redistribution scheme to simplify the dynamic model. Theoretically, we analyze the stability of the closed-loop system consisting of the PD controller and several kinds of four-bar-link mechanisms, and discuss the relations between the performance of the PD controller and its gains and the mechanical design. The obtained results show that the performance of the PD controller may be significantly improved by using the methodology of Design For Control (DFC). The effectiveness of the proposed methodology has also been verified by some simulation studies.

Integrated design of mechanical structure and control algorithm for a programmable four-bar linkage

1999 ◽  
Vol 4 (4) ◽  
pp. 354-362 ◽  
Author(s):  
W.J. Zhang ◽  
Q. Li ◽  
L.S. Guo
Keyword(s):  
Control Algorithm ◽  
Integrated Design ◽  
Mechanical Structure ◽  
And Control ◽  
Four Bar Linkage

scholarly journals Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

2021 ◽  
Vol 26 (1) ◽  
pp. 21
Author(s):  
Ahmad Taher Azar ◽  
Fernando E. Serrano ◽  
Nashwa Ahmad Kamal
Keyword(s):  
Design Methodology ◽  
Closed Loop ◽  
Complex Analysis ◽  
Controller Design ◽  
Filter Design ◽  
Design Procedure ◽  
Elliptic Functions ◽  
Loop System ◽  
Closed Loop System ◽  
Loop Shaping

In this paper, a loop shaping controller design methodology for single input and a single output (SISO) system is proposed. The theoretical background for this approach is based on complex elliptic functions which allow a flexible design of a SISO controller considering that elliptic functions have a double periodicity. The gain and phase margins of the closed-loop system can be selected appropriately with this new loop shaping design procedure. The loop shaping design methodology consists of implementing suitable filters to obtain a desired frequency response of the closed-loop system by selecting appropriate poles and zeros by the Abel theorem that are fundamental in the theory of the elliptic functions. The elliptic function properties are implemented to facilitate the loop shaping controller design along with their fundamental background and contributions from the complex analysis that are very useful in the automatic control field. Finally, apart from the filter design, a PID controller loop shaping synthesis is proposed implementing a similar design procedure as the first part of this study.

High-Performance Motion Control With Slosh: A Constrained Sliding Mode Approach

2008 ◽  
Author(s):  
Hanz Richter ◽  
Kedar B. Karnik
Keyword(s):  
High Speed ◽  
High Performance ◽  
Design Methodology ◽  
Closed Loop ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Rectilinear Motion ◽  
Industrial Setting ◽  
Open Container ◽  
Nominal Performance

The problem of controlling the rectilinear motion of an open container without exceeding a prescribed liquid level and other constraints is considered using a recently-developed constrained sliding mode control design methodology based on invariant cylinders. A conventional sliding mode regulator is designed first to address nominal performance in the sliding mode. Then an robustly-invariant cylinder is constructed and used to describe the set of safe initial conditions from which the closed-loop controller can be operated without constraint violation. Simulations of a typical transfer illustrate the usefulness of the method in an industrial setting. Experimental results corresponding to a high-speed transfer validate the theory.

Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Author(s):  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Machine Tool ◽  
Dynamic Modeling ◽  
Design Methodology ◽  
Controller Design ◽  
Convex Combination ◽  
Control Design ◽  
Milling Machine ◽  
Modeling And Control ◽  
Kinematic Mechanisms ◽  
And Control

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

A New Iterative Identification and Control Method of Closed-Loop Power System Based on Ambient Signals

2015 ◽  
Vol 798 ◽  
pp. 261-265
Author(s):  
Miao Yu ◽  
Chao Lu
Keyword(s):  
Power System ◽  
Closed Loop ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Stability Margin ◽  
System Stability ◽  
Iterative Identification ◽  
Effective Performance ◽  
And Control

Identification and control are important problems of power system based on ambient signals. In order to avoid the model error influence of the controller design, a new iterative identification and control method is proposed in this paper. This method can solve model set and controller design of closed-loop power system. First, an uncertain model of power system is established. Then, according to the stability margin of power system, stability theorem is put forward. And then controller design method and the whole algorithm procedure are given. Simulation results show the effective performance of the proposed method based on the four-machine-two-region system.

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.

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.

High Speed Weld Control System of Dual-Bypass MIG Based on LabVIEW

2010 ◽  
Vol 139-141 ◽  
pp. 1852-1855
Author(s):  
Cheng Xue ◽  
Yu Shi ◽  
Ding Fan ◽  
Hao Zhong ◽  
Ming Xiao Shi
Keyword(s):  
Control System ◽  
High Speed ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Mig Welding ◽  
Loop Control ◽  
Weld Formation ◽  
And Control ◽  
Control Output ◽  
Test Result

Dual-bypass MIG welding (DB-GMAW) is a new kind of high speed MIG welding with three arcs. In order to monitor the weld process and control it, a high speed weld system of DB-GMAW was built. The system was run by LabVIEW programs, including getting data of system and control output signals. The test result of system showed that all equipments could be used in the same time. Beside images of weld pool and arc, the weld voltages and currents of every part had been acquired. The signals of bypass current and weld speed also had been input TIG welding sources and worktable motor successfully. Meanwhile, the high speed weld formation had a good quality, and all of these established the closed-loop control of high speed DB-GMAW.

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