Force tracking control for an electro-hydraulic actuator based on an intelligent feed forward compensator

2010 ◽  
Vol 224 (4) ◽  
pp. 837-849 ◽  
Author(s):  
J Pan ◽  
G L Shi ◽  
X M Zhu
Keyword(s):  
Tracking System ◽  
Simulation Models ◽  
Hydraulic Actuator ◽  
Hydraulic Test ◽  
Feed Forward ◽  
Tracking Tasks ◽  
Force Tracking ◽  
Self Tuning ◽  
Thrust System ◽  
Reverse Thrust

This article presents a scheme for the control of an electro-hydraulic passive force tracking system using the compound controller with an intelligent feed forward compensator (IFFC), which is designed as a test equipment to reproduce on-ground aerodynamics load for reverse thrust system on a certain kind of plain. Through detailed analysis, the mathematical and simulation models are established. Since the conventional proportion integration (PI) method is unsatisfactory due to its bad adaptability to the parametric uncertainties, an IFFC with an off-line self-tuning mechanism is proposed. The related simulations are made and the results show that the compound controller will have good performance after training even though the parameters of the PI part are not optimal. To validate the feasibility of the proposed control strategy, the experiments are carried out on an electro-hydraulic test platform and the experimental results demonstrate the effectiveness of the proposed controller with IFFC for different tracking tasks.

Novel fractional hybrid impedance control of series elastic muscle-tendon actuator

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Mohammad Javad Fotuhi ◽  
Zafer Bingul
Keyword(s):  
Contact Stress ◽  
Impedance Control ◽  
Robustness Analysis ◽  
Simulation Models ◽  
Experimental Results ◽  
Uncertain Environments ◽  
Content Type ◽  
Force Tracking ◽  
Comparative Results ◽  
Series Elastic

Purpose This paper aims to develope a novel fractional hybrid impedance control (FHIC) approach for high-sensitive contact stress force tracking control of the series elastic muscle-tendon actuator (SEM-TA) in uncertain environments. Design/methodology/approach In three different cases, the fractional parameters of the FHIC were optimized with the particle swarm optimization algorithm. Its adaptability to the pressure of the sole of the foot on real environments such as grass (soft), carpet (medium) and solid floors (hard) is far superior to traditional impedance control. The main aim of this paper is to derive the dynamic simulation models of the SEM-TA, to develop a control architecture allowing for high-sensitive contact stress force control in three cases and to verify the simulation models and the proposed controller with experimental results. The performance of the optimized controllers was evaluated according to these parameters, namely, maximum overshoot, steady-state error, settling time and root mean squared errors of the positions. Moreover, the frequency robustness analysis of the controllers was made in three cases. Findings Different simulations and experimental results were conducted to verify the control performance of the controllers. According to the comparative results of the performance, the responses of the proposed controller in simulation and experimental works are very similar. Originality/value Origin approach and origin experiment.

A self-tuning adaptive feed-forward control for a retrofit milling machine

Mechatronics ◽  
1994 ◽  
Vol 4 (6) ◽  
pp. 565-580 ◽  
Author(s):  
Shiuh-Jer Huang ◽  
Chuen-Chung Chen
Keyword(s):  
Milling Machine ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Self Tuning

scholarly journals Measurement Feedback Self-Tuning Weighted Measurement Fusion Kalman Filter for Systems with Correlated Noises

2012 ◽  
Vol 2012 ◽  
pp. 1-16 ◽  
Author(s):  
Xin Wang ◽  
Shu-Li Sun
Keyword(s):  
Kalman Filter ◽  
Stochastic Systems ◽  
Tracking System ◽  
Weighted Least Squares ◽  
Full Rank ◽  
Global Optimality ◽  
Measurement Feedback ◽  
Innovation Model ◽  
Self Tuning ◽  
Noise Statistics

For the linear discrete stochastic systems with multiple sensors and unknown noise statistics, an online estimators of the noise variances and cross-covariances are designed by using measurement feedback, full-rank decomposition, and weighted least squares theory. Further, a self-tuning weighted measurement fusion Kalman filter is presented. The Fadeeva formula is used to establish ARMA innovation model with unknown noise statistics. The sampling correlated function of the stationary and reversible ARMA innovation model is used to identify the noise statistics. It is proved that the presented self-tuning weighted measurement fusion Kalman filter converges to the optimal weighted measurement fusion Kalman filter, which means its asymptotic global optimality. The simulation result of radar-tracking system shows the effectiveness of the presented algorithm.

scholarly journals A Fully Featured Thermal Energy Harvesting Tracker for Wildlife

Energies ◽  
2021 ◽  
Vol 14 (19) ◽  
pp. 6363
Author(s):  
Eiko Bäumker ◽  
Luca Conrad ◽  
Laura Maria Comella ◽  
Peter Woias
Keyword(s):  
Energy Harvesting ◽  
Field Test ◽  
Thermal Energy ◽  
Tracking System ◽  
Electrical Power ◽  
Low Power Design ◽  
Ultra Low Power ◽  
Animal Tracking ◽  
Tracking Tasks ◽  
Thermal Energy Harvesting

In this paper, we describe a novel animal-tracking-system, solely powered by thermal energy harvesting. The tracker achieves an outstanding 100W of electrical power harvested over an area of only 2 times 20.5cm2, using the temperature difference between the animal’s fur and the environment, with a total weight of 286g. The steps to enhance the power income are presented and validated in a field-test, using a system that fulfills common tracking-tasks, including GPS with a fix every 1,1h–1,5h, activity and temperature measurements, all data wirelessly transmitted via (LoRaWAN) at a period of 14min. Furthermore, we describe our ultra low power design that achieves an overall sleep power consumption of only 8W and is able to work down to temperature differences of 0.9K applied to the TEG.

Grip force tracking system for assessment and rehabilitation of hand function

2005 ◽  
Vol 13 (3) ◽  
pp. 137-149 ◽  
Author(s):  
Gregorij Kurillo ◽  
Milan Gregorič ◽  
Nika Goljar ◽  
Tadej Bajd
Keyword(s):  
Grip Force ◽  
Tracking System ◽  
Hand Function ◽  
Force Tracking

EXPERIMENTAL EVALUATION OF BILATERAL CONTROL SCHEMES APPLIED TO HYDRAULIC ACTUATORS: A COMPARATIVE STUDY

2009 ◽  
Vol 33 (3) ◽  
pp. 377-398 ◽  
Author(s):  
Kurosh Zarei-nia ◽  
Amin Yazdanpanah Goharrizi ◽  
Nariman Sepehri ◽  
Wai-keung Fung
Keyword(s):  
Position Error ◽  
Position Tracking ◽  
Control Force ◽  
Bilateral Control ◽  
Hydraulic Actuator ◽  
Common System ◽  
Control Schemes ◽  
Force Tracking ◽  
Environmental Force ◽  
Force Reflection

In this paper, we present experimental results of implementing five bilateral control schemes, widely used for electro-mechanical systems, to a hydraulic actuator. The goal is to investigate the applicability of each control scheme to a hydraulic actuator and compare their performances on a common system. The considered schemes are ‘force reflection’, ‘position error’, ‘shared compliant control’, ‘force reflection with passivity’ and ‘four channels architecture’ schemes. The evaluation is conducted in terms of position tracking, force tracking, and fidelity of perceived stiffness by the operator. It is shown that force reflection and four channels architecture control schemes perform best in terms of both position tracking and force tracking during interaction with an environment emulated by different springs. Position error scheme, on the other hand, exhibits good position tracking capability, but cannot track environmental force encountered at the master site. It, however, produces a feel to the operator, based on position error between the slave and the master arms, which is potentially desirable during unconstrained motion control of the actuator.

scholarly journals A Micro-Force-Tracking System Based on PVDF Static Micro-Force Sensor and Fuzzy-PID Control Method

2011 ◽  
Vol 2-3 ◽  
pp. 489-494
Author(s):  
Zhi Yong Sun ◽  
Wen Lin Chen ◽  
Yun Quan Su ◽  
Li Na Hao
Keyword(s):  
Pid Control ◽  
Polyvinylidene Fluoride ◽  
Control Method ◽  
Tracking System ◽  
Force Sensor ◽  
Fuzzy Pid ◽  
Sensing Element ◽  
Fuzzy Pid Control ◽  
Force Tracking ◽  
Micro Force Sensor

This article is intended to design a static micro-force sensor with a simple structure employing the polymer material PVDF (polyvinylidene fluoride) film as its sensing element, and will carry out some micro-force tracking tests. During the tracking tests, this paper employs a Fuzzy-PID control method and an ordinary PD control method to control the system, and will also analyze the results of them.

Effects of Intermittency of Feedback on a Compensatory Tracking Task

1976 ◽  
Vol 43 (3_suppl) ◽  
pp. 1339-1345 ◽  
Author(s):  
Henry S. R. Kao
Keyword(s):  
Tracking System ◽  
Wave Pattern ◽  
Open Loop ◽  
Tracking Task ◽  
Target Display ◽  
Random Wave ◽  
Tracking Tasks ◽  
The Difference ◽  
Effects Of Feedback ◽  
Task Efficiency

Target intermittence in tracking has been studied as frequency of target presentation at various time intervals. Task efficiency increased as a function of increased frequency of target display in open-loop tracking tasks, where the steady state of presentation resulted in the best performance. The present study examined effects of feedback intermittency in compensatory tracking as a major source of disruption of the motor-sensory feedback process in the closed-loop tracking system. Feedback intermittency is defined as the feedback of momentary sampling of the difference between target movements and the operator's control motion for specified time lengths before being displayed to him in a continuous tracking task. With a random wave pattern of 9.76 cpm, 7 magnitudes of 0.0, 0.2, 0.4, 0.6, 0.8, 1.0, and 1.5 sec. were used to represent various levels of feedback intermittency. Task efficiency decreased as a function of increased magnitudes of intermittency. Results are discussed relative to the difference between target intermittence and feedback intermittency and their effects on different tracking tasks. The findings also establish the concept of feedback intermittency as a disturbing factor in compensatory tracking in degrading the operator's performance.

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