Studies on Bilateral Impedance Control Method for Teleoperation Robot

2014 ◽  
Vol 602-605 ◽  
pp. 924-927
Author(s):  
Min Ying ◽  
Xin Gao ◽  
Si Yu Han ◽  
Han Xu Sun ◽  
Qing Xuan Jia
Keyword(s):  
Stability Condition ◽  
Stability Criterion ◽  
Absolute Stability ◽  
Force Feedback ◽  
Control Method ◽  
Impedance Control ◽  
Tracking Performance ◽  
System Stability ◽  
Pd Control ◽  
The Stability

The bilateral PD control method for teleoperation robot has some defects, such as poor tracking performance and force feedback performance. This paper, based on traditional bilateral PD control method, adds an impedance controller to the master and the slave, and deduces the stability condition according to the absolute stability criterion. The simulation shows that this method can assure the system stability and improve tracking performance and force feedback performance.

Study on Gyroscopic Effect of Magnetic Flywheel Rotor

2011 ◽  
Vol 130-134 ◽  
pp. 970-975
Author(s):  
Xiang Long Wen ◽  
Cao Cao
Keyword(s):  
Feedback Control ◽  
High Speed ◽  
System Stability ◽  
Rotor Speed ◽  
Gyroscopic Effect ◽  
Pd Control ◽  
The Stability ◽  
Gyroscopic Effects ◽  
Zero Points ◽  
Flywheel Rotor

In the high-speed, gyroscopic effects of the flywheel rotor greatly influence the rotor stability. The pole-zero points move to right of s-plane and the damping terms of the pole points become smaller. The stability of the system will get worse with the increasing of rotor speed when the traditional decentralized PD controller is used only. In the paper, a cross-feedback control with decentralized PD control is used for compensating gyroscopic effect. The simulation results show that the system stability is better using the cross-feedback control with decentralized PD control than using the traditional decentralized PD control.

scholarly journals Control of Near-Grazing Dynamics in the Two-Degree-of-Freedom Vibroimpact System with Symmetrical Constraints

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Zihan Wang ◽  
Jieqiong Xu ◽  
Shuai Wu ◽  
Quan Yuan
Keyword(s):  
Control Strategy ◽  
Stability Criterion ◽  
Control Method ◽  
Degree Of Freedom ◽  
Local Analysis ◽  
Grazing Bifurcation ◽  
Vibroimpact System ◽  
The Stability ◽  
Two Parameters ◽  
Two Degree Of Freedom

The stability of grazing bifurcation is lost in three ways through the local analysis of the near-grazing dynamics using the classical concept of discontinuity mappings in the two-degree-of-freedom vibroimpact system with symmetrical constraints. For this instability problem, a control strategy for the stability of grazing bifurcation is presented by controlling the persistence of local attractors near the grazing trajectory in this vibroimpact system with symmetrical constraints. Discrete-in-time feedback controllers designed on two Poincare sections are employed to retain the existence of an attractor near the grazing trajectory. The implementation relies on the stability criterion under which a local attractor persists near a grazing trajectory. Based on the stability criterion, the control region of the two parameters is obtained and the control strategy for the persistence of near-grazing attractors is designed accordingly. Especially, the chaos near codimension-two grazing bifurcation points was controlled by the control strategy. In the end, the results of numerical simulation are used to verify the feasibility of the control method.

Impedance Control of Cable-Driven Mechanisms

2008 ◽  
Author(s):  
Siavash Rezazadeh ◽  
Saeed Behzadipour
Keyword(s):  
Force Feedback ◽  
Control Method ◽  
Impedance Control ◽  
Tensile Force ◽  
Classical Problem ◽  
The Body ◽  
Control Input ◽  
Body Parts ◽  
Lagrange’S Equation ◽  
Cable Forces

In this work, an impedance control method is developed and applied to two cable-driven mechanisms. The first one is a classical problem of driving a rigid body in 3-D space by seven cables. Our approach is based on the impedance control of rigid link manipulators which is then extended to include the specific considerations of the cable-driven mechanisms such as maintaining the tensile force in the cables. The method is then extended to the serial multibody cable-driven mechanisms. The motivation for this problem is the possible application of cable-driven systems in the rehabilitative exercises such as physical and/or occupational therapies. In this case, the human body acts as a multibody system which is driven by cables attached. The impedance control in such application facilitates the comfort of the patient by providing the necessary compliance while moving the body parts. The formulation of the problem is developed using Lagrange’s equation and the control input (which is the cable forces) is calculated based on the position and/or force feedback from the multibody. Simulation results demonstrate the effectiveness of the presented method.

Impedance Control of Gyroscopic Power Generator

2011 ◽  
Author(s):  
Tomoyuki Takahashi ◽  
Jun Iwasaki ◽  
Hiroshi Hosaka
Keyword(s):  
Steady State ◽  
Phase Difference ◽  
High Speed ◽  
Control Method ◽  
Impedance Control ◽  
Low Frequency ◽  
Power Generator ◽  
Communication Devices ◽  
High Speed Rotation ◽  
The Stability

The gyroscopic power generator produces a high-speed rotation of magnets from low-frequency vibrations and supplies electric power to information and communication devices that use human vibrations in daily life. In this paper, in order to increase the stability and the output power of the generator, a simple equation that indicates the steady state approximate solution of the phase difference is derived. From the derived solution, a control method for the steady state is verified by the simulations. In order to maintain the stability and high power generation for variable input vibrations, the impedance control method using the phase difference is developed and verified experimentally.

Stability of the Jeffcott Rotor with Local Rubbing

2011 ◽  
Vol 55-57 ◽  
pp. 933-936
Author(s):  
He Li ◽  
Xiao Zhe Chen ◽  
Bang Chun Wen
Keyword(s):  
Numerical Simulation ◽  
Hopf Bifurcation ◽  
Stability Condition ◽  
Center Manifold ◽  
System Stability ◽  
Double Zero ◽  
Stability And Bifurcation ◽  
Jeffcott Rotor ◽  
The Stability ◽  
Bifurcation Behavior

The stability and bifurcation behavior of Jeffcott rotor with local rubbing are investigated in terms of Hartman-Grobman theorem in this paper. The case with double zero real part of eigenvalues is analyzed by means of the theory of center manifold and n-dimension Hopf bifurcation. Along with discussion for the effects of parameters on system stability and bifurcation behavior, numerical simulation of rotor locus is conducted and the stability condition is derived.

scholarly journals Robust Stability Analysis Based on LMI for Haptic Interface Systems with Uncertain Delay

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-10
Author(s):  
Yanwen Liu ◽  
Fanwei Meng ◽  
Bowen Guan ◽  
Shuhao Zhang
Keyword(s):  
Stability Analysis ◽  
Robust Stability ◽  
Stability Criterion ◽  
Force Feedback ◽  
Haptic Interface ◽  
Stability Range ◽  
Robust Stability Analysis ◽  
Augmented State ◽  
The Stability ◽  
Environment Parameters

This paper presents the robust stability analysis based on LMI for force feedback haptic interface systems with uncertain delay. A full-order state observer is introduced to estimate states of the haptic device so as to directly obtain the feedback force, which expands the stability range of the system environment parameters when comparing with that of the system without an observer. By using the delay partitioning idea and the augmented state vector, the Lyapunov-Krasovskii functional is constructed, and then the new stability criterion based on LMI is given in the paper. With this new stability criterion, the observer gains can also be obtained directly. At last, a concrete example is used to prove the effectiveness and less conservativeness of this new approach.

Chaotic Characteristic Analysis of Concrete Fracture System Based on Lyapunov Exponent Stability Criterion

2013 ◽  
Vol 423-426 ◽  
pp. 1105-1109
Author(s):  
Jun Wei Song
Keyword(s):  
Compressive Strength ◽  
Steady State ◽  
Stability Criterion ◽  
System Stability ◽  
Stress System ◽  
Characteristic Analysis ◽  
Chaotic State ◽  
Whole Process ◽  
Strain Stress ◽  
The Stability

According to the research on whole curves of strain-stress of concrete materials, the paper illustrates in evidence features of stages and shows that the discrete feature of curve often occurs in strain-softening stage. After chaotic dynamic analysis of testing datas, it presents that system of whole process of strain-stress evolves from ordered steady state to low chaotic state and then to high chaotic state along with increase of compressive strength. The linear relationship of strain-stress grows evident and the system evolves from strong ordered steady state to low chaos state. The strain-stress system before compressive strength peak is basically in weak chaotic state. Theis proposed to be the stability criterion of concrete features in different stress stages, and the is regarded as the representative value of the system stability degree. The calculation of example shows that the stability criterion definited by the proposed method is consistent with the actural situation.

Localization Study of a Cold Atom BEC in Two-Dimensional Bessel Optical Lattices

2018 ◽  
Vol 787 ◽  
pp. 105-112
Author(s):  
Guo Zhi Tang ◽  
Yuan Ren ◽  
Zhou Wang
Keyword(s):  
Potential Energy ◽  
Stability Condition ◽  
Optical Lattices ◽  
Lagrange Equation ◽  
Cold Atom ◽  
Einstein Condensate ◽  
System Stability ◽  
Pitaevskii Equation ◽  
Two Dimensional ◽  
The Stability

In order to investigate the stability and dynamics properties of a cold atom Bose-Einstein Condensate (BEC) in two-dimensional Bessel optical lattices, the stability condition of the system is analyzed and the corresponding Gross-pitaevskii equation (GPE) is solved in this paper by time-dependent variational method and numerical simulation. Firstly, the Euler-Lagrange equation containing the parameters describing the system stability and the effective potential energy needed by the variational analysis method to analyze the system stability is obtained by using the adjustable exponent Gaussian trial wave function. Secondly, according to the analytical solution of Euler-Lagrange equation and the local minimum value of potential energy, the stability condition of the system is further illuminated. Finally, the influence mechanism of these parameters on the local dynamics is revealed by solving the corresponding GPE with numerical method.

Design and Simulation on Hydraulic Sleepless Speed Regulation System of Invariable Fertilizing Application

2014 ◽  
Vol 852 ◽  
pp. 665-670
Author(s):  
Jin Lin Wu ◽  
Li Xin Zhang ◽  
Jun Zhi Yu ◽  
Wei Bing Wang ◽  
Jia Hua Zhang
Keyword(s):  
Mathematical Model ◽  
Pid Control ◽  
Control Method ◽  
Transmission Error ◽  
System Stability ◽  
Regulation System ◽  
Speed Regulation ◽  
Model And Simulation ◽  
The Stability ◽  
The Mathematical Model

This paper proposes a hydraulic sleepless speed system for a invariable fertilizing application based on PLC, in order to enhance the stability of the hydraulic sleepless speed system and eventually achieve precise fertilizing. With particular emphasis on the stability of the hydraulic circuit and the actuation control method, mathematical model and simulation model for hydraulic sleepless speed system are established. More specifically, hydraulic sleepless speed system with stable oil circuit and oil pressure sensor is designed to ensure hydraulic system stability, while PID control algorithm is employed to compensate transmission error according to the mathematical model. The hydraulic sleepless speed system is then simulated in different PID control parameters. Simulations show that the results are reasonable and applicable, providing some theoretical guidance to the characteristics anticipation and test of hydraulic sleepless speed system. It is also found that when the PID parameter is chosen as =10, =0.08, =8, the fertilizing precision will be satisfied.

Stability Control of Haptic Interface

2007 ◽  
Author(s):  
Jisheng Zhang ◽  
Jiting Li ◽  
Mileta M. Tomovic ◽  
Yuru Zhang
Keyword(s):  
Virtual Environment ◽  
Pid Control ◽  
Closed Loop ◽  
Force Feedback ◽  
Control Method ◽  
Stability Control ◽  
Haptic Device ◽  
System Stability ◽  
Haptic Devices ◽  
Loop Equation

Haptic devices and man-machine interaction have attracted intense research interest in recent years due to numerous potential applications, including medical, dental, military, and nuclear. One of the challenges involved with haptic devices is providing human operator realistic sensory feeling through force feedback output from the haptic device. In order to acquire adequate fidelity, the stiffness of the virtual environment must be sufficiently large. However, this is typically accompanied with vibration of the haptic device. Hence, one of the key issues related to haptic systems is to ensure system’s stability. Although some effort has been done to address this issue, this is so far an unresolved problem. This paper presents current closed-loop PID control method for achieving system stability on the example of one-degree-of-freedom haptic device. In order to identify parameters of the PID controller, the control system is first modeled and the equation of the current closed-loop PID control is formulated. Then, by generalizing the relationship between the motor output torque and the virtual force at the output end of the device, the current closed-loop equation is transferred into that of the force. In addition, the paper analyzes the robustness of PID controlled haptic device. To validate the method, three simulation experiments are performed, with spring model, damper model, and spring damper model. The results show that there is a set of PID parameters which result in stable haptic device. One of the advantages of the proposed method is that it can regulate PID parameters to fit different virtual environment. This provides a fundamental approach to improve stability of haptic systems. In addition, the proposed method can be embedded in the software.

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