Coordinated speed and position control of integrated motor-transmission system

2021 ◽  
pp. 014233122110151
Author(s):  
Wei Li ◽  
Chen Kang ◽  
Xiaoyuan Zhu
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Strategies ◽  
Axial Position ◽  
Position Tracking ◽  
Motor Speed ◽  
Displacement Control ◽  
Time Value ◽  
Dynamical Characteristics ◽  
Speed Change

In this paper, a coordinated driving motor speed and shifting motor displacement control strategy is proposed for the integrated motor-transmission (IMT) system during the gearshift process. For active speed synchronization of IMT system, speed reference to driving motor is redesigned by using a polynomial speed trajectory. Compared with conventional step speed change reference, it can help improve the ride performance of IMT system. While in the gear release as well as engagement phase, a robust optimal preview controller is developed for the shifting motor to realize rapid and reliable position tracking of the sleeve in spite of load disturbance. Based on real time value of the driving motor speed and also sleeve axial position, proposed speed and position controllers are coordinated in plan during the whole gearshift process. Co-simulations with Matlab/Simulink and AMEsim are conducted to demonstrate dynamical characteristics of the IMT system during the whole gear shifting process, in which a two-layer switching logic is built by using Matlab/Stateflow. Comparative simulation tests are carried out to show the effectiveness as well as performance of proposed control strategies.

scholarly journals Patient-Centered Robot-Aided Passive Neurorehabilitation Exercise Based on Safety-Motion Decision-Making Mechanism

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Lizheng Pan ◽  
Aiguo Song ◽  
Suolin Duan ◽  
Zhuqing Yu
Keyword(s):  
Decision Making ◽  
Control Strategy ◽  
Position Control ◽  
Impedance Control ◽  
Control Strategies ◽  
Movement Speed ◽  
Stroke Patients ◽  
Patient Centered ◽  
Motion Speed ◽  
Clinical Experiments

Safety is one of the crucial issues for robot-aided neurorehabilitation exercise. When it comes to the passive rehabilitation training for stroke patients, the existing control strategies are usually just based on position control to carry out the training, and the patient is out of the controller. However, to some extent, the patient should be taken as a “cooperator” of the training activity, and the movement speed and range of the training movement should be dynamically regulated according to the internal or external state of the subject, just as what the therapist does in clinical therapy. This research presents a novel motion control strategy for patient-centered robot-aided passive neurorehabilitation exercise from the point of the safety. The safety-motion decision-making mechanism is developed to online observe and assess the physical state of training impaired-limb and motion performances and regulate the training parameters (motion speed and training rage), ensuring the safety of the supplied rehabilitation exercise. Meanwhile, position-based impedance control is employed to realize the trajectory tracking motion with interactive compliance. Functional experiments and clinical experiments are investigated with a healthy adult and four recruited stroke patients, respectively. The two types of experimental results demonstrate that the suggested control strategy not only serves with safety-motion training but also presents rehabilitation efficacy.

A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism

2008 ◽  
Author(s):  
Edgar I. Ergueta ◽  
Robert Seifried ◽  
Roberto Horowitz
Keyword(s):  
Control Strategy ◽  
Feedback Linearization ◽  
Position Control ◽  
Control Strategies ◽  
Successful Implementation ◽  
Experimental Setup ◽  
Dynamic Feedback ◽  
Robust Approach ◽  
Internal Loops ◽  
Steerable Nips

This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on feedback linearization plus dynamic extension (dynamic feed-back linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. Not only do we prove the robustness of the second control strategy, but we also show its successful implementation.

scholarly journals Neural network–based terminal sliding mode applied to position/force adaptive control for constrained robotic manipulators

2018 ◽  
Vol 10 (6) ◽  
pp. 168781401878128 ◽  
Author(s):  
Chongzhen Cao ◽  
Fengqin Wang ◽  
Qianlei Cao ◽  
Hui Sun ◽  
Wei Xu ◽  
...  
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Position Control ◽  
Simulation Analysis ◽  
Sliding Mode ◽  
Control Strategies ◽  
Robotic Manipulators ◽  
Dynamics Simulation ◽  
Position Tracking ◽  
Terminal Sliding Mode

This study considers the control problem of constrained robotic manipulators with dynamic uncertainties. A new force/position control strategy is proposed based upon terminal sliding mode and neural network. The terminal sliding mode combines position tracking with velocity tracking, and the neural network estimates unknown dynamics. Then, an adaptive control law is utilized to ensure finite-time convergent performance of position tracking and boundedness of contacting force tracking. Compared with existing force/position control strategies, the proposed strategy ensures the convergent performance without nominal model of the system dynamics. Simulation analysis verifies that the proposed strategy is effective.

scholarly journals Study of Nonlinear Characteristics and Model Based Control for Proportional Electromagnet

2018 ◽  
Vol 2018 ◽  
pp. 1-11
Author(s):  
En-Zhe Song ◽  
Guo-Feng Zhao ◽  
Chong Yao ◽  
Zi-Kun Ma ◽  
Shun-Liang Ding ◽  
...  
Keyword(s):  
Diesel Engine ◽  
Control Strategy ◽  
Position Control ◽  
Tracking Performance ◽  
Experimental Investigations ◽  
Position Tracking ◽  
Hysteresis Phenomenon ◽  
Nonlinear Characteristics ◽  
Model Control ◽  
Accurate Position

The nonlinear characteristics of proportional electromagnet caused by hysteresis bring great difficulties on its accurate position tracking control by current. In order to enhance the practicability and reliability of long stroke electromagnet in case of position sensor fault and improve the position tracking performance during current closed-loop control, experimental investigations on the electromagnet actuator hysteresis characteristics of diesel engine governor are carried out to analyze the system dynamic features and the effects of hysteresis on actuator position tracking performance. It is clear that hysteresis can significantly hinder the accurate position control of the electromagnet actuator. Consequently, the fuel injection will be delayed, which will lead to hysteresis of engine speed control as well as deterioration of engine performance. In this paper, the hysteresis phenomenon of an actuator and its influence on control performance of engine are investigated. The model of proportional electromagnet actuator (PEA) is established and the hysteresis principle is analyzed. Then the inverse model control strategy based on neural network (NN) is proposed to linearize the transfer behavior of electromagnet and compensate for the magnet hysteresis. Rapid control prototyping (RCP) experiment based on MicroAutoBox is further implemented to validate the real-time performance of the proposed control strategy in D6114 diesel engine. The results show that the speed fluctuation (SF) under steady-state conditions (especially under idle speed condition) and the recovery time as well as the overshoot under transient conditions are significantly improved. This makes it possible to develop redundant electromagnet driving control strategy.

Position control and performance analysis of hydraulic system using two pump-controlling strategies

2018 ◽  
Vol 233 (9) ◽  
pp. 1093-1105 ◽  
Author(s):  
Gyan Wrat ◽  
Prabhat Ranjan ◽  
Mohit Bhola ◽  
Santosh Kumar Mishra ◽  
J Das
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Strategies ◽  
Speed Control ◽  
Hydraulic Systems ◽  
Proportional Integral Derivative ◽  
Proportional Integral Derivative Controller ◽  
Proportional Integral ◽  
Actuation System ◽  
Swash Plate

The role of hydraulic systems is quite evident especially in the case of heavy machineries employed in industries, where the utilisation of high forces amid large stiffness is the prerequisite. Nevertheless, there has been substantial effort put forward in the development of advanced control strategies which finally addressed the issue of the position control. Proportional–integral–derivative control strategy happens to be one among them, which is a versatile and widely renowned approach involved in the position control in this study. Although, it is quite frequently observed that the hydraulic actuation system possesses strong nonlinearities. In this article, two different actuator position control strategies, that is, swash plate control of main pump and speed control strategy of prime mover are compared. In swash plate control strategy, the proportional–integral–derivative controller adjusts the swash plate of main pump through servo mechanism, whereas in the speed control strategy, the proportional–integral–derivative controller adjusts the speed of the electric motor through variable-frequency drive. For this purpose, two MATLAB-Simulink models are developed and validated experimentally. It is found that swash plate control strategy has better dynamic and control performance than the speed control strategy catering same position demand of the linear actuator.

Finite-Time Settling Control of a Flexible Arm

1994 ◽  
Vol 208 (2) ◽  
pp. 79-87 ◽  
Author(s):  
S Choura
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Position Control ◽  
Feedforward Control ◽  
Control Strategies ◽  
State Space Model ◽  
Control Law ◽  
Flexible Beam ◽  
Flexible Arm ◽  
Finite Set

This paper considers the position control of a flexible beam attached to a rotating rigid hub. The control torque is applied at the hub through a motor. A state-space model describing the motion of the flexible beam is developed and is employed in the design of the control law. The finite-time settling control strategy that combines feedback and feedforward is applied to the beam problem. The feedback part is separately designed to resolve the issues of asymptotic stability and robustness to uncertainties. The feedforward part simultaneously suppresses the rigid-body mode and a finite set of flexible modes at the end of manoeuvre and, therefore, it is the part responsible for the finite-time settling of the beam to its final configuration. It is shown that if the finite-time settling control is compared with previously developed control strategies under the same input bound constraint, it leads to a better suppression of vibrations at the end of manoeuvre, provided that a sufficient number of flexible modes are incorporated in the computation of the feedforward control law. A robustness test is carried out to show the viability of the control strategy supported by computer simulations.

A Robust Approach to Dynamic Feedback Linearization for a Steerable Nips Mechanism

2011 ◽  
Vol 133 (2) ◽  
Author(s):  
Edgar I. Ergueta ◽  
Robert Seifried ◽  
Roberto Horowitz
Keyword(s):  
Control Strategy ◽  
Feedback Linearization ◽  
Position Control ◽  
Control Strategies ◽  
Successful Implementation ◽  
Experimental Setup ◽  
Dynamic Feedback ◽  
Robust Approach ◽  
Internal Loops ◽  
Steerable Nips

This paper presents two different control strategies for paper position control in printing devices. The first strategy is based on standard feedback linearization plus dynamic extension (dynamic feedback linearization). Even though this controller is very simple to design, we show that it is not able to handle actuator multiplicative uncertainties, and therefore, it fails when it is implemented on the experimental setup. The second strategy we present uses similar concepts, but it is more robust since feedback linearization is used only to linearize the kinematics of the system and internal loops are used to locally control the actuator’s positions and velocities. In this paper, not only do we formally prove the robustness of the second control strategy but we also show its successful implementation.

scholarly journals Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

2018 ◽  
Vol 28 (2) ◽  
pp. 309-321 ◽  
Author(s):  
Guillermo P. Falconì ◽  
Jorg Angelov ◽  
Florian Holzapfel
Keyword(s):  
Control Strategy ◽  
Attitude Control ◽  
Position Control ◽  
Fault Tolerant ◽  
Position Tracking ◽  
Control Allocation ◽  
Control Loop ◽  
Flight Tests ◽  
Specific Control ◽  
Motor Failure

Abstract This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any rotor.

scholarly journals Evaluation of a home-based 7-day infection control strategy for healthcare workers following high-risk exposure to severe acute respiratory coronavirus virus 2 (SARS-CoV-2): A cohort study

2020 ◽  
pp. 1-4
Author(s):  
Carla Benea ◽  
Laura Rendon ◽  
Jesse Papenburg ◽  
Charles Frenette ◽  
Ahmed Imacoudene ◽  
...  
Keyword(s):  
High Risk ◽  
Infection Control ◽  
Control Strategy ◽  
Healthcare Workers ◽  
Control Strategies ◽  
Risk Exposure ◽  
Nasopharyngeal Swab ◽  
Home Based ◽  
Respiratory Coronavirus ◽  
Second Wave

Abstract Objective: Evidence-based infection control strategies are needed for healthcare workers (HCWs) following high-risk exposure to severe acute respiratory coronavirus virus 2 (SARS-CoV-2). In this study, we evaluated the negative predictive value (NPV) of a home-based 7-day infection control strategy. Methods: HCWs advised by their infection control or occupational health officer to self-isolate due to a high-risk SARS-CoV-2 exposure were enrolled between May and October 2020. The strategy consisted of symptom-triggered nasopharyngeal SARS-CoV-2 RNA testing from day 0 to day 7 after exposure and standardized home-based nasopharyngeal swab and saliva testing on day 7. The NPV of this strategy was calculated for (1) clinical coronavirus disease 2019 (COVID-19) diagnosis from day 8–14 after exposure, and for (2) asymptomatic SARS-CoV-2 detected by standardized nasopharyngeal swab and saliva specimens collected at days 9, 10, and 14 after exposure. Interim results are reported in the context of a second wave threatening this essential workforce. Results: Among 30 HCWs enrolled, the mean age was 31 years (SD, ±9), and 24 (80%) were female. Moreover, 3 were diagnosed with COVID-19 by day 14 after exposure (secondary attack rate, 10.0%), and all cases were detected using the 7-day infection control strategy: the NPV for subsequent clinical COVID-19 or asymptomatic SARS-CoV-2 detection by day 14 was 100.0% (95% CI, 93.1%–100.0%). Conclusions: Among HCWs with high-risk exposure to SARS-CoV-2, a home-based 7-day infection control strategy may have a high NPV for subsequent COVID-19 and asymptomatic SARS-CoV-2 detection. Ongoing data collection and data sharing are needed to improve the precision of the estimated NPV, and here we report interim results to inform infection control strategies in light of a second wave threatening this essential workforce.

Speed regulation control of tractors’ new dual-flow transmission system based on slip rate resistance classification

2021 ◽  
pp. 095440702110105
Author(s):  
Guang Xia ◽  
Yan Xia ◽  
Xiwen Tang ◽  
Linfeng Zhao ◽  
Baoqun Sun
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Production Efficiency ◽  
Sliding Mode ◽  
Slip Rate ◽  
Speed Control ◽  
Working Environment ◽  
Vehicle Speed ◽  
Speed Change ◽  
Simulation Results

Fluctuations in operation resistance during the operating process lead to reduced efficiency in tractor production. To address this problem, the project team independently developed and designed a new type of hydraulic mechanical continuously variable transmission (HMCVT). Based on introducing the mechanical structure and transmission principle of the HMCVT system, the priority of slip rate control and vehicle speed control is determined by classifying the slip rate. In the process of vehicle speed control, the driving mode of HMCVT system suitable for the current resistance state is determined by classifying the operation resistance. The speed change rule under HMT and HST modes is formulated with the goal of the highest production efficiency, and the displacement ratio adjustment surfaces under HMT and HST modes are determined. A sliding mode control algorithm based on feedforward compensation is proposed to address the problem that the oil pressure fluctuation has influences on the adjustment accuracy of hydraulic pump displacement. The simulation results of Simulink show that this algorithm can not only accurately follow the expected signal changes, but has better tracking stability than traditional PID control algorithm. The HMCVT system and speed control strategy models were built, and simulation results show that the speed control strategy can restrict the slip rate of driving wheels within the allowable range when load or road conditions change. When the tractor speed is lower than the lower limit of the high-efficiency speed range, the speed change law formulated in this paper can improve the tractor speed faster than the traditional rule, and effectively ensure the production efficiency. The research results are of great significance for improving tractor’s adaptability to complex and changeable working environment and promoting agricultural production efficiency.

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