DIN EN 302039-2:2003-07, Intelligente Netze (IN)_- Leistungsmerkmal Gruppe 4 (CS4) für Intelligente Netze; Anwendungsprotokoll für Intelligente Netze (INAP); Protokollspezifikation_- Teil_2: Schnittstelle Service Switching Function; Switching Control Function (SSF-SCF) (Anerkennung der Englischen Fassung EN_302039-2 V_1.1.2 (2002-11) als Deutsche Norm)

To solve the contradiction between dynamic performance and steady-state performance of the robot system, a smooth-switching control strategy is proposed. By combining robot and motor model, the complete model of the robot driving system is established. The single-loop Feedback Linearization (FL) controller and Port-Controlled Hamiltonian (PCH) controller based on the complete model are derived to ensure the rapidity and stability of the system respectively. A smooth-switching function based on position error is designed. It can ensure the smooth-switching between two controllers and avoid the instability caused by switch-switching. The proposed algorithm can make the robot system have good dynamic and steady performance. Simulation and experiment results demonstrate the effectiveness of the smooth-switch control strategy.

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Switching Control Method for Stable Landing by Legged Robot Based on Zero Moment Point

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2013.p0831 ◽

2013 ◽

Vol 25 (5) ◽

pp. 831-839 ◽

Cited By ~ 4

Author(s):

Naoki Motoi ◽

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Kenta Sasahara ◽

Atsuo Kawamura

Keyword(s):

Control Method ◽

Biped Robot ◽

Switching Control ◽

Contact Condition ◽

Smooth Transition ◽

Switching Function ◽

Legged Robot ◽

Position Controller ◽

Zero Moment ◽

The Moment

This paper proposes a switching control method to achieve a smooth transition from an edge landing to a sole landing for a legged robot. When a biped robot walks, an undesirable condition at the moment of landing, such as hunting between the ground and the foot, may occur for several reasons. To avoid this condition, this paper focuses on a method that uses simple controllers to ensure a smooth transition from an edge landing to a sole landing. In the event of an edge landing, a force controller should be implemented for a smooth transition to a sole landing. This is because the force controller enables the foot to contact the ground softly. After the landing state is shifted to the sole landing, the control method should be changed to the position controller. Therefore, it is necessary to switch the control method according to the contact condition between the foot and the ground. To avoid the chattering of the controller switching, several hysteresis values are used for the zeromoment point (ZMP) position and ZMP velocity in the switching function. Simulations and experimental results confirmed the validity of the proposed method.

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Trajectory Tracking of Flexible-Joint Robots Actuated by PMSM via a Novel Smooth Switching Control Strategy

Applied Sciences ◽

10.3390/app9204382 ◽

2019 ◽

Vol 9 (20) ◽

pp. 4382 ◽

Cited By ~ 4

Author(s):

Yue Wang ◽

Haisheng Yu ◽

Jinpeng Yu ◽

Herong Wu ◽

Xudong Liu

Keyword(s):

Trajectory Tracking ◽

Control Strategy ◽

Sliding Mode ◽

Gaussian Function ◽

Switching Control ◽

Switching Function ◽

Flexible Joint ◽

Hybrid Controller ◽

Hierarchical Sliding Mode ◽

Smooth Switching

This paper presents the trajectory tracking control of a flexible-joint manipulator driven by permanent magnet synchronous motor (PMSM). Combining the PMSM electrical equation and mechanical equation of robotic manipulators, a novel smooth switching control scheme is proposed. Firstly, the position loop controller of the system is designed, with an improved hierarchical sliding mode control (IHSMC) algorithm proposed to further the response speed of the system, additionally, a robust interconnection and damping assignment passivity-based controller (IDA-PBC) is designed to improve the steady state performance of the system. Then, the IDA-PBC control strategy is leveraged to design the current loop controller of the system, on which basis a hybrid controller with smooth switching is designed. Furthermore, Gaussian function is applied as the smooth switching function of the hybrid controller to promote the switching performance. As a result, the hybrid controller has both good dynamic and steady performance. The simulation results verify the effectiveness of the algorithms.

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Design of the Inverted Brake in Substation Automation System

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.346.89 ◽

2013 ◽

Vol 346 ◽

pp. 89-93

Author(s):

Hong Wang

Keyword(s):

Real Time ◽

Interface Design ◽

Program Design ◽

Control Function ◽

Switching Control ◽

Automation System ◽

Centralized Control ◽

Real Time Monitoring ◽

Control Operation ◽

Substation Automation

This paper provides an overview of the program design of WINCC 6 interface design and Step7, for real-time monitoring interface 500KV centralized control station, station information and convenient control operation personnel in the room can obtain the distance, 500000 volt side switching control function.

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