scholarly journals Low Cost Position Controller for EGR Valve System

2018 ◽  
Author(s):  
Habib Bhuiyan ◽  
Jung-Hyo Lee
Keyword(s):  
Coulomb Friction ◽  
Position Control ◽  
Control Method ◽  
Low Cost ◽  
Static Friction ◽  
Automotive Application ◽  
Valve System ◽  
Linear Controller ◽  
Position Controller ◽  
Position Control System

This paper proposes a position control method for low cost EGR valve system in automotive application. Generally, position control system using in automotive application has many restrictions such as cost and space, the mechanical structure of actuator implies high friction and large difference between static friction and coulomb friction. This large friction difference occurs the vibrated position control result when the controller uses conventional linear controller such as P, PI. In this paper, low cost position control method which can apply under the condition of high difference friction mechanical system. Proposed method is verified by comparing conventional control result of experiments.

scholarly journals Low Cost Position Controller for Exhaust Gas Recirculation Valve System

Energies ◽  
2018 ◽  
Vol 11 (8) ◽  
pp. 2171 ◽  
Author(s):  
Habib Bhuiyan ◽  
Jung-Hyo Lee
Keyword(s):  
Position Control ◽  
Control Method ◽  
Low Cost ◽  
Static Friction ◽  
Exhaust Gas Recirculation ◽  
Exhaust Gas ◽  
Automotive Applications ◽  
Valve System ◽  
Position Controller ◽  
Gas Recirculation

This paper proposes a position control method for a low-cost exhaust gas recirculation (EGR) valve system for automotive applications. Generally, position control systems used in automotive applications have many restrictions, such as cost and space. The mechanical structure of the actuator causes high friction and large differences between static friction and coulomb friction. When this large friction difference occurs, the position control vibrates when the controller uses a conventional linear controller such as the P or PI controller. In this paper, we introduce an inexpensive position control method that can be applied under the high-difference-friction mechanical systems. The proposed method is verified through the use of experiments by comparing it with the results obtained when using a conventional control system.

SOFT FOOD ROBOTIC PICK AND PLACE OPERATION WITH EMBEDDED CONTROL STRUCTURE

2013 ◽  
Vol 37 (3) ◽  
pp. 273-282
Author(s):  
Shiuh-Jer Huang ◽  
Wei-Han Chang ◽  
Janq-Yann Lin
Keyword(s):  
Position Control ◽  
Control Structure ◽  
Sliding Mode ◽  
Low Cost ◽  
Embedded Control ◽  
Model Free ◽  
Pick And Place ◽  
Position Controller ◽  
Soft Objects ◽  
Pick And Place Operation

Robotic pick-and-place operation is planned for handling hard objects with on-off control gripper. It does not have force monitoring capability for safe grasping soft objects. Current force/torque sensor is too expensive and difficult to implement. Here, a low cost embedded control structure is designed with distributed FPGA robotic position control and gripper Arduino force control kernels. A model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each robotic joint and gripper force controller. Experimental results show that the position and force tracking control errors of this robotic system are less than 1 mm and 0.1 N, respectively for pick-and-place different soft foods.

A model-based PID-like motion control method for flexible-joint manipulator with harmonic drives

2021 ◽  
pp. 095440622110369
Author(s):  
Guocai Yang ◽  
Yechao Liu ◽  
Junhong Ji ◽  
Minghe Jin ◽  
Songhao Piao
Keyword(s):  
Position Control ◽  
Control Method ◽  
Joint Torque ◽  
Dynamics Model ◽  
Motion Error ◽  
Flexible Joint ◽  
Speed Range ◽  
Position Controller ◽  
Flexible Joint Manipulator ◽  
Better Than

A novel control method is proposed to achieve high trajectory tracking precision, for flexible-joint manipulators. The method consists of three major parts: joint torque generator, joint torque tracker and motor position controller. The expected torque is generated by a PID controller based on the manipulator’s rigid dynamics model. In the torque tracker, motor position is corrected in both feedback and feedforward ways. Finally, the motor position controller is responsible to track the corrected motor trajectory to achieve the torque and position control. To suppress nonlinear friction, a disturbance observer is also implemented. The method is verified with a seven-DOFs manipulator. Simulation and experimental results show that, the proposed method is efficient and practical to suppress vibration caused by flexible transmission and disturbance due to friction. As result, high positioning accuracy is achieved in a certain wide working speed range. The no-load motion accuracy is better than 0.6 mm with a manipulator whose length is 1.8 meter, and the motion error is less than 3 mm with loading of four kilograms.

Pneumatic Proportional Position Control System Based on BP Neural Networks

2004 ◽  
Vol 471-472 ◽  
pp. 528-531
Author(s):  
Y.J. Liu ◽  
X.Z. Kong ◽  
Z.W. Li
Keyword(s):  
Neural Networks ◽  
Working Conditions ◽  
Pid Controller ◽  
Position Control ◽  
Control Method ◽  
Back Propagation ◽  
Positioning System ◽  
Proportional Valve ◽  
Rod System ◽  
Position Control System

A PID controller based on Back-propagation neural networks is presented and used to the pneumatic proportional positioning system in this paper. A proportional valve-cylinder without rod system for buffering and positioning, which is controlled by microcomputer, is designed and completed in this paper. The experimental results show that the system gains self-adaptability because of the application of this control method. And the buffering and positioning of the cylinder can be implemented under different working conditions.

scholarly journals Sliding mode control of pam actuator in LabVIEW environment

2010 ◽  
Vol 5 (1-2) ◽  
pp. 249-253
Author(s):  
János Gyeviki ◽  
József Sárosi ◽  
Antal Véha ◽  
Péter Toman
Keyword(s):  
Flow Rate ◽  
Position Control ◽  
Control Method ◽  
Sliding Mode ◽  
Artificial Muscle ◽  
Industrial Applications ◽  
Pneumatic Artificial Muscle ◽  
Air Mass ◽  
Pneumatic Muscle ◽  
Position Controller

As an important driver element, the pneumatic artificial muscle (PAM) is widely used in industrial applications for many automation purposes thanks to their variety of advantages. The design of a stable robust position controller for PAM is difficult since it is a very nonlinear time-variant controlled plant because of the compressibility of air, air mass flow rate through the valve, etc. The main contribution of this paper is a robust position control method based on sliding mode for pneumatic muscle actuator. Finally, it presents experimental results.

Designing an Embedded Motion Controller Using a 16-Bit Microprocessor Motion Chip and ARM

2012 ◽  
Vol 468-471 ◽  
pp. 418-421 ◽  
Author(s):  
Shi Chun Chi ◽  
Ming Yang Zhao
Keyword(s):  
Communication Networks ◽  
High Efficiency ◽  
Position Control ◽  
Design Method ◽  
Low Cost ◽  
Flow Diagram ◽  
Motion Controller ◽  
Design And Implementation ◽  
Host Machine ◽  
Position Controller

This paper describes the design and implementation of a high efficiency motion controller system consisting of host machine and teach pendant. The host machine performs some of the position control processing tasks and receives the processed data from Teach Pendant. Starting with introduction to existing excellent 4-axismotion controller PCL6045B, It describes the overall structure of the system and the hardware that make up the motion controller. Then, this paper discusses the design method of software system, and the motion control chip PCL6045B driver in WindowsCE. Besides, the flow diagram of the use of industrial communication networks transmission about CC_LINK is showed in detail. After testing the system, it has implemented the high precision position controller. Moreover, it has the advantages of low cost, easy use.

A simplified hybrid force/position controller method for the walking robots

Robotica ◽  
1999 ◽  
Vol 17 (6) ◽  
pp. 583-589 ◽  
Author(s):  
Jun Song ◽  
K.H. Low ◽  
Weimiao Guo
Keyword(s):  
Inverse Dynamics ◽  
Position Control ◽  
Control Method ◽  
Control Policy ◽  
System Stability ◽  
Estimation Methods ◽  
Walking Robots ◽  
Precise Control ◽  
Position Controller ◽  
Identification Model

Force and position sensors have been widely used in robots to realize compliance and precise control. Traditional force/position control methods were studied and developed by the inverse dynamics for decades. Generally speaking, the controller contains two parts: One is the error-driven part that guarantees system stability; another is the identification model of inverse dynamics that can compensate for system influence. In practical control engineering, a system inverse dynamics or its identification model is not easy to obtain, even when using nonlinear estimation methods. Moreover, the complicated control algorithm cannot be implemented in on-board microprocessors because of the limited speed and memory. Thus, a simplified control method using a forward system model is introduced in this paper. Since the direct dynamics of the system can be more easily obtained than the inverse dynamics, this, in turn, simplifies the control structure and increases control speed. Therefore, the proposed control policy has a wider practical application.

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