Controller Design for Flexible Systems With Friction: Pulse Amplitude Control

2004 ◽  
Vol 127 (3) ◽  
pp. 336-344 ◽  
Author(s):  
Jae-Jun Kim ◽  
Tarunraj Singh
Keyword(s):  
Control Systems ◽  
Pulse Width ◽  
Controller Design ◽  
Reference Value ◽  
Pulse Amplitude ◽  
Residual Vibration ◽  
Stick Slip ◽  
Amplitude Control ◽  
Precision Motion Control ◽  
Precision Motion

Accounting for friction is important when designing controllers for precision motion control systems. However, the presence of the friction and the flexibility in the system yields undesirable behaviors such as residual vibration and stick-slip oscillation near the reference value. In the proposed development, a pulse amplitude modulated controller with user-specified pulse width, is used to initiate the motion so as to permit the system to coast to the desired final position after the final pulse, with zero residual vibrations. The proposed technique is illustrated on the floating oscillator benchmark problem, where friction acts on the first mass. Numerical simulation illustrates the effectiveness of the proposed technique.

New Type of Hydraulic Rotary Actuator; Development and Application in a Large Telerobotic Manipulator System

2001 ◽  
Author(s):  
John R. Haas
Keyword(s):  
Modular Design ◽  
Large Diameter ◽  
Stick Slip ◽  
Precision Motion Control ◽  
Constant Torque ◽  
Rotary Actuator ◽  
Continuous Rotation ◽  
Potential Applications ◽  
New Type ◽  
Precision Motion

Abstract This paper describes a new type of hydraulic rotary actuator specifically developed to provide precision motion control in a very large, man rated, underwater telerobotic manipulator system. The high pressure, high torque rotary actuators are hydrostatically balanced, provide continuous rotation, constant torque output, exhibit minimal “stick-slip” and zero backlash. It is believed that the combination of features and the performance exhibited by these actuators represent an improvement in actuator technology to such an extent as to make projects previously determined unfeasible, now practical. Features of particular design value are a very large diameter through bore, and a truly modular design permitting use as an integral structural member. This paper will address design rationale, operating principles, key design features, product development highlights, an astronaut trainer case study, future development and potential applications.

scholarly journals An Improved Dynamic Friction Model Using a Data-Based Approach

2017 ◽  
Author(s):  
Nathan A. Weir ◽  
Andrew G. Alleyne
Keyword(s):  
Control Systems ◽  
Friction Model ◽  
Model Parameters ◽  
Model Accuracy ◽  
Precision Motion Control ◽  
Frequency Domains ◽  
Slope Function ◽  
The Time Domain ◽  
Precision Motion ◽  
Fitting Model

A significant challenge associated with the development of precision motion control systems is the identification and modeling of friction. In particular, dynamic (presliding) friction is often difficult to accurately model in both the time domain and frequency domain simultaneously. We present a data-based modification to an existing friction model, known as the Dahl Dynamic Hysteresis Model (DHM), which incorporates an empirical friction slope function to provide a more accurate representation of arbitrarily shaped hysteresis curves. This data-based approach avoids the added complexity of identifying or fitting model parameters, and can be implemented with a simple look up table. Simulation results are validated with measured friction data collected from an experimental testbed. We show that the data-based approach significantly improves the friction model accuracy in both the time and frequency domains.

Design of Numeric Control Interpolation Compensation Algorithm Based on DSP

2012 ◽  
Vol 433-440 ◽  
pp. 5686-5691
Author(s):  
Xin Na Wang ◽  
Xi Yan Bi ◽  
Ping Chuan Zhang
Keyword(s):  
Control Systems ◽  
Real Time ◽  
High Speed ◽  
Logic Circuits ◽  
Pulse Number ◽  
Precision Motion Control ◽  
Digital Control Systems ◽  
Acceleration And Deceleration ◽  
Precision Motion ◽  
Circular Interpolation

Using the TMS320C31 floating-point family DSP devices from the U.S. TI Company to have built the slave system for numeric control lathes. It makes full use of the advantages of TMS320C31 DSP, such as high-speed, high precision motion control in real time, to implement the linear and circular interpolation algorithms, sports section of acceleration and deceleration control content. Experiments show that: not only ensured the precision of digital control systems, and improved the interpolation of real time; solved the uniform allocation while any given pulse number in interpolation cycle; overcame the poor flexibility of original digital logic circuits of interpolation. Multi-axis control can be achieved to improve overall system performance. It’s with high practical value.

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