Realization of Angular Position Control System on Multi-Degree-of-Freedom Welding Robot

2012 ◽  
Vol 192 ◽  
pp. 323-327
Author(s):  
Jian Long Zhai ◽  
Jie Li ◽  
Rong Hui Gao
Keyword(s):  
Control System ◽  
Real Time ◽  
Joint Angle ◽  
Position Control ◽  
Angular Position ◽  
Welding Robot ◽  
Work Process ◽  
Machine Interface ◽  
Visual Interface ◽  
Position Control System

Aim at the need of excessive freedom jointing robot real time measuring joint angle positions during work process, The engineer is an measure system of excessive freedom jointing robot, which are base on absoluteness type photo-electricity coder and TMS320F2812. The system have more group sixteen bits IO and SCI communicate interface, which can make jointing robot real time measuring, and implement the visual interface of the upper machine .The system has well real time and friendly human-machine interface, which is the same with minutely machining appliance extensive.

Angular Position Control of Fluid-Driven Bi-Directional Motor

2010 ◽  
Vol 224 (11) ◽  
pp. 2350-2362 ◽  
Author(s):  
Y Nakao ◽  
M Ishikawa
Keyword(s):  
Control System ◽  
Rotational Speed ◽  
Disturbance Observer ◽  
Position Control ◽  
Angular Position ◽  
Speed Control ◽  
Load Torque ◽  
Speed Control System ◽  
Rotational Speed Control ◽  
Position Control System

This paper describes the design of a rotational speed-control system and an angular position-control system for a fluid-driven bi-directional motor. The fluid-driven bi-directional motor has a driving principle similar to that of the fluid-driven spindle, which is designed for use in ultra-precision machine tools. The fluid-driven bi-directional motor was designed so that it is driven by low viscosity oil flow power. In this paper, the rotational speed controller for the motor is first discussed. In order to reduce the influence of external load torque on the rotational speed, a conventional disturbance observer is combined with the rotational speed-control system. The angular position-control system, which possesses the rotational speed feedback loop with the disturbance observer in the angular position feedback loop, is then discussed. The designed rotational speed and angular position-control systems are conventional I—P control and proportional control systems, respectively. The performance of the designed rotational speed-control system and the angular position-control system is studied via simulations and experiments. The performance of the designed control system is tested by the step response method as well as by the frequency response method, respectively. The simulation and experimental results show that the rotational speed and the angular position of the motor can be controlled by the rotational speed controller and angular position controller, respectively. In addition, the influence of the external load torque acting on the motor is successfully compensated for by means of the disturbance observer. The experimental result shows that the designed angular position-control system suppresses the steady-state positioning error to less than 0.02°, even if external constant load torque acts on the motor.

An Auto-Tuning PID Controller for Integrating Plus Dead-Time Processes

2011 ◽  
Vol 403-408 ◽  
pp. 4934-4943 ◽  
Author(s):  
C. Dey ◽  
R.K. Mudi ◽  
D. Simhachalam
Keyword(s):  
Control System ◽  
Real Time ◽  
Simulation Study ◽  
Pid Controller ◽  
Position Control ◽  
Dead Time ◽  
Nonlinear Gain ◽  
Stability Robustness ◽  
Auto Tuning ◽  
Position Control System

We propose an auto-tuning PID (APID) controller with nonlinear gain. Its proportional, integral, and derivative gains are parameterized online by a nonlinear updating factor. Both performance and stability robustness of APID are studied with reasonable perturbations in model as well as controller parameters. Effectiveness of the proposed APID is tested through simulation study as well as its real-time implementation on a practical position control system.

Modelling and characteristics of a fluid-driven bi-directional motor for an angular position-control system

2010 ◽  
Vol 224 (4) ◽  
pp. 863-876 ◽  
Author(s):  
Y Nakao ◽  
M Ishikawa
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Water Flow ◽  
Cross Sections ◽  
Position Control ◽  
Water Pressure ◽  
Angular Position ◽  
Ultra Precision ◽  
Precision Machine Tools ◽  
Position Control System

A water-driven spindle was developed for use in ultra-precision machine tools. Features of this spindle are: (a) it utilizes water flow power to spin the spindle rotor and (b) it utilizes the water pressure to support the rotor. Bend flow channels are formed in the cross-sections of the spindle rotor so that the power of the water flow can be converted into driving power for spinning the rotor. This paper proposes a spindle structure similar to that of the water-driven spindle. A feature of the proposed spindle is that it can be driven in either rotational direction by switching the supply ports. By virtue of the feature of the proposed spindle, angular position control will become achievable by designing an appropriate control system. Prior to developing the angular position-controllable spindle, a testing device, named the fluid-driven bi-directional motor, was developed. This paper deals with the modelling of the motor that will be needed for designing the angular position control system. The derived mathematical model is then evaluated by comparison with the experimental results. It is then verified that the derived mathematical model is capable of representing the static as well as dynamic characteristics of the motor.

Design of Angular Position Control System for Fluid Drive Motor

2008 ◽  
Author(s):  
Yohichi Nakao ◽  
Masanori Ishikawa
Keyword(s):  
Control System ◽  
Rotational Speed ◽  
External Load ◽  
Position Control ◽  
Angular Position ◽  
Experimental Result ◽  
Load Torque ◽  
Speed Controller ◽  
Drive Motor ◽  
Position Control System

This paper describes the angular position control system for a fluid drive motor. The fluid drive motor has a similar driving principle with the fluid drive spindle that is designed for the spindle of precision machine tools. The fluid drive motor is driven by the water or oil flow power. In the present paper, the rotational speed controller is first discussed. In order to reduce the influence of external load torque on the rotational speed, a conventional disturbance observer is combined with the rotational speed control system. The angular position control system, which possesses the rotational speed controller as a minor feedback loop, is then discussed. Performances of the designed angular position control system are studied via simulations and experiments. It is verified that the influence of the external load torque on the rotational speed is successfully compensated. The angular position control system is tested through simulations and experiments, as well. Experimental result shows the designed angular position control system suppresses steady state positioning error less than 0.02 degree, even if external constant load torque acts on the motor.

Sign in / Sign up

Export Citation Format

Share Document