Velocity Connection Algorithm of Arbitrary Multi-Axis Linkage

2017 ◽  
Vol 24 ◽  
pp. 12-23
Author(s):  
Fa Li Wang ◽  
Feng Ming Zhang ◽  
Lin Ge ◽  
Hui Ma
Keyword(s):  
Control System ◽  
Rapid Prototyping ◽  
Motion Control ◽  
Initial Velocity ◽  
High Speed ◽  
Stepper Motor ◽  
Final Velocity ◽  
Straight Line ◽  
Movement Mechanism ◽  
Current Segment

In this paper, a velocity connection algorithm of arbitrary multi-axis linkage is presented with regard to the problem of velocity connection efficiency of multiple straight-line paths in the motion control system. For this algorithm, with the velocity, acceleration and displacement of the current segment and the previous segment as constraint conditions, the acceleration is not set as a constant but the intersegmental velocity variable is set independently. The initial velocity and final velocity of each segment is solved on this basis, improving the movement efficiency and simplifying the calculation. Therefore, this algorithm is particularly suitable for the high-speed movement mechanism driven by a stepper motor. As for the actual motion track of the rapid prototyping machine, a comparison was made between this algorithm and the traditional velocity connection algorithm to verify the effectiveness of this algorithm.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Full-scale Performance of the SES Motion Control System

2015 ◽  
Author(s):  
Øyvind F. Auestad ◽  
J. William McFann ◽  
Jan T. Gravdahl
Keyword(s):  
Control System ◽  
Motion Control ◽  
High Speed ◽  
Wind Farm ◽  
Surface Effect ◽  
Vertical Plane ◽  
Full Scale ◽  
Offshore Wind ◽  
Motion Control System ◽  
Air Cushion

The pressurized air cushion on a Surface Effect Ship (SES) can lift up to 80% of total vessel mass. The SES Motion Control System (SES-MCS) controls the vent valves which again controls the air cushion pressure, assuming lift fan air flow is pressurizing the air cushion. By controlling the air cushion pressure one can significantly counteract vertical sea wave disturbances, ensure high passenger comfort and reduce sea-sickness. The case studied in this work is the Umoe Mandal Wave Craft prototype, ’Umoe Ventus’, which is a high-speed offshore wind-farm service vessel specially designed for control in the vertical plane. The SES-MCS can adjust the draft from 1m to 3.2m in less time than the wave period. The SES-MCS can reduce motions significantly in order to perform Operation and Maintenance (O&M) in high seas. The craft is the fastest wind-farm service vessel of its size with high comfort in all relevant sea states. The performance of the SES-MCS is demonstrated through full-scale sea trials.

The Research of Stepper Motor Subdivision Control System for Cloth-Cutting Machines

2013 ◽  
Vol 443 ◽  
pp. 285-289
Author(s):  
Chuan Ke Lai
Keyword(s):  
Control System ◽  
Control Problem ◽  
Motion Control ◽  
High Precision ◽  
Experimental Results ◽  
Stepper Motor ◽  
Stepping Motor ◽  
Precision Stepping

For stepper motor motion control problem of tailoring machine,the paper designed control system based on the LPC2138 and SLA7062 stepper motor subdivision , and realize of high-precision stepping motor subdivision control. Experimental results show that the stepper motor can be subdivided under the control of the control system stable and accurate operation, tailoring machines can meet the accuracy requirements.

The Motion Control System of Servomotor Based on CAN Bus

2012 ◽  
Vol 163 ◽  
pp. 260-263
Author(s):  
Jing Lin Tong ◽  
Bo Li ◽  
Xiao Bo Wang
Keyword(s):  
Control System ◽  
Motion Control ◽  
High Speed ◽  
Can Bus ◽  
High Reliability ◽  
Controller Area Network ◽  
Area Network ◽  
Price Ratio ◽  
Motion Control System ◽  
Communication Software

This paper introduces the hardware and the communication software design of control system based on Controller Area Network bus. The control system can realize to control the motion of servomotor through high speed C8501F040 single chip microcomputer with Controller Area Network bus and special motion controller - LM628. This system possesses characteristics such as simple structure, high reliability and high performance/price ratio. Key words: CAN bus, LM628, Motion Control System, Communication software

scholarly journals An Experimental Investigation of Ride Control Algorithms for High-Speed Catamarans Part 1: Reduction of Ship Motions

2017 ◽  
Vol 61 (01) ◽  
pp. 35-49
Author(s):  
Javad AlaviMerh ◽  
Jason Lavroff ◽  
Michael R. Davis ◽  
Damien S. Holloway ◽  
Giles A. Thomas
Keyword(s):  
Control System ◽  
Motion Control ◽  
High Speed ◽  
Vertical Acceleration ◽  
Pitch Control ◽  
Model Scale ◽  
Ride Control ◽  
Control Feedback ◽  
Control Surfaces ◽  
Ride Control System

Ride control systems are essential for comfort and operability of high-speed ships, but it remains an open question what is the optimum ride control method. To investigate the motions of a 112-m high-speed catamaran fitted with a ride control system, a 2.5-m model was tested in a towing tank. The model active control system comprised two transom stern tabs and a central T-Foil beneath the bow. Six ideal motion control feedback algorithms were used to activate the model scale ride control system and surfaces in a closed-loop control system: heave control, local motion control, and pitch control, each in a linear and nonlinear version. The responses were compared with the responses with inactive control surfaces and with no control surfaces fitted. The model was tested in head seas at different wave heights and frequencies and the heave and pitch response amplitude operators (RAOs), response phase operators, and acceleration response were measured. It was found that the passive ride control system reduced the peak heave and pitch motions only slightly. The heave and pitch motions were more strongly reduced by their respective control feedback. This was most evident with nonlinear pitch control, which reduced the maximum pitch RAO by around 50% and the vertical acceleration near the bow by about 40% in 60-mm waves (2.69 m at full scale). These reductions were influenced favorably by phase shifts in the model scale system, which effectively contributed both stiffness and damping in the control action.

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