The research on sliding model control of pneumatic muscle driven by high-speed on/off valves

2021 ◽  
Author(s):  
Jun Xie ◽  
Shenglong Xie ◽  
Hongyan Chen
Keyword(s):  
High Speed ◽  
Pneumatic Muscle ◽  
Model Control

Research of Double Internal Model Control for High Speed Spindle

2013 ◽  
Vol 288 ◽  
pp. 202-207 ◽  
Author(s):  
Jie Meng ◽  
Zhen Zhen Lei ◽  
Ze Lun Li
Keyword(s):  
Internal Model ◽  
High Speed ◽  
Control Method ◽  
Structural Characteristics ◽  
Internal Model Control ◽  
Flux Linkage ◽  
Control Plan ◽  
Model Control ◽  
Simulation Results ◽  
Set Up

Based on the internal model control theory and combined the structural characteristics of high speed spindle, the control method of high speed spindle is discussed. And the view of applying the double internal model control to high speed spindle is put forward. Then controllers of current, flux linkage and speed are designed. According to the double internal model control plan, its simulation model is set up. Simulation results indicate that the double internal model control has better dynamic response curve, shorter response time, higher steady state precision by comparing with the vector controller.

3-D Stress Analysis of Pneumatic Pen Cylinder with Preload in Mounting Nut

2011 ◽  
Vol 335-336 ◽  
pp. 629-632
Author(s):  
Dan Jiang ◽  
Ping Yang ◽  
Ren Tian Ma
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Wear Resistance ◽  
Stress Field ◽  
High Speed ◽  
Element Analysis ◽  
Pneumatic Muscle ◽  
Mechanical Hand ◽  
Working Principle ◽  
Simulation Results

As a necessary component in pneumatic muscle, minimum switch and minimum mechanical hand, pen cylinder used as prime actuator possesses the characteristics of high speed actuation possible, easy installation, improved wear resistance and so on. The construction and working principle of the pen cylinder are introduced. Using 3-D stress field finite element analysis (FEA) method, the stress field distribution of pen cylinder with preload in mounting nut is analyzed. Simulation results are presented. The stress characteristics are compared between different preload in mounting nut and thickness of mounting bracket.

Research on the Internal Model Decoupling Control of High Speed Spindle

2012 ◽  
Vol 605-607 ◽  
pp. 1496-1501
Author(s):  
Yun Song Li ◽  
Jie Meng ◽  
Ye He
Keyword(s):  
Internal Model ◽  
High Speed ◽  
Control Method ◽  
Dynamic Performance ◽  
Internal Model Control ◽  
Decoupling Control ◽  
Control Effect ◽  
Model Control ◽  
Set Up ◽  
Vector Control System

Due to the structural characteristic, the dynamic performance of the high speed spindle is influenced by multi-coupled parameters. Conventional control method can’t attain the satisfied control result. So the view of internal model decoupling control of high speed motorized spindle is put forward, which can improve the performance of vector control system. In this paper, mathematical model based on internal model control of high speed spindle is set up. And voltage and current of stator are decoupled. At last, through simulation, it is proved that the method can improve the control effect and has better robustness, dynamic characteristic. Therefore, internal model decoupling control of high speed spindle is feasible and effective.

Path-tracking of an autonomous vehicle via model predictive control and nonlinear filtering

2017 ◽  
Vol 232 (9) ◽  
pp. 1237-1252 ◽  
Author(s):  
Qingjia Cui ◽  
Rongjun Ding ◽  
Bing Zhou ◽  
Xiaojian Wu
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
High Speed ◽  
Unscented Kalman Filter ◽  
Autonomous Vehicle ◽  
Path Tracking ◽  
Simulation Software ◽  
Vehicle Simulation ◽  
Model Control ◽  
Constraints Model

To improve the stability of the autonomous vehicle for high speed tracking, a vehicle estimator scheme integrated into a path-tracking system has been proposed in this paper. Vehicle stability is related to road condition (low road adhesion, high road adhesion, and changing road adhesion) and vehicle state, thus a state observer has been preferred in this paper to estimate vehicle state and tire-road friction as a means of judging vehicle stabilization. For the approach to the estimation, an unscented Kalman filter (UKF) employing a three degrees-of-freedom vehicle model combined with a Magic Formula (MF) tire model was designed. As a widely used model control method, the multi-constraints model predictive control (MMPC) was proposed and that was then used to calculate the desired front steering angle for tracking the planned path. The performance of the MMPC controller, with the estimator, was evaluated by the vehicle simulation software CARSIM and Matlab/Simulink. The simulation results show that the designed MMPC controller with the estimator successfully performs path-tracking at high speed for the intelligent vehicle.

Analysis and Design of Robust Motion Controllers in the Unified Framework

2002 ◽  
Vol 124 (2) ◽  
pp. 313-321 ◽  
Author(s):  
Bong Keun Kim ◽  
Hyun-Taek Choi ◽  
Wan Kyun Chung ◽  
Il Hong Suh
Keyword(s):  
High Speed ◽  
Design Method ◽  
Internal Model Control ◽  
Disturbance Attenuation ◽  
Unified Framework ◽  
Control Structures ◽  
Positioning Systems ◽  
Analysis And Design ◽  
Model Based ◽  
Model Control

Model based disturbance compensating methods such as disturbance observer, robust control with adaptive algorithm, enhanced internal model control are well known control structures for robust motion controller which can satisfy desired performance and robustness of high-speed/high-accuracy positioning systems. In this paper, these are analyzed in the unified framework and their design method is proposed. To do this, a generalized disturbance attenuation framework named RIC (robust internal-loop compensator) structure is introduced. Through parameterization based on RIC, it is shown that there are inherent equivalences in their structures and the proposed RIC gives a general design framework for the model based disturbance compensating methods. Through simulation, the proposed method is verified.

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