Resolved-Mode Teleoperated Control of Heavy-Duty Hydraulic Machines

1994 ◽  
Vol 116 (2) ◽  
pp. 232-240 ◽  
Author(s):  
N. Sepehri ◽  
P. D. Lawrence ◽  
F. Sassani ◽  
R. Frenette
Keyword(s):  
Motion Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Control Program ◽  
Hydraulic Parameters ◽  
Heavy Duty ◽  
Dynamic Coupling ◽  
C Language ◽  
Hydraulic Machines ◽  
Control Scheme

This paper addresses the control problem for a class of heavy-duty hydraulic machines in order to achieve coordinated motion control of the implement. A model and sensor-based control algorithm is proposed which is applied in conjunction with closed-loop components. The algorithm is basically a feedforward load compensating scheme which uses the measured hydraulic line pressures along with the appropriate portion of the hydraulic model to control the joint velocities. The effects of nonlinear dynamic coupling between the links, loading, coupled actuation and power limitations are compensated in this technique. The closed-loop part consists of PD components. A knowledge of some hydraulic parameters is the only requirement of this control scheme. The proposed approach has been examined through simulation and is supported by experimental evidence. The experiments were performed on a Caterpillar 215B excavator. The control program is written in the C language, running on a computer system which is interfaced between the human operator and the machine.

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

scholarly journals Open-closed Iterative Learning Control Algorithm for Exoskeleton Rehabilitation Purposes

2019 ◽  
Vol 292 ◽  
pp. 01010
Author(s):  
Mihailo Lazarević ◽  
Nikola Živković ◽  
Darko Radojević
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Learning Control ◽  
Open Loop ◽  
Iterative Learning ◽  
Control Law ◽  
Exact Linearization ◽  
Outer Loop ◽  
Control Scheme

The paper designs an appropriate iterative learning control (ILC) algorithm based on the trajectory characteristics of upper exosk el eton robotic system. The procedure of mathematical modelling of an exoskeleton system for rehabilitation is given and synthesis of a control law with two loops. First (inner) loop represents exact linearization of a given system, and the second (outer) loop is synthesis of a iterative learning control law which consists of two loops, open and closed loop. In open loop ILC sgnPDD2 is applied, while in feedback classical PD control law is used. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed advanced open-closed iterative learning control scheme.

Research on NC System of Flame Cutting Machine Based on Trio Motion Control Card

2012 ◽  
Vol 723 ◽  
pp. 286-290
Author(s):  
Sheng Fang Zhang ◽  
Yi Wang ◽  
Jun Feng Mao ◽  
Wei Guo Wang ◽  
Zhi Hua Sha
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Program ◽  
Open Architecture ◽  
C Language ◽  
Control Card ◽  
Nc System ◽  
Cutting Machine ◽  
Motion Control Card ◽  
Welding Line

An open architecture NC system of flame cutting machine applied in auto white-body welding line manufacturing is developed in this paper. The general planning and the composition of the NC system is presented based on IPC and Trio MC206 motion card, the hardware and software of the control system are designed detailedly. IPC management software developed by using C# language in Visual Studio 2008 and rock-bottom control program of Trio control card developed in Motion Perfect2 are realized. The application results show that the NC system of flame cutting machine is reliable and stable which can meet the requirements of auto white-body manufacturing perfectly.

The Realization of Linear Motion Control in Dedicated Digital Control of Marking

2011 ◽  
Vol 317-319 ◽  
pp. 142-145
Author(s):  
Yue Ting Yang ◽  
Xin Chen ◽  
Gao Feng Cheng
Keyword(s):  
Motion Control ◽  
Cylindrical Surface ◽  
Digital Control ◽  
Control Algorithm ◽  
Control Program ◽  
Linear Motion ◽  
Uniform Acceleration ◽  
Compensation Control ◽  
Surface Marking ◽  
Logic Operations

In this paper, using Bresenham line algorithm and uniform acceleration , uniform deceleration control algorithm, Combining compensation control about Z-axis motion on cylindrical surface, the author has writed a complete linear motion control program by integer addition, subtraction, logic operations. The program applies to specific numerical marking machine, you can part the plane, cylindrical surface marking.

Self-feedback motion control for cable-driven parallel manipulators

2013 ◽  
Vol 228 (1) ◽  
pp. 77-89 ◽  
Author(s):  
Weihai Chen ◽  
Xiang Cui ◽  
Guilin Yang ◽  
Jingyuan Chen ◽  
Yan Jin
Keyword(s):  
Feedback Control ◽  
Motion Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Joint Angle ◽  
Time Derivative ◽  
Parallel Manipulators ◽  
The Self ◽  
Closed Loop Control ◽  
Loop Control

This article proposes a closed-loop control scheme based on joint-angle feedback for cable-driven parallel manipulators (CDPMs), which is able to overcome various difficulties resulting from the flexible nature of the driven cables to achieve higher control accuracy. By introducing a unique structure design that accommodates built-in encoders in passive joints, the seven degrees of freedom (7-DOF) CDPM can obtain joint angle values without external sensing devices, and it is used for feedback control together with a proper closed-loop control algorithm. The control algorithm has been derived from the time differential of the kinematic formulation, which relates the joint angular velocities to the time derivative of cable lengths. In addition, the Lyapunov stability theory and Monte Carlo method have been used to mathematically verify the self-feedback control law that has tolerance for parameter errors. With the aid of co-simulation technique, the self-feedback closed-loop control is applied on a 7-DOF CDPM and it shows higher motion accuracy than the one with an open-loop control. The trajectory tracking experiment on the motion control of the 7-DOF CDPM demonstrated a good performance of the self-feedback control method.

scholarly journals Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Chengxing Lv ◽  
Haisheng Yu ◽  
Zhili Hua ◽  
Lei Li ◽  
Jieru Chi
Keyword(s):  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Control Mechanism ◽  
Energy Shaping ◽  
Control Scheme ◽  
Heading Control ◽  
Overall Stability ◽  
Three Degrees Of Freedom ◽  
State Error

This paper proposes a novel nonlinear control scheme based on energy-shaping (ES) principle and state error port-controlled Hamiltonian (PCH) systems for unmanned surface vehicles (USV) system. The PCH model of three degrees of freedom for USV kinetics system is established. By the ES principle, interconnection assignment and damping injection method is applied to the speed and heading control of the closed-loop USV system to realize an overall stability of control mechanism. Simulation results show that the validity and stability of control algorithm can be satisfied with the performance in speed and heading tracking of which the high simplification and portability make it applicable to the various region.

scholarly journals Autonomous Navigation of a Team of Unmanned Surface Vehicles for Intercepting Intruders on a Region Boundary

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 297
Author(s):  
Ali Marzoughi ◽  
Andrey V. Savkin
Keyword(s):  
Motion Control ◽  
Autonomous Vehicles ◽  
Autonomous Navigation ◽  
Control Algorithm ◽  
Autonomous Vehicle ◽  
Sufficient Conditions ◽  
Real Life ◽  
Unmanned Surface Vehicles ◽  
Necessary And Sufficient ◽  
See Region

We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.

Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

2020 ◽  
pp. 014233122097313
Author(s):  
Yiqi Xu
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Inertia Model ◽  
And Performance ◽  
Attitude Tracking Control ◽  
The Stability

This paper studies the attitude-tracking control problem of spacecraft considering on-orbit refuelling. A time-varying inertia model is developed for spacecraft on-orbit refuelling, which actually includes two processes: fuel in the transfer pipe and fuel in the tank. Based upon the inertia model, an adaptive attitude-tracking controller is derived to guarantee the stability of the resulted closed-loop system, as well as asymptotic convergence of the attitude-tracking errors, despite performing refuelling operations. Finally, numerical simulations illustrate the effectiveness and performance of the proposed control scheme.

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