scholarly journals Input Shaping for Feed-Forward Control of Cable-Driven Parallel Robots

2020 ◽  
Vol 143 (2) ◽  
Author(s):  
Sana Baklouti ◽  
Eric Courteille ◽  
Philippe Lemoine ◽  
Stéphane Caro
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Parallel Robots ◽  
Input Shaping ◽  
Residual Vibration ◽  
Feed Forward ◽  
Loop Control ◽  
Feed Forward Control ◽  
Velocity Error ◽  
Moving Platform

Abstract This paper deals with the use of input-shaping filters in conjunction with a feed-forward control of cable-driven parallel robots (CDPRs), while integrating cable tension calculation to satisfy positive cable tensions along the prescribed trajectory of the moving platform. This method aims to attenuate the oscillatory motions of the moving platform. Thus, the input signal is modified to make it self-cancel residual vibrations. The effectiveness, in terms of moving-platform oscillation attenuation, of the proposed closed-loop control method combined with shaping inputs is experimentally studied on a suspended and nonredundant CDPR prototype. This confirms residual vibration reduction improvement with respect to the unshaped control in terms of peak-to-peak amplitude of velocity error, which can achieve 72% while using input-shaping filters.

Simulation of Multi-Closed Loop Control With Feed Forward Control of Micro-Vibration Isolation Platform

2014 ◽  
Author(s):  
Qianqian Wu ◽  
Honghao Yue ◽  
Rongqiang Liu ◽  
Liang Ding ◽  
Zongquan Deng
Keyword(s):  
Vibration Isolation ◽  
Closed Loop ◽  
Control Method ◽  
Magnetic Levitation ◽  
Low Frequency ◽  
Closed Loop Control ◽  
Vibration Source ◽  
Feed Forward ◽  
Loop Control ◽  
Micro Vibration

Micro vibration in the ideal-zero gravity environments has complicated science experiment results. A magnetic levitation vibration isolation platform is needed to isolate the vibration source to provide acceptable acceleration level in low frequency range. The configuration of the Lorentz actuators is discussed in the paper. And the modeling of the transformation matrix from the force to the current is deduced. In order to generate desired force, the current is needed to predict precisely. To study the characteristics of the system, the single degree of freedom system is analyzed. A multi-closed loop control scheme is put forward to achieve vibration isolation control. To evaluate the effect of each control parameter, frequency domain analysis of the transfer function is simulated. In order to further increase the control effectiveness, a feed forward compensation control algorithm is added to control the vibration of cables that connect the upper platform and the base. By regulating these control parameters, bode curves can be obtained. Comparing the two methods, it can be concluded that the control method with feed forward compensation is better than the one without that.

Research on Digital Controls of Piston Pumps Based on Compound Control Using Feed-Forward and Feedback Controls

2015 ◽  
Vol 727-728 ◽  
pp. 843-846
Author(s):  
Qing Liang Zeng ◽  
Bin Bin Liu ◽  
Xin Chao Wang ◽  
Qiang Gu
Keyword(s):  
Control System ◽  
Power Control ◽  
Optimization Design ◽  
Closed Loop ◽  
Control Method ◽  
Stability Margin ◽  
Feedback Controls ◽  
Feed Forward ◽  
Loop Control ◽  
Power Control System

Taking the swash plate piston pump as the research plant, the paper introduces the composition of digital control system of variable pump first; Then the mathematical model of variable mechanism is established according to which the closed-loop flow control system and the power control system are worked out. Also, the paper shows the stability margin of the control system and analyzes some response indices to step command under Matlab simulation. Aiming at the shortage of the closed-loop control system, the paper gives an idea of an optimization design of the compound power control system based on both feed-forward and feedback control. Compared with the conventional closed-loop power control method, the compound one gets a 47.2% reduction in the adjusting time and a 38.2% decrease in the overshoot indicating that the adjusting process is obviously shortened and the disturbance effect effectively weakened.

The application of compound proportional resonant control strategy in multiple PV inverters system

2018 ◽  
Vol 32 (34n36) ◽  
pp. 1840098
Author(s):  
Yuan Li ◽  
Huifang Shen ◽  
Chao Xiong ◽  
Yaofei Han ◽  
Guofeng He
Keyword(s):  
Control Strategy ◽  
Closed Loop ◽  
Control Strategies ◽  
Integrated Control ◽  
Reference Signal ◽  
Loop Model ◽  
Harmonic Compensation ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Set Up

In order to eliminate the effect on the grid current caused by the background harmonic voltage and the reference signal on the grid connected multi-inverter, this paper adopts the double closed-loop feed-forward control strategy. This strategy is based on the inductor voltage and the grid-connected current, and the integrated control strategy of quasi-proportional resonance loop parallel to a specific harmonic compensation loop. Based on the closed-loop model of multiple inverters, the change curves of the transfer function of the two control strategies are compared with the feed-forward control and the composite proportional resonance. The two corresponding control methods are used to analyze the current quality of the multi-inverter impact. Finally, the MATLAB/Simulink simulation model is set up to verify the proposed control strategies. The simulation results show that the proposed method can achieve better tracking of the sinusoidal command signal at the fundamental frequency, and enhance the anti-interference ability of the system at the 3rd, 5th, and 7th harmonic frequency.

Heat Release Experimental Analysis for RCCI Combustion Optimization

2018 ◽  
Author(s):  
V. Ravaglioli ◽  
F. Ponti ◽  
F. Carra ◽  
M. De Cesare
Keyword(s):  
Low Temperature ◽  
Experimental Analysis ◽  
Closed Loop ◽  
Combustion Stability ◽  
Closed Loop Control ◽  
Combustion Control ◽  
Transient Conditions ◽  
Feed Forward ◽  
Loop Control ◽  
Injection Parameters

Over the past years, the increasingly stringent emission regulations for Internal Combustion Engines (ICE) spawned a great amount of research in the field of combustion control optimization. Nowadays, optimal combustion control has become crucial, especially to properly manage innovative Low Temperature Combustion (LTC) strategies, usually characterized by high instability, cycle-to-cycle variability and sensitivity to slight variations of injection parameters and thermal conditions. Many works demonstrate that stability and maximum efficiency of LTC strategies can be guaranteed using closed-loop control strategies that vary the standard injection parameters (mapped during the base calibration activity) to keep engine torque and center of combustion (CA50) approximately equal to their target values. However, the combination of standard base calibration and closed-loop control is usually not sufficient to accurately control Low Temperature Combustions in transient conditions. As a matter of fact, to properly manage LTC strategies in transient conditions it is usually necessary to investigate the combustion methodology of interest and implement specific functions that provide an accurate feed-forward contribution to the closed-loop controller. This work presents the experimental analysis performed running a light-duty compression ignited engine in dual-fuel RCCI mode, the goal being to highlight the way injection parameters and charge temperature affect combustion stability and ignition delay. Finally, the paper describes how the obtained results can be used to define the optimal injections strategy in the analyzed operating points, i.e. the combination of injection parameters to be used as a feed-forward for a closed-loop combustion control strategy.

Research on the Control Method of STATCOM Based on MMC

2013 ◽  
Vol 448-453 ◽  
pp. 2167-2170
Author(s):  
Kai Li ◽  
Yi Hui Zheng ◽  
Xin Wang ◽  
Li Xue Li ◽  
Gang Yao ◽  
...  
Keyword(s):  
Closed Loop ◽  
Reactive Power ◽  
Control Method ◽  
Modular Multilevel Converter ◽  
Energy Balancing ◽  
Multilevel Converter ◽  
Voltage Fluctuation ◽  
Loop Control ◽  
Voltage Balancing ◽  
High Voltage Direct Current

To realize the STATCOM based on Modular Multilevel Converter (MMC), a simplified double-closed loop structure, simplifying from the control method of High Voltage Direct Current (HVDC) based on MMC, is presented. Considering MMCs DC side using capacitors, a part-controlling method based on energy balancing is proposed, to solve the voltage balancing problem. With the part-controlling fixing the changing capacitors voltage and the simplified double-closed loop control method, voltage fluctuation could be reduced, and the loads reactive power could be compensated. The correctness and the effectiveness of the MMC-STATCOM controlling scheme is verified by Matlab/Simulink.

Research into the Variable Speed Pump Control System for Driving the Cutter Head of Shield Tunneling Machine

2009 ◽  
Vol 628-629 ◽  
pp. 257-262 ◽  
Author(s):  
Tong Xing
Keyword(s):  
Control System ◽  
Hydraulic System ◽  
Closed Loop ◽  
Control Method ◽  
Control Technique ◽  
Closed Loop Control ◽  
Variable Speed ◽  
Shield Tunneling ◽  
Loop Control ◽  
Cutter Head

The cutter head drive hydraulic system of φ1.8m simulate shield machine is introduced in this article, which has the variable speed pump control technique and the closed loop control method. The AMESim simulation model of the hydraulic system is built up, and the efficiency of the hydraulic system, speed control performance by open loop and closed loop control are analyzed. The result of the simulation shows that the variable speed pump control system has higher efficiency than the variable displacement pump control system about 4%-26% in the same condition when the cutter head speed is at the range of 0.5-4r/min, and the hydraulic system has good dynamic characteristics in closed-loop PID control.

Closed-Loop Control Method for Monitoring and Improving the Diesel Combustion Noise

2016 ◽  
Author(s):  
Insoo Jung ◽  
Jaemin Jin ◽  
Dongchul Lee ◽  
Seunghyun Lee ◽  
Seungwook Yang ◽  
...  
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Combustion Noise ◽  
Closed Loop Control ◽  
Diesel Combustion ◽  
Loop Control
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