Research Gravity Compensation for Master Manipulator with Time Delay

2014 ◽  
Vol 496-500 ◽  
pp. 1413-1416 ◽  
Author(s):  
Hong Min Wang ◽  
Zhi Jiang Du ◽  
Zhi Kai Zhao ◽  
Rong Qiang Liu
Keyword(s):  
Signal Processing ◽  
Control System ◽  
Time Delay ◽  
Minimally Invasive ◽  
External Force ◽  
Dynamic Equation ◽  
Motor Output ◽  
Gravity Compensation ◽  
Robot Surgery ◽  
Output Torque

A gravity compensation algorithm for master manipulator used in minimally invasive robot surgery is proposed in this paper. The Lagrange dynamic equation is used to solve the motor output torque for balancing the master gravity. To avoid time delay in signal processing, multi-thread and multi-event technology are used in software control system. With the algorithm, the force by hand is very small under the condition of exist gravity compensation, less output more than 90% of the external force compared with the lack of gravity compensation.

An Adjustable Model Reference Adaptive Control for a Time Delay System

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
A. M. Khoshnood
Keyword(s):  
Signal Processing ◽  
Control System ◽  
Time Delay ◽  
Vibration Control ◽  
Closed Loop ◽  
Smith Predictor ◽  
Delay Systems ◽  
Model Reference ◽  
Main Challenge ◽  
Model Reference Adaptive

Current developments in signal processing tools for hardware and software applications have led to employment of these approaches for vibration control in flexible structures. The main challenge of this method is the delay directly generated from the processing in the closed-loop of the vibration control system. This delay causes considerable degradation of the stability of the dynamic system. This study uses the Smith predictor (SP) of common time delay systems to propose an adjustable model reference, where the delay generated from the signal processing block is compensated for vibration control. The vibration control system based on signal processing is applied on a flexible launch vehicle in which the bending vibration modes are modeled as undesirable sinusoidal signals. The results of a numerical simulation of a linear model of the vehicle with the adjustable model reference adaptive system show that the delay in the closed-loop control system is adequately compensated. This approach allows the use of the signal processing tools for vibration analysis and control without substantial delay.

Design of Master's Position Controller for Bilateral Control System with Time Delay

2015 ◽  
Vol 135 (3) ◽  
pp. 268-275 ◽  
Author(s):  
Daisuke Yashiro ◽  
Tadashi Hieno ◽  
Kazuhiro Yubai ◽  
Satoshi Komada
Keyword(s):  
Control System ◽  
Time Delay ◽  
Bilateral Control ◽  
Position Controller ◽  
System With Time Delay

scholarly journals Divided Design of Bilateral Control System and Compensation for Instability by Time Delay.

1998 ◽  
Vol 64 (621) ◽  
pp. 1772-1779 ◽  
Author(s):  
Hideo FUJIMOTO ◽  
Akihito SANO ◽  
Masayuki TANAKA ◽  
Takashi HANAI
Keyword(s):  
Control System ◽  
Time Delay ◽  
Bilateral Control

Fault Diagnosis Method for a Network Control System with Long-Time Delay and Data Packet Loss Based on H∞ Filtering

2013 ◽  
Vol 846-847 ◽  
pp. 795-798
Author(s):  
Jiao Meng ◽  
Qi Hua Xu ◽  
Xiao Xiao
Keyword(s):  
Control System ◽  
Fault Diagnosis ◽  
Time Delay ◽  
Packet Loss ◽  
Estimation Error ◽  
Network Control ◽  
Data Packet ◽  
Practical Significance ◽  
Network Control System ◽  
Long Time

Improving network control system---NCS reliability and safety has important practical significance because NCS is a hot research subject in these years. Fault diagnosis methods are researched in this paper according to NCS with long-time delay and data packet loss. Firstly, given a NCS with long-time delay, a state observer is structured. Secondly, make the state estimation error equation equivalent to an asynchronous dynamical system having event incidence constraint according to whether the system having data packets loss. The problem of fault diagnosis is converted to filtering problem through structuring filtering residual system based on the observer, then giving a corresponding filter designing algorithm. The designed fault diagnosis filter system not only make sure the stability of the closed loop system but also make the residual systems norm less than given reduction level. Finally, the simulation results prove that the algorithm can diagnose faults effectively.

Research on the Character of a Synchronous Control System with Wireless Data Communication

2010 ◽  
Vol 455 ◽  
pp. 206-210
Author(s):  
Jun Li Liu ◽  
Yan Yan Yan ◽  
G.Q. He
Keyword(s):  
Control System ◽  
Time Delay ◽  
Data Transmission ◽  
Data Communication ◽  
Control Model ◽  
Data Loss ◽  
Wireless Data ◽  
Synchronous Control ◽  
Wireless Data Transmission ◽  
Set Up

It discusses the reasons of the data transmission time delay and packets loss based on the theory of net data transmission. Aimed to the question of the time delay of data transmission and packets loss, the control system models are set up to analyze their influence to the performance of the control system. Based on the synchronous control model analysis with wireless data transmission, a method to control the system is reached with the state prediction when the communication error or data loss appears. It can control constantly when communication errors appear, and also it can get the most error period by numerical analysis.

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