Design of trajectory control plan of three axes high speed linkage

2011 ◽  
Author(s):  
Jiang Weihua ◽  
Wang Hao
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Control Plan

A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Simulation Study

2009 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Design Tool ◽  
Sliding Surface ◽  
Tracking Errors ◽  
New Approach ◽  
Overhead Cranes ◽  
Control Scheme ◽  
The Stability ◽  
Load Swing

This paper proposes a new approach for the anti-swing trajectory control of overhead cranes that allows simultaneous high-speed load hoisting. The objective of this study is to design an anti-swing trajectory control scheme that is robust to unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. First, a coupled sliding surface is defined based on the load-swing dynamics, and then the stability of the coupled sliding surface is shown to be equivalent to that of trolley tracking errors. Next, a robust anti-swing trajectory control scheme, minimizing the coupled sliding surface asymptotically to zero, is designed based on the trolley and load-hoisting dynamics. Finally, the proposed control is extended to an adaptive scheme. In this study, the Lyapunov stability theorem is used as a mathematical design tool. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. The proposed control provides a practical solution for the robustness problem caused by the usual mechanical inaccuracies and installation errors in application. The proposed control also provides clear gain-tuning criteria for easy application. The validity of the theoretical results is shown by computer simulation.

A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting

2006 ◽  
Vol 128 (4) ◽  
pp. 842-845 ◽  
Author(s):  
Ho-Hoon Lee ◽  
Yi Liang ◽  
Del Segura
Keyword(s):  
High Frequency ◽  
High Speed ◽  
Sliding Mode ◽  
Trajectory Control ◽  
Overhead Cranes ◽  
Damping Control ◽  
Control Scheme ◽  
Planning Scheme ◽  
Load Swing ◽  
High Frequency Sampling

In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A sliding-mode antiswing trajectory control scheme is designed based on the Lyapunov stability theorem, where a sliding surface, coupling the trolley motion with load swing, is adopted for a direct damping control of load swing. The proposed control guarantees asymptotic stability while keeping all internal signals bounded. In association with a new antiswing motion planning scheme, the proposed control realizes a typical antiswing trajectory control in practice, allowing high-speed load-hoisting motion and sufficient damping of load swing. The proposed control is simple for a real-time implementation with high-frequency sampling. The effectiveness of the proposed control has been confirmed by experiments.

Research of Double Internal Model Control for High Speed Spindle

2013 ◽  
Vol 288 ◽  
pp. 202-207 ◽  
Author(s):  
Jie Meng ◽  
Zhen Zhen Lei ◽  
Ze Lun Li
Keyword(s):  
Internal Model ◽  
High Speed ◽  
Control Method ◽  
Structural Characteristics ◽  
Internal Model Control ◽  
Flux Linkage ◽  
Control Plan ◽  
Model Control ◽  
Simulation Results ◽  
Set Up

Based on the internal model control theory and combined the structural characteristics of high speed spindle, the control method of high speed spindle is discussed. And the view of applying the double internal model control to high speed spindle is put forward. Then controllers of current, flux linkage and speed are designed. According to the double internal model control plan, its simulation model is set up. Simulation results indicate that the double internal model control has better dynamic response curve, shorter response time, higher steady state precision by comparing with the vector controller.

Effect of Fracture Speed on Ductile Fracture Resistance: Part 2—Results and Application

2010 ◽  
Author(s):  
Da-Ming Duan ◽  
Joe Zhou ◽  
Do-Jun Shim ◽  
Gery Wilkowski
Keyword(s):  
Fracture Toughness ◽  
Steady State ◽  
Ductile Fracture ◽  
High Speed ◽  
Material Selection ◽  
Basic Material ◽  
Pipe Material ◽  
High Grade ◽  
Control Plan ◽  
Material Fracture

One of the many aspects of natural gas pipeline design and material selection is the consideration of propagation and arrest of high-speed axial ductile fracture in the line pipes. Understanding the material ductile fracture behavior is essential for establishing an integrated fracture control plan. This is particularly important for pipelines of high design pressures utilizing large-diameter and high-grade line pipes. The procedure of Battelle Two-Curve Method (TCM) has been most commonly used in ductile fracture analysis in the prediction of fracture speed and minimum arrest toughness for axially running cracks. In the past decades, discussions and research have been in that the TCM approach, among with others, could not accurately predict either fracture speed or minimum arrest fracture toughness for high-grade pipes, and with pipe grade increasing the prediction errors are getting larger. Recent research work at TransCanada indicates that for a better prediction of pipeline ductile fracture, understanding the basic material mechanical behavior and its fundamental fracture mechanism is essential. One of the important findings of the work is that pipe material fracture toughness is not a constant as being commonly treated, rather the fracture toughness, in terms of both steady-state CTOA and steady-state DWTT fracture energy is fracture speed dependent, being decreasing with increasing fracture speed. Corresponding modifications have been made to the traditional TCM by introducing speed-dependent fracture toughness. The improved model gives much better predictions in both fracture speed and toughness for high grade pipes. This paper presents recent work at TransCanada, together with its industry partner Engineering Mechanics Corporation of Columbus (EMCC), on high-speed pipe-material fracture testing technique (using the modified back-slot DWTT specimen) and high-grade material testing data. The test data supports the predictions of early published work on speed-dependent fracture toughness. The fracture speeds obtained from the modified back-slot DWTT specimens were very close to actual full-scale pipeline ductile fracture speeds and this in turn enhanced the applicability of the modified TCM model.

High-speed trajectory control of a direct-drive manipulator

1993 ◽  
Vol 9 (1) ◽  
pp. 102-108 ◽  
Author(s):  
K. Youcef-Toumi ◽  
A.T.Y. Kuo
Keyword(s):  
High Speed ◽  
Trajectory Control ◽  
Direct Drive
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