A Robot System for the Control of Fabric Tension for Inspection

2007 ◽  
Author(s):  
E. H. K. Fung ◽  
C. W. M. Yuen ◽  
L. C. Hau ◽  
W. K. Wong ◽  
L. K. Chan
Keyword(s):  
Force Feedback ◽  
Reaction Force ◽  
Adaptive Controller ◽  
Stepper Motor ◽  
Robot System ◽  
Customer Expectation ◽  
Model Reference Adaptive System ◽  
Inspection Process ◽  
And Performance ◽  
Model Reference Adaptive

This paper describes the performance of a stepper-motor-based robot system that exerts a prescribe tension on fabrics to facilitate inspection process. In fact, inspection is an important part of quality control in the textile and clothing industry. It is a useful tool to safeguard the quality and ensure that the product can meet the customer expectation and the relevant stipulated standard. Obviously, before the automated inspection process, it is necessary to expand the fabrics being tested to have certain tension. Due to the nonlinear nature of fabric stiffness, it is essential that an adaptive force feedback control be employed to regulate the applied tension. A pair of symmetrical two-link mechanisms with a revolute joint, driven by a stepper motor, in conjunction with an adaptive controller, constitutes the robot system proposed in the present work. The two mechanisms are responsible for stretching the fabrics to be inspected, while the controller regulates the stretching force to the desired value by sensing the reaction force exerted on the links by the fabrics. In order to update the controller parameters so as to account for the nonlinear change of the fabric stiffness, a Model-Reference Adaptive System (MRAS) based on the augmented error is designed. The performance of MRAS is compared with a Proportional-plus-Integral (PI) control. A short-sleeved T-shirt made of knitted fabric is considered for the demonstration of the system. Besides, a prescribed value of tension is set to the system. Numerical simulations are conducted to illustrate the feasibility and performance of the proposed system. Successful outcomes of the present work establish a foundation for the real implementation of the hanger.

Design of a Nonlinear Adaptive Controller for an Electrohydraulic Actuator1

1998 ◽  
Vol 123 (3) ◽  
pp. 449-456 ◽  
Author(s):  
K. Ziaei ◽  
N. Sepehri
Keyword(s):  
Low Cost ◽  
Dead Zone ◽  
Flow Characteristics ◽  
Adaptive Controller ◽  
Recursive Least Squares ◽  
Plant Model ◽  
Low Performance ◽  
Improved Performance ◽  
And Performance ◽  
Model Reference Adaptive

This paper presents a new implementation of indirect model reference adaptive (MRA) control scheme for positioning of hydraulic actuators that operate by low-cost proportional valves. A proper linear discrete-time plant model is used which has dead-time and no zeros, eliminating the possibility of unstable pole-zero cancellation. The robustness of the parameter adaptation is achieved by employing the recursive least-squares algorithm in combination with a dead-zone in the adaptive law. It is shown that while the controller is adequate for hydraulic valves with linear flow characteristics, it exhibits low performance in the presence of deadband and nonlinear orifice opening characteristics of low-cost proportional valves. The linear plant model is therefore augmented by adding a static nonlinearity. The resulting nonlinear MRA controller is shown to have improved performance over its linear counterpart. Step-by-step experiments are presented to confirm the effectiveness and performance improvement of the proposed method.

Modeling, Design and Analysis of a Robot System for Garment Inspection

2009 ◽  
Author(s):  
E. H. K. Fung ◽  
Long Cheng ◽  
Y. K. Wong ◽  
X. Z. Zhang ◽  
C. W. M. Yuen ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Pid Control ◽  
Control Method ◽  
Controller Design ◽  
Adaptive Controller ◽  
Degree Of Freedom ◽  
Fuzzy Pid Control ◽  
Robot System ◽  
Non Linear ◽  
And Performance

This paper presents the design and performance of a robot system that exerts a prescribed tension on fabrics to facilitate the inspection process. The robot system consists of a 3-DOF (degree-of-freedom) robotic hanger and an adaptive controller. In the hanger design, the second link is kept vertical, while that of the previous hanger has a redundant degree of freedom. In addition, this hanger has a shoulder link and a sleeve link that provide convenience for holding the garment. In the controller design, structure friction caused by joints and belt elasticity, which is non-linear in nature, are taken into consideration. Besides, the clothing stiffness also changes non-linearly with extension, which cannot be well handled by simple proportional-integral-derivative (PID) control. Due to these points, the fuzzy logic PID controller is chosen to deal with the non-linear features in this design. After establishing the system, the performance is analyzed by computer simulation, where different conditions are applied to compare fuzzy logic control with conventional PID control. The simulation results show that the fuzzy PID control method is effective in controlling the robot hanger and regulating the garment forces.

Analysis and Performance Improvement of Induction Motor drive for Traction Application

2020 ◽  
pp. 20-30
Author(s):  
Shih-Chau Lin
Keyword(s):  
Induction Motor ◽  
Motor Drives ◽  
Voltage Source ◽  
Motor Drive ◽  
Traction Motor ◽  
Model Reference ◽  
Model Reference Adaptive System ◽  
And Performance ◽  
Torque Ripples ◽  
Model Reference Adaptive

Induction motor is widely used in many fields due to its simple structure, well-grounded operation, and small capacity of precise power. The conventional traction motor drives have been observed experimentally that there is a presence of speed deviation and torque ripples. Therefore, it becomes much essential to verify the control performance of the system by including its non- linear characteristics. To overcome the disadvantages mentioned above, the parameters of an induction motor which is most efficient will be estimated. The induction motor is dynamically modelled using this estimated parameter. So the proposed system focuses on improving the performance of traction motor drive by implementing the multilevel inverter fed sensor less induction motor using modified model reference adaptive system and compared with conventional model reference system based voltage source inverter. The simulation and hardware results will be realized for proposed system and compared with conventional system.

Author response for "Sensorless control for PMSM using model reference adaptive system"

2020 ◽  
Author(s):  
Ahmed G. Abo‐Khalil ◽  
Ali M. Eltamaly ◽  
Mamdooh S. Alsaud ◽  
Khairy Sayed ◽  
Ali S. Alghamdi
Keyword(s):  
Adaptive System ◽  
Sensorless Control ◽  
Author Response ◽  
Model Reference ◽  
Model Reference Adaptive System ◽  
Model Reference Adaptive

scholarly journals MRAS-Based Switching Linear Feedback Strategy for Sensorless Speed Control of Induction Motor Drives

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3083
Author(s):  
Mohamed Amine Fnaiech ◽  
Jaroslaw Guzinski ◽  
Mohamed Trabelsi ◽  
Abdellah Kouzou ◽  
Mohamed Benbouzid ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Induction Motor ◽  
Sliding Mode ◽  
Good Control ◽  
Motor Drives ◽  
Linear Feedback ◽  
Mode Control ◽  
Model Reference Adaptive System ◽  
Feedback Structure ◽  
Model Reference Adaptive

This paper presents a newly designed switching linear feedback structure of sliding mode control (SLF-SMC) plugged with an model reference adaptive system (MRAS) based sensorless field-oriented control (SFOC) for induction motor (IM). Indeed, the performance of the MRAS depends mainly on the operating point and the parametric variation of the IM. Hence, the sliding mode control (SMC) could be considered a good control alternative due to its easy implementation and robustness. Simulation and experimentation results are presented to show the superiority of the proposed SLF-SMC technique in comparison with the classical PI controller under different speed ranges and inertia conditions.

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