Control Simulation of Hydraulic Adjustment System

2017 ◽  
Author(s):  
Yu-Lun Chiang ◽  
Jen-Chen Chuang ◽  
Jia-Ying Tu
Keyword(s):  
Real Time ◽  
Dynamic Model ◽  
Design Parameters ◽  
Second Step ◽  
External Loading ◽  
Hydraulic Pressure ◽  
Control Techniques ◽  
Adjustment System ◽  
Actuation Systems ◽  
And Control

Hydraulic actuation systems are widely applied in the modern industry, such as robots, excavators, vehicle suspension systems, machine tools, and testing of structural systems, because hydraulic actuation systems are able to provide with large loading capacity. However, the design parameters and control techniques related to temperature, flow volume, flow resistance, etc., affect the stable performance of hydraulic pressure and need to be concerned with. In addition, while an unexpected external loading is applied, which makes a reaction force to the hydraulic oil and results in pressure variations, advanced real-time control techniques is required, in order to maintain a high-level stability and accuracy of the output pressure. To this end, a hydraulic power system is developed in this work, which installs two proportional valves for real-time adjustment of hydraulic pressure. In this paper, the performance compensation of hydraulic pressure involves two steps of control development; the first step is to establish the mathematical model of the hydraulic adjustment system, and the second step is to simulate the pressure response of hydraulic adjustment system with controller design. In this first step, real-time dSPACE control system is utilized to implement identification work, for the purpose of establishing a multi-input/multi-output (MIMO) dynamic model of the active hydraulic adjustment system. Then, based on the dynamic model, the second step develops a feedforward-feedback and a PID controller for the active hydraulic adjustment system; the dynamic responses and control performance are verified via numerical simulation studies.

scholarly journals Morphology independent motion retrieval and control

2009 ◽  
Vol 8 (4) ◽  
pp. 57-65 ◽  
Author(s):  
Nicolas Pronost ◽  
Franck Multon ◽  
Qilei Li ◽  
Weidong Geng ◽  
Richard Kulpa ◽  
...  
Keyword(s):  
Real Time ◽  
Virtual Human ◽  
Second Step ◽  
Large Set ◽  
Interactive Environments ◽  
Fast Motion ◽  
Motion Retrieval ◽  
And Control ◽  
Independent Motion

This paper addresses the problem of selecting and adapting a motion in order to make a virtual human interact with a user in real-time. We describe a method that is able to retrieve the most appropriate motion in interactive environments where both the constraints and the character's morphology are not known in advance. The method described here is based on a morphology-independent representation of motion to perform fast motion retargetting and retrieval. Because the size of the database is not infinite, even the best candidate motion may not satisfy precisely all the imposed constraints. As a second step of the algorithm, the selected motion is locally adapted in order to accurately satisfy these constraints. This adaptation allows dealing with a large set of possible movements even if no candidate in the database exactly fits the constraints.

An Interactive System for Wafer Emissivity Estimation as Determined in an RTP Chamber

1997 ◽  
Vol 470 ◽  
Author(s):  
Maurizio Fulco ◽  
Onofrio L. Russo ◽  
Sergey Belikov ◽  
Walter Kosonocky
Keyword(s):  
Temperature Measurement ◽  
Real Time ◽  
Design Parameters ◽  
Interactive System ◽  
Interactive Software ◽  
Temperature Uniformity ◽  
And Control ◽  
Measurement And Control ◽  
Existing Data

ABSTRACTWe demonstrate an interactive software system in which the emissivity of wafers can be estimated in situ using different models. The system allows the data taker to introduce a choice of design parameters necessary for the control of temperature uniformity. The objective of the interactive system is to obtain a better estimation of the wavelength dependent emissivity by using existing data such as integrated emissivity, for example, as input information. Results for some of the models are presented and compared to show differences in the models chosen. The principle advantage offered by the system are the likely prospects of a realistic improvement and confident assessment for real time temperature measurement and control in an RTP environment.

scholarly journals REGARDING THE QUALITY OF ASSEMBLY OF THE SCREW CONNECTIONS OF THE MOUNTING ASSEMBLY OF BALL BEARINGS

2021 ◽  
Vol 3 (163) ◽  
pp. 12-15
Author(s):  
V. Lus’
Keyword(s):  
Dynamic Model ◽  
Primary Objective ◽  
Design Parameters ◽  
Ball Bearings ◽  
Threaded Connection ◽  
Vibration Tests ◽  
Technological Frame ◽  
And Control

Application of method of vibrodiagnostics is based on the presence of cross-correlation dependences of dynamic descriptions of all knots from contact pressure in connection through the change of inflexibility of joints. The change of inflexibility of separate elements causes the change of the resulted inflexibility of knot, and at the same time and characteristic it to dynamic descriptions of the artificially created oscillation field: frequencies and amplitudes of resonance vibrations, indexes of damping, phase correlations. There is a task of determination of method of control of the most responsible technological frame-clamping operations at making of such objects: quality of contact connections, ball-bearing knots, fixing of previous pull of ball-bearings and control of isotropicness, inflexibility and dissipative descriptions of the system of pendant of rotor at all stages of drafting, including in the functional state. The primary objective of this work is research of question of influence of non-perfect resiliency and different inflexibility of the supporting bearings on the dynamic reaction of object at external oscillation excitation, determination of estimation of the different inflexibility bearings, determination of accordance of axial inflexibility of ball-bearings supports, them by a basic value. The dynamic model of knot and certain functions of influence of parameters of the system is considered on high-quality indexes. The dynamic model of precision rotor system (PRS) is investigated. Vibration tests at the stage of assembling the structure of the ORS showed that in the process of assembling the elements change the natural frequencies of the system and the quality factor of the oscillating circuits. The resulted dependences allow giving an estimation degree of non-linearity of resilient description and, as a result, different inflexibility of bearings supports as a result of oscillation researches. The sensitivity functions of the design parameters of the complex press-threaded connection in relation to the vibration dynamic parameters – frequencies and amplitudes of resonant oscillations – do not differ qualitatively from those obtained previously.

Concurrent Design Optimization of Mechanical Structure and Control for High Speed Robots

1994 ◽  
Vol 116 (3) ◽  
pp. 344-356 ◽  
Author(s):  
Jahng-Hyon Park ◽  
Haruhiko Asada
Keyword(s):  
Dynamic Model ◽  
High Speed ◽  
Structural Parameters ◽  
Integrated Design ◽  
Settling Time ◽  
Design Parameters ◽  
Concurrent Design ◽  
Programming Technique ◽  
Mechanical Structure ◽  
And Control

A concurrent design method of mechanical structure and control is developed for two-link high speed robots. An integrated design approach to achieve high speed positioning is explored, in which comprehensive design parameters describing arm link geometry, actuator locations, and feedback gains are optimized with respect to the settling time of the system. First, a two-link, nonrigid arm is analyzed and a simple dynamic model representing rapid positioning processes is obtained. Optimal feedback gains minimizing the settling time are obtained as functions of structural parameters involved in the dynamic model. The structural parameters are then optimized using a nonlinear programming technique in order to obtain an overall optimal performance. Based on the optimal design, a prototype high speed robot is built and tested. The resultant arm design shows an outstanding performance, which is otherwise unattainable if the structure and control are designed separately.

UNDERACTUATED HAND DYNAMIC MODELING, ITS REAL-TIME SIMULATION, AND CONTROL

2010 ◽  
Vol 07 (04) ◽  
pp. 609-634 ◽  
Author(s):  
HAI HUANG ◽  
YONG-JIE PANG ◽  
JIANG LI ◽  
SHAO-WEI FAN ◽  
XIN-QING WANG ◽  
...  
Keyword(s):  
Real Time ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Impedance Control ◽  
Differential Algebraic Equations ◽  
Algebraic Equations ◽  
Inverse Dynamic ◽  
Time Dynamic ◽  
Simulation And Control ◽  
And Control

The forward and inverse dynamic models of the underactuated 2-DOF finger have been established in this article based on virtual spring approach. This approach not only avoids the solution of differential-algebraic equations but also leads to a completely decoupled dynamic model that is ideal for directly inverse dynamic analysis, real-time dynamic simulation and control. To verify this approach, an underactuated 3-joint finger has been brought forward. Simulation results from Matlab/Simulink are consistent with those obtained from ADAMS grasp simulations. For the hand real-time dynamic control, the velocity observer has been established based on the dynamic model, the adaptive curve fitting with the observer has obtained precise velocity signals, made up the uncertain parameters such as torsion spring, inertial, damps, etc. and achieved ideal results. By applying dynamics model and observer, the force-based impedance control can realize more accurate and stable force control during grasp.

Microstructural investigation of surface roughness in MBE-grown AlAs

1995 ◽  
Vol 53 ◽  
pp. 454-455
Author(s):  
R. Rajesh ◽  
R. Droopad ◽  
C. H. Kuo ◽  
R. W. Carpenter ◽  
G. N. Maracas
Keyword(s):  
Thin Film ◽  
Real Time ◽  
Growth Control ◽  
Native Oxide ◽  
Effusion Cell ◽  
Surface Oxide Layer ◽  
Microstructural Investigation ◽  
Mbe Growth ◽  
Film Substrate ◽  
And Control

Knowledge of material pseudodielectric functions at MBE growth temperatures is essential for achieving in-situ, real time growth control. This allows us to accurately monitor and control thicknesses of the layers during growth. Undesired effusion cell temperature fluctuations during growth can thus be compensated for in real-time by spectroscopic ellipsometry. The accuracy in determining pseudodielectric functions is increased if one does not require applying a structure model to correct for the presence of an unknown surface layer such as a native oxide. Performing these measurements in an MBE reactor on as-grown material gives us this advantage. Thus, a simple three phase model (vacuum/thin film/substrate) can be used to obtain thin film data without uncertainties arising from a surface oxide layer of unknown composition and temperature dependence.In this study, we obtain the pseudodielectric functions of MBE-grown AlAs from growth temperature (650°C) to room temperature (30°C). The profile of the wavelength-dependent function from the ellipsometry data indicated a rough surface after growth of 0.5 μm of AlAs at a substrate temperature of 600°C, which is typical for MBE-growth of GaAs.

Adaptive Signal Analysis and Interpretation for Real-time Intelligent Patient Monitoring

1994 ◽  
Vol 33 (01) ◽  
pp. 60-63 ◽  
Author(s):  
E. J. Manders ◽  
D. P. Lindstrom ◽  
B. M. Dawant
Keyword(s):  
Computer Architecture ◽  
Real Time ◽  
Data Abstraction ◽  
Monitoring Strategy ◽  
Intelligent Monitoring ◽  
Patient Status ◽  
On Line ◽  
Main Components ◽  
And Control ◽  
Adaptive Signal

Abstract:On-line intelligent monitoring, diagnosis, and control of dynamic systems such as patients in intensive care units necessitates the context-dependent acquisition, processing, analysis, and interpretation of large amounts of possibly noisy and incomplete data. The dynamic nature of the process also requires a continuous evaluation and adaptation of the monitoring strategy to respond to changes both in the monitored patient and in the monitoring equipment. Moreover, real-time constraints may imply data losses, the importance of which has to be minimized. This paper presents a computer architecture designed to accomplish these tasks. Its main components are a model and a data abstraction module. The model provides the system with a monitoring context related to the patient status. The data abstraction module relies on that information to adapt the monitoring strategy and provide the model with the necessary information. This paper focuses on the data abstraction module and its interaction with the model.

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