Coupling dynamic modeling and simulation of three-degree-of-freedom micromanipulator based on piezoelectric ceramic of fuzzy PID

2017 ◽  
Vol 31 (24) ◽  
pp. 1750140 ◽  
Author(s):  
Dongjie Li ◽  
Yu Fu ◽  
Liu Yang
Keyword(s):  
Control System ◽  
Piezoelectric Ceramic ◽  
Degree Of Freedom ◽  
Movement Direction ◽  
Fuzzy Pid ◽  
Modeling Analysis ◽  
Coupling Dynamics ◽  
Coupling Dynamic ◽  
Three Degree Of Freedom ◽  
Actual Trajectory

For further research on the microparticles trajectory in the process of micromanipulation, the paper modeled on the coupling dynamic of three-degree-of-freedom micromanipulator which is based on piezoelectric ceramic. In the micromanipulation, the transformation of certain movement direction can generate a corresponding change in the coupling in three-degree-of-freedom micromanipulator movement, the fuzzy PID method was adopted by the control system of this study, and the modeling analysis was performed on the control system. After completing the above modeling, the simulation model is built by the MATLAB Simulink software. The simulation output results are basically in accordance with the actual trajectory, which achieve the successful research purposes of coupling dynamics model for three-degree-of-freedom micromanipulator and application of fuzzy PID method.

Control System Design for AC-DC Three-Degree-of-Freedom Hybrid Magnetic Bearing

2012 ◽  
Vol 150 ◽  
pp. 144-147 ◽  
Author(s):  
Wei Yu Zhang ◽  
Ying Ruan ◽  
Xiao Yan Diao ◽  
Huang Qiu Zhu
Keyword(s):  
Control System ◽  
System Design ◽  
High Speed ◽  
Manufacturing Industry ◽  
Block Diagram ◽  
Low Cost ◽  
Magnetic Bearing ◽  
Degree Of Freedom ◽  
Control System Design ◽  
Three Degree Of Freedom

To fulfil the objective of high speed, high precision and intelligence in the modern equipment and advanced manufacturing industry, the magnetic bearing is requested to have small volume, low cost and low consumption. In this paper, an AC-DC three-degree-of-freedom hybrid magnetic bearing (AC-DC-3DOF-HMB) is studied, which integrates radial bearing and axial bearing in one of the magnetic bearing. The configuration and principle of AC-DC-3DOF-HMB are expounded, and the mathematical models of suspension forces are given. Then based on the function block diagram of AC-DC-3DOF-HMB control system, its hardware and software configuration are designed. The experiment results show that the rotor can be suspended stably with three degrees of freedom and has a good performance in anti- interference, and the feasibility of the control system design can be verified.

Three-Degree-of-Freedom Dynamic Model Based IT2RFNN Control for Gantry Position Stage

2013 ◽  
Vol 416-417 ◽  
pp. 554-558
Author(s):  
Po Huan Chou ◽  
Faa Jeng Lin ◽  
Chin Sheng Chen ◽  
Feng Chi Lee
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Adaptive Learning ◽  
Tracking Error ◽  
Degree Of Freedom ◽  
Mechanical Coupling ◽  
Control Approach ◽  
Model Based ◽  
Interval Type ◽  
Three Degree Of Freedom

A three-degree-of-freedom (3-DOF) dynamic model based interval type-2 recurrent fuzzy neural network (IT2RFNN) control system is proposed in this study for a gantry position stage. To consider the effect of inter-axis mechanical coupling, a Lagrangian equation based 3-DOF dynamic model for gantry position stage is derived first. Then, to minimize the synchronous error and tracking error of the gantry position stage, the 3-DOF dynamic model based IT2RFNN control system is proposed. In this approach, the adaptive learning algorithms of the IT2RFNN on-line are derived from the Lyapunov stability theorem. Finally, some experimental results of optical inspection application are illustrated to show the validity of the proposed control approach.

scholarly journals Adaptive Interval Type-2 Fuzzy Logic Control of a Three Degree-of-Freedom Helicopter

Robotics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 59
Author(s):  
Hicham Chaoui ◽  
Sumit Yadav ◽  
Rosita Sharif Ahmadi ◽  
Allal El Moubarek Bouzid
Keyword(s):  
Fuzzy Logic ◽  
Adaptive Control ◽  
Control System ◽  
Performance Metrics ◽  
Numerical Results ◽  
Degree Of Freedom ◽  
Adaptive Sliding Mode Control ◽  
Interval Type ◽  
Three Degree Of Freedom

This paper combines interval type-2 fuzzy logic with adaptive control theory for the control of a three degree-of-freedom (DOF) helicopter. This strategy yields robustness to various kinds of uncertainties and guaranteed stability of the closed-loop control system. Thus, precise trajectory tracking is maintained under various operational conditions with the presence of various types of uncertainties. Unlike other controllers, the proposed controller approximates the helicopter’s inverse dynamic model and assumes no a priori knowledge of the helicopter’s dynamics or parameters. The proposed controller is applied to a 3-DOF helicopter model and compared against three other controllers, i.e., PID control, adaptive control, and adaptive sliding-mode control. Numerical results show its high performance and robustness under the presence of uncertainties. To better assess the performance of the control system, two quantitative tracking performance metrics are introduced, i.e., the integral of the tracking errors and the integral of the control signals. Comparative numerical results reveal the superiority of the proposed method by achieving the highest tracking accuracy with the lowest control effort.

Modeling, Analysis and Optimization of Three Degree of Freedom Automobile Handling and Stabilities Model

2011 ◽  
Vol 128-129 ◽  
pp. 1173-1176
Author(s):  
Lei Yan Yu ◽  
Wan Zhong Zhao ◽  
Yue Jin
Keyword(s):  
Degree Of Freedom ◽  
System Stability ◽  
Graphic User Interface ◽  
Steering Angle ◽  
Hurwitz Stability ◽  
Modeling Analysis ◽  
Steer By Wire ◽  
Genetic Algorithm Method ◽  
Three Degree Of Freedom ◽  
Sensitive Parameters

Handling and stabilities is important for steer by wire (SBW) system. Firstly, a platform for SBW handling and stabilities analysis and parameter optimization with friendly graphic user interface (GUI) is built based on Matlab GUI technology. Secondly, three degree of freedom handling and stabilities model with steering angle as input is built and system stability is analyzed based on Routh-Hurwitz stability and poles methods. Then simulations are carried out to show effects of some vehicle parameters on handling and stabilities. Finally, the handling and stabilities sensitive parameters are optimized using genetic algorithm method to improve step responses and handling and stabilities.

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