Dynamic modeling and control of a cable-driven parallel mechanism with a spring spine

2017 ◽  
Vol 231 (21) ◽  
pp. 3940-3958 ◽  
Author(s):  
Leijie Jiang ◽  
Bingtuan Gao ◽  
Zhenyu Zhu
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Linear Quadratic ◽  
Linear Quadratic Optimal Control ◽  
Modeling And Control ◽  
Assumed Mode Method ◽  
Lagrange’S Equation ◽  
Fixed Base ◽  
Flexible Deformation ◽  
And Control

This paper presents dynamic model and control system designing of a cable-driven flexible mechanism, which is composed of a moving platform, a fixed base, a column compression coil spring and three driving cables. The deformation of lateral dynamic bend for the spring is described by using the coupling theory of the rigid body’s plane rotary movement and the flexible body’s flexible deformation. Based on the description of the deformation of lateral dynamic bend for the flexible spring, the assumed mode method (AMM) and Lagrange’s equation are applied to the formulation of the mechanism’s dynamic model. Then, two system controllers are designed by using the linear quadratic optimal control (LQOC) method. Finally, the analyses of the simulation and the experiment are presented to validate the availability of the theoretical model for control and the proposed control method.

Modeling and control of a mobile manipulator

Robotica ◽  
1998 ◽  
Vol 16 (6) ◽  
pp. 607-613 ◽  
Author(s):  
J. H. Chung ◽  
S. A. Velinsky
Keyword(s):  
Dynamic Model ◽  
Control Method ◽  
Harmful Effect ◽  
Euler Method ◽  
Friction Model ◽  
Mobile Manipulator ◽  
Wheel Slip ◽  
Modeling And Control ◽  
Control Approach ◽  
And Control

This paper concerns the modeling and control of a mobile manipulator which consists of a robotic arm mounted upon a mobile platform. The equations of motion are derived using the Lagrange-d'Alembert formulation for the nonholonomic model of the mobile manipulator. The dynamic model which considers slip of the platform's tires is developed using the Newton-Euler method and incorporates Dugoff's tire friction model. Then, the tracking problem is investigated by using a well known nonlinear control method for the nonholonomic model. The adverse effect of the wheel slip on the tracking of commanded motion is discussed in the simulation. For the dynamic model, a variable structure control approach is employed to minimize the harmful effect of the wheel slip on the tracking performance. The simulation results demonstrate the effectiveness of the proposed control algorithm.

Research of Trajectory Tracking Control of Cruise Missile Based on Observer

2012 ◽  
Vol 184-185 ◽  
pp. 1599-1602
Author(s):  
Bo Hao ◽  
Fan Li ◽  
Jian Hui Zhao
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Control Method ◽  
State Feedback Control ◽  
Cruise Missile ◽  
Linear Quadratic ◽  
Trajectory Tracking Control ◽  
Linear Quadratic Optimal Control ◽  
Full State Feedback ◽  
And Control

To achieve cruise missile accurate trajectory tracking control, an observer-based tracking control method is designed. An observer is developed to estimate the states and control signals of desired trajectory as the inputs of the tracking controller. The linear quadratic optimal control is used to realize full-state feedback control for trajectory tracking. A certain cruise missile is used for the tracking simulation and the result shows satisfactory performance, the control method is simple and suitable for engineering applications.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Multivariable modeling and control of an activated sludge process

1998 ◽  
Vol 37 (12) ◽  
pp. 149-156 ◽  
Author(s):  
Carl-Fredrik Lindberg
Keyword(s):  
Activated Sludge ◽  
Nitrate Concentration ◽  
State Space Model ◽  
Activated Sludge Process ◽  
Invariant State ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Space Model ◽  
And Control ◽  
Time Invariant

This paper contains two contributions. First it is shown, in a simulation study using the IAWQ model, that a linear multivariable time-invariant state-space model can be used to predict the ammonium and nitrate concentration in the last aerated zone in a pre-denitrifying activated sludge process. Secondly, using the estimated linear model, a multivariable linear quadratic (LQ) controller is designed and used to control the ammonium and nitrate concentration.

The Modeling and Control of the Hydraulic Servo System by Using On-Off Valve

2000 ◽  
Author(s):  
Xuanyin Wang
Keyword(s):  
Servo System ◽  
Mathematic Model ◽  
Hydraulic Cylinder ◽  
Servo Control ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Hydraulic Servo ◽  
Self Tuning ◽  
Hydraulic Servo System ◽  
And Control

Abstract This paper researches on the hydraulic servo system by using ordinary on-off valves. The mathematic model of an asymmetric hydraulic cylinder servo control system is built, and its characteristic is analysed here. To reduce the static and dynamic characteristic differences between forward and reverse motion of asymmetric cylinder, and improve system’s performance, a self-tuning linear quadratic gaussian optimum controller (SLQG) is designed successful. In the end, an asymmetric hydraulic cylinder servo system of paint robot is researched. The result shows that the above method is effective.

Modeling and Control of a Complex Interacting Process

2011 ◽  
Vol 403-408 ◽  
pp. 3758-3762
Author(s):  
Subhajit Patra ◽  
Prabirkumar Saha
Keyword(s):  
Storage System ◽  
Linear Quadratic Regulator ◽  
Model Parameters ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Dynamic Matrix ◽  
Liquid Storage ◽  
Efficient Control ◽  
And Control

In this paper, two efficient control algorithms are discussed viz., Linear Quadratic Regulator (LQR) and Dynamic Matrix Controller (DMC) and their applicability has been demonstrated through case study with a complex interacting process viz., a laboratory based four tank liquid storage system. The process has Two Input Two Output (TITO) structure and is available for experimental study. A mathematical model of the process has been developed using first principles. Model parameters have been estimated through the experimentation results. The performance of the controllers (LQR and DMC) has been compared to that of industrially more accepted PID controller.

scholarly journals Modeling and control of a new robotic deburring system

Robotica ◽  
2005 ◽  
Vol 24 (2) ◽  
pp. 229-237 ◽  
Author(s):  
Jae H. Chung ◽  
Changhoon Kim
Keyword(s):  
Comparative Study ◽  
Decentralized Control ◽  
Control Method ◽  
Robotic Manipulator ◽  
Coordination Control ◽  
Pneumatic Actuators ◽  
Modeling And Control ◽  
Control Approach ◽  
Simulation Results ◽  
And Control

This paper discusses the modeling and control of a robotic manipulator with a new deburring tool, which integrates two pneumatic actuators to take advantage of a double cutting action. A coordination control method is developed by decomposing the robotic deburring system into two subsystems; the arm and the deburring tool. A decentralized control approach is pursued, in which suitable controllers were designed for the two subsystems in the coordination scheme. In simulation, three different tool configurations are considered: rigid, single pneumatic and integrated pneumatic tools. A comparative study is performed to investigate the deburring performance of the deburring arm with the different tools. Simulation results show that the developed robotic deburring system significantly improves the accuracy of the deburring operation.

scholarly journals Hybrid modeling and control of ICPT system with synchronous three-phase triple-parallel Buck converter

2020 ◽  
Vol 7 (1) ◽  
pp. 10-18
Author(s):  
Songcen Wang ◽  
Xiaokang Wu ◽  
Ying Yang ◽  
Cong Zhu ◽  
Zhen Wu ◽  
...  
Keyword(s):  
Coupling Coefficient ◽  
Control Method ◽  
Buck Converter ◽  
Constant Voltage ◽  
Modeling And Control ◽  
Coefficient Variation ◽  
Current Sharing ◽  
Voltage Output ◽  
Three Phase ◽  
And Control

AbstractAiming at the influence of coupling coefficient variation on the output voltage of a high-power LCC-S topology inductively coupled power transfer (ICPT) system, a synchronous three-phase triple-parallel Buck converter is used as the voltage adjustment unit. The control method for the three-phase current sharing of synchronous three-phase triple-parallel Buck converter and the constant voltage output ICPT system under the coupling coefficient variation is studied. Firstly, the hybrid model consisting of the circuit averaging model of the three-phase triple-parallel Buck converter and the generalized state-space average model for the LCC-S type ICPT system is established. Then, the control methods for three-phase current sharing of the synchronous three-phase triple-parallel Buck converter and constant voltage output of ICPT system are studied to achieve the multi-objective integrated control of the system. Finally, a 3.3 kW wireless charging system platform is built, the experimental results have verified the effectiveness of the proposed modeling and control method, and demonstrated the stability of the ICPT system.

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