Design, Modeling, and Motion Control of the Noncircular Turning Process for Camshaft Machining

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Tsu-Chin Tsao ◽  
Zongxuan Sun ◽  
Reed D. Hanson ◽  
Alexanda Babinski
Keyword(s):  
Motion Control ◽  
Tracking Error ◽  
Spindle Speed ◽  
Turning Process ◽  
Tracking Accuracy ◽  
Test Fixture ◽  
Noncircular Turning ◽  
Industry Standards ◽  
Cam Profile ◽  
Rough Turning

This paper presents the design, modeling, and motion control of the noncircular turning process for camshaft machining. The cam profile tracking performance requirements are first characterized to meet industry standards. Based on these requirements, a unique test fixture using state-of-the-art actuation and sensing technologies is designed for the noncircular turning process. Modeling of the electrohydraulic servo valve, actuator, and sensors is conducted based on their frequency responses. Digital motion control that achieves asymptotic cam profile tracking while maintaining system robust stability is designed and implemented on the turning test fixture. Spindle speed can be chosen depending on the required profile tracking accuracy with higher speed rendering higher machining rate for rough turning and lower speed rendering higher accuracy for finish turning. Experimental results of turning a variety of cam profiles show that the tracking error is less than 30μm for spindle speed at 300rpm and is less than 60μm for spindle speed at 600rpm or 1200rpm.

Research on Technology of Variable Spindle Speed Noncircular Turning

2012 ◽  
Vol 468-471 ◽  
pp. 2653-2656 ◽  
Author(s):  
Hui Cao ◽  
Ning Liang ◽  
Na Zhang
Keyword(s):  
Tracking Error ◽  
Spindle Speed ◽  
Control Technique ◽  
Turning Process ◽  
Noncircular Turning ◽  
Manufacture Process ◽  
Disturbance Rejection Control ◽  
The Stability ◽  
Tool Motion ◽  
Turning System

To improve the stability and precision of noncircular manufacture process, the variable spindle speed turning is applied to noncircular turning process. The variable spindle turning system is designed. The character of variable spindle speed is analyzed. The linear servo unit available for variable speed noncircular turning process is designed. An active disturbance rejection control technique is applied to servo unit. The experiment results show that surface quality and tracking error of variable spindle speed noncircular turning are better than constant speed machining. The linear servo unit is able to track the desired trajectory of cutting tool motion.

Periodic Sampling Interval Repetitive Control and Its Application to Variable Spindle Speed Noncircular Turning Process

1998 ◽  
Vol 122 (3) ◽  
pp. 560-566 ◽  
Author(s):  
Reed D. Hanson ◽  
Tsu-Chin Tsao
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Design Method ◽  
Repetitive Control ◽  
Spindle Speed ◽  
Depth Of Cut ◽  
Time Varying ◽  
Turning Process ◽  
Noncircular Turning ◽  
Loop Stability

This paper addresses discrete-time, repetitive control for linear, periodic, time-varying systems. A periodic, repetitive control design method based on gain scheduling is proposed and the necessary and sufficient condition for closed-loop stability is presented. Utilizing the special structure of the repetitive controller, an efficient method for evaluating the closed-loop stability is developed. The algorithm is applied to the control of a piezoelectric fast-tool stage for variable spindle speed noncircular turning process. The tool performs dynamic variable depth of cut machining to generate noncircular workpiece profiles while the spindle carrying the workpiece rotates at a variable speed to inhibit machining instability (chatter). Experimental machining results are presented that demostrate the tracking performance of the period, time-varying controller design proposed, as well as the ability to increase machining stability using this approach. [S0022-0434(00)02402-3]

DUTY-CYCLED SPINNING BASED 3D MOTION CONTROL APPROACH FOR BEVEL-TIPPED FLEXIBLE NEEDLE INSERTION

2018 ◽  
Vol 18 (07) ◽  
pp. 1840017 ◽  
Author(s):  
QIN YAO ◽  
XUMING ZHANG
Keyword(s):  
Motion Control ◽  
Control Method ◽  
Tracking Error ◽  
Open Loop ◽  
Loop Control ◽  
3D Motion ◽  
Control Approach ◽  
Target Error ◽  
The Mean ◽  
Simulation Results

Flexible needle has been widely used in the therapy delivery because it can advance along the curved lines to avoid the obstacles like important organs and bones. However, most control algorithms for the flexible needle are still limited to address its motion along a set of arcs in the two-dimensional (2D) plane. To resolve this problem, this paper has proposed an improved duty-cycled spinning based three-dimensional (3D) motion control approach to ensure that the beveled-tip flexible needle can track a desired trajectory to reach the target within the tissue. Compared with the existing open-loop duty-cycled spinning method which is limited to tracking 2D trajectory comprised of few arcs, the proposed closed-loop control method can be used for tracking any 3D trajectory comprised of numerous arcs. Distinctively, the proposed method is independent of the tissue parameters and robust to such disturbances as tissue deformation. In the trajectory tracking simulation, the designed controller is tested on the helical trajectory, the trajectory generated by rapidly-exploring random tree (RRT) algorithm and the helical trajectory. The simulation results show that the mean tracking error and the target error are less than 0.02[Formula: see text]mm for the former two kinds of trajectories. In the case of tracking the helical trajectory, the mean tracking error target error is less than 0.5[Formula: see text]mm and 1.5[Formula: see text]mm, respectively. The simulation results prove the effectiveness of the proposed method.

Integrated optimal design of a high-speed planar parallel manipulator

2018 ◽  
Vol 233 (9) ◽  
pp. 2976-2990 ◽  
Author(s):  
Zhengsheng Chen ◽  
Minxiu Kong
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
High Speed ◽  
Design Method ◽  
Tracking Error ◽  
Dimensional Synthesis ◽  
Tracking Accuracy ◽  
Nsga Ii ◽  
Parameters Tuning ◽  
Planar Parallel Manipulator

To obtain excellent comprehensive performances of the planar parallel manipulator for the high-speed application, an integrated optimal design method, which integrated dimensional synthesis, motors/reducers selection, and control parameters tuning, is proposed, and the 3RRR parallel manipulator was taken as the example. The kinematic and dynamic performances of condition number, velocity index, acceleration capability, and low-order frequency are taken into accounts for the dimensional synthesis. Then, to match motors/reducers parameters and keep an economical cost, the constraint equations and the parameters library are built, and the cost is chosen as one of the optimization objectives. Also, to get high tracking accuracy, the dynamic forward plus proportional–derivative control scheme is introduced, and the tracking error is chosen as one of the optimization objectives. Hence, the optimization model including dimensional synthesis, motors/reducers selection and controller parameters tuning is established, which is solved by the genetic algorithm II (NSGA-II). The result shows that comprehensive performances can be effectively promoted through the proposed integrated optimal design, and the prototype was constructed according to the Pareto-optimal front.

scholarly journals The use of a cascaded Kinect and electromyography gesture decoding algorithm in an initial robot-aided hand neurorehabilitation

2018 ◽  
Vol 10 (1) ◽  
pp. 168781401775196 ◽  
Author(s):  
Ping Wang ◽  
Yabo Wang ◽  
He Huang ◽  
Feng Ru ◽  
Quan Pan
Keyword(s):  
Control Algorithm ◽  
Motion Tracking ◽  
Simulation Experiment ◽  
Tracking Error ◽  
Torque Control ◽  
Tracking Accuracy ◽  
Rehabilitation Robots ◽  
Machine Interface ◽  
Repetitive Activities ◽  
Active Assistance

In order to improve the neurological recovery of hand neurorehabilitation, target-oriented, intensive, repetitive activities of daily living are used, such as training with recognition of hand gestures during robot-aided exercise. In this article, a cascade control algorithm integrating electromyography bio-feedback into hand gesture recognition is proposed. The outer loop is the trajectory motion tracking with Kinect-based gesture decoding classifier, and the inner loop is torque control with electromyography bio-feedback in the real time. This proposed method improves the tracking accuracy. The tracking error is effectively reduced from 70.56 to 28.07 in the simulation experiment. The initial test proves that the proposed method with additional torque control allows active assistance on the human–machine interface of other rehabilitation robots in future.

scholarly journals The Impacts of Tracking System Inaccuracy on CPV Module Power

Processes ◽  
2020 ◽  
Vol 8 (10) ◽  
pp. 1278
Author(s):  
Henrik Zsiborács ◽  
Nóra Baranyai ◽  
András Vincze ◽  
Philipp Weihs ◽  
Stefan Schreier ◽  
...  
Keyword(s):  
Tracking System ◽  
Tracking Error ◽  
Weather Conditions ◽  
Cell Diameter ◽  
Tracking Accuracy ◽  
Optimal Position ◽  
Climate Conditions ◽  
Solar Tracking ◽  
Power Yield ◽  
The Difference

The accuracy and reliability of solar tracking greatly impacts the performance of concentrator photovoltaic modules (CPV). Thus, it is of utmost significance to know how deviations in tracking influence CPV module power. In this work, the positioning characteristics of CPV modules compared to the focus points were investigated. The performance of CPV modules mounted on a dual-axis tracking system was analysed as a function of their orientation and inclination. The actual experiment was carried out with CPV cells of 3 mm in diameter. By using a dual tracking system under real weather conditions, the module’s position was gradually modified until the inclination differed by 5° relative to the optimal position of the focus point of the CPV module. The difference in inclination was established by the perfect perpendicularity to the Sun’s rays. The results obtained specifically for CPV technology help determine the level of accuracy that solar tracking photovoltaic systems are required to have to keep the loss in power yield under a certain level. Moreover, this power yield loss also demonstrated that the performance insensitivity thresholds of the CPV modules did not depend on the directions of the alterations in azimuthal alignment. The novelty of the research lies in the fact that earlier, no information had been found regarding the tracking insensitivity point in CPV technologies. A further analysis was carried out to compare the yield of CPV to other, conventional photovoltaic technologies under real Central European climate conditions. It was shown that CPV needs a sun tracking accuracy of at least 0.5° in order to surpass the yield of other PV technologies. Besides providing an insight into the tracking error values of solar tracking sensors, it is believed that the results might facilitate the planning of solar tracking sensor investments as well as the economic calculations related to 3 mm cell diameter CPV system investments.

Tracking Error Modeling of the Theodolite Based on GRNN Method

2011 ◽  
Vol 121-126 ◽  
pp. 4870-4874
Author(s):  
Miao Li ◽  
Hui Bin Gao
Keyword(s):  
Evaluation Method ◽  
Tracking Error ◽  
High Accuracy ◽  
Error Model ◽  
Error Modeling ◽  
General Regression Neural Network ◽  
Engineering Practice ◽  
Tracking Accuracy ◽  
Model Based ◽  
General Regression

To meet the requirement of high tracking accuracy as well as develop more reasonable evaluation method, in this paper, the General Regression Neural Network (GRNN) has been applied to build the tracking error model of the theodolite. First, we analyze the nonlinear factors in the theodolite. Second, we discuss the principle of GRNN, including its structure, the function as well as its priors. Third, we build the tracking error model based on GRNN and verify the model through the different parameters. The result indicated that the network model based on GRNN has high accuracy and good generalization ability. It could instead the real system to a certain extent. The research in this paper has important value to the engineering practice.

Vehicle yaw-inertia- and mass-independent adaptive steering control

2009 ◽  
Vol 223 (9) ◽  
pp. 1101-1108 ◽  
Author(s):  
J Wang ◽  
M F Hsieh
Keyword(s):  
Adaptive Control ◽  
Tracking Error ◽  
Stability Control ◽  
Driving Safety ◽  
Control Law ◽  
Steering Control ◽  
Tracking Accuracy ◽  
Unknown Parameters ◽  
Practical Applications ◽  
Adaptive Control Law

This paper describes a vehicle stability control (VSC) system using a vehicle yaw-inertia- and mass-independent adaptive control law. As a primary vehicle active control system, VSC can significantly improve vehicle driving safety for passenger cars and enhance trajectory tracking accuracy for other applications such as autonomous, surveillance, and mobile robot vehicles. For the designs of vehicle dynamic control systems, vehicle yaw inertia and mass are two of the most important parameters. However, in practical applications, vehicle yaw inertia and mass often change with vehicle payload and load distribution. In this paper, an adaptive control law is proposed to treat the vehicle yaw inertia and mass as unknown parameters and automatically address their variations. For the proposed adaptive control law, asymptotic stability of the yaw rate tracking error was proved by a Lyapunov-like analysis for certain vehicle architectures under some reasonable assumptions. The performance of the yaw-inertia- and mass-independent adaptive VSC system was evaluated under several driving conditions (i.e. double lane changing on a slippery surface and braking on a split- μ surface tests) through simulation studies using a high-fidelity full-vehicle model provided by CarSim®.

Sign in / Sign up

Export Citation Format

Share Document