Modeling and Control of a Construction Machine With a Human-in-the-Loop Assessment in Virtual Reality

2003 ◽  
Author(s):  
Roger C. Fales ◽  
Atul G. Kelkar ◽  
Erik Spencer ◽  
Kurt Chipperfield ◽  
Francis Wagner
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Controller Design ◽  
Dynamic Modelling ◽  
Nonlinear Dynamic Model ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Human In The Loop ◽  
Load Sensing ◽  
And Control

This paper presents dynamic modelling, control design, simulation results, and real time Virtual Reality (VR)-based human-in-the-loop testing for a wheel loader control system. In particular, a loader with electro-hydraulic actuation is considered. A detailed nonlinear dynamic model is developed for the hydraulic system and the loader linkage. The hydraulic model includes a load sensing pump, valves, and cylinders. The linkage model represents a two degree of freedom loader with lift and tilt functions. An LQG-based (Linear Quadratic Gaussian) robust controller is designed for automatic bucket levelling to assist the operator during the boom motion. The controller design is tested with a nonlinear model in a real-time VR simulation. In this VR simulation, the operator interacts with the model using a joystick input. The loader linkage geometry is displayed to the operator in real time using a VR display.

Modeling and Control of a Wheel Loader With a Human-in-the-Loop Assessment Using Virtual Reality

2004 ◽  
Vol 127 (3) ◽  
pp. 415-423 ◽  
Author(s):  
Roger Fales ◽  
Erik Spencer ◽  
Kurt Chipperfield ◽  
Frank Wagner ◽  
Atul Kelkar
Keyword(s):  
Virtual Reality ◽  
Control System ◽  
Real Time ◽  
Hydraulic Systems ◽  
Nonlinear Dynamic Model ◽  
Linear Quadratic ◽  
Loop Control ◽  
Wheel Loader ◽  
Human In The Loop ◽  
And Control

This paper presents dynamic modeling, controller design, and virtual reality (VR)-based human-in-the-loop real-time simulation for a wheel loader control system. In particular, a loader with electrohydraulic actuation is considered. A detailed nonlinear dynamic model is developed for the hydraulic system and the loader linkage. The hydraulic model includes a load sensing pump, valves, and cylinders. The linkage model represents a two degree of freedom loader with lift and tilt functions. A linear quadratic Gaussian based robust controller is designed for automatic bucket leveling to assist the operator by keeping the angle of the bucket leveled while the boom is in motion. The closed-loop control system design is tested with a nonlinear model in a real-time VR simulation. In the VR simulation, the operator interacts with the model using a joystick input. The loader linkage geometry is displayed to the operator in real time using a VR display. The controller performance was assessed in the VR environment. As expected, the controller was found to provide a significant improvement in the accuracy of the bucket leveling, particularly in the case of a novice operator controlling the linkage motion. While prototypes cannot be eliminated, the VR simulation combined with realistic physics and control dynamics provided a useful tool for evaluating hydraulic systems and controls with less reliance on prototype machines.

scholarly journals Modeling and Control of Cutter Vibration in the Presence of Random Distribution of Microhardness of Workpiece and Nonlinear Cutting Forces in Lathe Process

2011 ◽  
Vol 2011 ◽  
pp. 1-11 ◽  
Author(s):  
A. H. El-Sinawi
Keyword(s):  
Cutting Force ◽  
Cutting Forces ◽  
Random Distribution ◽  
Orthogonal Cutting ◽  
Nonlinear Dynamic Model ◽  
Linear Quadratic ◽  
Workpiece Material ◽  
Actuator Dynamics ◽  
Modeling And Control ◽  
And Control

This work presents a comprehensive approach to the control of tool's position, in the presence of machine tool structure vibration, nonlinear cutting force, and random tool vibration due to random distribution of microhardness of workpiece material. The controller is combination of Proportional and linear quadratic gaussian- (P-LQG-) type constructed from an augmented model of both tool-actuator dynamics and a nonlinear dynamic model relating tool displacement to cutting forces. The latter model is obtained using black-box system identification of experimental orthogonal cutting data in which tool displacement is the input and cutting force is the output. The controller is evaluated and its performance is demonstrated.

Real Time Modeling and Control of Three Tank Hybrid System

2018 ◽  
Vol 13 (1) ◽  
Author(s):  
K. Sathishkumar ◽  
V. Kirubakaran ◽  
T. K. Radhakrishnan
Keyword(s):  
Real Time ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Estimation Model ◽  
Linear Quadratic ◽  
Loop Control ◽  
Modeling And Control ◽  
Time Modeling ◽  
Lqr Controller ◽  
Servo Tracking

AbstractThis study discusses the modeling and linear quadratic regulator (LQR) controller based closed loop control of a three tank hybrid (TTH) process. A pseudo random binary signal (PRBS) based excitation data obtained from a real time TTH setup is utilized in validating its first principle model (FPM). Based on top and bottom interactions, various modes prevalent are considered based on steady state physical reachability analysis of the TTH for a given input range for controller design. The FPM is linearized using nominal values of process parameters using Jacobians from each existing mode. LQR controllers are designed for each mode. A supervisory structure is designed for selecting estimation model and controller for each appropriate mode. Results from real time servo tracking and disturbance rejection experiments are discussed.

scholarly journals Development, Modeling and Control of a Dual Tilt-Wing UAV in Vertical Flight

Drones ◽  
2020 ◽  
Vol 4 (4) ◽  
pp. 71
Author(s):  
Luz M. Sanchez-Rivera ◽  
Rogelio Lozano ◽  
Alfredo Arias-Montano
Keyword(s):  
Dynamic Model ◽  
Attitude Control ◽  
Test Bench ◽  
Aerodynamic Coefficients ◽  
Nonlinear Dynamic Model ◽  
Modeling And Control ◽  
Drag And Lift ◽  
And Control ◽  
Dynamics Method ◽  
Indoor And Outdoor

Hybrid Unmanned Aerial Vehicles (H-UAVs) are currently a very interesting field of research in the modern scientific community due to their ability to perform Vertical Take-Off and Landing (VTOL) and Conventional Take-Off and Landing (CTOL). This paper focuses on the Dual Tilt-wing UAV, a vehicle capable of performing both flight modes (VTOL and CTOL). The UAV complete dynamic model is obtained using the Newton–Euler formulation, which includes aerodynamic effects, as the drag and lift forces of the wings, which are a function of airstream generated by the rotors, the cruise speed, tilt-wing angle and angle of attack. The airstream velocity generated by the rotors is studied in a test bench. The projected area on the UAV wing that is affected by the airstream generated by the rotors is specified and 3D aerodynamic analysis is performed for this region. In addition, aerodynamic coefficients of the UAV in VTOL mode are calculated by using Computational Fluid Dynamics method (CFD) and are embedded into the nonlinear dynamic model. To validate the complete dynamic model, PD controllers are adopted for altitude and attitude control of the vehicle in VTOL mode, the controllers are simulated and implemented in the vehicle for indoor and outdoor flight experiments.

Multivariable modeling and control of an activated sludge process

1998 ◽  
Vol 37 (12) ◽  
pp. 149-156 ◽  
Author(s):  
Carl-Fredrik Lindberg
Keyword(s):  
Activated Sludge ◽  
Nitrate Concentration ◽  
State Space Model ◽  
Activated Sludge Process ◽  
Invariant State ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Space Model ◽  
And Control ◽  
Time Invariant

This paper contains two contributions. First it is shown, in a simulation study using the IAWQ model, that a linear multivariable time-invariant state-space model can be used to predict the ammonium and nitrate concentration in the last aerated zone in a pre-denitrifying activated sludge process. Secondly, using the estimated linear model, a multivariable linear quadratic (LQ) controller is designed and used to control the ammonium and nitrate concentration.

The Modeling and Control of the Hydraulic Servo System by Using On-Off Valve

2000 ◽  
Author(s):  
Xuanyin Wang
Keyword(s):  
Servo System ◽  
Mathematic Model ◽  
Hydraulic Cylinder ◽  
Servo Control ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Hydraulic Servo ◽  
Self Tuning ◽  
Hydraulic Servo System ◽  
And Control

Abstract This paper researches on the hydraulic servo system by using ordinary on-off valves. The mathematic model of an asymmetric hydraulic cylinder servo control system is built, and its characteristic is analysed here. To reduce the static and dynamic characteristic differences between forward and reverse motion of asymmetric cylinder, and improve system’s performance, a self-tuning linear quadratic gaussian optimum controller (SLQG) is designed successful. In the end, an asymmetric hydraulic cylinder servo system of paint robot is researched. The result shows that the above method is effective.

Process modeling and control applied to real-time monitoring of distillation processes by near-infrared spectroscopy

2017 ◽  
Vol 985 ◽  
pp. 41-53 ◽  
Author(s):  
Rodrigo R. de Oliveira ◽  
Ricardo H.P. Pedroza ◽  
A.O. Sousa ◽  
Kássio M.G. Lima ◽  
Anna de Juan
Keyword(s):  
Infrared Spectroscopy ◽  
Real Time ◽  
Near Infrared Spectroscopy ◽  
Process Modeling ◽  
Near Infrared ◽  
Real Time Monitoring ◽  
Modeling And Control ◽  
And Control

Modeling and Control of a Complex Interacting Process

2011 ◽  
Vol 403-408 ◽  
pp. 3758-3762
Author(s):  
Subhajit Patra ◽  
Prabirkumar Saha
Keyword(s):  
Storage System ◽  
Linear Quadratic Regulator ◽  
Model Parameters ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Dynamic Matrix ◽  
Liquid Storage ◽  
Efficient Control ◽  
And Control

In this paper, two efficient control algorithms are discussed viz., Linear Quadratic Regulator (LQR) and Dynamic Matrix Controller (DMC) and their applicability has been demonstrated through case study with a complex interacting process viz., a laboratory based four tank liquid storage system. The process has Two Input Two Output (TITO) structure and is available for experimental study. A mathematical model of the process has been developed using first principles. Model parameters have been estimated through the experimentation results. The performance of the controllers (LQR and DMC) has been compared to that of industrially more accepted PID controller.

Real-time modeling and control of the circular cell membranes strain

2011 ◽  
Author(s):  
Ming Li Han ◽  
Yan Liang Zhang ◽  
Meng Ying Yu ◽  
Cheng Yap Shee ◽  
Wei Tech Ang
Keyword(s):  
Real Time ◽  
Cell Membranes ◽  
Modeling And Control ◽  
Circular Cell ◽  
Time Modeling ◽  
And Control

Dynamic modeling and control design for a parallel-mechanism-based meso-milling machine tool

Robotica ◽  
2013 ◽  
Vol 32 (4) ◽  
pp. 515-532 ◽  
Author(s):  
Adam Y. Le ◽  
James K. Mills ◽  
Beno Benhabib
Keyword(s):  
Machine Tool ◽  
Dynamic Modeling ◽  
Design Methodology ◽  
Controller Design ◽  
Convex Combination ◽  
Control Design ◽  
Milling Machine ◽  
Modeling And Control ◽  
Kinematic Mechanisms ◽  
And Control

SUMMARYA novel rigid-body control design methodology for 6-degree-of-freedom (dof) parallel kinematic mechanisms (PKMs) is proposed. The synchronous control of PKM joints is addressed through a novel formulation of contour and lag errors. Robust performance as a control specification is addressed. A convex combination controller design approach is applied to address the problem of simultaneously satisfying multiple closed-loop specifications. The applied dynamic modeling approach allows the design methodology to be extended to 6-dof spatial PKMs. The methodology is applied to the design of a 6-dof PKM-based meso-milling machine tool and simulations are conducted.

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