Modeling and control methodology for an XYZ micro manipulator

2019 ◽  
Vol 90 (10) ◽  
pp. 105007
Author(s):  
Yanling Tian ◽  
Yue Ma ◽  
KangKang Lu ◽  
Mingxuan Yang ◽  
Xiaolu Zhao ◽  
...  
Keyword(s):  
Modeling And Control ◽  
Micro Manipulator ◽  
And Control ◽  
Control Methodology

Physics-Based Modeling and Control of Residual-Affected HCCI Engines

2009 ◽  
Vol 131 (2) ◽  
Author(s):  
Gregory M. Shaver ◽  
J. Christian Gerdes ◽  
Matthew J. Roelle
Keyword(s):  
Peak Pressure ◽  
State Control ◽  
Test Bed ◽  
Control Effort ◽  
Modeling And Control ◽  
Engine Cylinder ◽  
Hcci Engines ◽  
Ic Engines ◽  
And Control ◽  
Control Methodology

Homogeneous charge compression ignition (HCCI) is a novel combustion strategy for IC engines that exhibits dramatic decreases in fuel consumption and exhaust emissions. Originally conceived in 1979, the HCCI methodology has been revisited several times by industry but has yet to be implemented because the process is difficult to control. To help address these control challenges, the authors here outline the first generalizable, validated, and experimentally implemented physics-based control methodology for residual-affected HCCI engines. Specifically, the paper describes the formulation and validation of a two-input, two-state control-oriented system model of the residual-affected HCCI process occurring in a single engine cylinder. The combustion timing and peak pressure are the model states, while the inducted gas composition and effective compression ratio are the model inputs. The resulting model accurately captures the system dynamics and allows the simultaneous, coordinated control of both in-cylinder pressure and combustion timing. To demonstrate this, an H2 optimal controller is synthesized from a linearized version of the model and used to dictate step changes in both combustion timing and peak pressure within about four to five engine cycles on an experimental test bed. The application of control also results in reductions in the standard deviation for both combustion timing and peak pressure. The approach therefore provides accurate mean tracking, as well as a reduction in cyclic dispersion. Another benefit of the simultaneous coordination of both control inputs is a reduction in the control effort required to elicit the desired response. Instead of using a peak pressure controller that must compensate for the effects of a combustion timing controller, and vice versa, the coordinated approach optimizes the use of both control inputs to regulate both outputs.

Modeling and Observer-Based Robust Tracking Control of a Nano/Micro-Manipulator for Nanofiber Grasping Applications

2006 ◽  
Author(s):  
Reza Saeidpourazar ◽  
Nader Jalili
Keyword(s):  
Tracking Control ◽  
Inverse Kinematics ◽  
Atomic Scale ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Modeling And Control ◽  
Micro Manipulator ◽  
Nano Fiber ◽  
Fabric Production ◽  
And Control

This paper presents the modeling and control of a nano/micro-manipulator for use in nano-fiber grasping and nano-fabric production. The RRP (Revolute-Revolute-Prismatic) manipulator considered here utilizes two rotational motors with 10-7 rad resolution and one linear Nanomotor® with 0.25nm resolution. Weighing just 30g and having short lever arms (<5cm), the manipulator is capable of achieving well-behaved kinematic characteristics without backlash and with atomic scale precision to guarantee accurate manipulation at nanoscale. A mathematical model of the micromanipulator is formulated and both direct and inverse kinematics of the system as well as dynamic equations are presented. Several controllers for manipulator positioning tracking are derived and analyzed extensively. Unlike typical macroscale manipulator models and controllers, the controller development is not trivial due to nanoscale movement and forces, coupled with unmodeled dynamics and nonlinear structural dynamics. Following the development of the controllers, numerical simulations of the proposed controllers on the manipulator are used to verify the tracking performance.

Elastodynamic Analysis and Control of Industrial Robotic Manipulators With Piezoelectric-Material-Based Elastic Members

1995 ◽  
Vol 117 (4) ◽  
pp. 640-643 ◽  
Author(s):  
Seung-Bok Choi ◽  
B. S. Thompson ◽  
M. V. Gandhi
Keyword(s):  
Dynamic Modeling ◽  
Robotic Manipulators ◽  
Feedback Controller ◽  
Superior Performance ◽  
Element Formulation ◽  
Feedback Controllers ◽  
End Effector ◽  
Modeling And Control ◽  
And Control ◽  
Control Methodology

This technical brief addresses the dynamic modeling and control methodology to suppress structural deflections of industrial robotic manipulators featuring elastic members retrofitted with surface bonded piezoelectric actuators and sensors. The dynamic modeling is accomplished by developing a finite element formulation. The governing equation of motion is then modified by condensing the electric potential vectors, and subsequently two different feedback controllers are established: a constantgain feedback controller and a constant-amplitude feedback controller. Computer simulations are undertaken in order to demonstrate the superior performance characteristics, such as smaller deflections at the end-effector, to be accrued from the proposed methodology.

scholarly journals Unified Graph Theory-Based Modeling and Control Methodology of Lattice Converters

Electronics ◽  
2021 ◽  
Vol 10 (17) ◽  
pp. 2146
Author(s):  
Jingyang Fang
Keyword(s):  
Graph Theory ◽  
Performance Optimization ◽  
Modeling And Control ◽  
Unified Modeling ◽  
Large Current ◽  
Dynamic Voltage ◽  
Converter Topologies ◽  
And Performance ◽  
And Control ◽  
Control Methodology

Lattice converters combine the merits of both cascaded-bridge converters and multi-paralleled converters, leading to infinitely large current and voltage capabilities with modularity and scalability as well as small passive components. However, lattice converters suffer from complexity, which poses a serious threat to their widespread adoption. By use of graph theory, this article proposes a unified modeling and control methodology for various lattice converters, resulting in the satisfaction of their key control objectives, including selected inputs/outputs, desired voltages, current sharing, dynamic voltage balancing, and performance optimization. In addition, this article proposes a plurality of novel lattice converter topologies, which complement state-of-the-art options. Simulation and experimental results verify the effectiveness and superiority of the proposed methodology and lattice converters.

Modeling and Control for Plant Dynamics Based on Reinforcement Learning

2009 ◽  
Vol 129 (4) ◽  
pp. 363-367
Author(s):  
Tomoyuki Maeda ◽  
Makishi Nakayama ◽  
Hiroshi Narazaki ◽  
Akira Kitamura
Keyword(s):  
Reinforcement Learning ◽  
Modeling And Control ◽  
Plant Dynamics ◽  
And Control
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