scholarly journals Deformation Control in Rest-to-Rest Motion of Mechanisms with Flexible Links

2018 ◽  
Vol 2018 ◽  
pp. 1-9 ◽  
Author(s):  
Roberto Caracciolo ◽  
Dario Richiedei ◽  
Alberto Trevisani
Keyword(s):  
Body Motion ◽  
Control Loop ◽  
Real Time Control ◽  
Feedback Controllers ◽  
Flexible Links ◽  
Deformation Control ◽  
Standard Position ◽  
Time Control ◽  
Reference Parameter ◽  
Four Bar Linkage

This paper develops and validates experimentally a feedback strategy for the reduction of the link deformations in rest-to-rest motion of mechanisms with flexible links, named Delayed Reference Control (DRC). The technique takes advantage of the inertial coupling between rigid-body motion and elastic motion to control the undesired link deformations by shifting in time the position reference through an action reference parameter. The action reference parameter is computed on the fly based on the sensed strains by solving analytically an optimization problem. An outer control loop is closed to compute the references for the position controllers of each actuator, which can be thought of as the inner control loop. The resulting multiloop architecture of the DRC is a relevant advantage over several traditional feedback controllers: DRC can be implemented by just adding an outer control loop to standard position controllers. A validation of the proposed control strategy is provided by applying the DRC to the real-time control of a four-bar linkage.

scholarly journals Optimized PID Position Control of a Nonlinear System Based on Correlating the Velocity with Position Error

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Nenad Muškinja ◽  
Matej Rižnar
Keyword(s):  
Pid Controller ◽  
Position Control ◽  
Design Approach ◽  
Control Loop ◽  
Real Time Control ◽  
Laboratory Setup ◽  
Time Control ◽  
Beam System ◽  
Ball Velocity ◽  
Ball And Beam System

We examined a design approach for a PID controller for a nonlinear ball and beam system. Main objective of our research was to establish a nonmodel based control system, which would also not be dependent on a specific ball and beam hardware setup. The proposed PID controller setup is based on a cascaded configuration of an inner PID ball velocity control loop and an outer proportional ball position control loop. The effectiveness of the proposed controller setup was first presented in simulation environment in comparison to a hardware dependent PD cascaded controller, along with a more comprehensive study on possible design approach for optimal PID controller parameters in relation to main functionality of the controller setup. Experimental real time control results were then obtained on a laboratory setup of the ball and beam system on which PD cascaded controller could not be applied without parallel system model processing.

scholarly journals Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality

2019 ◽  
Vol 26 (4) ◽  
pp. 83-93
Author(s):  
Pouya Mohammadi ◽  
Enrico Mingo Hoffman ◽  
Niels Dehio ◽  
Milad S. Malekzadeh ◽  
Martin Giese ◽  
...  
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Body Motion ◽  
Whole Body ◽  
Motion Generation ◽  
Real Time Control ◽  
Time Control

The Control System for a Vibration Exciter

2013 ◽  
Vol 198 ◽  
pp. 600-605 ◽  
Author(s):  
Jarosław Konieczny ◽  
Marek Sibielak ◽  
Waldemar Rączka
Keyword(s):  
Control System ◽  
Real Time ◽  
Vibration Exciter ◽  
Parallel Operation ◽  
Control Loop ◽  
Hydraulic Actuator ◽  
Real Time Control ◽  
Multiple Control ◽  
Real Time System ◽  
Time Control

The paper presents the control system for an electro-hydraulic vibration exciter. A vibration exciter is used to carry out kinematic and forced excitations. Such excitations are needed during the static and dynamic examinations of suspension assemblies and their elements, such as damping springs. The most important elements of the exciter are: a hydraulic servo valve, a hydraulic actuator, a control system and a hydraulic supply station. An inductor works in a negative feedback loop. A set point generator and controller are parts of a real-time control system. The authors used a cRIO-9022 industrial computer from National Instruments analogue input and output modules. Apart from supporting I/O modules, the cRIO controller in a real-time system communicates with an FPGA circuit that forms a control loop. The use of an FPGA (Field Programmable Gate Array) allowed for implementing a hardware control loop through a vibration exciter, as well as other control loops used in the research (such as controlling an active executive element). The use of such a system architecture enabled the parallel operation of multiple control threads. The selected structure also allows for flexible selection of the measuring channels, which are essential for system monitoring and data acquisition.

Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation

2003 ◽  
Vol 125 (2) ◽  
pp. 205-214 ◽  
Author(s):  
Saghir Munir ◽  
Wayne J. Book
Keyword(s):  
Control Strategies ◽  
Bilateral Teleoperation ◽  
Control Loop ◽  
Real Time Control ◽  
Similar System ◽  
Windows Nt ◽  
Control Techniques ◽  
Wave Variables ◽  
Time Control ◽  
Two Degree Of Freedom

This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications, it is required that the control loop be closed through a time delayed network. This paper focuses on two control strategies (based on wave variables and a time forward observer), bandwidth issues, and some related programming details. Experimental results of bilateral teleoperation via the Internet between Atlanta and Tokyo are given. The system used is a two-degree-of-freedom haptic interface, bilaterally coupled to a simulation (implemented on a windows NT based computer) of a similar system.

Cost-oriented virtual reality and real-time control system architecture

Robotica ◽  
2003 ◽  
Vol 21 (3) ◽  
pp. 289-294 ◽  
Author(s):  
Dirk Wollherr ◽  
Martin Buss
Keyword(s):  
Virtual Reality ◽  
Real Time ◽  
Inverted Pendulum ◽  
Haptic Feedback ◽  
Simulation Environment ◽  
Control Loop ◽  
Real Time Control ◽  
Time Control ◽  
Set Up ◽  
Control System Architecture

In this paper the use of inexpensive standard hardware and software is proposed in place of high-cost commercial solutions to set up real-time control experiments with a human in the control loop, including graphical and haptic virtual reality (VR). For this purpose a generic simulation environment for the implementation of control experiments using VR with haptic feedback and their evaluation, has been developed. As an example, setups of a car simulator with a human in the control loop and an inverted pendulum as an experiment for student laboratories are presented.

The Applied Research of Decoupling Control Algorithm in Gas Mixing Process

2013 ◽  
Vol 634-638 ◽  
pp. 3994-3997
Author(s):  
Zhong Liang Shao
Keyword(s):  
Calorific Value ◽  
Pressure Control ◽  
Decoupling Control ◽  
Control Loop ◽  
Real Time Control ◽  
Mixed Gas ◽  
Expert Control ◽  
Time Control ◽  
The Stability ◽  
And Control

It is difficult to get satisfied effects using conventional instruments to control the caloric value of the mixed-gas. A hybrid intelligent control strategy is presented in this paper in order to solve the coupling problem that exists between the calorific value control and pressure control. This strategy partitions the whole control system into gas–pressurized machine’s post pressure control loop and control loop of pressure decoupling .In the former decoupling control loop, in order to realize the stability of the calorific value and restrain the fluctuation of the mixing pressure, a decoupling controller is designed by combining the fuzzy control and the expert control. The result of real-time control showed the method obviously enhanced the control accuracy and reduced the undulation of pressure and calorific value and fulfilled the request of customer.

A Real Time Control Architecture for Continuously Managing Patients in a Care Unit

1995 ◽  
Vol 34 (05) ◽  
pp. 475-488
Author(s):  
B. Seroussi ◽  
J. F. Boisvieux ◽  
V. Morice
Keyword(s):  
Real Time ◽  
Linear Time ◽  
Treatment Plan ◽  
Control Architecture ◽  
Real Time Control ◽  
Time Representation ◽  
Time Control ◽  
Continuous Support ◽  
Definition Of ◽  
Computerized System

Abstract:The monitoring and treatment of patients in a care unit is a complex task in which even the most experienced clinicians can make errors. A hemato-oncology department in which patients undergo chemotherapy asked for a computerized system able to provide intelligent and continuous support in this task. One issue in building such a system is the definition of a control architecture able to manage, in real time, a treatment plan containing prescriptions and protocols in which temporal constraints are expressed in various ways, that is, which supervises the treatment, including controlling the timely execution of prescriptions and suggesting modifications to the plan according to the patient’s evolving condition. The system to solve these issues, called SEPIA, has to manage the dynamic, processes involved in patient care. Its role is to generate, in real time, commands for the patient’s care (execution of tests, administration of drugs) from a plan, and to monitor the patient’s state so that it may propose actions updating the plan. The necessity of an explicit time representation is shown. We propose using a linear time structure towards the past, with precise and absolute dates, open towards the future, and with imprecise and relative dates. Temporal relative scales are introduced to facilitate knowledge representation and access.

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