scholarly journals Discovering Stick-Slip-Resistant Servo Control Algorithm Using Genetic Programming

Sensors ◽  
2022 ◽  
Vol 22 (1) ◽  
pp. 383
Author(s):  
Andrzej Bożek
Keyword(s):  
Genetic Programming ◽  
Control Algorithm ◽  
Evolutionary Process ◽  
Servo Control ◽  
Stick Slip ◽  
Servo Systems ◽  
Large Size ◽  
Measurement Results ◽  
Acceleration Feedback ◽  
Gp Training

The stick-slip is one of negative phenomena caused by friction in servo systems. It is a consequence of complicated nonlinear friction characteristics, especially the so-called Stribeck effect. Much research has been done on control algorithms suppressing the stick-slip, but no simple solution has been found. In this work, a new approach is proposed based on genetic programming. The genetic programming is a machine learning technique constructing symbolic representation of programs or expressions by evolutionary process. In this way, the servo control algorithm optimally suppressing the stick-slip is discovered. The GP training is conducted on a simulated servo system, as the experiments would last too long in real-time. The feedback for the control algorithm is based on the sensors of position, velocity and acceleration. Variants with full and reduced sensor sets are considered. Ideal and quantized position measurements are also analyzed. The results reveal that the genetic programming can successfully discover a control algorithm effectively suppressing the stick-slip. However, it is not an easy task and relatively large size of population and a big number of generations are required. Real measurement results in worse control quality. Acceleration feedback has no apparent impact on the algorithms performance, while velocity feedback is important.

scholarly journals On Numerical Simulation Approach for Multiple Resonance Modes in Servo Systems

2017 ◽  
Vol 2017 ◽  
pp. 1-7
Author(s):  
Qixin Zhu ◽  
Hongli Liu ◽  
Yiyi Yin ◽  
Lei Xiong ◽  
Yonghong Zhu
Keyword(s):  
Numerical Simulation ◽  
Mathematical Model ◽  
Closed Loop ◽  
Resonance Mode ◽  
Servo Control ◽  
Simulation Approach ◽  
Servo Systems ◽  
Resonance Modes ◽  
Resonant Part ◽  
The Mathematical Model

Mechanical resonance is one of the most pervasive problems in servo control. Closed-loop simulations are requisite when the servo control system with high accuracy is designed. The mathematical model of resonance mode must be considered when the closed-loop simulations of servo systems are done. There will be a big difference between the simulation results and the real actualities of servo systems when the resonance mode is not considered in simulations. Firstly, the mathematical model of resonance mode is introduced in this paper. This model can be perceived as a product of a differentiation element and an oscillating element. Secondly, the second-order differentiation element is proposed to simulate the resonant part and the oscillating element is proposed to simulate the antiresonant part. Thirdly, the simulation approach for two resonance modes in servo systems is proposed. Similarly, this approach can be extended to the simulation of three or even more resonances in servo systems. Finally, two numerical simulation examples are given.

Carriage Acceleration Feedback Multi-Sensing Controller for Sector Servo Systems

1999 ◽  
pp. 33-47 ◽  
Author(s):  
Masahito Kobayashi ◽  
Takashi Yamaguchi ◽  
Takashi Yoshida ◽  
Hiromu Hirai
Keyword(s):  
Servo Systems ◽  
Acceleration Feedback

Reserve-driven flow control for extracorporeal life support: proof of principle

Perfusion ◽  
2010 ◽  
Vol 25 (1) ◽  
pp. 25-29 ◽  
Author(s):  
AP Simons ◽  
KD Reesink ◽  
MD Lancé ◽  
T. van der Nagel ◽  
FH van der Veen ◽  
...  
Keyword(s):  
Control Strategy ◽  
Control Algorithm ◽  
Continuous Monitoring ◽  
Life Support ◽  
Extracorporeal Life Support ◽  
Servo Control ◽  
Low Flow ◽  
Circulatory Support ◽  
Control Schemes ◽  
Proof Of Principle

Extracorporeal life support systems lack volume-buffering capacity. Therefore, any decrease in venous intravascular volume available for drainage may result in acutely reduced support flow. We recently developed a method to quantify drainable volume and now conceived a reserve-driven pump control strategy, which is different from existing pressure or flow servo control schemes. Here, we give an outline of the algorithm and present animal experimental data showing proof of principle. With an acute reduction in circulatory volume (10-15%), pump flow immediately dropped from 4.1 to 1.9 l/min. Our pump control algorithm was able to restore bypass flow to 3.2 l/min (about 80% of the original level) and, thereby, reduced the duration of the low-flow condition. This demonstrates that a reserve-driven pump control strategy, based on the continuous monitoring of drainable volume, may maintain extracorporeal circulatory support flow, despite serious changes in filling conditions.

scholarly journals Stability of PDF Controller With Stick-Slip Friction Device

1997 ◽  
Vol 119 (3) ◽  
pp. 486-490 ◽  
Author(s):  
Jia-Yush Yen ◽  
Chih-Jung Huang ◽  
Shu-Shung Lu
Keyword(s):  
Control Algorithm ◽  
Controller Design ◽  
System Model ◽  
Pole Placement ◽  
Order System ◽  
Stick Slip ◽  
Precision Control ◽  
Experimental Works ◽  
The Stability ◽  
Control Accuracy

This paper presents the precision control of drive devices with significant stick-slip friction. The controller design follows the Pseudo-Derivative Feedback (PDF) control algorithm. Using the second order system model, the PDF controller offers arbitrary pole placement. In this paper, the stability proof for the controller with stick-slip friction is presented. On the basis of this proof, the stability criteria are derived. The paper also includes both the computer simulation and the experimental works to confirm the theoretical result. The experiments conducted on a Traction Type Drive Device (TTDD) shows that control accuracy of as high as ±1 arc – second is achieved.

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