scholarly journals Comprehensive Design Method of a High-Frequency-Response Fast Tool Servo System Based on a Full-Frequency Error Control Algorithm

Micromachines ◽  
2021 ◽  
Vol 12 (11) ◽  
pp. 1354
Author(s):  
Zelong Li ◽  
Chaoliang Guan ◽  
Yifan Dai ◽  
Shuai Xue ◽  
Lianmin Yin
Keyword(s):  
Natural Frequency ◽  
High Performance ◽  
Control Algorithm ◽  
Phase Error ◽  
Tracking Error ◽  
Phase Delay ◽  
Optical Systems ◽  
Frequency Error ◽  
Fast Tool Servo ◽  
Optical Mirrors

With the development of optoelectronic information technology, high-performance optical systems require an increasingly higher surface accuracy of optical mirrors. The fast tool servo (FTS) based on the piezoelectric actuator is widely used in the compensation machining of high-precision optical mirrors. However, with the low natural frequency of mechanical structures, hysteresis of the piezoelectric actuators, and phase delay of the control systems, conventional FTS systems face problems such as a low working frequency and a large tracking error. This study presents a method for the design of a high-performance FTS system. First, a flexure hinge servo turret with a high natural frequency was designed through multi-objective optimization and finite element simulations. Subsequently, a composite control algorithm was proposed, targeting the problems of hysteresis and phase delay. The modified Prandtl–Ishlinskii inverse hysteresis model was used to overcome the hysteresis effect and a zero-phase error tracker was designed to reduce the phase error. The experimental results reveal that the tracking error of the designed FTS system was <10% in the full frequency range (0–1000 Hz).

Extended Bandwidth Zero Phase Error Tracking Control of Nonminimal Phase Systems

1992 ◽  
Vol 114 (3) ◽  
pp. 347-351 ◽  
Author(s):  
D. Torfs ◽  
J. De Schutter ◽  
J. Swevers
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Phase Error ◽  
Tracking Error ◽  
Flexible Robot ◽  
Phase Errors ◽  
Gain Error ◽  
Small Gain ◽  
Phase Systems ◽  
Zero Phase

This paper describes a new feedforward algorithm for accurate tracking control of nonminimal phase systems. Accurate feedforward calculation involves a prefilter design using the inverse system model. Nonminimal phase systems cause problems with this prefilter design, because unstable zeros become unstable poles in the inverse model. The zero phase error tracking control algorithm (ZPETC) consists of a substitution scheme, which removes the unstable zeros. This scheme introduces a small gain error, which increases with frequency, but no phase error. This paper investigates additional properties which give more insight into the ZPETC algorithm, and allow to improve it. The improved algorithm is based on the same substitution scheme as ZPETC, but adds additional feedforward terms to compensate for the gain error. These additional terms increase the frequency range for which the overall transfer function has only limited gain error, without introducing phase errors. The additional feedforward terms repeatedly reduce the tracking error proportional to ε2, ε4, ε6, …, where ε is the ZPETC tracking error. The new feedforward algorithm or new substitution scheme is therefore called “extended bandwidth zero phase error tracking control algorithm” (EBZPETC). Experimental results on a one-link flexible robot compares both methods.

scholarly journals A Review on the Development of Rotman Lens Antenna

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Shruti Vashist ◽  
M. K. Soni ◽  
P. K. Singhal
Keyword(s):  
High Performance ◽  
Beam Steering ◽  
Phase Error ◽  
Antenna System ◽  
Surveillance Systems ◽  
Electronic Warfare ◽  
Design Concepts ◽  
Low Profile ◽  
True Time ◽  
The One

Rotman lenses are the beguiling devices used by the beamforming networks (BFNs). These lenses are generally used in the radar surveillance systems to see targets in multiple directions due to its multibeam capability without physically moving the antenna system. Now a days these lenses are being integrated into many radars and electronic warfare systems around the world. The antenna should be capable of producing multiple beams which can be steered without changing the orientation of the antenna. Microwave lenses are the one who support low-phase error, wideband, and wide-angle scanning. They are the true time delay (TTD) devices producing frequency independent beam steering. The emerging printed lenses in recent years have facilitated the advancement of designing high performance but low-profile, light-weight, and small-size and networks (BFNs). This paper will review and analyze various design concepts used over the years to improve the scanning capability of the lens developed by various researchers.

Iterative learning control algorithm for sensor fault nonlinear systems

2020 ◽  
pp. 1-8
Author(s):  
Zimian Lan
Keyword(s):  
Nonlinear Systems ◽  
Iterative Learning Control ◽  
Control Algorithm ◽  
Tracking Error ◽  
Learning Control ◽  
Open Loop ◽  
Iterative Learning ◽  
Sensor Fault ◽  
Initial State ◽  
Control Gain

In this paper, we propose a new iterative learning control algorithm for sensor faults in nonlinear systems. The algorithm does not depend on the initial value of the system and is combined with the open-loop D-type iterative learning law. We design a period that shortens as the number of iterations increases. During this period, the controller corrects the state deviation, so that the system tracking error converges to the boundary unrelated to the initial state error, which is determined only by the system’s uncertainty and interference. Furthermore, based on the λ norm theory, the appropriate control gain is selected to suppress the tracking error caused by the sensor fault, and the uniform convergence of the control algorithm and the boundedness of the error are proved. The simulation results of the speed control of the injection molding machine system verify the effectiveness of the algorithm.

scholarly journals Analysis of the Subdivision Errors of Photoelectric Angle Encoders and Improvement of the Tracking Precision of a Telescope Control System

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2998 ◽  
Author(s):  
Jiawei Yu ◽  
Qiang Wang ◽  
Guozhong Zhou ◽  
Dong He ◽  
Yunxia Xia ◽  
...  
Keyword(s):  
Error Compensation ◽  
Phase Error ◽  
Tracking Error ◽  
Great Influence ◽  
Measuring Error ◽  
Distribution Law ◽  
Lissajous Figure ◽  
Amplitude Error ◽  
Noise Error ◽  
Angle Encoder

Photoelectric angle encoders, working as position sensors, have a great influence on the accuracy and stability of telescope control systems (TCS). In order to improve the tracking precision of TCS, a method based on subdivision error compensation for photoelectric angle encoders is proposed. First, a mathematical analysis of six types of subdivision errors (DC error, phase error, amplitude error, harmonic error, noise error, and quantization error) is presented, which is different from the previously used analysis based on the Lissajous figure method. In fact, we believe that a mathematical method is more efficient than the figure method for the expression of subdivision errors. Then, the distribution law and period length of each subdivision error are analyzed. Finally, an error compensation algorithm is presented. In a real TCS, the elevation jittering phenomenon occurs, which indicates that compensating for the amplitude error is necessary. A feed-forward loop is then introduced into the TCS, which is position loop- and velocity loop-closed, leading to a decrease of the tracking error by nearly 54.6%, from 2.31” to 1.05”, with a leading speed of 0.25°/s, and by 40.5%, from 3.01” to 1.79”, with a leading speed of 1°/s. This method can realize real-time compensation and improve the ability of TCS without any change of the hardware. In addition, independently of the environment and the kind of control strategy used, this method can also improve the tracking precision presumably because it compensates the measuring error inside the photoelectric angle encoder.

Improving Contour Accuracy of Machine Tools Using an Integral-Gain Scheduler

2005 ◽  
Vol 219 (7) ◽  
pp. 511-518 ◽  
Author(s):  
R C Ko ◽  
M C Good
Keyword(s):  
Machine Tools ◽  
High Performance ◽  
Pulse Width Modulation ◽  
Tracking Error ◽  
Contour Error ◽  
Current Loop ◽  
Pwm Inverter ◽  
Current Controller ◽  
Reversal Error ◽  
Grinding Machine

In high-precision machine tools, contour error at axis reversal can significantly reduce the quality of products. Resulting from non-linear friction behaviour, the reversal error is traditionally handled by the velocity controller, which highly relies on a high-performance current servo. However, the widely employed pulse width modulation (PWM) inverter in the power stage of the current servo operates with a severe non-linearity known as deadband. The deadband effect degrades the current-loop tracking performance and consequently hinders the velocity controller in responding to friction disturbances. The result is a significant and oscillatory tracking error, or contour error in a multiaxis system. Unlike other approaches where the deadband is compensated via measurement or estimation, a control system approach is proposed in this paper where the deadband is treated as a voltage perturbation in the current loop. The proposed scheme incorporates a feedforward signal from the current command and schedules the integral action in the current controller accordingly. The proposed scheme was implemented in digital servo drives of a commercial grinding machine. Experiments show that the proposed scheme is an effective and practical solution for this type of problem.

scholarly journals The use of a cascaded Kinect and electromyography gesture decoding algorithm in an initial robot-aided hand neurorehabilitation

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401775196 ◽  
Author(s):  
Ping Wang ◽  
Yabo Wang ◽  
He Huang ◽  
Feng Ru ◽  
Quan Pan
Keyword(s):  
Control Algorithm ◽  
Motion Tracking ◽  
Simulation Experiment ◽  
Tracking Error ◽  
Torque Control ◽  
Tracking Accuracy ◽  
Rehabilitation Robots ◽  
Machine Interface ◽  
Repetitive Activities ◽  
Active Assistance

In order to improve the neurological recovery of hand neurorehabilitation, target-oriented, intensive, repetitive activities of daily living are used, such as training with recognition of hand gestures during robot-aided exercise. In this article, a cascade control algorithm integrating electromyography bio-feedback into hand gesture recognition is proposed. The outer loop is the trajectory motion tracking with Kinect-based gesture decoding classifier, and the inner loop is torque control with electromyography bio-feedback in the real time. This proposed method improves the tracking accuracy. The tracking error is effectively reduced from 70.56 to 28.07 in the simulation experiment. The initial test proves that the proposed method with additional torque control allows active assistance on the human–machine interface of other rehabilitation robots in future.

Data-Tuned Fuzzy Logic Controller Applied to a Horizontal Axis Wind System

2020 ◽  
Author(s):  
Lorenzo Dambrosio
Keyword(s):  
Fuzzy Logic ◽  
Wind Turbine ◽  
Control Algorithm ◽  
Fuzzy Logic Controller ◽  
Tracking Error ◽  
Synchronous Generator ◽  
Horizontal Axis ◽  
Fuzzy Rules ◽  
Wind System ◽  
Horizontal Axis Wind Turbine

Abstract This paper deals with the control problem concerning the output voltage frequency and amplitude regulation of a wind system power plant not connected to the supply grid. The wind system configuration includes a horizontal-axis wind-turbine which drives a synchronous generator. An appropriate modeling approach has been adopted for both the wind-turbine and the synchronous generator. The proposed controller makes use of the fuzzy logic environment in order to take advantage of the wind plant system informations integrated into a limited number of equilibrium condition points (input variable - output variable pairs). The fuzzy logic controller described in the present paper merges the most appropriate fuzzy rules clusters, based on the steady state working conditions. Then, thanks to a Least Square Estimator algorithm, the proposed control algorithm evaluates, for each sample time, the linear relation between control law correction and control tracking error levels. In order to demonstrate robustness of the suggested fuzzy control algorithm, two sets of results have been provided: the first one consider a fuzzy base with equally spaced rules, whereas, in the second set results, the number of fuzzy rules is reduced by a 25%.

A High-Performance Normal-Stressed Electromagnetic Fast Tool Servo

2021 ◽  
pp. 364-373
Author(s):  
Zi-Hui Zhu ◽  
Dongran Shen ◽  
Peng Huang ◽  
LiMin Zhu ◽  
Zhiwei Zhu
Keyword(s):  
High Performance ◽  
Fast Tool Servo

scholarly journals Multi-Physical Design and Resonant Controller Based Trajectory Tracking of the Electromagnetically Driven Fast Tool Servo

Actuators ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 28
Author(s):  
Imran Hussain ◽  
Wei Xia ◽  
Dongpo Zhao ◽  
Peng Huang ◽  
Zhiwei Zhu
Keyword(s):  
Natural Frequency ◽  
Trajectory Tracking ◽  
Voice Coil Motor ◽  
Diamond Turning ◽  
Analytical Models ◽  
Physical Parameters ◽  
Fast Tool Servo ◽  
Element Analysis ◽  
Loop Control ◽  
Resonant Controller

In this paper, a voice coil motor (VCM) actuated fast tool servo (FTS) system is developed for diamond turning. To guide motions of the VCM actuator, a crossed double parallelogram flexure mechanism is selected featuring totally symmetric structure with high lateral stiffness. To facilitate the determination of the multi-physical parameters, analytical models of both electromagnetic and mechanical systems are developed. The designed FTS with balanced stroke and natural frequency is then verified through the finite element analysis. Finally, the prototype of the VCM actuated FTS is fabricated and experimentally demonstrated to achieve a stroke of ±59.02 μm and a first natural frequency of 253 Hz. By constructing a closed-loop control using proportional–integral–derivative (PID) controller with the internal-model based resonant controller, the error for tracking a harmonic trajectory with ±10 μm amplitude and 120 Hz frequency is obtained to be ±0.2 μm, demonstrating the capability of the FTS for high accuracy trajectory tracking.

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