scholarly journals Tuning fractional PID controllers for a Steward platform based on frequency domain and artificial intelligence methods

Open Physics ◽  
2013 ◽  
Vol 11 (6) ◽  
Author(s):  
Cosmin Copot ◽  
Yu Zhong ◽  
Clara Ionescu ◽  
Robin Keyser
Keyword(s):  
Frequency Domain ◽  
Fractional Order ◽  
Degrees Of Freedom ◽  
Pid Controllers ◽  
Mechatronic System ◽  
Motion Platform ◽  
Visual Sensor ◽  
Steward Platform ◽  
6 Degrees Of Freedom ◽  
Parameter Values

AbstractIn this paper, two methods to tune a fractional-order PI λ D μ controller for a mechatronic system are presented. The first method is based on a genetic algorithm to obtain the parameter values for the fractionalorder PI λ D μ controller by global optimization. The second method used to design the fractional-order PI λ D μ controller relies on an auto-tuning approach by meeting some specifications in the frequency domain. The real-time experiments are conducted using a Steward platform which consists of a table tilted by six servo-motors with a ball on the top of the table. The considered system is a 6 degrees of freedom (d.o.f.) motion platform. The feedback on the position of the ball is obtained from images acquired by a visual sensor mounted above the platform. The fractional-order controllers were implemented and the performances of the steward platform are analyzed.

Generalized Frequency Domain Robust Tuning of a Family of Fractional Order PI/PID Controllers to Handle Higher Order Process Dynamics

2011 ◽  
Vol 403-408 ◽  
pp. 4859-4866 ◽  
Author(s):  
Saptarshi Das ◽  
Amitava Gupta ◽  
Shantanu Das
Keyword(s):  
Frequency Domain ◽  
Fractional Order ◽  
Test Bench ◽  
Standard Test ◽  
Higher Order ◽  
Pid Controllers ◽  
Order Process ◽  
Controller Tuning ◽  
Process Dynamics ◽  
The Family

Generalization of the frequency domain robust tuning has been proposed in this paper for a family of fractional order (FO) PI/PID controllers. The controller tuning is enhanced with two new FO reduced parameter templates which are capable of capturing higher order process dynamics with much better accuracy. The paper validates the proposed methodology with a standard test-bench of higher order processes to show the relative merits of the family of FO controller structures.

scholarly journals Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

Entropy ◽  
2021 ◽  
Vol 23 (5) ◽  
pp. 633
Author(s):  
Yixiu Sun ◽  
Lizhan Zeng ◽  
Ying Luo ◽  
Xiaoqing Li
Keyword(s):  
Fractional Order ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Controller Design ◽  
Open Loop ◽  
System Stability ◽  
Synchronization Control ◽  
Motion Platform ◽  
Oscillation System ◽  
Filtering Method

H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method.

scholarly journals Investigating the User Experience of Virtual Reality Rehabilitation Solution for Biomechatronics Laboratory and Home Environment

2021 ◽  
Vol 2 ◽  
Author(s):  
Julie Madelen Madshaven ◽  
Tonje Fjeldstad Markseth ◽  
David Bye Jomås ◽  
Ghislain Maurice Norbert Isabwe ◽  
Morten Ottestad ◽  
...  
Keyword(s):  
Virtual Reality ◽  
User Experience ◽  
Home Environment ◽  
Degrees Of Freedom ◽  
Training System ◽  
Motion Platform ◽  
Nintendo Wii ◽  
Promising Tool ◽  
Home Based ◽  
6 Degrees Of Freedom

Virtual reality (VR) technology is a promising tool in physical rehabilitation. Research indicates that VR-supported rehabilitation is beneficial for task-specific training, multi-sensory feedback, diversified rehabilitation tasks, and patient motivation. Our first goal was to create a biomechatronics laboratory with a VR setup for increasing immersion and a motion platform to provide realistic feedback to patients. The second goal was to investigate possibilities to replicate features of the biomechatronics laboratory in a home-based training system using commercially available components. The laboratory comprises of a motion platform with 6-degrees-of-freedom (Rexroth eMotion), fitted with a load cell integrated treadmill, and an Oculus Quest virtual reality headset. The load cells provide input for data collection, as well as VR motion control. The home-based rehabilitation system consists of a Nintendo Wii Balance Board and an Oculus Rift virtual reality headset. User studies in the laboratory and home environment used direct observation techniques and self-reported attitudinal research methods to assess the solution’s usability and user experience. The findings indicate that the proposed VR solution is feasible. Participants using the home-based system experienced more cybersickness and imbalance compared to those using the biomechatronics laboratory solution. Future studies will look at a setup that is safe for first patient studies, and exercises to improve diagnosis of patients and progress during rehabilitation.

Grasshopper Algorithm Optimized Fractional Order Fuzzy PID Frequency Controller for Hybrid Power Systems

2019 ◽  
Vol 12 (6) ◽  
pp. 519-531
Author(s):  
Deepak Kumar Lal ◽  
Ajit Kumar Barisal
Keyword(s):  
Power Systems ◽  
Power System ◽  
Fractional Order ◽  
Pid Controller ◽  
Load Frequency Control ◽  
Pid Controllers ◽  
Fuzzy Pid ◽  
Fuzzy Pid Controller ◽  
Hybrid Power ◽  
Increasing Demand

Background: Due to the increasing demand for the electrical power and limitations of conventional energy to produce electricity. Methods: Now the Microgrid (MG) system based on alternative energy sources are used to provide electrical energy to fulfill the increasing demand. The power system frequency deviates from its nominal value when the generation differs the load demand. The paper presents, Load Frequency Control (LFC) of a hybrid power structure consisting of a reheat turbine thermal unit, hydropower generation unit and Distributed Generation (DG) resources. Results: The execution of the proposed fractional order Fuzzy proportional-integral-derivative (FO Fuzzy PID) controller is explored by comparing the results with different types of controllers such as PID, fractional order PID (FOPID) and Fuzzy PID controllers. The controller parameters are optimized with a novel application of Grasshopper Optimization Algorithm (GOA). The robustness of the proposed FO Fuzzy PID controller towards different loading, Step Load Perturbations (SLP) and random step change of wind power is tested. Further, the study is extended to an AC microgrid integrated three region thermal power systems. Conclusion: The performed time domain simulations results demonstrate the effectiveness of the proposed FO Fuzzy PID controller and show that it has better performance than that of PID, FOPID and Fuzzy PID controllers. The suggested approach is reached out to the more practical multi-region power system. Thus, the worthiness and adequacy of the proposed technique are verified effectively.

4D in in vivo 2-photon laser scanning fluorescence microscopy with sample motion in 6 degrees of freedom

2011 ◽  
Vol 200 (1) ◽  
pp. 47-53 ◽  
Author(s):  
Sabine Scheibe ◽  
Mario M. Dorostkar ◽  
Christian Seebacher ◽  
Rainer Uhl ◽  
Frank Lison ◽  
...  
Keyword(s):  
Fluorescence Microscopy ◽  
Laser Scanning ◽  
Degrees Of Freedom ◽  
Sample Motion ◽  
6 Degrees Of Freedom

Workspace, dexterity and dimensional optimization of microhexapod

2015 ◽  
Vol 35 (4) ◽  
pp. 341-347 ◽  
Author(s):  
E. Rouhani ◽  
M. J. Nategh
Keyword(s):  
Degrees Of Freedom ◽  
Optimization Problem ◽  
Screw Theory ◽  
Design Parameters ◽  
Dimensional Synthesis ◽  
Content Type ◽  
Workspace Analysis ◽  
The Difference ◽  
Flexure Joints ◽  
6 Degrees Of Freedom

Purpose – The purpose of this paper is to study the workspace and dexterity of a microhexapod which is a 6-degrees of freedom (DOF) parallel compliant manipulator, and also to investigate its dimensional synthesis to maximize the workspace and the global dexterity index at the same time. Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Design/methodology/approach – Microassembly is so essential in the current industry for manufacturing complicated structures. Most of the micromanipulators suffer from their restricted workspace because of using flexure joints compared to the conventional ones. In addition, the controllability of micromanipulators inside the whole workspace is very vital. Thus, it is very important to select the design parameters in a way that not only maximize the workspace but also its global dexterity index. Findings – It has been shown that the proposed procedure for the workspace calculation can considerably speed the required calculations. The optimization results show that a converged-diverged configuration of pods and an increase in the difference between the moving and the stationary platforms’ radii cause the global dexterity index to increase and the workspace to decrease. Originality/value – The proposed algorithm for the workspace analysis is very important, especially when it is an objective function of an optimization problem based on the search method. In addition, using screw theory can simply construct the homogeneous Jacobian matrix. The proposed methodology can be used for any other micromanipulator.

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