scholarly journals Study of Nonlinear Characteristics and Model Based Control for Proportional Electromagnet

2018 ◽  
Vol 2018 ◽  
pp. 1-11
Author(s):  
En-Zhe Song ◽  
Guo-Feng Zhao ◽  
Chong Yao ◽  
Zi-Kun Ma ◽  
Shun-Liang Ding ◽  
...  
Keyword(s):  
Diesel Engine ◽  
Control Strategy ◽  
Position Control ◽  
Tracking Performance ◽  
Experimental Investigations ◽  
Position Tracking ◽  
Hysteresis Phenomenon ◽  
Nonlinear Characteristics ◽  
Model Control ◽  
Accurate Position

The nonlinear characteristics of proportional electromagnet caused by hysteresis bring great difficulties on its accurate position tracking control by current. In order to enhance the practicability and reliability of long stroke electromagnet in case of position sensor fault and improve the position tracking performance during current closed-loop control, experimental investigations on the electromagnet actuator hysteresis characteristics of diesel engine governor are carried out to analyze the system dynamic features and the effects of hysteresis on actuator position tracking performance. It is clear that hysteresis can significantly hinder the accurate position control of the electromagnet actuator. Consequently, the fuel injection will be delayed, which will lead to hysteresis of engine speed control as well as deterioration of engine performance. In this paper, the hysteresis phenomenon of an actuator and its influence on control performance of engine are investigated. The model of proportional electromagnet actuator (PEA) is established and the hysteresis principle is analyzed. Then the inverse model control strategy based on neural network (NN) is proposed to linearize the transfer behavior of electromagnet and compensate for the magnet hysteresis. Rapid control prototyping (RCP) experiment based on MicroAutoBox is further implemented to validate the real-time performance of the proposed control strategy in D6114 diesel engine. The results show that the speed fluctuation (SF) under steady-state conditions (especially under idle speed condition) and the recovery time as well as the overshoot under transient conditions are significantly improved. This makes it possible to develop redundant electromagnet driving control strategy.

Accurate Position Control of a Pneumatic Actuator

1990 ◽  
Vol 112 (4) ◽  
pp. 734-739 ◽  
Author(s):  
Jiing-Yih Lai ◽  
Chia-Hsiang Menq ◽  
Rajendra Singh
Keyword(s):  
Control Strategy ◽  
Pulse Width Modulation ◽  
Position Control ◽  
Integral Control ◽  
Pneumatic Actuators ◽  
Actuator Dynamics ◽  
Position Accuracy ◽  
Modulation Mode ◽  
Nonlinear Mechanical ◽  
Accurate Position

We propose a new control strategy for on-off valve controlled pneumatic actuators and robots with focus on the position accuracy. A mathematical model incorporating pneumatic process nonlinearities and nonlinear mechanical friction has been developed to characterize the actuator dynamics; this model with a few simplifications is then used to design the controller. In our control scheme, one valve is held open and the other is operated under the pulse width modulation mode to simulate the proportional control. An inner loop utilizing proportional-plus-integral control is formed to control the actuator pressure, and an outer loop with displacement and velocity feedbacks is used to control the load displacement. Also, a two staged feedforward force is implemented to reduce the steady state error due to the nonlinear mechanical friction. Experimental results on a single-degree-of-freedom pneumatic robot indicate that the proposed control system is better than the conventional on-off control strategy as it is effective in achieving the desired position accuracy without using any mechanical stops in the actuator.

2-DOF Synchronous Control of 6PUS-UPU Parallel Manipulator

2014 ◽  
Vol 1061-1062 ◽  
pp. 889-892
Author(s):  
Kui Jing Zheng ◽  
Chao Wang ◽  
Hong Zhou
Keyword(s):  
Control Strategy ◽  
Parallel Manipulator ◽  
Internal Model Control ◽  
Current Loop ◽  
Position Tracking ◽  
Control Performance ◽  
Synchronous Control ◽  
Model Control ◽  
Force Signal ◽  
Servo Controller

To meet the increasing demands on the control performance of parallel manipulator, servo control strategy for parallel manipulator was researched systematically. Combined 2-DOF control with Internal Model Control, the servo controller for parallel manipulator was optimized as smoothly and efficiently as possible. On the basis of the original current loop and speed loop, the position loop was redesigned to have both good position tracking characteristics and anti-disturbance capacity. The synchronous control strategy combined position signal and force signal was proposed. The actual experiments show that 2-DOF synchronous control has better stability and position tracking performance compared with the traditional PID control. The control performance of parallel manipulator is improved effectively.

scholarly journals Adaptive Fault–Tolerant Position Control of a Hexacopter Subject to an Unknown Motor Failure

2018 ◽  
Vol 28 (2) ◽  
pp. 309-321 ◽  
Author(s):  
Guillermo P. Falconì ◽  
Jorg Angelov ◽  
Florian Holzapfel
Keyword(s):  
Control Strategy ◽  
Attitude Control ◽  
Position Control ◽  
Fault Tolerant ◽  
Position Tracking ◽  
Control Allocation ◽  
Control Loop ◽  
Flight Tests ◽  
Specific Control ◽  
Motor Failure

Abstract This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any rotor.

The Intelligent Learning Control on Slide Position of Mechanical Crank Press

2009 ◽  
Author(s):  
Hong Zhao ◽  
Shengdun Zhao
Keyword(s):  
Control Strategy ◽  
Iterative Learning Control ◽  
Position Control ◽  
Expert Knowledge ◽  
Computer Control ◽  
Learning Control ◽  
Computer Control System ◽  
The Press ◽  
Mechanical Press ◽  
Accurate Position

An iterative learning control strategy based on the expert knowledge is proposed in the slide position control of the mechanical press. The slide can be stopped on an accurate position at any point of the slide travel. The proposed strategy is more efficiency and accurate than the original inching operation method. A new computer control system is developed for the mechanical press. Experimental results are shown that the proposed control strategy on the press JH23-63 is effective.

Design of Control Strategy for a Novel Compliant Flexure-Based Microgripper With Two Jaws

2015 ◽  
Author(s):  
Zhigang Wu ◽  
Yangmin Li
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Control Method ◽  
Sliding Mode ◽  
Optimization Method ◽  
Least Square ◽  
Hysteresis Phenomenon ◽  
Inverse Dynamic ◽  
Model Control ◽  
Backstepping Sliding Mode Control

This paper proposes a novel compliant flexure-based microgripper with a second order amplifier including Scott-Russell magnification mechanism (SRMM) and lever amplifier. Both the dynamic model of the system and the Bouc-Wen hysteresis model are established and identified through using least square optimization method. For eliminating the hysteresis phenomenon of the actuator, compensation control method based on inverse dynamic model is proposed. A novel control strategy based on adaptive backstepping sliding model control (ABSMC) with compensator is presented to control the nonlinear system. Simulation results demonstrate that the performance of proposed control strategy is superior to conventional backstepping sliding mode control (CBSMC).

Coordinated speed and position control of integrated motor-transmission system

2021 ◽  
pp. 014233122110151
Author(s):  
Wei Li ◽  
Chen Kang ◽  
Xiaoyuan Zhu
Keyword(s):  
Control Strategy ◽  
Position Control ◽  
Control Strategies ◽  
Axial Position ◽  
Position Tracking ◽  
Motor Speed ◽  
Displacement Control ◽  
Time Value ◽  
Dynamical Characteristics ◽  
Speed Change

In this paper, a coordinated driving motor speed and shifting motor displacement control strategy is proposed for the integrated motor-transmission (IMT) system during the gearshift process. For active speed synchronization of IMT system, speed reference to driving motor is redesigned by using a polynomial speed trajectory. Compared with conventional step speed change reference, it can help improve the ride performance of IMT system. While in the gear release as well as engagement phase, a robust optimal preview controller is developed for the shifting motor to realize rapid and reliable position tracking of the sleeve in spite of load disturbance. Based on real time value of the driving motor speed and also sleeve axial position, proposed speed and position controllers are coordinated in plan during the whole gearshift process. Co-simulations with Matlab/Simulink and AMEsim are conducted to demonstrate dynamical characteristics of the IMT system during the whole gear shifting process, in which a two-layer switching logic is built by using Matlab/Stateflow. Comparative simulation tests are carried out to show the effectiveness as well as performance of proposed control strategies.

Optimization of PID Parameters in Electro-Hydraulic Actuator System Using Genetic Algorithm

2014 ◽  
Vol 592-594 ◽  
pp. 2229-2233
Author(s):  
Kiran Bellad ◽  
Somashekhar S. Hiremath ◽  
M. Singaperumal ◽  
S. Karunanidhi
Keyword(s):  
Genetic Algorithm ◽  
Pid Control ◽  
Hydraulic System ◽  
Position Control ◽  
Control Method ◽  
Position Tracking ◽  
Proportional Integral Derivative ◽  
Hydraulic Actuator ◽  
Actuator System ◽  
Accurate Position

Electro-Hydraulic Actuator (EHA) replaces centralized hydraulic system by a local compact actuator system. It is gaining more attention due to its compactness and reliability. The control method should be appropriate to achieve accurate position control and stability. The EHA system model is developed in AMESim software and Proportional-Integral-Derivative (PID) control is used for position tracking of the cylinder. Design Exploration facility of AMESim software provides a platform to optimize PID parameters using Genetic Algorithm (GA). Simulation results show that position tracking with no overshoot and less settling time.

Accurate Position Control for Hydraulic Servomechanisms

2019 ◽  
Author(s):  
Manuel Pencelli ◽  
Renzo Villa ◽  
Alfredo Argiolas ◽  
Gianni Ferretti ◽  
Marta Niccolini ◽  
...  
Keyword(s):  
Position Control ◽  
Accurate Position

scholarly journals Correction to: Accurate position control of shape memory alloy actuation using displacement feedback and self-sensing system

2021 ◽  
Author(s):  
Ermira Junita Abdullah ◽  
Josu Soriano ◽  
Iñaki Fernández de Bastida Garrido ◽  
Dayang Laila Abdul Majid
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control ◽  
Sensing System ◽  
Accurate Position

scholarly journals Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 20
Author(s):  
Manh Hung Nguyen ◽  
Hoang Vu Dao ◽  
Kyoung Kwan Ahn
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Lyapunov Theory ◽  
Tracking Performance ◽  
System Stability ◽  
Position Tracking ◽  
Parametric Uncertainties ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.

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