Modeling and control of closed-loop networked PLC-systems

2011 ◽  
Author(s):  
Abouelabbas Ghanaim ◽  
Georg Frey
Keyword(s):  
Closed Loop ◽  
Modeling And Control ◽  
And Control

Lagrangian D’Alembert Modeled Maneuverable Autonomous Non-Holonomic Mobile Robot Using a Closed Loop PD Controller

2009 ◽  
Author(s):  
E. Georgiou ◽  
J. Dai
Keyword(s):  
Mobile Robot ◽  
Closed Loop ◽  
Ad Hoc ◽  
Search And Rescue ◽  
Pd Controller ◽  
Modeling And Control ◽  
Holonomic Constraints ◽  
And Control ◽  
Holonomic Mobile Robot ◽  
Initial Results

The motivation for this work is to develop a platform for a self-localization device. Such a platform has many applications for the autonomous maneuverable non-holonomic mobile robot classification, which can be used for search and rescue or for inspection devices where the robot has a desired path to follow but because of an unknown terrain, the device requires the ability to make ad-hoc corrections to its movement to reach its desire path. The mobile robot is modeled using Lagrangian d’Alembert’s principle considering all the possible inertias and forces generated, and are controlled by restraining movement based on the holonomic and non-holonomic constraints of the modeled vehicle. The device is controlled by a PD controller based on the vehicle’s holonomic and non-holonomic constraints. An experiment was setup to verify the modeling and control structure’s functionality and the initial results are promising.

Dynamic Modeling and Control of Packing Pressure in Injection Molding

1994 ◽  
Vol 116 (2) ◽  
pp. 244-249 ◽  
Author(s):  
J. Hu ◽  
J. H. Vogel
Keyword(s):  
Injection Molding ◽  
Closed Loop ◽  
Good Control ◽  
Pressure Control ◽  
Physical Parameters ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Packing Pressure ◽  
And Control ◽  
Plastic Injection

A dynamic model of injection molding developed from physical considerations is used to select PID gains for pressure control during the packing phase of thermo-plastic injection molding. The relative importance of various aspects of the model and values for particular physical parameters were identified experimentally. The controller gains were chosen by pole-zero cancellation and root-locus methods, resulting in good control performance. Both open and closed-loop system responses were predicted and verified, with good overall agreement.

Modeling of Overactuated Closed-Loop Mechanisms With Singularities: Simulation and Control

2001 ◽  
Author(s):  
Latchezar L. Ganovski ◽  
Paul Fisette ◽  
Jean-Claude Samin
Keyword(s):  
Closed Loop ◽  
Random Noise ◽  
Degree Polynomial ◽  
Modeling And Control ◽  
Lagrange Multiplier Technique ◽  
Redundantly Actuated ◽  
Feed Forward Controller ◽  
And Control ◽  
Loop Constraint ◽  
Coordinate Partitioning

Abstract The modeling and control of redundantly actuated closed-loop mechanical systems is considered in the present work an illustrated with a planar four-bar mechanism and a 3-D parallel manipulator. A specific trajectory involving singular configurations is generated and then followed using the overactuation. To generate the trajectory, four-degree polynomial functions are considered. The loop constraint equations are solved by means of the Newton-Raphson numerical algorithm. In order to describe the dynamics of the systems, the Lagrange multiplier technique is used. The multipliers are eliminated via the coordinate partitioning method. To overcome the underdetermined state of the system induced by the overactuation, additional equations that represent a specific condition for smoothly passing through the singularities are applied. Further, to control the redundantly actuated mechanisms a feed-forward controller is chosen. The robustness of the controller is investigated through several cases of simulation including random noise applied to the controller input and instantaneous loading.

Modeling and Control of an Automotive All-Wheel Drive Clutch as a Piecewise Affine System

2013 ◽  
Vol 136 (1) ◽  
Author(s):  
Shiming Duan ◽  
Jun Ni ◽  
A. Galip Ulsoy
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Lyapunov Theory ◽  
Loop System ◽  
Linear Matrix ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Piecewise Affine ◽  
Wheel Drive ◽  
And Control

Piecewise affine (PWA) systems belong to a subclass of switched systems and provide good flexibility and traceability for modeling a variety of nonlinear systems. In this paper, application of the PWA system framework to the modeling and control of an automotive all-wheel drive (AWD) clutch system is presented. The open-loop system is first modeled as a PWA system, followed by the design of a piecewise linear (i.e., switched) feedback controller. The stability of the closed-loop system, including model uncertainty and time delays, is examined using linear matrix inequalities based on Lyapunov theory. Finally, the responses of the closed-loop system under step and sine reference signals and temperature disturbance signals are simulated to illustrate the effectiveness of the design.

Modeling and control of new model in a spatial coordinates -3D- for cable-based robots

2015 ◽  
Vol 12 (2) ◽  
pp. 189-200 ◽  
Author(s):  
Fouad Inel ◽  
Billel Bouchmal ◽  
Lakhdar Khochmane
Keyword(s):  
Closed Loop ◽  
Geometric Model ◽  
Kinematic Model ◽  
End Effector ◽  
Modeling And Control ◽  
New Model ◽  
Spiral Trajectory ◽  
Spatial Coordinates ◽  
Point To Point ◽  
And Control

This paper presents a modeling and control of new model in a spatial coordinates (x, y, z), from this structures we choose: regular pyramid of a square basis manipulated by five cables and eight cables for a cubic shape. The main objective of this work is to integrate the axe (z) on the horizontal plane (x, y) i-e the plan 3D. This last their intervention especially when we obliged to transfer the end effector from point to point, for that we used the direct and inverse geometric model to study and simulate the end effector position of the robot with five and eight cables. A graphical user interface has been implemented in order to visualizing the position of the robot. Secondly, we present the desired path and determination the tensions and cables lengths of kinematic model required to follow spiral trajectory. At the end, we study the response of our systems in closed loop with a Proportional-Integrated-Derivative (PID) using MATLAB/Simulink which used to verify the performance of the controller.

A Fast Algorithm for On-Line Machining Process Modeling and Adaptive Control

1989 ◽  
Vol 111 (2) ◽  
pp. 133-139 ◽  
Author(s):  
S. D. Fassois ◽  
K. F. Eman ◽  
S. M. Wu
Keyword(s):  
Process Modeling ◽  
Closed Loop ◽  
Good Accuracy ◽  
A Priori ◽  
Adaptive Controller ◽  
Machining Process ◽  
Modeling And Control ◽  
Computational Load ◽  
On Line ◽  
And Control

A fast, on-line algorithm for machining process modeling and control is proposed. The modeling is accomplished via a new recursive estimator that offers good accuracy at a minimal computational load. Its Fast Kalman-type version, that further reduces its computational complexity, is also presented. The adaptive controller, which is based on on-line identification and closed-loop pole assignment, is characterized by a low computational load and no need for a priori process information. The analytical results are supplemented by numerical simulations, where the proposed scheme is used for the control of a turning operation and shown to offer very good performance under noisy conditions and suddenly changing machining dynamics.

Modeling and Control of the In-Situ Thermoplastic Composite Tape-Laying Process

1998 ◽  
Vol 120 (4) ◽  
pp. 507-515 ◽  
Author(s):  
Wei-Ching Sun ◽  
Susan C. Mantell ◽  
Kim A. Stelson
Keyword(s):  
Process Model ◽  
Closed Loop ◽  
Thermoplastic Composite ◽  
Closed Loop Control ◽  
Loop Control ◽  
Modeling And Control ◽  
Composite Tape ◽  
Temperature Feedback ◽  
And Control

In thermoplastic tape-laying with in-situ consolidation, a laminated composite is constructed by the local application of heat and pressure. A moving head, applying heat and pressure, lays down and bonds a new layer to the previously bonded layers (substrate). The temperature at the interface between the top ply and the substrate is critical to achieving interlaminar bonding. Recent research on the in-situ thermoplastic composite tape-laying process has focused on modeling, numerical analysis and experimental analysis, but little research has considered the control of this process. In this work, a method is proposed for modeling and control of in-situ thermoplastic composite tape-laying. The key to the control algorithm is predicting the temperature at the interface between the top ply and the substrate. Based on a process model, a state feedback controller and a state estimator for temperature are designed for closed-loop control using the linear quadratic method. Two different approaches are used to develop the process model for real-time closed-loop control through temperature feedback. In the first approach, a low-order lumped parameter model is constructed from a finite difference scheme. The second approach constructs an empirical model through system identification. The structures of the two models are identical, but the parameters differ. The experimental results have shown that the developed estimator and controller can accurately estimate and control the bonding temperature using temperature feedback indicating that the proposed modeling and control methodology can produce a high quality thermoplastic composite laminate.

DYNAMIC ANALYSIS AND CONTROL OF CABLE DRIVEN ROBOTS WITH ELASTIC CABLES

2011 ◽  
Vol 35 (4) ◽  
pp. 543-557 ◽  
Author(s):  
Mohammad A. Khosravi ◽  
Hamid D. Taghirad
Keyword(s):  
Control Algorithm ◽  
Closed Loop ◽  
Parallel Manipulators ◽  
Lyapunov Theorem ◽  
Closed Loop System ◽  
Modeling And Control ◽  
Internal Forces ◽  
And Control ◽  
Flexible Cables ◽  
Elastic Cables

In this paper modeling and control of cable driven redundant parallel manipulators with flexible cables, are studied in detail. Based on new results, in fully constrained cable robots, cables can be modeled as axial linear springs. Considering this assumption the system dynamics formulation is developed using Lagrange approach. Since in this class of robots, all the cables should remain in tension for the whole workspace, the notion of internal forces are introduced and incorporated in the proposed control algorithm. The control algorithm is developed in cable coordinates in which the internal forces play an important role. Finally, asymptotic stability of the closed loop system is analyzed through Lyapunov theorem, and the performance of the proposed algorithm is studied by simulations.

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