Implementing an Open-Architecture Controller for a Tension-Compression Fatigue Test Machine

2011 ◽  
Vol 462-463 ◽  
pp. 861-866 ◽  
Author(s):  
B. Moetakef Imani ◽  
A. Ghandehariun ◽  
H. Ghorashi
Keyword(s):  
Fatigue Test ◽  
Control Strategy ◽  
Force Control ◽  
Excitation Frequency ◽  
Control Unit ◽  
Open Architecture ◽  
Hydraulic Pressure ◽  
Test Machine ◽  
Sensory Data ◽  
Open Architecture Controller

In this research, an enhanced force control unit is proposed and implemented on a hydraulic tension-compression fatigue test machine. In this regard, different sensory data, such as force, hydraulic pressure, displacement and oil temperature is acquired and conditioned for controlling different subsystems of the machine. First, the transfer function of the system is identified. Then, a control strategy for applying cyclic force on the specimen with prescribed amplitude and frequency is proposed. The performance of the whole system is examined for the working range of the excitation frequency. In addition, the developed open-architecture controller can be used for testing the real parts found in various branches of industry. It can also be upgraded to be used on a universal fatigue test machine. It is shown that the designed controller can improve the performance of the machine significantly.

Polishing Robot Using Joystick Controlled Teaching

2001 ◽  
Vol 13 (5) ◽  
pp. 517-525 ◽  
Author(s):  
Fusaomi Nagata ◽  
◽  
Keigo Watanabe ◽  
Satoshi Hashino ◽  
Hiroyuki Tanaka ◽  
...  
Keyword(s):  
Contact Force ◽  
Force Control ◽  
Present Method ◽  
Industrial Robot ◽  
Open Architecture ◽  
Impedance Model ◽  
Open Architecture Controller ◽  
Model Following

In this article, an impedance model following force control, which uses a position/orientation compensator based on joystick-taught data, is proposed for an industrial robot with an open architecture controller. The present method has two characteristics: it is easily applied to the task where an industrial robot polishes an object with desired contact force and orientation and does not need conventional complicated teaching. The effectiveness and promise of the proposed method are demonstrated through experiments in a polishing task using an industrial robot FS-30.

scholarly journals A Reconfigurable and Modular Open Architecture Controller: the New Frontiers

2008 ◽  
Vol 2 (3) ◽  
pp. 205-214 ◽  
Author(s):  
Farooq M ◽  
◽  
Dao Bo Wang
Keyword(s):  
Control Strategy ◽  
Open Architecture ◽  
Original Structure ◽  
Software Components ◽  
Control Software ◽  
Robot System ◽  
Open Architecture Controller ◽  
Central Controller ◽  
Puma Robot

A novel and flexible open architecture controller platform is presented for PUMA Robot system. The original structure of the PUMA robot has been retained. All computational units are removed from the existing PUMA controller, and the PC assumes the role of computing the control strategy. By assembling the controller from off-the-shell hardware and software components, the benefits of reduced cost and improved robustness have been realized. An Intel Pentium IV industrial computer is used as the central controller. The control software has been implemented using VC++ programming language. The trajectory tracking results show the validity of the new PC based controller.

A FAST ROTATING BENDING FATIGUE TEST MACHINE

2017 ◽  
Author(s):  
Marco Antonio Meggiolaro ◽  
Jaime T P Castro ◽  
Rodrigo de Moura Nogueira
Keyword(s):  
Fatigue Test ◽  
Test Machine ◽  
Bending Fatigue ◽  
Bending Fatigue Test ◽  
Rotating Bending Fatigue ◽  
Rotating Bending ◽  
Fast Rotating

Constant force control for aluminum wheel hub grinding based on ESO + backstepping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Shijie Dai ◽  
Yufeng Zhao ◽  
Wenbin Ji ◽  
Jiaheng Mu ◽  
Fengbao Hu
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Control Method ◽  
Response Speed ◽  
Backstepping Control ◽  
Constant Force ◽  
Content Type ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Differential Control

Purpose This paper aims to present a control method to realize the constant force grinding of automobile wheel hub. Design/methodology/approach A constant force control strategy combined by extended state observer (ESO) and backstepping control is proposed. ESO is used to estimate the total disturbance to improve the anti-interference and stability of the system and Backstepping control is used to improve the response speed of the system. Findings The simulation and grinding experimental results show that, compared with the proportional integral differential control and active disturbance rejection control, the designed controller can improve the dynamic response performance and anti-interference ability of the system and can quickly track the expected force and improve the grinding quality of the hub surface. Originality/value The main contribution of this paper lies in the proposed of a new constant force control strategy, which significantly improved the stability and precision of grinding force.

Development of PROTON Electric Vehicle Control Unit (eVCU) Using State Machine Deterministic Rule-Based Approach

2014 ◽  
Vol 663 ◽  
pp. 532-538
Author(s):  
Nor Aziah Mohd Azubir ◽  
Mohd. Khair Hassan ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Supervisory Control ◽  
World View ◽  
Control Unit ◽  
State Machine ◽  
Optimum Level ◽  
Rule Based ◽  
High Level ◽  
Power And Energy

There are many types of Electric Vehicle (EV) applied in automotive industry. It can be hybridization or electrification vehicle. Battery Electric Vehicle (BEV) also called as fully electric vehicle using batteries as the only source and an electric motor as a traction motor to move the vehicle. In a world view of BEV, it is still has circumstances that would strand the BEV to have huge commercialization due to range anxiety. This paper is discussing about an electrification vehicle power and energy management (PEM) strategy. PEM strategy has two layer control strategies that consist of low level component control and high level supervisory control. Management and control strategy in BEV is carefully designed due to heavy loads consumption from Propulsion Electrical Load (PEL) and Non Propulsion Electrical Loads (NoPEL) with a single energy source. This is to ensure that power and energy is managed at optimum level that will give some extension of wider kilometer of the vehicle. The BEV performance is typically controlled by high level supervisory control algorithm using event-based condition using state machine deterministic rule-based method. More than one drive mode to be determined in this paper as part of control strategy to get an optimal PEM performance.

Tire Force Control Strategy for Semi Active Magnetorheological Damper Suspension System Using Quarter Heavy Vehicle Model

2015 ◽  
Vol 789-790 ◽  
pp. 957-961
Author(s):  
Syabillah Sulaiman ◽  
Pakharuddin Mohd Samin ◽  
Hishamuddin Jamaluddin ◽  
Roslan Abd Rahman ◽  
Saiful Anuar Abu Bakar
Keyword(s):  
Simulation Model ◽  
Control Strategy ◽  
Force Control ◽  
Mr Damper ◽  
Magnetorheological Damper ◽  
Vehicle Suspension ◽  
Heavy Vehicle ◽  
Vehicle Model ◽  
Tire Force ◽  
Simulation Results

This paper proposed semi active controller scheme for magnetorheological (MR) damper of a heavy vehicle suspension known as Tire Force Control (TFC). A reported algorithm in the literature to reduce tire force is Groundhook (GRD). Thus, the objective of this paper is to investigate the effectiveness of the proposed TFC algorithm compared to GRD. These algorithms are applied to a quarter heavy vehicle models, where the objective of the proposed controller is to reduce unsprung force (tire force). The simulation model was developed and simulated using MATLAB Simulink software. The use of semi active MR damper using TFC is analytically studied. Ride test was conducted at three different speeds and three bump heights, and the simulation results of TFC and GRD are compared and analysed. The results showed that the proposed controller is able to reduced tire force significantly compared to GRD control strategy.

Modeling and Pressure-Based Force Control of a Hydraulic Actuator

1997 ◽  
Author(s):  
Scott M. Lyon ◽  
Mark S. Evans
Keyword(s):  
Dynamic Model ◽  
Force Control ◽  
Feedback Linearization ◽  
External Surface ◽  
Bond Graph ◽  
Hydraulic Pressure ◽  
Velocity Control ◽  
Hydraulic Actuator ◽  
Spool Valve ◽  
Piston Position

Abstract A dynamic model of a hydraulic actuator/spool valve combination is developed using the bond graph method. Feedback linearization is used to develop a force controller for the system using hydraulic pressure in each chamber of the actuator along with piston position and velocity as feedback. The use of a feedforward term to compensate for the seal friction within the actuator provides for a stable and accurate controller. Velocity control is achieved through calculation of the reference force required to overcome the seal friction and produce the acceleration required to reach the desired velocity. It is shown that the use of such a force controller allows for an acceptable transition from velocity to force control when the piston comes in contact with an external surface.

Force Control Strategy of Five-Digit Precision Grasping With Aligned and Unaligned Configurations

2022 ◽  
pp. 001872082110409
Author(s):  
Po-Tsun Chen ◽  
Hsiu-Yun Hsu ◽  
You-Hua Su ◽  
Chien-Ju Lin ◽  
Hsiao-Feng Chieh ◽  
...  
Keyword(s):  
Control Strategy ◽  
Force Control ◽  
Task Type ◽  
Applied Force ◽  
Force Variability ◽  
Force Transducers ◽  
Task Requirements ◽  
Power Grasp ◽  
Precision Grasping ◽  
Large Moment

Objective To investigate the digit force control during a five-digit precision grasp in aligned (AG) and unaligned grasping (UG) configurations. Background The effects of various cylindrical handles for tools on power grasp performance have been previously investigated. However, there is little information on force control strategy of precision grasp to fit various grasping configurations. Method Twenty healthy young adults were recruited to perform a lift-hold-lower task. The AG and UG configurations on a cylindrical simulator with force transducers were adjusted for each individual. The applied force and moment, the force variability during holding, and force correlations between thumb and each finger were measured. Result No differences in applied force, force correlation, repeatability, and variability were found between configurations. However, the moments applied in UG were significantly larger than those in AG. Conclusion The force control during precision grasp did not change significantly across AG and UG except for the digit moment. The simulator is controlled efficiently with large moment during UG, which is thus the optimal configuration for precision grasping with a cylindrical handle. Further research should consider the effects of task type and handle design on force control, especially for individuals with hand disorders. Application To design the handle of specific tool, one should consider the appropriate configuration according to the task requirements of precision grasping to reduce the risk of accumulating extra loads on digits with a cylindrical handle.

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