Development of Piezo Driven Motion Amplified Stage

2014 ◽  
Vol 541-542 ◽  
pp. 742-746
Author(s):  
Jung Hyun Kim
Keyword(s):  
Motion Control ◽  
Feedback System ◽  
Optical Microscope ◽  
Experimental Results ◽  
Amplification Ratio ◽  
Control Scheme ◽  
Motion Stage ◽  
Loop Motion

This paper presents a novel piezo driven motion stage employing multiple motion levers allowing for an amplification ratio that exceeds 60x enabled by a newly contrived cross hinge structure. Measurements of the motion stage were made using an optical microscope. The motion stage was incorporated into a visually served close loop motion control scheme and experimental results prove that the feedback system is capable of 20nm nanostepping.

PDF Subvariable Control and Its Application to Robot Motion Control

1989 ◽  
Vol 111 (3) ◽  
pp. 452-461 ◽  
Author(s):  
M. C. Leu ◽  
D. I. Freed
Keyword(s):  
Feedback Control ◽  
Nonlinear System ◽  
Motion Control ◽  
Response Speed ◽  
Experimental Results ◽  
Robot Motion ◽  
Velocity Feedback ◽  
Control Scheme ◽  
Control Schemes ◽  
Manipulator Arm

A method for determining the feedback coefficients of pseudo-derivative-feedback control is presented, along with applications of this control scheme. Simulations are performed for controlling a linear inertia system with disturbance loads and inertia variations, and for controlling a nonlinear system represented by a manipulator arm. The results show that PDF subvariable control quickly rejects disturbances and is insensitive to inertia variations. Also, the position responses do not exhibit overshoot or oscillation. Comparison with the results for proportional-plus-velocity-feedback control shows that the PDF approach is superior in response speed, robustness, and disturbance-handling ability. Experimental results from implementation of both control schemes to a revolute manipulator support this conclusion.

Optimal Model Reference Control Scheme Design for Nonlinear Strict-Feedback Systems

2020 ◽  
Vol 38 (9A) ◽  
pp. 1342-1351
Author(s):  
Musadaq A. Hadi ◽  
Hazem I. Ali
Keyword(s):  
Reference Model ◽  
Feedback System ◽  
Optimization Method ◽  
Feedback Systems ◽  
Model Reference ◽  
Scheme Design ◽  
Model Reference Control ◽  
Control Scheme ◽  
Lyapunov Stability Analysis ◽  
Strict Feedback

In this paper, a new design of the model reference control scheme is proposed in a class of nonlinear strict-feedback system. First, the system is analyzed using Lyapunov stability analysis. Next, a model reference is used to improve system performance. Then, the Integral Square Error (ISE) is considered as a cost function to drive the error between the reference model and the system to zero. After that, a powerful metaheuristic optimization method is used to optimize the parameters of the proposed controller. Finally, the results show that the proposed controller can effectively compensate for the strictly-feedback nonlinear system with more desirable performance.

scholarly journals Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Energies ◽  
2020 ◽  
Vol 13 (22) ◽  
pp. 6041
Author(s):  
Fredy A. Valenzuela ◽  
Reymundo Ramírez ◽  
Fermín Martínez ◽  
Onofre A. Morfín ◽  
Carlos E. Castañeda
Keyword(s):  
Controller Design ◽  
Sliding Mode ◽  
Dc Motor ◽  
Experimental Results ◽  
Resistive Load ◽  
Velocity Control ◽  
Velocity Sensor ◽  
Control Scheme ◽  
Mechanical Sensors ◽  
Twisting Algorithm

A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

Zeroing dynamics based motion control scheme for parallel manipulators

2017 ◽  
Vol 53 (2) ◽  
pp. 74-75 ◽  
Author(s):  
Yunong Zhang ◽  
Liangyu He ◽  
Shuai Li ◽  
Dechao Chen ◽  
Yaqiong Ding
Keyword(s):  
Motion Control ◽  
Parallel Manipulators ◽  
Control Scheme

Improved Load Sharing Control Techniques for Inverters used in a Microgrid

2009 ◽  
Vol 10 (1) ◽  
Author(s):  
Wei Yao ◽  
Zhaoming Qian
Keyword(s):  
Steady State ◽  
Transient Response ◽  
Single Phase ◽  
Load Sharing ◽  
Power Sharing ◽  
Experimental Results ◽  
Control Technique ◽  
Transient Performance ◽  
Control Techniques ◽  
Control Scheme

In this paper, an improved load sharing control scheme is presented, which is able to improve the transient response and power sharing accuracy of parallel-connected inverters used in microgrid. It also shows how the improved droop method can be easily adapted to account for the operation of parallel-connected inverters, providing good performance under the variation and disturbance of loads, as well as achieving good steady-state objectives and transient performance. Two DSP-based single-phase Microgrid inverters are designed and implemented. Simulation and experimental results are all reported, confirming the validity of the proposed control technique.

The Research on Multi-Axes Automatic Motion Control Systems

2012 ◽  
Vol 459 ◽  
pp. 75-78
Author(s):  
Lian Jun Hu ◽  
Xiao Hui Zeng ◽  
Gui Xu Chen ◽  
Hong Song
Keyword(s):  
Control System ◽  
Embedded Systems ◽  
Automatic Control ◽  
Control Systems ◽  
Motion Control ◽  
Automatic Control System ◽  
Experimental Results

An automatic control system for multi-axes motions based on multi-CPU embedded systems is proposed in the paper, in order to overcome insufficiencies of available multi-axes automatic dispensing control systems. It is shown from experimental results that expected control objectives for multi-axes motions are achieved.

Roll-Gap Control System of Twin Roll Strip Caster Based on Feed Forward-Feedback

2013 ◽  
Vol 750 ◽  
pp. 64-67
Author(s):  
Wen Yu Zhang ◽  
Dong Ying Ju ◽  
Yao Yao ◽  
Hong Yang Zhao ◽  
Xiao Dong Hu ◽  
...  
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Feedback System ◽  
Experimental Results ◽  
Convergence Time ◽  
Feed Forward ◽  
Gap Control ◽  
Roll Gap ◽  
Twin Roll

In this paper, the established control system and its control algorism of a new twin roll strip caster developed by authors is presented. It is illustrated the roll-gap control strategy of the twin roll strip caster based on a feed forward-feedback system. From the experimental results, the susceptibility of control convergence time, stable and accurate are shown on a higher level than traditional control strategy.

scholarly journals A Time Domain Passivity Control Scheme for Bilateral Teleoperation

Electronics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 325 ◽  
Author(s):  
Long Sheng ◽  
Usman Ahmad ◽  
Yongqiang Ye ◽  
Ya-Jun Pan
Keyword(s):  
Time Domain ◽  
Parametric Design ◽  
Switching Time ◽  
Experimental Results ◽  
Division Problem ◽  
Bilateral Teleoperation ◽  
Safe Operation ◽  
Guaranteed Stability ◽  
Control Scheme ◽  
And Control

Conventional time domain passivity control inevitably embodies division. Zero division can occur under a tiny force or velocity, which may be inevitable, and will be the cause of control crash. To avoid the zero division problem and control crash, we propose a switching dissipation controller for guaranteed stability. The parametric design of the proposed approach is discussed. The switching time domain passivity control is then applied to teleoperation and safe operation is achieved. Simulation and experimental results are demonstrated to validate the effectiveness of the proposed control scheme.

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