Analysis of an Opto-Pneumatic Control System and Improvement of its Control Performance

1999 ◽  
Vol 11 (4) ◽  
pp. 251-257 ◽  
Author(s):  
Tetsuya Akagi ◽  
◽  
Shujiro Dohta ◽  
Hisashi Matsushita ◽  
Keyword(s):  
Control System ◽  
Position Control ◽  
Sliding Mode ◽  
Pneumatic Cylinder ◽  
Control Performance ◽  
Pneumatic Control ◽  
Servo Valve ◽  
Proposed Model ◽  
Control Scheme

This paper describes an analysis of an opto-pneumatic control system and an improvement of control performance of the system. The opto-pneumatic system consists of an optical servo valve, a pneumatic cylinder and a cart. First, we built an analytical model of the system considering a nonlinear friction where exists in sliding parts. And we confirmed the validity of the proposed model by comparing theoretical results with experimental results of the characteristics of optical servo valve and cart position control. Then, we applied a sliding mode control scheme compensating a steady-state disturbance to multi- position control and follow-up control of a cart. By computer simulation, we confirmed that the control performance of opto-pneumatic control system was improved by using this control scheme.

scholarly journals A Robust Payload Control System Design for Offshore Cranes: Experimental Study

Electronics ◽  
2021 ◽  
Vol 10 (4) ◽  
pp. 462
Author(s):  
Hwan-Cheol Park ◽  
Soumayya Chakir ◽  
Young-Bok Kim ◽  
Dong-Hun Lee
Keyword(s):  
Control System ◽  
Position Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Control Technique ◽  
Parametric Uncertainties ◽  
Control Performance ◽  
Robust Control System ◽  
Reliable Performance ◽  
Offshore Crane

This paper presents a robust controller design of payload position control for an offshore crane facing disturbance and parametric uncertainties. The offshore operations with cranes while lifting and lowering a payload can be dangerous since safety and efficiency are affected by waves, wind and ocean currents. Such harsh sea conditions put the offshore crane and payload through unwanted disturbances and parametric uncertainties, which requires a robust control system to guarantee reliable performance of these systems. In this paper, we detail a controller designed based on uniformly ultimately bounded (UUB) theory, combined with the input-output linearization control technique (IOLC). The stability of the closed-loop system under the UUB conditions is analyzed using the energy-based Lyapunov function. To evaluate the control performance of the proposed controller, along with an IOLC and an integral sliding mode controller (ISMC), a comparison study is also conducted. The control performance and efficiency of the proposed controller are validated through experiments on an offshore crane model.

An Accurate Low-Friction Pneumatic Position Control System

1989 ◽  
Vol 203 (3) ◽  
pp. 159-165 ◽  
Author(s):  
J A Linnett ◽  
M C Smith
Keyword(s):  
Control System ◽  
Position Control ◽  
Low Cost ◽  
Low Friction ◽  
Dual Mode ◽  
Pneumatic Control ◽  
Mode Control ◽  
Control Scheme ◽  
Position Control System

A fast, accurate, low-cost pneumatic control system in which the actuator can be programmed off-line to stop at any required position in its travel without the use of mechanical stops is described. A dual-mode control scheme switching two on/off valves is used. The system is able to position a 37 kg inertia load to within ± I mm at any point on a 300 mm stroke in less than a second.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals A New Control Method for Second-Order Multiple Models Control System Based on Global Sliding Mode

2018 ◽  
Vol 2018 ◽  
pp. 1-8 ◽  
Author(s):  
Dan-xu Zhang ◽  
Yang-wang Fang ◽  
Peng-fei Yang ◽  
You-li Wu ◽  
Tong-xin Liu
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Finite Time ◽  
Sliding Mode ◽  
Second Order ◽  
Multiple Models ◽  
Finite Time Convergence ◽  
Mode Control ◽  
Global Sliding Mode Control ◽  
Control Scheme

This paper proposed a finite time convergence global sliding mode control scheme for the second-order multiple models control system. Firstly, the global sliding surface without reaching law for a single model control system is designed and the tracking error finite time convergence and global stability are proved. Secondly, we generalize the above scheme to the second-order multimodel control system and obtain the global sliding mode control law. Then, the convergent and stable performances of the closed-loop control system with multimodel controllers are proved. Finally, a simulation example shows that the proposed control scheme is more effective and useful compared with the traditional sliding mode control scheme.

scholarly journals Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Ji Min Lee ◽  
Sung Hwan Park ◽  
Jong Shik Kim
Keyword(s):  
Control Systems ◽  
Pid Controller ◽  
Position Control ◽  
Sliding Mode ◽  
System Modeling ◽  
Modeling Error ◽  
Load Disturbance ◽  
Control Scheme ◽  
Position Controller ◽  
System Uncertainties

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.

Adaptive Sliding Mode Impedance Control of Single-Link Flexible Manipulators interacting with the Environment at an Unknown Intermediate Point

Robotica ◽  
2019 ◽  
Vol 38 (9) ◽  
pp. 1642-1664 ◽  
Author(s):  
Ali Fayazi ◽  
Naser Pariz ◽  
Ali Karimpour ◽  
V. Feliu-Batlle ◽  
S. Hassan HosseinNia
Keyword(s):  
Position Control ◽  
Sliding Mode ◽  
Impedance Control ◽  
Detection Algorithm ◽  
Reference Trajectory ◽  
Constrained Motion ◽  
Intermediate Point ◽  
Control Scheme ◽  
Single Link ◽  
Motion Mode

SUMMARYThis paper proposes an adaptive robust impedance control for a single-link flexible arm when it encounters an environment at an unknown intermediate point. First, the intermediate collision point is estimated using a collision detection algorithm. The controller, then, switches from free to constrained motion mode. In the unconstrained motion mode, the exerted force to environment is nearly zero. Thus, the reference trajectory is a prescribed desired trajectory in position control. In the constrained motion mode, the reference trajectory is determined by the desired target dynamic impedance. The simulation results demonstrate the efficiency of proposed control scheme.

Development of Low-Cost Wearable Servo Valve Using Buckled Tube Driven by Servo Motor

2013 ◽  
Vol 393 ◽  
pp. 532-537 ◽  
Author(s):  
Abdul Nasir ◽  
Tetsuya Akagi ◽  
Shujiro Dohta ◽  
Ayumu Ono ◽  
Yusuke Masago
Keyword(s):  
Control System ◽  
Flow Rate ◽  
Position Control ◽  
Low Cost ◽  
Control Valve ◽  
Artificial Muscle ◽  
Pneumatic Actuators ◽  
Servo Valve ◽  
Precise Control ◽  
Care Systems

Recently, power assisted nursing care systems have received much attention and those researches have been done actively. In such a control system, an actuator and a control valve are mounted on the human body. Designing the system, the size and weight of the valve become serious concerns. The purpose of our study is to develop a small-sized, lightweight and low-cost servo valve for precise control using wearable pneumatic actuators. In this study, a low-cost wearable servo valve that can control the output flow rate by changing the twisted angle of the buckled tube in the servo valve is proposed and tested. The position control system of McKibben rubber artificial muscle using tested valve and embedded controller is also proposed and tested. As a result, we confirmed that the tested servo valve can control the flow rate in both supply and exhaust in an analog way. In addition, the estimated cost of the proposed valve can be reduced about 100 times cheaper (10 US Dollar) compared with the typical servo valve.

scholarly journals Online Position Control Performance Improving Applying Incremental Fuzzy Logic Controller

2018 ◽  
Vol 248 ◽  
pp. 02005
Author(s):  
Dirman Hanafi ◽  
Mohamed Najib Ribuan ◽  
Wan HamidahWan Abas ◽  
Hidayat ◽  
Elmy Johana ◽  
...  
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Motor Performance ◽  
Fuzzy Logic Controller ◽  
Position Control ◽  
Fuzzy Controller ◽  
Dc Motor ◽  
Peak Time ◽  
Control Performance ◽  
Position Control System

This paper presents the online control system application for improving the DC motor performance. DC motor widely used in industries and many appliances. For this aim fuzzy logic controller is applied. The type of fuzzy controller use is an incremental fuzzy logic controller (IFLC). The IFLC is developed by using MATLAB Simulink Software and implemented in online position control system applying RAPCON board as a platform. The experimental results produced the best gains of the IFLC are 1.785, 0.0056955 and 0.01 for error gain (GE), gain of change error (GCE) and gain of output (GCU) respectively. Its produce smaller rise time, peak time, 0% overshoot and smaller settling time. Beside that the IFLC response also able to follow the set point. The controller response parameters values are also acceptable. It means that the IFLC suitable to be use for improving the position control system performance.

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