Modeling and Control of Backlash in the Drive Mechanism of a Radially Rotating Compliant Beam

1996 ◽  
Vol 118 (1) ◽  
pp. 158-161 ◽  
Author(s):  
Nabil G. Chalhoub ◽  
Xiaoying Zhang
Keyword(s):  
Adverse Effects ◽  
Controller Design ◽  
System Response ◽  
Flexible Beam ◽  
Modeling And Control ◽  
Drive Mechanism ◽  
Servo Loop ◽  
Viable Approach ◽  
And Control ◽  
Digital Simulations

The exclusion of the dynamic characteristics of indirect drives, from the controller design, has often led to a degraded performance in precision servomechanisms. In this study, the adverse effects of backlash, in the drive mechanism of a radially rotating flexible beam, are examined. The topological variations of the structure are handled by latent constraint equations which can be rendered active through the monitoring of the contact torque as well as kinematic indicators. A “backlash controller” is introduced to replace the original controller of the beam only during the period of gear disengagement. The experimental and numerical results provide a qualitative validation of the backlash model. The relationships with which the backlash in gearing would interact with both the servo-loop controller and the structural flexibility of the system are investigated. In addition, the digital simulations have proven that the “backlash controller” provides a viable approach in reducing the adverse effects of backlash on the overall system response.

Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Author(s):  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Machine Tool ◽  
Dynamic Modeling ◽  
Design Methodology ◽  
Controller Design ◽  
Convex Combination ◽  
Control Design ◽  
Milling Machine ◽  
Modeling And Control ◽  
Kinematic Mechanisms ◽  
And Control

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

Modeling and Control of Interconnected Dimensionless Dynamic Systems

2009 ◽  
Author(s):  
Scott Manwaring ◽  
Andrew Alleyne
Keyword(s):  
Dimensional Analysis ◽  
Dynamic Systems ◽  
Controller Design ◽  
Fluid Power ◽  
Modeling And Control ◽  
Initial Investigation ◽  
And Control ◽  
Insight Into ◽  
Original Dynamic

Previous work has found benefit in using dimensional analysis in the modeling and control of dynamic systems. What has not been explored is how multiple dimensionless dynamic systems would interconnect and interact with one another. This work presents an initial investigation into the interconnection of dimensionless dynamic systems, including an analysis of the differences between interconnecting dimensioned and dimensionless systems. A strategy is developed to interconnect dimensionless dynamic systems and explored using models of multiple fluid power components. The interconnection strategy is tested through controller design and simulation, which reveals insight into the dimensionless transformation of the original dynamic systems.

Modeling and Control of an Ejector Based Anode Recirculation System for Fuel Cells

2005 ◽  
Author(s):  
Amey Y. Karnik ◽  
Jing Sun
Keyword(s):  
Controller Design ◽  
Design Guidelines ◽  
Operating Conditions ◽  
Feedback Controller ◽  
Modeling And Control ◽  
Recirculation Flow ◽  
Dynamic Representation ◽  
Recirculation System ◽  
Proportional Integral Controller ◽  
And Control

A control oriented analysis of an anode recirculation system that uses an ejector with a variable throat area is presented for a PEMFC system. Two control issues addressed in this paper are (a) achieving desired recirculated flow to meet humidity control requirements, and (b) regulating anode pressure to protect the polymer membrane from deformation. To meet these objectives, a static feedforward controller using the variable throat area is applied to control the recirculation flow rate, while a proportional-integral controller is designed for anode pressure regulation. A dynamic system model comprising of a nonlinear static characterization of the ejector and dynamic representation of the anode recirculation flow path is developed for controller design and evaluation. Linear analysis is used to derive design guidelines for tuning the feedback controller and to analyze the interactions between the feedback and the feedforward controllers. Our analysis shows that the system characteristics are dependent on the operating condition of throat area of ejector. To meet the control objectives for different operating conditions, a gain scheduling scheme is proposed to adjust the feedback controller parameters and the performance is evaluated through simulations. Results for two representative conditions are included.

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

2019 ◽  
Author(s):  
Vikram Ramanathan ◽  
Andy Zelenak ◽  
Mitch Pryor
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Kinematic Model ◽  
Nonholonomic Constraints ◽  
Kinematic Modeling ◽  
Nonlinear Controller ◽  
Center Of Rotation ◽  
Modeling And Control ◽  
Instantaneous Center ◽  
And Control

Abstract This article presents a novel kinematic model and controller design for a mobile robot with four Centered Orientable Conventional (COC) wheels. When compared to non-conventional wheels, COC wheels perform better over rough terrain, are not subject to vertical chatter and offer better braking capability. However, COC wheels are pseudo-omnidirectional and subject to nonholonomic constraints. Several established modeling and control techniques define and control the Instantaneous Center of Rotation (ICR); however, this method involves singular configurations that are not trivial to eliminate. The proposed method uses a novel ICR-based kinematic model to avoid these singularities, and an ICR-based nonlinear controller for one ‘master’ wheel. The other ‘slave’ wheels simply track the resulting kinematic relationships between the ‘master’ wheel and the ICR. Thus, the nonlinear control problem is reduced from 12th to 3rd-order, becoming much more tractable. Simulations with a feedback linearization controller verify the approach.

scholarly journals Modeling of Autonomous Underwater Vehicles with Multi-Propellers Based on Maximum Likelihood Method

2020 ◽  
Vol 8 (6) ◽  
pp. 407
Author(s):  
Feiyan Min ◽  
Guoliang Pan ◽  
Xuefeng Xu
Keyword(s):  
Maximum Likelihood ◽  
Controller Design ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Likelihood Method ◽  
Hydrodynamic Characteristics ◽  
Identification Algorithm ◽  
Modeling And Control ◽  
Good Convergence ◽  
And Control

The hydrodynamic characteristics of multi-propeller autonomous underwater vehicles (AUV) is usually complicated and it is difficult to obtain an accurate mathematical model. A modeling method based on CFD calculation and maximum likelihood identification algorithm is proposed for this problem. Firstly, rough hydrodynamic parameters of AUV hull are obtained by CFD calculation. Secondly, on the basis of rough parameters, a maximum likelihood identification algorithm is proposed to adjust the parameters and improve the model precision. Besides, the method to improve the convergence of identification algorithm is analyzed by considering the characteristics of AUV model structure. Finally, the identification algorithm and identification results were validated with experimental data. It was found that this method has good convergence and adaptability. In particular, the identification results of turning force and torque parameters are highly consistent in different identification experiments, which indicates that this method can well extract the maneuvering characteristics of AUVs, thus contributing to the controller design of AUVs. The research of this paper has potential application for the modeling and control of multi-propeller AUVs.

Three-state switching cell boost converter using H-inf controller

2021 ◽  
Vol 0 (0) ◽  
Author(s):  
Nivedita Pati ◽  
Babita Panda
Keyword(s):  
Model Order Reduction ◽  
Controller Design ◽  
Order Reduction ◽  
Boost Converter ◽  
Describing Function ◽  
Model Order ◽  
Modeling And Control ◽  
State Switching ◽  
Converter Topology ◽  
And Control

Abstract This paper presents the modeling and control of a non-minimum phase dc-dc boost converter based on the three - state switching cells. In any double stage grid-connected system the converter forms an interface between the photovoltaic source and the inverter. As the control and regulation of the converter output is a vital part of penetration of renewable to grid, therefore, this paper had attempted the control of a converter topology that can reduce the current stress across its switches. But the system becomes highly unstable and complex which has been validated by predicting the limit cycle with a describing function. The Controller design is implemented after reducing the complexity of the system using the Model order reduction principle. H-inf controller being robust in nature is applied for stable and regulated output.

Modeling and Control of a Novel Variable-Stiffness Regenerative Actuator

2018 ◽  
Author(s):  
Erivelton Gualter dos Santos ◽  
Hanz Richter
Keyword(s):  
Position Control ◽  
Lightweight Design ◽  
Variable Stiffness ◽  
Electrical Energy ◽  
Flexible Beam ◽  
Modeling And Control ◽  
Electromechanical Drive ◽  
Elastic Potential Energy ◽  
Mechanical Dynamics ◽  
And Control

This paper focuses on the design, modeling and basic control of a variable stiffness actuator to be used in combination with a regenerative electromechanical drive system. Due to the use of a flexible beam, the actuator has the ability to store and return elastic potential energy. Also, an ultracapacitor is used in the electromechanical drive, which allows electrical energy storage and return. Moreover, elastic and electrostatic energies can be exchanged, resulting in a highly efficient and lightweight design which will be beneficial for robotic prostheses, exoskeletons and other orthotic devices. The paper presents a model and calculation method for large beam deflections and the integrated electromechanical actuator model. A semiactive virtual control strategy is used to decouple the mechanical dynamics from the charge dynamics and achieve position control of the actuator. Simulation results are presented to illustrate the control system and the energy exchange features.

scholarly journals Modeling and control of an IPMC actuated flexible beam under the port-Hamiltonian framework

2019 ◽  
Vol 52 (2) ◽  
pp. 108-113
Author(s):  
Yongxin Wu ◽  
François Lamoline ◽  
Joseph Winkin ◽  
Yann Le Gorrec
Keyword(s):  
Flexible Beam ◽  
Modeling And Control ◽  
And Control

scholarly journals Multi-Frequency Single Loop Passivity-Based Control for LC-Filtered Stand-Alone Voltage Source Inverter

Energies ◽  
2019 ◽  
Vol 12 (23) ◽  
pp. 4548 ◽  
Author(s):  
Xiaobin Mu ◽  
Guofu Chen ◽  
Xiang Wang ◽  
Jinping Zhao ◽  
Weimin Wu ◽  
...  
Keyword(s):  
Controller Design ◽  
Voltage Source ◽  
State Variables ◽  
Voltage Source Inverter ◽  
Modeling And Control ◽  
Single Loop ◽  
Control Scheme ◽  
Passivity Based Control ◽  
The Cost ◽  
And Control

The multi-frequency Passivity-Based Control (PBC) has been successfully applied in L-filtered power converters. For an LC-filtered stand-alone voltage source inverter (VSI), the mathematical model is second-order, where two state variables are used in modeling and control in conventional multi-frequency PBC controller, complicating the controller design and increasing the occupied resources both in hardware and software. In order to simplify the controller design and save the resources as well as the cost, a control scheme called multi-frequency single-loop PBC is proposed for the LC-filtered stand-alone VSI in this paper. The feasibility of the proposed control strategy is verified through the experimental results on a 3-phase/110 V/6 kW prototype.

Modeling and Control of Acoustic Ducts

2000 ◽  
Vol 123 (1) ◽  
pp. 2-10 ◽  
Author(s):  
H. R. Pota ◽  
A. G. Kelkar
Keyword(s):  
Controller Design ◽  
Parametric Uncertainty ◽  
Theoretical Models ◽  
Unmodeled Dynamics ◽  
Modeling And Control ◽  
Infinite Dimensional ◽  
Finite Dimensional ◽  
Dimensional Models ◽  
And Control ◽  
Acoustic Ducts

This paper presents closed-form mathematical models for an acoustic duct with general boundary conditions. These infinite-dimensional models are derived using symbolic computations. A new method to obtain finite dimensional approximations of infinite-dimensional models using quartic functions is presented. The theoretical models are compared with the experimental data obtained for the KSU duct. The experimental results of a new robust broadband feedback controller, designed using passivity-based techniques, are presented. The controller design is shown to be robust to the unmodeled dynamics and parametric uncertainty.

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