scholarly journals A Novel Control Method and Mathematical Model for Intelligent Robot

2021 ◽  
Vol 15 ◽  
pp. 486-493
Author(s):  
Nianxiang Wu
Keyword(s):  
Steady State ◽  
Dynamic Response ◽  
Position Control ◽  
Control Method ◽  
Current Control ◽  
Robot Dynamics ◽  
Gravity Compensation ◽  
Drive Motor ◽  
Separate Control ◽  
Fast Dynamic

Hamiltonian method based on action micro-control is widely used in the control of mechanical arm synchronous motor. In order to realize the combination of robot dynamics and drive motor control, Hamiltonian control method is used in this paper to exploit a novel controller for robot, which can be used for better steady-state characteristics in the system. However, dynamic response of port-controlled Hamiltonian (PCH) of control system is slower, so the related control method is exploited and coordinated with the proportional-derivative (PD) plus gravity compensation. At this time, the system has both the fast dynamic response of the PD and the steady state of the PCH. The reverse motor method is used and the two controllers are combined by current conversion to realize the overall control of the robot and the drive motor. The robot drive motor is controlled, and the robot joint position control is combined with the drive motor current control by current conversion. It can be seen from the simulation results that the coordinately controlling the end position of robot can reach the desired position quickly and accurately. Moreover, compared with the separate control of PD plus gravity compensation and PCH control method, it is proved that this scheme has both a fast dynamic process and better performance and ability to resist load torque disturbance. So control method proposed in this paper has a good application prospect

Time-Optimal Coordination Control for the Gear-Shifting Process in Electric-Driven Mechanical Transmission (Dog Clutch) without Impacts

2020 ◽  
Vol 9 (2) ◽  
pp. 155-168
Author(s):  
Ziwang Lu ◽  
◽  
Guangyu Tian ◽  
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Method ◽  
Synchronization Control ◽  
Mechanical Transmission ◽  
Coordination Control ◽  
Optimal Position ◽  
Drive Motor ◽  
Time Optimal ◽  
Optimal Coordination

Torque interruption and shift jerk are the two main issues that occur during the gear-shifting process of electric-driven mechanical transmission. Herein, a time-optimal coordination control strategy between the the drive motor and the shift motor is proposed to eliminate the impacts between the sleeve and the gear ring. To determine the optimal control law, first, a gear-shifting dynamic model is constructed to capture the drive motor and shift motor dynamics. Next, the time-optimal dual synchronization control for the drive motor and the time-optimal position control for the shift motor are designed. Moreover, a switched control for the shift motor between a bang-off-bang control and a receding horizon control (RHC) law is derived to match the time-optimal dual synchronization control strategy of the drive motor. Finally, two case studies are conducted to validate the bang-off-bang control and RHC. In addition, the method to obtain the appropriate parameters of the drive motor and shift motor is analyzed according to the coordination control method.

scholarly journals Current Prediction-Based Three-Vector Voltage Optimization System for the Induction Motor with Current Static Error Correction

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Li Haixia ◽  
Lin Jican
Keyword(s):  
Steady State ◽  
Model Predictive Control ◽  
Induction Motor ◽  
Predictive Control ◽  
Control Method ◽  
Tracking Error ◽  
Current Control ◽  
Static Error ◽  
Control Stability ◽  
Steady State Performance

In the present study, the current control method of the model predictive control is applied to the field-oriented control induction motor. The augmentation model of the motor is initially established based on the stator current equation, which performs the current predictive control and formulates the new cost function by means of tracking error. Then, the influence of parameter error on the current control stability in the prediction model is analysed, and the current static error is corrected according to the correlation between the input and feedback. Finally, a simple and effective three-vector control strategy is proposed. Moreover, three adjacent basic voltage vectors are utilized, and then six candidate voltage vectors are synthesized in each sector to replace eight basic voltage vectors in the conventional model predictive control (MPC). The obtained results show that synthesized vectors, which have arbitrary amplitude and direction, significantly expand the coverage of the system’s control set, reduce the torque and flux pulsation in the conventional MPC, and improve the steady-state performance of the system. Finally, the dSPACE platform is employed to validate the performed experiment. It is concluded that the proposed method can reduce the torque and flux pulse, perform the induction motor current control, and improve the steady-state performance of the system.

Control Characteristics of Shape Memory Alloy Actuator Using Resistance Feedback Control Method

2008 ◽  
Vol 59 ◽  
pp. 178-183 ◽  
Author(s):  
Yuji Takeda ◽  
Hiroki Cho ◽  
Takaei Yamamoto ◽  
Toshio Sakuma ◽  
Akihiko Suzuki
Keyword(s):  
Shape Memory ◽  
Position Control ◽  
Control Method ◽  
Current Control ◽  
Input Current ◽  
Arbitrary Position ◽  
Feedback Control Method ◽  
Fine Position ◽  
Control Distance ◽  
Off Time

The actuators using shape memory alloys can work as an actuator to control or retain positioning without using sensor devices. In this work, a position control model with a biasing mechanism is produced. The produced model is controlled by resistance feedback using the method of setting off-time and can be set and retained at an arbitrary position. The effects of input current, control distance and off-time on positioning characteristics such as dynamic behavior and position stability are investigated. The results show that high input current for heating is effective for shortening the rise and settling times. However, the overshoot increases with increasing input current. When the recovery strain is below 2.5%, the rise and settling velocities increase with increasing control distance. Furthermore, the off-time affects position stability. In the case of short off-time, fine position stability is performed regardless of the values of input current and control distance.

A Power Control Method With Simple Structure and Fast Dynamic Response for Single-Phase Grid-Connected DG Systems

2013 ◽  
Vol 28 (1) ◽  
pp. 221-233 ◽  
Author(s):  
Sayed Ali Khajehoddin ◽  
Masoud Karimi-Ghartemani ◽  
Alireza Bakhshai ◽  
Praveen Jain
Keyword(s):  
Dynamic Response ◽  
Power Control ◽  
Single Phase ◽  
Simple Structure ◽  
Control Method ◽  
Fast Dynamic

scholarly journals Nonlinear pd controllers with gravity compensation for robot manipulators

2014 ◽  
Vol 14 (1) ◽  
pp. 141-150 ◽  
Author(s):  
Jianfeng Huang ◽  
Chengying Yang ◽  
Jun Ye
Keyword(s):  
Degrees Of Freedom ◽  
Position Control ◽  
Robot Manipulator ◽  
Robot Manipulators ◽  
Nonlinear Function ◽  
Step Response ◽  
Robot Dynamics ◽  
Gravity Compensation ◽  
Pd Controller ◽  
Globally Asymptotically Stable

Abstract A Nonlinear Proportional-Derivative (NPD) controller with gravity compensation is proposed and applied to robot manipulators in this paper. The proportional and derivative gains are changed by the nonlinear function of errors in the NPD controller. The closed-loop system, composed of nonlinear robot dynamics and NPD controllers, is globally asymptotically stable in position control of robot manipulators. The comparison of the simulation experiments in the position control (the step response) of a robot manipulator with two degrees of freedom is also presented to illustrate that the NPD controller is superior to the conventional PD controller in a position control system. The experimental results show that the NPD controller can obtain a faster response velocity and higher position accuracy than the conventional PD controller in the position control of robot manipulators because the proportional and derivative gains of the NPD controller can be changed by the nonlinear function of errors. The NPD controller provides a novel approach for robot control systems.

The Simulation of Six Phase PMSM Taking Iron Loss into Account

2012 ◽  
Vol 433-440 ◽  
pp. 7535-7540
Author(s):  
Dong Xing ◽  
Xiao Ning Zhang ◽  
Yong Ling Fu ◽  
Hai Tao Qi
Keyword(s):  
Mathematical Model ◽  
Steady State ◽  
Dynamic Response ◽  
Iron Loss ◽  
Field Oriented Control ◽  
Three Phase ◽  
Simulation Results ◽  
Set Up ◽  
The Mathematical Model ◽  
Fast Dynamic

This paper studies the mathematical model considering iron loss in the d-q axis of six phase permanent magnetic synchronous motor (PMSM), through the expansion of Field-Oriented Control (FOC) based on three phase PMSM, the simulation model of six phase PMSM under environment of simulink7.0 is set up, which has fast dynamic response, high steady-state precision, and has no problems about current balance compared to dual three phase PMSM. In order to get an accurate simulation results, this mathematical model takes iron loss into account. The simulation results show that iron loss have bad effects on the performance of PMSM especially affect the dynamic response, and to reduce the bad effects, the resistance of the motor core should be increased.

Study on Overhead Crane Anti-Swing System with Self-Adjustable Fuzzy Control

2011 ◽  
Vol 128-129 ◽  
pp. 1050-1053 ◽  
Author(s):  
Ding Ye ◽  
Wei Jin ◽  
De Cai Li
Keyword(s):  
Control System ◽  
Steady State ◽  
Fuzzy Control ◽  
Dynamic Model ◽  
Position Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Fuzzy Theory ◽  
Overhead Crane ◽  
Scale Factors

As for shortcomings of PID and modern control method in crane anti-swing system, we introduce the fuzzy theory to the crane anti-swing on base of analyzing the crane trolley’s moving dynamic model. The cooperation between the position fuzzy controller and swing fuzzy controller achieve the goal. We use the fuzzy control system of self-adjustable quantization factors and scale factors to solve the problem that have the oscillation in limit areas causing the load lasting swing during the trolley moving position control. According to the simulation, it can solve the problem and eliminate the steady-state error completely and improve enhance the adaptivity of system. It can make the trolley reach the designation in 15s and keep the load steady.

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