Double-Input Multi-Output Pressure Control System Based on Addressable Pressure Component

2021 ◽  
Author(s):  
Qiandiao Wei ◽  
He Xu ◽  
Siqing Chen ◽  
Weiwang Fan
Keyword(s):  
Control System ◽  
Control Method ◽  
Pressure Control ◽  
Supply Source ◽  
Single Input Single Output ◽  
Square Wave ◽  
Output Pressure ◽  
Single Output ◽  
Pressure Control System ◽  
Single Input

Abstract Soft robots driven by pressurized fluid have recently been attracted more attention and achieved a variety of innovative applications in bionics, medical surgery, rehabilitation, search, and rescue system. And they have been demonstrated to be able to perform many different tasks, especially in some conditions of demand a high degree of compliance. Generally, they consisted of multiple actuate channels that require independent works. Consequently, a mass of pressure regulators and input pipelines are demanded, which will increase the complexity of the control system. To solve this problem, we propose a new pressure control method inspired by the control bus of electronic interface technology in this paper. An addressable pressure control bus system based on band-pass valve (BPV) and square wave of pressure (control signal) was designed. It consisted of a pressure supply source and an addressing signal, they are controled by two regulators, respectively. One of the pressure pipelines serves as the control bus to transmit the control pressure signal, which plays an addressing signal role in the system. The other serves as the pressure supply source of the multi-channel actuators. The BPV can be set to different opening pressure bands to realize the setting of diverse outputs address codes on the bus. This method discovered the work mode of double-input multi-output, which will get rids of the traditional control method of single-input single-output. In this paper, we designed the BPV and tested its function. To demonstrate the feasibility of this method proposed, a control system with two output ports was established. The result has shown that the output port can be selected by the pressure square wave signal, which realizes the function of single input multiple outputs. It reduces the complexity of the control strategy of the fluid control system.

scholarly journals Comparative study of zero effects in pole-placement control system design via the shift and delta transforms

2005 ◽  
Vol 18 (3) ◽  
pp. 439-451
Author(s):  
Milica Naumovic
Keyword(s):  
Control System ◽  
System Design ◽  
Pole Placement ◽  
Control System Design ◽  
Single Input Single Output ◽  
Single Output ◽  
Continuous Time Systems ◽  
Single Input ◽  
Pole Placement Control ◽  
Time Systems

This paper deals with the special replacement of the shift operator and its associated z transform by delta operator and ? transform, respectively. The aim of the paper is to clarify the role of zeros of discretized linear single input single output continuous-time systems modeled by shift and delta operators. In particular, the effect of zero dynamics on the control system design based on classical pole-zero assignment in the case of both operators is considered. The analysis is illustrated by simulation results.

Isotropic Compliance in E(3): Feasibility and Workspace Mapping

2016 ◽  
Vol 8 (6) ◽  
Author(s):  
Matteo Verotti ◽  
Nicola P. Belfiore
Keyword(s):  
Control System ◽  
Euclidean Space ◽  
Joint Control ◽  
Control Law ◽  
Single Input Single Output ◽  
Gain Ratio ◽  
Single Output ◽  
Control Gain ◽  
Single Input ◽  
Manipulator Control

A manipulator control system, for which isotropic compliance holds in the Euclidean space E(3), can be significantly simplified by means of diagonal decoupling. However, such simplification may introduce some limits to the region of the workspace where the sought property can be achieved. The present investigation reveals how to detect which peculiar subset, among four different classes, a given manipulator belongs to. The paper also introduces the concept of control gain ratio for each specific single-input/single-output joint control law in order to limit the maximum gain required to achieve the isotropic compliance condition.

scholarly journals MIMO Passive Control Systems Are Not Necessarily Robust

2015 ◽  
Vol 2015 ◽  
pp. 1-6
Author(s):  
Jesús U. Liceaga-Castro ◽  
Irma I. Siller-Alcalá ◽  
Eduardo Liceaga-Castro ◽  
Luis A. Amézquita-Brooks
Keyword(s):  
Control System ◽  
Structure Function ◽  
Control Systems ◽  
Passive Control ◽  
Linear Control System ◽  
Linear Control ◽  
Single Input Single Output ◽  
Single Output ◽  
Single Input

Via several cases of study it is shown that a passive multivariable linear control system, contrary to its single input single output counterpart, may not be robust. Moreover, it is shown that lack of robustness can be exposed via the multivariable structure function.

Control of Exoskeletons Inspired by Fictitious Variable Gain in Human

2008 ◽  
Author(s):  
Kyoungchul Kong ◽  
Masayoshi Tomizuka
Keyword(s):  
Control System ◽  
Control Algorithm ◽  
Controller Design ◽  
Assistive Device ◽  
Single Input Single Output ◽  
Variable Gain ◽  
Single Output ◽  
Single Input ◽  
Parallel Control ◽  
The Brain

A human wearing an exoskeleton-type assistive device results in a parallel control system that includes two controllers: the human brain and a digital exoskeleton controller. Unknown and complicated characteristics of the brain dynamically interact with the exoskeleton controller which makes the controller design challenging. In this paper, the motion control system of a human is regarded as a feedback control loop that consists of a brain, muscles and the dynamics of the extended human body. The brain is modeled as a control algorithm amplified by a fictitious variable gain. The variable gain compensates for characteristic changes in the muscle and dynamics. If a human is physically impaired or subjected to demanding work, the exoskeleton should generate proper assistive forces, which is equivalent to increasing the variable gain. In this paper, a control algorithm that realizes the fictitious variable gain is designed and its performance and robustness are discussed for single-input single-output cases. The control algorithm is then verified by simulation results.

A Time Delay Controller for Systems With Unknown Dynamics

1990 ◽  
Vol 112 (1) ◽  
pp. 133-142 ◽  
Author(s):  
Kamal Youcef-Toumi ◽  
Osamu Ito
Keyword(s):  
Time Delay ◽  
Control Method ◽  
Linear Time ◽  
Structure Stability ◽  
State Variables ◽  
Single Input Single Output ◽  
Linear Time Invariant ◽  
Single Output ◽  
Single Input ◽  
Time Invariant

This paper focuses on the control of systems with unknown dynamics and deals with the class of systems described by x˙=f(x,t) + h(x,t) + B(x,t)u + d(t) where h(x,t) and d(t) are unknown dynamics and unexpected disturbances, respectively. A new control method, Time Delay Control (TDC), is proposed for such systems. Under the assumption of accessibility to all the state variables and estimates of their delayed derivatives, the TDC is characterized by a simple estimation technique that evaluates a function representing the effect of uncertainties. This is accomplished using time delay. The control system’s structure, stability and design issues are discussed for linear time-invariant and single-input-single-output systems. Finally, the control performance was evaluated through both simulations and experiments. The theoretical and experimental results indicate that this control method shows excellent robustness properties to unknown dynamics and disturbances.

A four-channel air pressure cooperative control system for 3-D bio-printing device

2021 ◽  
pp. 1-9
Author(s):  
Xiaoyan Wu ◽  
Shu Wang ◽  
Xinnan Wang ◽  
Guogeng He
Keyword(s):  
Control System ◽  
Cooperative Control ◽  
Field Experiments ◽  
Control Method ◽  
Pressure Control ◽  
Air Pressure ◽  
3D Bioprinting ◽  
Artificial Blood ◽  
Scheme Design ◽  
Pressure Control System

In recent years, the research and development of 3D bioprinting device for artificial blood vessels has attracted great attention of researchers. In this paper, the research object is the control system of 3D bioprinting device for artificial blood vessel and the four-channel air pressure cooperative control technology for 3D bioprinting device double nozzles printing is mainly studied. Through the scheme design, working principle innovation, hardware selection and air pressure output calibration experiment of four-way air pressure cooperative control system, the hardware platform of 3D bioprinting device air pressure control system is built. Then, by using the embedded TwinCAT NC PTP software platform based on EtherCAT Ethernet bus protocol, the four-channel air pressure cooperative control is programmed and field experiments are carried out, which realizes the printing process of uniform liquid output and good continuity, and meets the requirements of 3D bioprinting for printing continuity and forming quality. The study of four-channel air pressure cooperative control system in this course is a worthy of application and promotion control method.

Hydraulic Pressure Control System Simulation and Performance Test of Lower Extremity Exoskeleton

2012 ◽  
Vol 472-475 ◽  
pp. 2548-2553 ◽  
Author(s):  
Xing Xing Li ◽  
Qing Guo ◽  
Lu Lu Zhang ◽  
Hong Zhou ◽  
Xiang Gang Zhang
Keyword(s):  
Control System ◽  
Lower Extremity ◽  
Performance Test ◽  
Position Control ◽  
Control Method ◽  
Pressure Control ◽  
Frequency Domain Method ◽  
Hydraulic Pressure ◽  
Pressure Control System ◽  
And Performance

On basis of the introduction for the composition of carried-load assistance system and the control mechanism of hydraulic pressure valve for lower extremity exoskeleton, the position control loop is built. The control system is designed by frequency domain method using the PID parameters combined with lead correction network. Simulation results show that the control method can servo the angle of knee joint as human’s natural walk as well as the harmonious of man-machine moment. According to performance test of hydraulic pressure control system, the flow and pressure in piston is analyzed considering different load, the pressure of oil box and movable mode. Test results show that hydraulic pressure valve control system can realize efficiently slow walk carried 30 kilogram load, up and down stairs.

Research on Pressurizer Pressure Control System of 900MW Pressurized Water Reactor Nuclear Power Plant

2013 ◽  
Vol 718-720 ◽  
pp. 1215-1220
Author(s):  
Guo Duo Zhang ◽  
Xu Hong Yang ◽  
Si Yu Qiao ◽  
Yu Jun Wu
Keyword(s):  
Control System ◽  
Power Plant ◽  
Nuclear Power Plant ◽  
Nuclear Power ◽  
Control Method ◽  
Pressure Control ◽  
Sharp Change ◽  
Control Technology ◽  
Pressurized Water ◽  
Pressure Control System

It is of vital importance for the pressurizer to maintain the pressure of primary coolant because the sharp change of coolant pressure has a direct impact on the security of reactor. The study of pressurizers pressure control method is highly important and meaningful. This paper presents the researching and designing on pressure control system of a pressurizer implemented in a nuclear power plant. Both the present situation of the nuclear power and some relevant background have been briefly introduced. Proceeding on the records of simulation, we succeed in establishing the applied modeling of pressurizer and further propose the PID control technology working as control algorithm. The best set of controller parameters are chosen through comparing the results including regulation time, overshoot suppression and stability. On the base of such control method, we attempt to add neural network control technology to achieve further improvement, which turns out available and satisfying.

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