scholarly journals Accurate Motion Control of a Pneumatic Linear Peristaltic Actuator

Actuators ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 63 ◽  
Author(s):  
João Falcão Carneiro ◽  
João Bravo Pinto ◽  
Fernando Gomes de Almeida
Keyword(s):  
Closed Loop ◽  
Low Cost ◽  
Dynamic Performance ◽  
Control Law ◽  
Control Loop ◽  
Control Laws ◽  
Loop Control ◽  
Error Band ◽  
Short Service Life ◽  
High Mechanical Stress

Pneumatic linear peristaltic actuators can offer some potential advantages when compared with conventional ones. The low cost, virtually unlimited stroke and easy implementation of curved motion profiles are among those benefits. On the downside, these actuators suffer high mechanical stress that can lead to short service life and increased leakage among chambers during the actuator lifetime. One way to cope with this problem is to impose the force—instead of the displacement—between rollers, as this has been shown to improve the endurance of the hose while reducing leakage during the actuator lifetime. This paper presents closed control loop results using such a setup. Previous studies with linear peristaltic actuators have revealed that, although it is possible to reach zero steady state error to constant references with closed loop control, the dynamic response obtained is very slow. This paper is mainly focused on this topic, namely on the development of several control laws to improve the dynamic performance of the system while avoiding limit cycles. The new developed control law leads to an average time of 1.67 s to reach a 0.1 mm error band in an experiment consisting of a series of 16 steps ranging from 0.02 to 0.32 m in amplitude.

Industrial compliant robot bases in interaction tasks: a force tracking algorithm with coupled dynamics compensation

Robotica ◽  
2016 ◽  
Vol 35 (8) ◽  
pp. 1732-1746 ◽  
Author(s):  
Loris Roveda ◽  
Nicola Pedrocchi ◽  
Federico Vicentini ◽  
Lorenzo Molinari Tosatti
Keyword(s):  
Closed Loop ◽  
Control Law ◽  
Light Weight ◽  
Mobile Platforms ◽  
Control Laws ◽  
Assembly Task ◽  
Base Position ◽  
Force Tracking ◽  
Compliant Robot ◽  
Target Force

SUMMARYLight-weight manipulators are used in industrial tasks mounted on mobile platforms to improve flexibility. However, such mountings introduce compliance affecting the tasks. This work deals with such scenarios by designing a controller that also takes into account compliant environments. The controller allows the tracking of a target force using the estimation of the environment stiffness (EKF) and the estimation of the base position (KF), compensating the robot base deformation. The closed-loop stability has been analyzed. Observers and the control law have been validated in experiments. An assembly task is considered with a standard industrial non-actuated mobile platform. Control laws with and without base compensation are compared.

Closed Loop Identification by Optimization Method

2015 ◽  
Vol 1084 ◽  
pp. 636-641
Author(s):  
Valeriy F. Dyadik ◽  
Nikolay S. Krinitsyn ◽  
Vyacheslav A. Rudnev
Keyword(s):  
Closed Loop ◽  
Uranium Hexafluoride ◽  
Optimization Method ◽  
Model Parameters ◽  
Control Loop ◽  
Loop Control ◽  
Identification Method ◽  
Closed Loop Control System ◽  
Closed Loop Identification ◽  
Loop Control System

The article is devoted to the adaptation of the controller parameters during its operation as a part of a control loop. The possibility to identify the parameters of the controlled plant model in the closed control loop has been proved by a computer simulation. The described active identification method is based on the response processing of the closed loop control system to standard actions. The developed algorithm has been applied to determine the model parameters of the flaming fluorination reactor used for the production of uranium hexafluoride. Designed identification method improves the quality of the product and the efficiency of the entire production.

Oscillations-Induced Transitions and Their Application in Control of Dynamical Systems

1990 ◽  
Vol 112 (3) ◽  
pp. 313-319 ◽  
Author(s):  
J. Bentsman
Keyword(s):  
Dynamical Systems ◽  
Parabolic Equations ◽  
Closed Loop ◽  
Distributed Parameter ◽  
Control Laws ◽  
Loop Control ◽  
Finite Dimensional ◽  
Analytical Tools ◽  
Semilinear Parabolic ◽  
Qualitative Changes

Studies of the use of oscillations for control purposes continue to reveal new practically important properties unique to the oscillatory open and closed loop control laws. The goal of this paper is to enlarge the available set of analytical tools for such studies by introducing a method of analysis of the qualitative changes in the behavior of dynamical systems caused by the zero mean parametric excitations. After summarizing and slightly refining a technique developed previously for the finite dimensional nonlinear systems, we consider an extension of this technique to a class of distributed parameter systems (DPS) governed by semilinear parabolic equations. The technique presented is illustrated by several examples.

Optimizing anaerobic co-digestion plants: MIR online instrumentation and dynamic real-time substrate feed optimization

2015 ◽  
Vol 63 (7) ◽  
Author(s):  
Daniel Gaida ◽  
Christian Wolf ◽  
Robin Eccleston ◽  
Michael Bongards
Keyword(s):  
Predictive Control ◽  
Closed Loop ◽  
Closed Loop Control ◽  
Control Loop ◽  
Loop Control ◽  
Plant Operation ◽  
Novel Approaches ◽  
The One ◽  
Middle Infrared ◽  
And Control

AbstractClosed-loop control of the substrate feed as well as the application of online instrumentation are important to achieve optimal biogas plant operation. Therefore, this paper presents two novel approaches for online instrumentation and control to achieve optimal AD plant operation based on middle-infrared spectroscopy on the one hand and nonlinear model predictive control on the other hand. At present, research into both techniques is being performed separately, with the intention that in the future the spectroscopic measurements will be integrated into the control loop.

A High-Frequency Inverter Based on Double Closed-Loop Control

2012 ◽  
Vol 241-244 ◽  
pp. 509-512
Author(s):  
Lin Yang ◽  
Gen Wang Liu
Keyword(s):  
High Frequency ◽  
Closed Loop ◽  
Control Structure ◽  
Dynamic Performance ◽  
Current Loop ◽  
Closed Loop Control ◽  
Voltage Waveform ◽  
Loop Control ◽  
Static Performance ◽  
Frequency Inverter

In order to improve the dynamic performance of inverter and the output voltage waveform quality, the double-loop control combination with internal current loop and external voltage loop is introduced. The inner loop is used for improving the dynamic performance of the system and rapidly eliminating the effects of load disturbance; the outer loop is used for improving static performance of the system. In the end, MATLAB / Simulink is carried out to build the system model and prove the feasibility of the dual closed-loop control structure in this paper.

scholarly journals Formulation and Simulations of the Conserving Algorithm for Feedback Stabilization on Rigid Body Rotations

2014 ◽  
Vol 2014 ◽  
pp. 1-11
Author(s):  
Yong-Ren Pu ◽  
Thomas A. Posbergh
Keyword(s):  
Rigid Body ◽  
Closed Loop ◽  
Numerical Algorithms ◽  
Open Loop ◽  
Rigid Bodies ◽  
Feedback Stabilization ◽  
Conserved Quantities ◽  
Control Laws ◽  
Loop Control ◽  
Closed Loop Systems

The problem of stabilization of rigid bodies has received a great deal of attention for many years. People have developed a variety of feedback control laws to meet their design requirements and have formulated various but mostly open loop numerical algorithms for the dynamics of the corresponding closed loop systems. Since the conserved quantities such as energy, momentum, and symmetry play an important role in the dynamics, we investigate the conserved quantities for the closed loop control systems which formally or asymptotically stabilize rigid body rotation and modify the open loop numerical algorithms so that they preserve these important properties. Using several examples, the authors first use the open loop algorithm to simulate the tumbling rigid body actions and then use the resulting closed loop one to stabilize them.

scholarly journals Real-Time Low-Cost Speed Monitoring and Control of Three-Phase Induction Motor via a Voltage/Frequency Control Approach

2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Ali Hmidet ◽  
Olfa Boubaker
Keyword(s):  
Real Time ◽  
Induction Motor ◽  
Closed Loop ◽  
Low Cost ◽  
Closed Loop Control ◽  
Loop Control ◽  
Control Approach ◽  
Three Phase ◽  
Wide Range ◽  
Voltage Frequency

In this paper, a new design of a real-time low-cost speed monitoring and closed-loop control of the three-phase induction motor (IM) is proposed. The proposed solution is based on a voltage/frequency (V/F) control approach and a PI antiwindup regulator. It uses the Waijung Blockset which considerably alleviates the heaviness and the difficulty of the microcontroller’s programming task incessantly crucial for the implementation and the management of such complex applications. Indeed, it automatically generates C codes for many types of microcontrollers like the STM32F4 family, also used in this application. Furthermore, it offers a cost-effective design reducing the system components and increasing its efficiency. To prove the efficiency of the suggested design, not only simulation results are carried out for a wide range of variations in load and reference speed but also experimental assessment. The real-time closed-loop control performances are proved using the aMG SQLite Data Server via the UART port board, whereas Waijung WebPage Designer (W2D) is used for the web monitoring task. Experimental results prove the accuracy and robustness of the proposed solution.

The Application of Reconfigurable Logic to Active Magnetic Bearing Controller

2009 ◽  
Author(s):  
Zbigniew Kulesza
Keyword(s):  
Integrated Circuit ◽  
Dynamic Performance ◽  
Magnetic Bearing ◽  
Active Magnetic Bearing ◽  
Experimental Investigations ◽  
Control Law ◽  
Reconfigurable Logic ◽  
Control Laws ◽  
Pid Algorithm ◽  
Point Representation

The article presents the main problems of implementing the PID control law in the reconfigurable logic, namely FPGA integrated circuit. The consecutive steps of discretizing and choosing the fixed-point representation of the continuous, floating-point PID algorithm are described. The FPGA controller is going to be used in the active hetero-polar magnetic bearings system consisting of two radial and one axial bearings. The results of the experimental investigations of the controller are presented. The dynamic performance of the controller is better when compared with the dSPACE controller, that was used so far. The designed hardware and software, the developed implementation procedure and the experience acquired during this stage of the whole project are going to be used during the implementation of more sophisticated control laws (e.g. H∞ robust) in the FPGA for AMB controllers.

scholarly journals No-Tension Sensor Closed-Loop Control Method with Adaptive PI Parameters for Two-Motor Winding System

2018 ◽  
Vol 2018 ◽  
pp. 1-14 ◽  
Author(s):  
Zhiqiang Wang ◽  
Haibao Nan ◽  
Tingna Shi ◽  
Qiang Geng ◽  
Changliang Xia
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Recursive Algorithm ◽  
Dynamic Performance ◽  
Tension Control ◽  
Closed Loop Control ◽  
Loop Control ◽  
Measurement Delay ◽  
Tension Sensor ◽  
Tension Control System

In a winding system, it is very important to control the tension precisely. Based on the process of rewinding and unwinding, a sensorless tension control method with PI parameters of adaptive speed controllers is proposed in this paper. According to the principle of torque balance, a tension observer is designed to replace the tension sensor, and the observed value instead of the measured value of tension is used as feedback. Then the measurement delay caused by tension sensor is reduced. For the time-variable inertia, Landau discrete-time recursive algorithm is used to estimate the inertias of the rewind and unwind motors. Moreover, the estimated inertias are used to adjust the PI parameters of the speed controllers. As the tension control system has the ability to adapt to the change of inertia, its dynamic performance is improved to some extent. In addition, the proposed sensorless tension control method is simple and easy to implement, which only uses the current and speed signals of the motors without any additional hardware needed. At last, the feasibility and effectiveness of the proposed method are verified by the experimental results.

Trajektorienbasierte Strategie für die Regelung des Tiefziehprozesses während des Hubes*/Trajectory-based closed loop control for controlling deep-drawing process

2016 ◽  
Vol 106 (10) ◽  
pp. 684-689
Author(s):  
M. Prof. Liewald ◽  
M. Barthau ◽  
S. Braun
Keyword(s):  
Deep Drawing ◽  
Closed Loop ◽  
Control Strategies ◽  
Closed Loop Control ◽  
Drawing Process ◽  
Control Loop ◽  
Deep Drawing Process ◽  
Loop Control ◽  
Control Intervention ◽  
Measurement Devices

Am IFU der Universität Stuttgart wurde ein Regelkreis für das Tiefziehen entwickelt, welcher einen regelnden Eingriff in den Tiefziehvorgang während des Hubes erlaubt. Die Umsetzung dieses Regelungskonzeptes erfolgte mittels eines Ziehwerkzeugs, das an eine vereinfachte Geometrie eines PKW-Vorderkotflügels angelehnt ist. Beschrieben werden die messtechnische Ausstattung des Versuchswerkzeugs, der Aufbau des Regelkreises und die Entwicklung der Regelstrategie. Des Weiteren werden die Ergebnisse der Simulation sowie der ersten Versuche dargestellt.   At IFU, University of Stuttgart a control loop for deep-drawing process, with control intervention during deep-drawing stroke was developed. The closed-loop control was demonstrated on a fender shaped geometry. Described are the measurement devices, design of the closed-loop and the featured control strategies. Results of simulation and sensitivity analysis are also shown.

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