Position Servo Control Method for Multi-Degree-of-Freedom Pneumatic Manipulators Based on Delayed Feedback

2020 ◽  
Vol 54 (1) ◽  
pp. 10-18
Author(s):  
Wang Hongying ◽  
Liu Shiping
Keyword(s):  
Control Method ◽  
Delayed Feedback ◽  
Degree Of Freedom ◽  
Servo Control ◽  
Position Servo Control ◽  
Position Servo

Paper 3: An Externally Powered Prosthesis for the Complete Arm

1968 ◽  
Vol 183 (10) ◽  
pp. 11-17 ◽  
Author(s):  
D. C. Simpson
Keyword(s):  
Automatic Control ◽  
Degrees Of Freedom ◽  
Voluntary Control ◽  
Degree Of Freedom ◽  
Servo Control ◽  
Considerable Degree ◽  
Proprioceptive Information ◽  
Position Servo Control ◽  
Position Servo

The arm which is being developed at the Princess Margaret Rose Orthopaedic Hospital, Edinburgh, has voluntary control of four degrees of freedom of the hand (three positional and one rotational), prehension, automatic control of a further degree of freedom (rotational), and can provide an indication of ‘feel’. The control and use of a multimovement arm such as this would present an unacceptably severe task if it was attempted on a time/velocity basis. Over the last two and a half years we have been fitting a position-servo system to our present simple arm (two movements and prehension) and the children who use it have achieved a considerable degree of unconscious control and position awareness of the limb. The results that have been achieved with position-servo control of the present arm have depended on using the proprioceptive information which has been provided by the shoulder control sites as a reflection of the positional state of the limb, and they demonstrate the quality of the match of the characteristics of the arm to those of the user.

scholarly journals Cylinder Position Servo Control Based on Fuzzy PID

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Shibo Cai ◽  
Shunlei Wu ◽  
Guanjun Bao
Keyword(s):  
Position Control ◽  
Control Method ◽  
Absolute Error ◽  
Servo Control ◽  
Fuzzy Pid ◽  
Fuzzy Pid Control ◽  
Proportional Valve ◽  
Fuzzy Variables ◽  
Position Servo Control ◽  
Position Servo

The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.

Position Servo Control of the Transverse Flux Machine Based on an Armature Current RMS and Initial Phase Control Method

2013 ◽  
Vol 756-759 ◽  
pp. 284-287
Author(s):  
Jia Xie ◽  
Shi Ming Wang ◽  
Yan Xiang Wu ◽  
Zheng Hui Sha
Keyword(s):  
Control System ◽  
Initial Phase ◽  
Control Method ◽  
Servo Control ◽  
Servo Control System ◽  
Electromagnetic Power ◽  
Voltage Balance ◽  
Position Servo Control ◽  
Transverse Flux ◽  
Position Servo

A control method for position servo control of Transverse flux machine (TFM) by controlling armature current Root-Mean-Square (RMS) and initial phase is proposed in this paper. Specifically, the voltage balance equation of TFM is provided, and the phasor diagrams are analyzed to achieve the expression of electromagnetic power of TFM. The expression indicates that the electromagnetic torque is determined by armature current RMS and the initial phase. A position servo control system of TFM is established based on the expression. The results of the position servo control curves show that the position servo control system of TFM is effective.

Research on the Positioning Servo Control Strategy for CNC System

2013 ◽  
Vol 694-697 ◽  
pp. 1851-1854
Author(s):  
Li Bing Zhang ◽  
Ting Wu
Keyword(s):  
Control Method ◽  
Dynamic Performance ◽  
Servo Control ◽  
Numerical Control ◽  
Cnc System ◽  
Control Approach ◽  
System A ◽  
Position Servo Control ◽  
Position Servo ◽  
Rolling Optimization

In order to overcome thelimitation of the position servo control method of computerized numerical control(CNC) system, a control approach of generalized predictive control (GPC) ispresented in this paper. In the method, the GPC model calculates the optimalcontrol rate through the predictive model and rolling optimization as thecontroller of the position servo system. Compared with GPC and proportional-integral-derivative(PID) control, the simulative and experimental results show that the proposedcontrol approach has better the dynamic performance, steady-state performance,and robustness.

Design and Position Servo Control of an Active Body-Weight Support Training System

2021 ◽  
Author(s):  
Chao Wei ◽  
Tao Qin ◽  
Xin Meng ◽  
Jinxing Qiu ◽  
Qilong Meng ◽  
...  
Keyword(s):  
Body Weight ◽  
Training System ◽  
Servo Control ◽  
Body Weight Support ◽  
Weight Support ◽  
Position Servo Control ◽  
Position Servo

scholarly journals Optimized PID Controller Based on Beetle Antennae Search Algorithm for Electro-Hydraulic Position Servo Control System

Sensors ◽  
2019 ◽  
Vol 19 (12) ◽  
pp. 2727 ◽  
Author(s):  
Yuqi Fan ◽  
Junpeng Shao ◽  
Guitao Sun
Keyword(s):  
Control System ◽  
Pid Controller ◽  
Search Algorithm ◽  
Three Dimensional ◽  
Parameter Tuning ◽  
Servo Control ◽  
Dimensional Parameter ◽  
Servo Control System ◽  
Position Servo Control ◽  
Position Servo

To improve the controllability of an electro-hydraulic position servo control system while simultaneously enhancing the anti-jamming ability of a PID controller, a compound PID controller that combines the beetle antennae search algorithm with PID strategy was proposed, and used to drive the position servo control system of the electro-hydraulic servo system. A BAS-PID controller was designed, and the beetle antennae search algorithm was used to tune PID parameters so that the disturbance signal of the system was effectively restrained. Initially, the basic mathematical model of the electro-hydraulic position servo control system was established through theoretical analysis. The transfer function model was obtained by identifying system parameters. Then, the PID parameter-tuning problem was converted into a class of three-dimensional parameter optimization problem, and gains of PID controllers were adjusted using the beetle antennae search algorithm. Finally, by comparing the effectiveness of different algorithms, simulation and experimental results revealed that the BAS-PID controller can greatly enhance the performance of the electro-hydraulic position servo control system and inhibit external disturbances when different interference signals are used to test the system’s robustness.

Design and Realization on the Optimal Quadratic Controller for the Positional Servo System of Numerical Control System

2011 ◽  
Vol 317-319 ◽  
pp. 1960-1963
Author(s):  
Li Bing Zhang ◽  
Ting Wu
Keyword(s):  
Control System ◽  
Control Method ◽  
Servo System ◽  
Least Square Method ◽  
Least Square ◽  
Servo Control ◽  
Numerical Control ◽  
Recursive Least Square ◽  
Servo Control System ◽  
Position Servo

This paper presents a technique for the position servo system of numerical control (NC) machine tool by utilizing the optimal quadratic controller. The mathematical model of the position servo control system is structured, which of the plant model is identified by making use of recursive least square method. The fundamental method of designing the optimal quadratic controller is proposed. Simulation of the optimal quadratic controller and PID controller are implemented by using MATLAB. The results of simulation show that the proposed control method of positional servo control system has better dynamic characteristics and better steady performance.

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