scholarly journals Time Delay Estimation Control of Permanent Magnet Spherical Actuator Based on Gradient Compensation

Electronics ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 66
Author(s):  
Xiuqin Wang ◽  
Rui Zhang ◽  
Guoli Li ◽  
Qunjing Wang ◽  
Yan Wen
Keyword(s):  
Time Delay ◽  
Permanent Magnet ◽  
Dynamic Model ◽  
Estimation Method ◽  
Lyapunov Equation ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Estimation Errors ◽  
Gradient Compensation ◽  
Spherical Actuator

A multi-degree-of-freedom Permanent Magnet Spherical Actuator (PMSpA) has a special mechanical structure and electromagnetic fields, and is easily affected by nonlinear disturbances such as modeling errors and friction. Therefore, the quality of a PMSpA control system may be deteriorated. In order to keep the PMSpA with good trajectory tracking performance, this paper designs a time delay estimation controller based on gradient compensation. Firstly, the dynamic model of the PMSpA with nonlinear terms is derived. The nonlinear terms in the complex dynamic model can be simplified and estimated by the time delay estimation method. Secondly, for the estimation errors caused by time delay control, a gradient compensator is introduced to further correct and compensate for it. Furthermore, the stability of the designed controller is proved by the Lyapunov equation. Finally, the correctness and effectiveness of the controller are validated by comparison with other controllers through simulation. In addition, experimental results have also shown that the control accuracy of the spherical motor can be effectively improved using the proposed controller.

scholarly journals Underwater Acoustic Time Delay Estimation Based on Envelope Differences of Correlation Functions

Sensors ◽  
2019 ◽  
Vol 19 (5) ◽  
pp. 1259 ◽  
Author(s):  
Guodong Li ◽  
Jinsong Wu ◽  
Taolin Tang ◽  
Zhixin Chen ◽  
Jun Chen ◽  
...  
Keyword(s):  
Time Delay ◽  
Correlation Functions ◽  
Estimation Method ◽  
Digital Signal ◽  
Low Complexity ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Estimation Errors ◽  
Underwater Acoustic ◽  
Amplitude Fluctuations

This paper proposes underwater acoustic time delay estimation based on the envelope differences of correlation functions (EDCF), which mitigates the delay estimation errors introduced by the amplitude fluctuations of the correlation function envelopes in the traditional correlation methods (CM). The performance of the proposed delay estimation method under different time values was analyzed, and the optimal difference time values are given. To overcome the influences of digital signal sampling intervals on time delay estimation, a digital time delay estimation approach with low complexity and high accuracy is proposed. The performance of the proposed time delay estimation was analyzed in underwater multipath channels. Finally, the accuracy of the delay estimation using this proposed method was demonstrated by experiments.

scholarly journals New time delay estimation-based virtual decomposition control for n-DoF robot manipulator

2021 ◽  
Vol 10 (3) ◽  
pp. 192
Author(s):  
Hachmia Faqihi ◽  
Khalid Benjelloun ◽  
Maarouf Saad ◽  
Mohammed Benbrahim ◽  
M. Nabil Kabbaj
Keyword(s):  
Time Delay ◽  
Dynamic Model ◽  
Control Strategy ◽  
Robot Manipulator ◽  
Time Delay Estimation ◽  
Lyapunov Theory ◽  
Degree Of Freedom ◽  
Delay Estimation ◽  
The Stability

<p>One of the most efficient approaches to control a multiple degree-of-freedom robot manipulator is the virtual decomposition control (VDC). However, the use of the re- gressor technique in the conventionnal VDC to estimate the unknown and uncertaities parameters present some limitations. In this paper, a new control strategy of n-DoF robot manipulator, refering to reorganizing the equation of the VDC using the time delay estimation (TDE) have been investigated. In the proposed controller, the VDC equations are rearranged using the TDE for unknown dynamic estimations. Hence, the decoupling dynamic model for the manipulator is established. The stability of the overall system is proved based on Lyapunov theory. The effectiveness of the proposed controller is proved via case study performed on 7-DoF robot manipulator and com- pared to the conventionnal Regressor-based VDC according to some evalution criteria. The results carry out the validity and efficiency of the proposed time delay estimation- based virtual decomposition controller (TD-VDC) approach.</p>

scholarly journals An Adaptive Time Delay Estimation Method for Broadcast Audio Based on Power Cepstrum

2020 ◽  
Vol 166 ◽  
pp. 258-263
Author(s):  
Chuanlin Tang ◽  
Zhirou Zhao ◽  
Yu Bin Shao ◽  
Hua Long ◽  
Qingzhi Du
Keyword(s):  
Time Delay ◽  
Estimation Method ◽  
Time Delay Estimation ◽  
Delay Estimation ◽  
Adaptive Time
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