scholarly journals System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

2017 ◽  
Vol 2017 ◽  
pp. 1-20 ◽  
Author(s):  
Ruting Jia ◽  
Vidya K. Nandikolla ◽  
Gary Haggart ◽  
Charles Volk ◽  
Daniel Tazartes
Keyword(s):  
Control System ◽  
System Performance ◽  
Position Control ◽  
Inertial Sensors ◽  
Research Work ◽  
Camera System ◽  
System Parameters ◽  
Ideal System ◽  
System Input ◽  
Angular Measurements

The research work evaluates the quality of the sensor to perform measurements and documents its effects on the performance of the system. It also evaluates if this performance changes due to the environments and other system parameters. These environments and parameters include vibration, system friction, structural resonance, and dynamic system input. The analysis is done by modeling a gimbal camera system that requires angular measurements from inertial sensors and gyros for stabilization. Overall, modeling includes models for four different types of gyros, the gimbal camera system, the drive motor, the motor rate control system, and the angle position control system. Models for friction, structural resonance, and vibration are analyzed, respectively. The system is simulated, for an ideal system, and then includes the more realistic environmental and system parameters. These simulations are run with each of the four types of gyros. The performance analysis depicts that for the ideal system; increasing gyro quality provides better system performance. However, when environmental and system parameters are introduced, this is no longer the case. There are even cases when lower quality sensors provide better performance than higher quality sensors.

Predictive Capabilities of Nonhuman Operators in a Manual Control System

1980 ◽  
Vol 51 (3) ◽  
pp. 759-764 ◽  
Author(s):  
Robert J. Jaeger
Keyword(s):  
Control System ◽  
Control Systems ◽  
System Performance ◽  
Rhesus Monkeys ◽  
Input Data ◽  
Manual Control ◽  
Manual Control System ◽  
System Input

The requirement for a credible monkey-man extrapolation in the area of manual control systems led to the investigation of the predictor-operator phenomenon in rhesus monkeys performing in a manual control system. Two monkeys were trained to proficiency in a single-axis visual compensatory manual control system using a random (unpredictable) system input. Data were obtained for system performance in the random case. The system input was then changed to pure sinusoidal (predictable). Data were obtained for the sinusoidal case and compared with data for the random case. Unlike humans, monkeys were not able to improve system performance in the predictable versus unpredictable case.

scholarly journals Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis

Actuators ◽  
2020 ◽  
Vol 9 (4) ◽  
pp. 103
Author(s):  
Naghmeh Garmsiri ◽  
Yuming Sun ◽  
Pooya Sekhavat ◽  
Cai Xia Yang ◽  
Nariman Sepehri
Keyword(s):  
Control System ◽  
Stability Analysis ◽  
External Force ◽  
Experimental Evaluation ◽  
Position Control ◽  
Control Loop ◽  
Admittance Control ◽  
Parametric Stability ◽  
System Parameters ◽  
Human Arm

Implementation, experimental evaluation and stability analysis of an admittance-controlled teleoperated pneumatic system is presented. A master manipulator navigates a pneumatic slave actuation, which interacts with a human arm as an environment. Considering the external force in the position control loop in the admittance control, enables the slave to handle the external force independent of the master. The proposed control system is evaluated experimentally using the admittance models with different settings. Stability of the control system is analyzed using the concept of Lyapunov exponents. Parametric stability analysis is conducted to show the effect of changing system parameters on stability.

Computer Control System Development for the New Type Pilot Cold Rolling Mill

2012 ◽  
Vol 472-475 ◽  
pp. 3043-3046
Author(s):  
Zhi Jie Jiao ◽  
Chun Yu He ◽  
Jian Ming Sun ◽  
Ying Zhang
Keyword(s):  
Control System ◽  
Cold Rolling ◽  
Rolling Mill ◽  
Position Control ◽  
Computer Control ◽  
Research Work ◽  
Automation System ◽  
Computer Control System ◽  
Cold Rolling Mill ◽  
New Type

According to the requirement to the pilot mill for the cold rolling process research work, new type pilot reverse cold rolling mill is designed. Computer control system, including primary automation system, process automation system and human machine interface (HMI) system, is developed for this mill. Technological control function such as electric position control, hydraulic tension control, automatic gauge control (AGC), and process control functions such as model setup calculation, process tracking, actual data treatment are realized. This new type pilot cold rolling mill has been used successfully in several iron steel companies.

AN APPROACH TO IMPROVE THE PERFORMANCE OF A POSITION CONTROL DC MOTOR BY USING DIGITAL CONTROL SYSTEM

2016 ◽  
Vol 11 (1) ◽  
pp. 21-33
Author(s):  
Debargha Chakraborty ◽  
Binanda Kishore Mondal ◽  
Souvik Chatterjee ◽  
Sudipta Ghosh
Keyword(s):  
Control System ◽  
Digital Control ◽  
Position Control ◽  
Dc Motor ◽  
Digital Control System

Integrated dry NO{sub x}/SO{sub 2} emissions control system performance summary

1997 ◽  
Author(s):  
T Hunt ◽  
L J Muzio ◽  
R Smith ◽  
D Jones ◽  
J L Hebb ◽  
...  
Keyword(s):  
Control System ◽  
System Performance ◽  
Emissions Control

Robust Two-degree-of-freedom Control Based on H∞ Method for PMSM Drive System

2020 ◽  
Vol 13 (4) ◽  
pp. 496-506
Author(s):  
Qixin Zhu ◽  
Lei Xiong ◽  
Hongli Liu ◽  
Yonghong Zhu ◽  
Guoping Zhang
Keyword(s):  
Control System ◽  
Control Theory ◽  
Position Control ◽  
Dynamic Performance ◽  
Servo System ◽  
Degree Of Freedom ◽  
Trade Off ◽  
Standard Design ◽  
Position Controller ◽  
Two Degree Of Freedom

Background: The conventional method using one-degree-of-freedom (1DOF) controller for Permanent Magnet Synchronous Motor (PMSM) servo system has the trade-off problem between the dynamic performance and the robustness. Methods: In this paper, by using H∞ control theory, a novel robust two-degree-of-freedom (2DOF) controller has been proposed to improve the position control performance of PMSM servo system. Using robust control theory and 2DOF control theory, a H∞ robust position controller has been designed and discussed in detail. Results: The trade-off problem between the dynamic performance and robustness which exists in one-degree-of-freedom (1DOF) control can be dealt with by the application of 2DOF control theory. Then, through H∞ control theory, the design of robust position controller can be translated to H∞ robust standard design problem. Moreover, the control system with robust controller has been proved to be stable. Conclusion: Further simulation results demonstrate that compared with the conventional PID control, the designed control system has better robustness and attenuation to the disturbance of load impact.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals An Adaptive Model Predictive Voltage Control for LC-Filtered Voltage Source Inverters

2021 ◽  
Vol 11 (2) ◽  
pp. 704
Author(s):  
Hosein Gholami-Khesht ◽  
Pooya Davari ◽  
Frede Blaabjerg
Keyword(s):  
Control System ◽  
System Performance ◽  
State Space Model ◽  
Adaptive Observer ◽  
Voltage Source ◽  
Adaptive Model ◽  
Space Model ◽  
System Uncertainties ◽  
Augmented State ◽  
Load Conditions

The three-phase inductor and capacitor filter (LC)-filtered voltage source inverter (VSI) is subjected to uncertain and time-variant parameters and disturbances, e.g., due to aging, thermal effects, and load changes. These uncertainties and disturbances have a considerable impact on the performance of a VSI’s control system. It can degrade system performance or even cause system instability. Therefore, considering the effects of all system uncertainties and disturbances in the control system design is necessary. In this respect and to tackle this issue, this paper proposes an adaptive model predictive control (MPC), which consists of three main parts: an MPC, an augmented state-space model, and an adaptive observer. The augmented state-space model considers all system uncertainties and disturbances and lumps them into two disturbance inputs. The proposed adaptive observer determines the lumped disturbance functions, enabling the control system to keep the nominal system performance under different load conditions and parameters uncertainty. Moreover, it provides load-current-sensorless operation of MPC, which reduces the size and cost, and simultaneously improves the system reliability. Finally, MPC selects the proper converter voltage vector that minimizes the tracking errors based on the augmented model and outputs of the adaptive observer. Simulations and experiments on a 5 kW VSI examine the performance of the proposed adaptive MPC under different load conditions and parameter uncertainties and compare them with the conventional MPC.

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