Dead-Zone ESO Based Sensorless Force/Position Control for Dynamic Contact Systems

2021 ◽  
Author(s):  
Mingchao Wang ◽  
Yuan Yuan ◽  
Huanhuan Yuan
Keyword(s):  
Position Control ◽  
Dead Zone ◽  
Dynamic Contact

scholarly journals Active Disturbance Rejection Position Synchronous Control of Dual-Hydraulic Actuators with Unknown Dead-Zones

Sensors ◽  
2020 ◽  
Vol 20 (21) ◽  
pp. 6124
Author(s):  
Lixin Wang ◽  
Dingxuan Zhao ◽  
Fucai Liu ◽  
Qian Liu ◽  
Zhuxin Zhang
Keyword(s):  
Disturbance Rejection ◽  
Position Control ◽  
Dead Zone ◽  
Lyapunov Theory ◽  
Least Square ◽  
Synchronization Control ◽  
Hydraulic Actuator ◽  
Dead Zones ◽  
Hydraulic Actuators ◽  
Active Disturbance Rejection

In this paper, an integrated control strategy of position synchronization control for dual-electro-hydraulic actuators with unknown dead-zones is proposed. The unified control scheme consists of two parts: One is adaptive dead-zone inverse controllers of each hydraulic actuator to offset the unknown dead-zones. The other is the linear active disturbance rejection controller (LADRC) for position synchronization error. First, the model of the electro-hydraulic proportional position control system (EPPS) was identified by the forgetting factor recursive least square (FFRLS) algorithm. Next, the model reference dead-zone inverse adaptive controller (MRDIAC) was developed to compensate for the delay of actuator response caused by unknown proportional valve dead-zones. Meanwhile, the validity of the adaptive law was proven by the Lyapunov theory. Therefore, the position control accuracy of each hydraulic actuator is guaranteed. Besides, to improve the precision of position synchronization control of dual-hydraulic actuators, a simple and elegant synchronous error-based LADRC was adopted, which applies the total disturbances design concept to eliminate and compensate for motion coupling rather than cross-coupling technology. The performance of the proposed control solution was investigated through extensive comparative experiments based on a hydraulic test platform. The experimental results successfully demonstrate the effectiveness and practicality of the proposed method.

scholarly journals Comparative Study Between Classical Controllers and Inverse Dead Zone Control for Position Control of a Permanent Magnet DC Motor with Dead zone

2020 ◽  
Vol 15 ◽  
Keyword(s):  
Control System ◽  
Comparative Study ◽  
Permanent Magnet ◽  
Position Control ◽  
Dead Zone ◽  
Dc Motor ◽  
Double Integral ◽  
New Approach ◽  
Integral Effect ◽  
Permanent Magnet Dc Motor

In this work, a comparative study of three control strategies for the position control of a permanent magnet DC motor with dead zone is presented. The strategies analyzed are the classical PI controller, a new approach based on a linear controller with double integral effect, and the Inverse Dead Zone approach. Through the results here exposed it is shown that the new approach based on a controller with double integral effect results in a control system capable of achieving smaller position error, reducing the undesirable stick/slip effect without inducing high frequency oscillations or chattering in the control variable. In addition, and thanks to its linear nature, it is possible to determine stability and robustness of the resulting control system by means of the classical margins of gain and phase making this approach suitable for an engineering context

FORCE AND POSITION CONTROL OF THE PNEUMATIC CYLINDERS THROUGH A MICROSCOPE WITH A CCD CAMERA

2013 ◽  
Vol 37 (3) ◽  
pp. 571-580
Author(s):  
Chen Hung I ◽  
Shih Ming Chang
Keyword(s):  
Position Control ◽  
Fuzzy Controller ◽  
Dead Zone ◽  
Ccd Camera ◽  
Visual Servo ◽  
Control Interface ◽  
Manipulation System ◽  
Force Control System ◽  
Self Tuning ◽  
Pneumatic Cylinders

In this paper, the pneumatic driven manipulation system is driven by the pneumatic cylinders. The proposed system is built by the designed pneumatic force control system and the microscope, which are integrated with the control interface. Visual C++ code from MFC is used to finish the control interface. A self tuning fuzzy controller with a dead zone compensator is designed to improve the force precision of the proposed system. From experimental results, the force error can be controlled within ±1 mN and the position error can be stayed within ±1 pixel using the visual servo.

Position control for ultrasonic motors using backstepping control and dead-zone compensation with fuzzy inference

2004 ◽  
Vol 149 (1) ◽  
pp. 69-77
Author(s):  
Tomonobu Senjyu ◽  
Tomohiro Yoshida ◽  
Katsumi Uezato ◽  
Toshihisa Funabashi
Keyword(s):  
Position Control ◽  
Fuzzy Inference ◽  
Dead Zone ◽  
Backstepping Control ◽  
Ultrasonic Motors

scholarly journals Estrategia de control para el problema de zona muerta en procesos electromecánicos

2021 ◽  
Author(s):  
◽  
Cándido Arturo Pérez Gómez
Keyword(s):  
Permanent Magnet ◽  
Position Control ◽  
Dead Zone ◽  
Double Effect ◽  
Dc Motor ◽  
Pi Controller ◽  
Pd Controller ◽  
Control Scheme ◽  
Dc Motor Control ◽  
Permanent Magnet Dc Motor

This work presents the identification and validation of a non-linear model of a permanent magnet DC motor, which includes the phenomenon of dead zone and friction, as well as the design of a linear position control for this type of device. Its main objective is to reduce the effects that these non-linearities produce in the position control of electric motors. The proposed controller has an integral double effect and a lead compensator. It is implemented in real time, through a digital control scheme, in the Quanser DC Motor Control Trainer system, which includes a Maxon brand permanent magnet DC motor. The proposed controller is compared to two of the most widely used strategies to reduce the dead zone problem: control with the use of the “inverse” dead zone and switched control. For the first one, a PI controller plus the inverse dead zone is used, while for the second one, a switched PI-PD controller is designed. The responses of both controllers are analyzed with the numerical tool Matlab®/ Simulink™.

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