scholarly journals Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes

Actuators ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 317
Author(s):  
Saddam Gharab ◽  
Selma Benftima ◽  
Vicente Feliu Batlle
Keyword(s):  
Control System ◽  
Strain Gauge ◽  
High Frequency ◽  
Singular Perturbation Theory ◽  
Strain Gauges ◽  
Input State ◽  
Frequency Noise ◽  
Flexible Robot ◽  
Outer Loop ◽  
High Frequency Noise

In this paper, a method to control one degree of freedom lightweight flexible manipulators is investigated. These robots have a single low-frequency and high amplitude vibration mode. They hold actuators with high friction, and sensors which are often strain gauges with offset and high-frequency noise. These problems reduce the motion’s performance and the precision of the robot tip positioning. Moreover, since the carried payload changes in the different tasks, that vibration frequency also changes producing underdamped or even unstable time responses of the closed-loop control system. The actuator friction effect is removed by using a robust two degrees of freedom PID control system which feeds back the actuator position. This is called the inner loop. After, an outer loop is closed that removes the link vibrations and is designed based on the combination of the singular perturbation theory and the input-state linearization technique. A new controller is proposed for this outer loop that: (1) removes the strain gauge offset effects, (2) reduces the risk of saturating the actuator due to the high-frequency noise of strain gauges and (3) achieves high robustness to a change in the payload mass. This last feature prompted us to use a fractional-order PD controller. A procedure for tuning this controller is also proposed. Simulated and experimental results are presented that show that its performance overcomes those of PD controllers, which are the controllers usually employed in the input-state linearization of second-order systems.

Case study: Simulation and control of high frequency noise for commercial vehicle cab considering leak

2019 ◽  
Vol 67 (4) ◽  
pp. 315-329
Author(s):  
Rongjiang Tang ◽  
Zhe Tong ◽  
Weiguang Zheng ◽  
Shenfang Li ◽  
Li Huang
Keyword(s):  
High Frequency ◽  
Commercial Vehicle ◽  
Frequency Noise ◽  
High Frequency Noise ◽  
Simulation And Control ◽  
And Control

Aerodynamic noise from an asymmetric airfoil with perforated extension plates at the trailing edge

2020 ◽  
pp. 1475472X2097838
Author(s):  
CK Sumesh ◽  
TJS Jothi
Keyword(s):  
High Frequency ◽  
Sound Pressure ◽  
Pore Diameter ◽  
Low Frequency ◽  
Aerodynamic Noise ◽  
Frequency Noise ◽  
Low Frequency Noise ◽  
Trailing Edge ◽  
High Frequency Noise ◽  
Displacement Thickness

This paper investigates the noise emissions from NACA 6412 asymmetric airfoil with different perforated extension plates at the trailing edge. The length of the extension plate is 10 mm, and the pore diameters ( D) considered for the study are in the range of 0.689 to 1.665 mm. The experiments are carried out in the flow velocity ( U∞) range of 20 to 45 m/s, and geometric angles of attack ( αg) values of −10° to +10°. Perforated extensions have an overwhelming response in reducing the low frequency noise (<1.5 kHz), and a reduction of up to 6 dB is observed with an increase in the pore diameter. Contrastingly, the higher frequency noise (>4 kHz) is observed to increase with an increase in the pore diameter. The dominant reduction in the low frequency noise for perforated model airfoils is within the Strouhal number (based on the displacement thickness) of 0.11. The overall sound pressure levels of perforated model airfoils are observed to reduce by a maximum of 2 dB compared to the base airfoil. Finally, by varying the geometric angle of attack from −10° to +10°, the lower frequency noise is seen to increase, while the high frequency noise is observed to decrease.

Bayesian deconvolution of gamma‐ray logs

Geophysics ◽  
1987 ◽  
Vol 52 (11) ◽  
pp. 1535-1546 ◽  
Author(s):  
Ping Sheng ◽  
Benjamin White ◽  
Balan Nair ◽  
Sandra Kerford
Keyword(s):  
High Frequency ◽  
Gamma Ray ◽  
Simulated Data ◽  
Field Measurements ◽  
Bayesian Optimization ◽  
Frequency Noise ◽  
High Frequency Noise ◽  
Data Application ◽  
Gamma Ray Detector ◽  
Gamma Ray Log

The spatial resolution of gamma‐ray logs is defined by the length 𝓁 of the gamma‐ray detector. To resolve thin beds whose thickness is less than 𝓁, it is generally desirable to deconvolve the data to reduce the averaging effect of the detector. However, inherent in the deconvolution operation is an amplification of high‐frequency noise, which can be a detriment to the intended goal of increased resolution. We propose a Bayesian statistical approach to gamma‐ray log deconvolution which is based on optimization of a probability function which takes into account the statistics of gamma‐ray log measurements as well as the empirical information derived from the data. Application of this method to simulated data and to field measurements shows that it is effective in suppressing high‐frequency noise encountered in the deconvolution of gamma‐ray logs. In particular, a comparison with the least‐squares deconvolution approach indicates that the incorporation of physical and statistical information in the Bayesian optimization process results in optimal filtering of the deconvolved results.

High frequency noise of MOSFETs. II. Experiments

1998 ◽  
Vol 42 (11) ◽  
pp. 2083-2092 ◽  
Author(s):  
C.H. Chen ◽  
M.J. Deen ◽  
Z.X. Yan ◽  
M. Schroter ◽  
C Enz
Keyword(s):  
High Frequency ◽  
Frequency Noise ◽  
High Frequency Noise

scholarly journals The dual-slope conversion improvement

2014 ◽  
Vol 11 (3) ◽  
pp. 351-363
Author(s):  
Radojle Radetic ◽  
Marijana Pavlov-Kagadejev ◽  
Nikola Milivojevic
Keyword(s):  
High Frequency ◽  
Frequency Noise ◽  
Good Resolution ◽  
Practical Realization ◽  
Digital Conversion ◽  
Low Frequencies ◽  
Analog To Digital ◽  
High Frequency Noise ◽  
Low Input ◽  
Analog To Digital Conversion

The dual-slope ADC (DSADC) is a type of analog-to-digital conversion with low input bandwidths. It is pretty slow, but its ability to reject high-frequency noise and fixed low frequencies such as 50 Hz or 60 Hz makes it useful in noisy industrial environments and applications. It provides very good resolution. For the practical measurements in the Institutes laboratory an instrument is designed and realized. The base DSADC method is used, but improved by multiple conversions to make the measuring more precise and the time shorter. The special attention is paid to the problems occurred in practical realization and the way to overcome them. The paper describes the proposed and applied solutions, functional principles and achieved performances of the realized instrument.

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