Experimental System Identification, Feed-Forward Control, and Hysteresis Compensation of a 2-DOF Mechanism

2013 ◽  
Vol 3 (3) ◽  
pp. 1-21 ◽  
Author(s):  
Umesh Bhagat ◽  
Bijan Shirinzadeh ◽  
Leon Clark ◽  
Yanding Qin ◽  
Yanling Tian ◽  
...  
Keyword(s):  
System Identification ◽  
Measurement Technique ◽  
Experimental System ◽  
Piezoelectric Actuators ◽  
Laser Interferometry ◽  
Validation Data ◽  
Feed Forward ◽  
Hysteresis Compensation ◽  
Feed Forward Control ◽  
Feed Forward Controller

Most of the micro/nano manipulation mechanisms and systems are commonly based on flexure-based monolithic structures, and are generally driven by piezoelectric actuators. In the presented work, experimental system identification, 1-DOF trajectory tracking with feed-forward control, and hysteresis compensation are investigated. An experimental research facility with laser interferometry-based sensing and measurement technique is established. System identification experiments were performed on a 2-DOF flexure-based mechanism to investigate its dynamics. The system identification procedure, experimental design, data acquisition, analysis and validation of the identified system are presented in details. A linear sine swept signal is applied to the system as an input and the corresponding response of the system is measured with laser interferometry-based sensing and measurement technique. The experimental results are used to evaluate the transfer function and the first natural frequency of the system in the X and Y axes. Experimental validation data is used to verify the accuracy of the identified model. Further, a feed-forward controller is established to track a 1-DOF smooth multiple-frequency trajectory. For hysteresis compensation, inverse PI (Prandtl–Ishlinskii) model is derived from classical PI model. The parameters of the inverse PI model is estimated and validated with the experimental data. Finally, inverse PI model is directly adopted as a feed-forward controller for hysteresis compensation of piezoelectric actuators.

A Simple Analog Feed-Forward Controller Design for DC-DC Buck Converter

2015 ◽  
Vol 643 ◽  
pp. 61-67
Author(s):  
Shu Wu ◽  
Yasunori Kobori ◽  
Haruo Kobayashi
Keyword(s):  
Transient Response ◽  
Pulse Width Modulation ◽  
Controller Design ◽  
Buck Converter ◽  
Charge Balance ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Single Output ◽  
Output Capacitor ◽  
Feed Forward Controller

This paper presents usage of analog feed-forward control to improve the transient response of DC-DC buck converters with pulse-width-modulation (PWM). The analog feed-forward controller is simple and does not require complicated calculations. Duty cycle is modulated directly based on the charge balance of the output capacitor. Compared with conventional feedback control, this simple feed-forward controller reduces control delay and provides a satisfactory transient response. We apply this technique to a Single-Inductor-Dual-Output (SIDO) buck converter as well as a Single-Inductor-Single-Output (SISO) buck converter, and show that its cross-regulation is improved. We have validated the proposed method with SIMetrix simulations.

scholarly journals Optimal Trajectory Planning and Linear Velocity Feedback Control of a Flexible Piezoelectric Manipulator for Vibration Suppression

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Junqiang Lou ◽  
Yanding Wei ◽  
Guoping Li ◽  
Yiling Yang ◽  
Fengran Xie
Keyword(s):  
Feedback Control ◽  
Trajectory Planning ◽  
Optimal Trajectory ◽  
Vibration Suppression ◽  
Piezoelectric Actuators ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Planning Approach ◽  
Quintic Polynomial ◽  
Optimal Trajectory Planning

Trajectory planning is an effective feed-forward control technology for vibration suppression of flexible manipulators. However, the inherent drawback makes this strategy inefficient when dealing with modeling errors and disturbances. An optimal trajectory planning approach is proposed and applied to a flexible piezoelectric manipulator system in this paper, which is a combination of feed-forward trajectory planning method and feedback control of piezoelectric actuators. Specifically, the joint controller is responsible for the trajectory tracking and gross vibration suppression of the link during motion, while the active controller of actuators is expected to deal with the link vibrations after joint motion. In the procedure of trajectory planning, the joint angle of the link is expressed as a quintic polynomial function. And the sum of the link vibration energy is chosen as the objective function. Then, genetic algorithm is used to determine the optimal trajectory. The effectiveness of the proposed method is validated by simulation and experiments. Both the settling time and peak value of the link vibrations along the optimal trajectory reduce significantly, with the active control of the piezoelectric actuators.

scholarly journals Feedforward Control of Gear Mesh Vibration Using Piezoelectric Actuators

1994 ◽  
Vol 1 (5) ◽  
pp. 473-484 ◽  
Author(s):  
Gerald T. Montague ◽  
Albert F. Kascak ◽  
Alan Palazzolo ◽  
Daniel Manchala ◽  
Erwin Thomas
Keyword(s):  
Vibration Control ◽  
High Frequency ◽  
Feedforward Control ◽  
Piezoelectric Actuators ◽  
General Linear ◽  
Test Results ◽  
Vibratory System ◽  
Feed Forward ◽  
Gear Mesh ◽  
Feed Forward Controller

This article presents a novel means for suppressing gear mesh related vibrations. The key components in this approach are piezoelectric actuators and a high-frequency, analog feed forward controller. Test results are presented and show up to a 70% reduction in gear mesh acceleration and vibration control up to 4500 Hz. The principle of the approach is explained by an analysis of a harmonically excited, general linear vibratory system.

scholarly journals Disturbance rejection using feed-forward control system on self balancing robot

2018 ◽  
Vol 154 ◽  
pp. 03002
Author(s):  
Barlian Henryranu Prasetio ◽  
Wijaya Kurniawan
Keyword(s):  
Kalman Filter ◽  
Control System ◽  
Ensemble Kalman Filter ◽  
Pid Controller ◽  
Average Delay ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Equilibrium Control ◽  
Balancing Robot ◽  
Feed Forward Controller

This research implements self-balancing robot using 3 algorithms. There are PID Controller, Ensemble Kalman Filter and Feed-Forward Control system. The PID controller function is as a robot equilibrium control system. The Kalman Ensemble algorithm is used to reduce noise measurement of accelerometer and gyroscope sensors. The PID controller and Ensemble Kalman filter were implemented on self-balancing robot in previous research. In this paper, we added the Feed-Forward controller that serves to detect disturbance derived from the unevenness of the ground. Disturbance is detected using 2 proximity sensors. Base on test results that the system can detect disturbance with an average delay of 2.15 seconds at Kff optimal value is 2.92. Feed-Forward effects result in self-balancing robots increasing power so that the pitch of the robot changes to anticipation of disturbance.

scholarly journals Feed-Forward Control for Magnetic Shape Memory Alloy Actuators Based on the Radial Basis Function Neural Network Model

2017 ◽  
Vol 15 (1_suppl) ◽  
pp. 25-30 ◽  
Author(s):  
Miaolei Zhou ◽  
Yifan Wang ◽  
Rui Xu ◽  
Qi Zhang ◽  
Dong Zhu
Keyword(s):  
Neural Network ◽  
Shape Memory Alloy ◽  
Basis Function ◽  
Hysteresis Model ◽  
Modeling Error ◽  
Magnetic Shape Memory ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Magnetic Shape Memory Alloy ◽  
Feed Forward Controller

Hysteresis exists in magnetic shape memory alloy (MSMA) actuators, which restricts MSMA actuators’ application. To describe hysteresis of the MSMA actuators, a hysteresis model based on the radial basis function neural network (RBFNN) is put forward. Then, an inverse RBFNN model is set up, and it is compared with the inverse model based on the traditional cut-and-try method. Finally, to solve hysteresis of the actuators, an inverse model for MSMA actuators is used to build feed-forward controller. Simulation results show the maximum modeling error for inverse hysteresis model designed by neural network is 0.79% and compared with traditional cut-and-try method, the maximum modeling error decreases by 1.85%. The maximum tracking error rate of feed-forward control is 0.38%. The hysteresis of MSMA actuators is reduced. By using the feed-forward controller, high precision control is achieved.

Feed-Forward Controller for the Integrated Non-Invasive Ultrasound Diagnosis and Treatment

2008 ◽  
Vol 20 (1) ◽  
pp. 89-97 ◽  
Author(s):  
Norihiro Koizumi ◽  
◽  
Kohei Ota ◽  
Deukhee Lee ◽  
Shin Yoshizawa ◽  
...  
Keyword(s):  
High Speed ◽  
Focused Ultrasound ◽  
Ccd Camera ◽  
High Intensity Focused Ultrasound ◽  
Diagnosis And Treatment ◽  
Ultrasound Diagnosis ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Non Invasive ◽  
Feed Forward Controller

The integrated non-invasive ultrasound diagnosis and treatment we propose tracks and follows movement in an affected area – kidney stones here ” while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. High-speed CCD camera cannot be used in non-invasive diagnosis and treatment because we must avoid damaging healthy tissue. Servoing error mainly due to ultrasound imaging and its dead time become serious problems, unlike when a high-speed camera is used. We propose feed-forward control using semi-regular kidney movement focusing on enhancing servoing performance.

Research on Synchronous Control for Dual-Cylinder System with Unbalanced Loading

2011 ◽  
Vol 143-144 ◽  
pp. 53-57 ◽  
Author(s):  
Zheng Yu Mao ◽  
Jun Yuan ◽  
Zhong Jian Liu
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Total System ◽  
Piston Motion ◽  
Feed Forward ◽  
Synchronous Control ◽  
Feed Forward Control ◽  
Load Imbalance ◽  
Synchronous Error ◽  
Feed Forward Controller

To aimed at the synchronous control for dual-cylinder with unbalanced and uncertainty loading, this paper proposes a hybrid control method that consists of feed-forward control and fuzzy feedback control. In the first, a feed-forward controller of each cylinder based on trajectory restrains is developed to limit the motion and synchronous error to a certain extent, and also smooth the piston motion. Then, two fuzzy controllers are specified to improve the tracking performance of cylinder and compensate the synchronous error. The simulation experimental results show that the proposed hybrid control strategy can control the maximum synchronous error of the total system to be within ±10mm under the consideration of large load imbalance, and has the system motion of a good smoothness.

scholarly journals Adaptive feed-forward hysteresis compensation for piezoelectric actuators

2012 ◽  
Vol 83 (8) ◽  
pp. 085001 ◽  
Author(s):  
Arnfinn Aas Eielsen ◽  
Jan Tommy Gravdahl ◽  
Kristin Y. Pettersen
Keyword(s):  
Piezoelectric Actuators ◽  
Feed Forward ◽  
Hysteresis Compensation
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