scholarly journals On the Suppression of the Ground Vibration by Active Force Controller : 5th Report, Experiment of the Hybrid Force Control Method

1986 ◽  
Vol 29 (251) ◽  
pp. 1557-1563
Author(s):  
Nobuo TANAKA ◽  
Yoshihiro KIKUSHIMA
Keyword(s):  
Force Control ◽  
Control Method ◽  
Ground Vibration ◽  
Active Force

Hardware-in-the-Loop Simulation for Active Force Control with Iterative Learning Applied to an Active Vehicle Suspension System

2013 ◽  
Vol 465-466 ◽  
pp. 801-805
Author(s):  
Rosmazi Rosli ◽  
Musa Mailah ◽  
Gigih Priyandoko
Keyword(s):  
Force Control ◽  
Control Method ◽  
Learning Algorithm ◽  
Suspension System ◽  
Iterative Learning ◽  
Practical Implementation ◽  
Hardware In The Loop ◽  
Active Force ◽  
Physical Test ◽  
Active Force Control

The paper focuses on the practical implementation of a novel control method to an automotive suspension system using active force control (AFC) with iterative learning algorithm (ILA) and proportional-integral-derivative (PID) control strategy. The overall control system to be known as AFC-IL scheme essentially comprises three feedback control loops to cater for a number of specific tasks, namely, the innermost loop for the force tracking of the pneumatic actuator using PI controller, intermediate loops applying AFC with ILA strategy for the compensation of the disturbances and the outermost loop using PID controller for the computation of the desired force. A number of experiments were carried out on a physical test rig with hardware-in-the-loop simulation (HILS) feature that fully incorporates the theoretical elements. The performance of the proposed control method was evaluated and benchmarked to examine the effectiveness of the system in suppressing the vibration effect of the suspension system. It was found that the experimental results demonstrate the superiority of the active suspension system with proposed AFC-IL scheme compared to the PID and passive counterparts.

scholarly journals Modal Decoupled Dynamics Feed-Forward Active Force Control of Spatial Multi-DOF Parallel Robotic Manipulator

2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Xinjian Niu ◽  
Chifu Yang ◽  
Bowen Tian ◽  
Xiang Li ◽  
Junwei Han
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Parallel Mechanism ◽  
Control Method ◽  
Intelligent System ◽  
Joint Space ◽  
Active Force ◽  
Feed Forward ◽  
Electric Actuator ◽  
Active Force Control

According to the parallel mechanism theory, this paper proposes a novel intelligent robotic spine brace for the treatment of scoliosis. Nevertheless, this type of parallel mechanism has the following disadvantages: strong dynamic coupling in task space or joint space, adverse effect of system’s gravity, and lower response frequency in roll and pitch orientations, which seriously affect the performance of the system. In order to solve those boring problems, this paper presents a novel active force control structure, modal space dynamic feed-forward (MSDF) force control strategy. Besides, this paper expresses the intelligent robotic brace system model including the dynamic and kinematic models and the electric actuator model with Kane strategy. The stability of the intelligent system with the novel control strategy is proved. In order to evaluate the performance of the presented MSDF force control method, this paper builds the parallel mechanism experimental platform. It can be seen from experimental results that the proposed motion control method solves these boring problems well.

scholarly journals SIMULASI DAN EKSPERIMEN KONTROL AUTOMATIC TURRET GUN

JURNAL ELTEK ◽  
2018 ◽  
Vol 16 (1) ◽  
pp. 1
Author(s):  
Mohamad Nasyir Tamara ◽  
Bambang Pramujati ◽  
Hendro Nurhadi ◽  
Endra Pitowarno
Keyword(s):  
Force Control ◽  
Reference Point ◽  
Pid Controller ◽  
Control Method ◽  
Movement Trajectory ◽  
Active Force ◽  
Control Loop ◽  
Internal Loop ◽  
Actual Force ◽  
Crude Approximation

This research presented Active Force Control (AFC) as a control method which is applied to Automatic Turret gun (ATG) in ground combat vehicles This method compares the reference force conducted by actuator with actual force of the mechanical systems that arise due to disturbances. The advantage of AFC method is its ability to handle disturbances effectively without complicated mathematical calculations. The AFC method uses Crude Approximation (CA) in the internal loop controller AFC as inertia matrix estimator as an important part in the control loop.  Simulation without load on the azimuth movement shows PID controller produces the best precision with MSE of 0 degrees while RACAFC and RAC method provide MSE 0.267 degrees. In simulation on the elevation movement, the RAC method showed the best results with an estimated MSE of the targets shot of 2.42 degrees, while the PID and RACAFC method are 2.5 and 2.46 degrees. When simulation is conducted with additional load RACAFC method gives the best precision with a MSE of 0.267 and 2:46 degrees, while the PID method was 4.24 and the 10.52 degrees. RAC method produces MSE of 0.7 and 2.87 degrees. With the added load the performance of PID controller decreases. In the experiment on the constructed rig, RAC and RACAFC scheme produce smoother movement trajectory and minimum oscillation compared to the PID controller. In loaded conditions these methods are able to maintain their performance. However, these three methods can still achieve a reference point with or without load in the end of travel time

scholarly journals Control of Liquid Sloshing Container using Active Force Control Method

2017 ◽  
Vol 190 ◽  
pp. 012007 ◽  
Author(s):  
Didik Setyo Purnomo ◽  
Adnan Rachmad Anom Besari ◽  
Zaqiatud Darojah
Keyword(s):  
Force Control ◽  
Control Method ◽  
Liquid Sloshing ◽  
Active Force ◽  
Active Force Control

scholarly journals A Combination of PD Controller and PIAFC for Stabilization of “x” Configuration Quadcopter

2014 ◽  
Vol 2 (1) ◽  
Author(s):  
Ni’am Tamami ◽  
Endra Pitowarno ◽  
I Gede Puja Astawa
Keyword(s):  
Force Control ◽  
Control Method ◽  
Mean Square ◽  
Pd Controller ◽  
Active Force ◽  
Stabilization Control ◽  
Controller Performance ◽  
Proportional Derivative Controller ◽  
Uncertain Disturbance ◽  
Disturbance Torque

This paper presents a stabilization control method for “x” configuration quadcopter. The control method used the combination of PD (Proportional Derivative) controller and PIAFC (Proportional Integral Active Force Control). PD is used to stabilize quadcopter, and PIAFC is used to reject uncertainty disturbance (e.g. wind) by estimating disturbance torque value of quadcopter. The PD with PIAFC provided better result where PIAFC could minimize uncertain disturbance effect. The simulation has successfully give comparation about controller performance (PD, PD-AFC, PD-PIAFC) by calculate RMS (Root Mean Square) value. PD with AFC gives better result than PD. AFC optimization using PI (PD-PIAFC) give best result if compared with PD or PD-AFC. PD-PIAFC has lowest RMS value of result control signal, 0.0389 for constant disturbance and 0.1008 for fluctuated disturbance.Keywords:“x” configuration quadcopter, stability, PD, PIAFC.

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