Position Control of a Cylinder Using a Hydraulic Bridge Circuit With ER Valves

1997 ◽  
Vol 122 (1) ◽  
pp. 202-209 ◽  
Author(s):  
Seung-Bok Choi ◽  
Woo-Yeon Choi
Keyword(s):  
Electric Field ◽  
Position Control ◽  
Bridge Circuit ◽  
Silicone Oil ◽  
Network Control ◽  
Operational Parameters ◽  
Pressure Drops ◽  
Feedback Error Learning ◽  
Feedback Error ◽  
Er Fluid

This paper presents the position control of a double-rod cylinder system using a hydraulic bridge circuit with four electro-rheological (ER) valves. After synthesizing a silicone oil-based ER fluid, a Bingham property of the ER fluid is first tested as a function of electric field in order to determine operational parameters for the ER valves. On the basis of the level of the field-dependent yield stress of the composed ER fluid, four cylindrical ER valves are designed and manufactured. Subsequently, step responses for pressure drops of the ER valve are empirically analyzed with respect to the intensity of the electric field. A cylinder system with a cart is then constructed using a hydraulic bridge circuit with four ER valves, and its governing equation of motion is derived. A neural network control scheme incorporating the proportional-integral-derivative (PID) controller is formulated through the feedback error learning method, and experimentally implemented for the position control of the cylinder system. Both regulating and tracking position control responses for square and sinusoidal trajectories are presented in time domain. In addition, a tracking durability of the control system is provided to demonstrate the practical feasibility of the proposed methodology. [S0022-0434(00)00701-2]

The Neural Network Position-Control of a Moving Platform Using Electrorheological Valves

2002 ◽  
Vol 124 (3) ◽  
pp. 435-442 ◽  
Author(s):  
Seung-Bok Choi ◽  
Kum-Gil Sung ◽  
Jae-Wook Lee
Keyword(s):  
Neural Network ◽  
Electric Field ◽  
Position Control ◽  
Bridge Circuit ◽  
Silicone Oil ◽  
Hydraulic Cylinder ◽  
Network Control ◽  
Laboratory Model ◽  
Cargo Handling ◽  
Moving Platform

This paper presents position control of a moving platform using a hydraulic bridge circuit associated with electrorheological (ER) valves. Four cylindrical ER valves are designed and manufactured on the basis of electric field-dependent yield stress of an ER field, which is composed of chemically treated starch and silicone oil. The pressure drops of the ER valves are empirically identified with respect to the intensity of the electric field, and the hydraulic bridge circuit with four ER valves is constructed. The hydraulic cylinder system to be controlled by the ER valve bridge circuit is then incorporated with a moving platform of a cargo handling laboratory model. Subsequently, a neural network control scheme is formulated in order to control the position of the moving platform by activating ER valves of the cylinder system. The controller is experimentally realized and position tracking control results for desired trajectories of the moving platform are presented in the time domain.

Measurement of Interaction Forces at Small Distance under Electric Field in a Smectite Dispersed Silicone Oil Based ER Fluid

2001 ◽  
Vol 15 (06n07) ◽  
pp. 811-816 ◽  
Author(s):  
Toyohisa FUJITA ◽  
Toshio MIYAZAKI ◽  
Toshiharu TANAKA ◽  
Ke Jun Liu ◽  
Eiich KUZUNO ◽  
...  
Keyword(s):  
Electric Field ◽  
Silicone Oil ◽  
Small Distance ◽  
Surface Forces ◽  
Attraction Force ◽  
Interaction Forces ◽  
Repulsive Energy ◽  
Inflection Points ◽  
Dc Electric Field ◽  
Er Fluid

The apparatus to measure interaction forces under an electric field at small distance between a conductive hemisphere and a flat plate has been developed. The surface forces at small distance sandwiched ER fluid dispersing ultrafine smectite particles (20 to 50 nm thickness) in silicone oil has been measured. This fluid shows 0.7 kPa of apparent yield stress by applying 2.5 kV/mm of DC electric field. When an electric field applies to this ER fluid, the repulsive energy curves shows inflection points at about 0.2 μ m distance periodically at small distance of less than 1 μ m because the repulsion force decreases for a vacancy of particles after the particles are pushed out and the dipole attraction force acts between hemisphere and plate. On the other hand, when the electric field becomes off and it passes enough time, the inflection points is observed more shorter distance of about 0.15 μ m periodically. The coagulated particle size is estimated about 0.15 μ m under no electric field and becomes larger by applying electric field.

ELECTRORHEOLOGICAL BEHAVIOR OF CHITOSAN DERIVATIVE SUSPENSIONS

2001 ◽  
Vol 15 (06n07) ◽  
pp. 1025-1032 ◽  
Author(s):  
Ung-su Choi ◽  
Byeng-gil Ahn ◽  
Oh-kwan Kwon
Keyword(s):  
Electric Field ◽  
Volume Fraction ◽  
Silicone Oil ◽  
Flow Behavior ◽  
Chitosan Derivative ◽  
Shear Yield Stress ◽  
Bingham Flow ◽  
Shear Yield ◽  
The Difference ◽  
Er Fluid

The electrorheological (ER) behavior of chitosan and chitosan phosphate suspensions in silicone oil was investigated. Chitosan and chitosan phosphate suspensions showed a typical ER response (Bingham flow behavior) upon application of an electric field. However, chitosan phosphate suspension exhibited excellent shear yield stress compared with chitosan suspension. The difference in behavior results from the difference in the conductivity of the chitosan and chitosan phosphate particles due to their degree of the polarizability. The shear stress for chitosan and chitosan phosphate suspensions showed a linear dependence on the volume fraction of particles. The values of structure factor, A s obtained 1 and 3~4 for chitosan and chitosan phosphate suspensions and it may be due to the formation of single-row chains and multiple chains upon application of the electric field. Throughtout the experimental results, chitosan and chitosan phosphate suspensions were shown to be an ER fluid.

ELECTRORHEOLOGY OF DISPERSIONS OF BaxSr(1-x)TiO3 IN SILICONE OIL UNDER AC OR DC ELECTRIC FIELD

2012 ◽  
Vol 26 (14) ◽  
pp. 1250081 ◽  
Author(s):  
GLAUBER M. S. LUZ ◽  
ANTONIO J. F. BOMBARD ◽  
SILVIO L. M. BRITO ◽  
DOUGLAS GOUVÊA ◽  
SHEILA L. VIEIRA
Keyword(s):  
Shear Stress ◽  
Shear Rate ◽  
Electric Field ◽  
Silicone Oil ◽  
Ferroelectric Materials ◽  
Dc Electric Field ◽  
Ac Fields ◽  
Er Fluid ◽  
Constant Shear Rate

Electrorheology (ER) of ferroelectric materials such as nanometric BaTiO 3 is still not fully understood. In this paper, nanoparticles of Ba x Sr (1-x) TiO 3 (where x = 0.8, 0.9 or 1.0) were synthesized using the method of Pechini, calcinated at 950°C, and after, lixiviated under pH 1 or pH 5. A controlled stress rheometer (MCR-301) was used to make the ER characterization of dispersions made of Ba x Ti 1-x O 3 in silicone oil (30% w/w), where (a) shear stress as a function of DC electric field (under constant shear rate) or (b) shear stress as a function of shear rate (under constant AC or DC electric field) were measured. We observed that electrophoresis occurred under electric field DC, creating a concentration gradient which induced phase separation in ER fluid. On the other hand, under AC fields above 1 kV/mm, the ER effect is stronger than for DC field, and almost without electrophoresis. Furthermore, there is an AC frequency, dependent on the disperse phase, where the ER effect has a maximum.

Investigation into Electrorheological Fluid-Assisted Polishing Optical Glass

2011 ◽  
Vol 110-116 ◽  
pp. 1099-1106
Author(s):  
Yun Wei Zhao ◽  
De Xu Geng ◽  
Xiao Min Iu ◽  
Jin Tao Zhang
Keyword(s):  
Electric Field ◽  
Silicone Oil ◽  
Optical Glass ◽  
Electrorheological Fluid ◽  
Abrasive Particles ◽  
Micro Tool ◽  
Ultra Precision ◽  
Aspherical Lenses ◽  
Field Lines ◽  
Er Fluid

Electrorheological (ER) fluid-assisted polishing process is the ultra precision finishing technologies for micro-aspherical lenses and dies. The principle of ER fluid-assisted polishing (ERP) is to use ER effect as a result of the application of electric field. The ER particles and abrasive particles suspended in silicone oil are polarized in which ER particles strongly attract each other and aggregate into chain like structure along the electric field lines, and the abrasive particles may adhere to the ER chain. The force acting on ER particles and abrasive particles in an electric field is calculated. Furthermore, experiments of polishing optical glass with Al2O3 are carried out to find the influential regularities of polishing time, rotational speed of micro-tool, voltage, the density of abrasives in ER fluid on the surface roughness.

scholarly journals Applying RBF Neural Nets for Position Control of an Inter/Scara Robot

2009 ◽  
Vol 4 (2) ◽  
pp. 148
Author(s):  
Fernando Passold
Keyword(s):  
Neural Networks ◽  
Position Control ◽  
Sliding Mode ◽  
Neural Nets ◽  
Rbf Neural Networks ◽  
Feedback Error Learning ◽  
Feedback Error ◽  
On Line ◽  
Error Learning ◽  
Manipulator Robot

This paper describes experimental results applying artificial neural networks to perform the position control of a real scara manipulator robot. The general control strategy consists of a neural controller that operates in parallel with a conventional controller based on the feedback error learning architecture. The main advantage of this architecture is that it does not require any modification of the previous conventional controller algorithm. MLP and RBF neural networks trained on-line have been used, without requiring any previous knowledge about the system to be controlled. These approach has performed very successfully, with better results obtained with the RBF networks when compared to PID and sliding mode positional controllers.

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