Active Dynamic Balancing Unit for Controlled Shaking Force and Shaking Moment Balancing

2010 ◽  
Author(s):  
Volkert van der Wijk ◽  
Just L. Herder
Keyword(s):  
Conceptual Design ◽  
Control Strategies ◽  
Combined System ◽  
Dynamic Balancing ◽  
Pick And Place ◽  
Reaction Forces ◽  
Computer Controlled ◽  
Shaking Moment

For a mechanism with many elements that needs to be shaking-force and shaking-moment balanced with a low addition of mass, a low addition of inertia, and a low addition of complexity, the use of actively computer-controlled balancing elements is promising. With these actively controlled elements the net reaction forces and the net reaction moments to the base of the mechanism can be balanced directly instead of balancing each mechanism element separately as is common practice for passive balancing. Adaptability of the control also allows balancing of (variable) payload. This paper presents the concept of an active dynamic balancing unit, which is a unit that is mounted on unbalanced mechanisms and is controlled such that the combined system is dynamically balanced. The conceptual design and possible control strategies of such a unit, including pick-and-place motion of variable payloads, is studied. A simulation is presented to give insight in the possibilities and limitations of active dynamic balancing.

Active Control for the Complete Dynamic Balancing of Linkages

1992 ◽  
Author(s):  
Jorge Angeles ◽  
Meyer A. Nahon ◽  
Thomas Thümmel
Keyword(s):  
Active Control ◽  
Degree Of Freedom ◽  
Dynamic Balancing ◽  
Reaction Forces ◽  
The Masses ◽  
Inertia Forces ◽  
Shaking Moment

Abstract This paper deals with the dynamic balancing of linkages. For one-degree-of-freedom linkages, this task consists of eliminating both the shaking moment and the shaking force exerted by the inertia forces of the moving links on the frame. While the latter can be eliminated by properly deciding on both the location of the mass centers and the ratios of the masses and link lengths involved, the shaking moment due to these forces cannot be eliminated in this way. Indeed, the elimination of the shaking force is attained by having the two transmitted forces cancel each other, although each individual force does not necessarily vanish, thereby still producing a shaking moment. In this paper, we propose the use of redundant motors in order to eliminate the reaction forces transmitted to the base, thereby also eliminating the shaking moment due to these forces. However, the net moment acting on the frame is shown to be unaltered by this technique.

Partial dynamic balancing of a 6-DOF haptic device

2014 ◽  
Vol 228 (14) ◽  
pp. 2632-2641
Author(s):  
Taoran Liu ◽  
Feng Gao ◽  
Chenkun Qi ◽  
Xianchao Zhao
Keyword(s):  
Angular Momentum ◽  
Degree Of Freedom ◽  
Haptic Device ◽  
Centre Of Mass ◽  
Dynamic Balancing ◽  
Reaction Forces ◽  
Rotational Part ◽  
Global Reaction ◽  
Cartesian Coordinate ◽  
Shaking Moment

This article presents the partial dynamic balancing of a 6-DOF (degree of freedom) haptic device. At first, the motion of the 3-DOF rotational part is decoupled with the motion of the 3-DOF translational part, because the former has no effect on the baseplate, so it can be considered as a whole and only discusses the 3-DOF translational part in the process of calculating dynamic balancing. The main feature of this mechanism is that the system is symmetric about the Cartesian coordinate, so the dynamic balancing of the 3-DOF translational part can be simplified to the dynamic balancing of 1-DOF translational part. The conditions of shaking force balancing can be obtained by keeping the linear momentum constant, and the conditions of shaking moment balancing can be get by minimizing the rate of the angular momentum. Finally, simulation examples are given to verify that the centre of mass of the partial dynamically balanced mechanism is fixed, and the global reaction forces on the baseplate are zero, and the global reaction moments on the baseplate decrease about five times at all times and for arbitrary trajectories.

Dynamic Modeling of Capsule Separator for Control of Hydraulic Capsule Pipelines

1999 ◽  
Vol 121 (2) ◽  
pp. 233-241 ◽  
Author(s):  
Hongliu Du ◽  
Satish S. Nair
Keyword(s):  
Dynamic Modeling ◽  
Control Strategies ◽  
Hydraulic Design ◽  
Pipeline Systems ◽  
Automation And Control ◽  
Computer Controlled ◽  
Strategy Design ◽  
And Control ◽  
Pipeline Design ◽  
Pipeline Model

Hydraulic capsule pipelines concepts are novel as compared to existing commercial pipeline systems. The complexity of such novel systems places greater demands on sensing, automation, and control strategy design for such systems as compared to existing commercial pipeline systems. These issues, as well as hydraulic design automation and control strategies, are reported. A novel capsule separator design has also been proposed to ensure reliable functioning of ‘booster’ stations for such pipelines. Detailed dynamic modeling of the proposed capsule separator is performed for generating design and control guidelines. Validation of the overall hydraulic capsule pipeline design and control, and limited validation of the proposed capsule separator subsystem, are provided using a prototype hardware computer controlled pipeline model.

TRIZ-Aided Innovation in Conceptual Design of Control Strategies

2006 ◽  
Vol 532-533 ◽  
pp. 901-904
Author(s):  
Ge Qun Liu ◽  
Wei Guo Liu
Keyword(s):  
Conceptual Design ◽  
Signal Analysis ◽  
Systematic Approach ◽  
Control Strategies ◽  
Field Analysis ◽  
Symbol System ◽  
Analysis Model ◽  
Innovative Methods ◽  
Innovative Methodology ◽  
Application Procedure

Research on innovative methods for Conceptual Design of Control Strategies (CDCS) is of great theoretical and engineering meaning. In this paper, TRIZ-aided innovation in CDCS was proposed. At first, a systematic approach to build a new theory of inventive problem solving specialized for control strategies (TRIZ-CS) was proposed with its systemic structure was given. Then the Block-Signal analysis model (B-S analysis model) was proposed based on Su-Field analysis model in TRIZ with its symbol system and application procedure. Finally four examples were given to show the rationality of TRIZ-aided innovation in CDCS and effectiveness of B-S analysis model. The examples show that TRIZ-aided innovation is a systematic, effective and practical innovative methodology for CDCS.

Conceptual Design and Simulation of the Traction Control System of a High Performance Electric Vehicle

2013 ◽  
Author(s):  
Juan Sebastián Núñez ◽  
Luis Ernesto Muñoz
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Conceptual Design ◽  
High Performance ◽  
Control Strategies ◽  
Traction Force ◽  
Traction Control ◽  
The Road ◽  
Traction Control System ◽  
Low Discrepancy Sequences

This paper presents the conceptual design of the traction control system of a high performance electric vehicle with four driven wheels, intended to be used in quarter mile competitions. Different models of the longitudinal and vertical vehicle’s dynamics are presented, in order to consider the coupling dynamics of front and rear wheels. Two slip control strategies are proposed so as to maximize the traction forces of the wheels. The first one consists of a traditional control scheme applied to each wheel of the vehicle. Since the interaction between the tire and the road is often poorly known, the second controller proposed consists of a perturbation based extremum seeking control (PBESC), in order to maximize the traction force without knowledge of the road and the tire characteristics. Finally an auto tuning process based on low discrepancy sequences for both control systems is presented.

Synthesis, Design, and Prototyping of a Planar Three Degree-of-Freedom Reactionless Parallel Mechanism

2004 ◽  
Vol 126 (6) ◽  
pp. 992-999 ◽  
Author(s):  
Simon Foucault ◽  
Cle´ment M. Gosselin
Keyword(s):  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Numerical Verification ◽  
Dynamic Balancing ◽  
Synthesis Design ◽  
Reaction Forces ◽  
Three Degree Of Freedom

This paper addresses the dynamic balancing of a planar three-degree-of-freedom parallel mechanism. A mechanism is said to be dynamically balanced if, for any motion of the mechanism, the reaction forces and torques at the base are identically equal to zero, at all times. The proposed mechanism is based on legs consisting of five-bar parallelogram linkages. The balancing equations are first obtained. Then, optimization is used in order to minimize the mass and inertia of the moving links. Finally, a numerical verification of the dynamic balancing is provided and the prototype is presented.

Comparison of Sliding Mode Control With State Feedback and PID Control Applied to a Proportional Solenoid Valve

1996 ◽  
Vol 118 (3) ◽  
pp. 434-438 ◽  
Author(s):  
J. B. Gamble ◽  
N. D. Vaughan
Keyword(s):  
Pid Control ◽  
State Feedback ◽  
Sliding Mode ◽  
Control Strategies ◽  
Step Response ◽  
Sliding Mode Controller ◽  
Experimental Step ◽  
Reaction Forces ◽  
Valve Dynamics ◽  
Direct Acting

A novel nonlinear sliding mode controller has recently been developed for direct acting proportional solenoid valves. This paper presents a comparison between the valve performance using this controller, and that obtained using two alternative control strategies; state feedback and PID control. Each controller is described in turn, and experimental step response results are presented to demonstrate the validity of each strategy. These results are compared on the basis of response time, overshoot, and steady-state error. The time taken to design each controller, and the required level of knowledge of the valve dynamics, are also assessed. The ability of each controller to reject flow reaction forces is evaluated by observing the changes in the step response when oil is passed through the valve. The results demonstrate that the sliding mode controller results in a faster, more robust closed-loop response. In addition, only minimal knowledge of the valve dynamics is required in order to design the controller.

scholarly journals Conceptual Design of a Pick-and-Place 3D Nanoprinter for Materials Synthesis

2015 ◽  
Vol 2 (3) ◽  
pp. 123-130 ◽  
Author(s):  
Max B. Carlson ◽  
Kayen K. Yau ◽  
Robert E. Simpson ◽  
Michael P. Short
Keyword(s):  
Conceptual Design ◽  
Materials Synthesis ◽  
Pick And Place

Conceptual Design of Control Strategies for Hot Rolling

CIRP Annals ◽  
1991 ◽  
Vol 40 (1) ◽  
pp. 123-126 ◽  
Author(s):  
J.S. Gunasekera ◽  
J.C. Malas
Keyword(s):  
Conceptual Design ◽  
Hot Rolling ◽  
Control Strategies
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