Fast Motion Control Using TDOF Control Structure and Optimal Feedforward Input

2017 ◽  
pp. 17-68
Author(s):  
M. Hirata
Keyword(s):  
Motion Control ◽  
Control Structure ◽  
Fast Motion

615 Fast Motion Control of a High Precision Stage using a Synchronous Piezoelectric Device Driver

2005 ◽  
Vol 2005 (0) ◽  
pp. _615-1_-_615-6_
Author(s):  
Truong Ngoc MINH ◽  
Atsushi KAMIMURA ◽  
Kiyoshi OHISHI ◽  
Masasuke TAKATA ◽  
Seiji HASHIMOTO ◽  
...  
Keyword(s):  
Motion Control ◽  
High Precision ◽  
Device Driver ◽  
Precision Stage ◽  
Piezoelectric Device ◽  
Fast Motion

scholarly journals Development of a Hybrid Path Planning Algorithm and a Bio-Inspired Control for an Omni-Wheel Mobile Robot

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4258 ◽  
Author(s):  
Changwon Kim ◽  
Junho Suh ◽  
Je-Heon Han
Keyword(s):  
Path Planning ◽  
Mobile Robot ◽  
Motion Control ◽  
Control Structure ◽  
Optimal Path ◽  
Tracking Task ◽  
Motion Controller ◽  
Planning Algorithm ◽  
Omni Wheel ◽  
Path Planning Algorithm

This research presents a control structure for an omni-wheel mobile robot (OWMR). The control structure includes the path planning module and the motion control module. In order to secure the robustness and fast control performance required in the operating environment of OWMR, a bio-inspired control method, brain limbic system (BLS)-based control, was applied. Based on the derived OWMR kinematic model, a motion controller was designed. Additionally, an optimal path planning module is suggested by combining the advantages of A* algorithm and the fuzzy analytic hierarchy process (FAHP). In order to verify the performance of the proposed motion control strategy and path planning algorithm, numerical simulations were conducted. Through a point-to-point movement task, circular path tracking task, and randomly moving target tracking task, it was confirmed that the suggesting motion controller is superior to the existing controllers, such as PID. In addition, A*–FAHP was applied to the OWMR to verify the performance of the proposed path planning algorithm, and it was simulated based on the static warehouse environment, dynamic warehouse environment, and autonomous ballet parking scenarios. The simulation results demonstrated that the proposed algorithm generates the optimal path in a short time without collision with stop and moving obstacles.

Design of PVAJT Trajectory Generator for Fast Motion Control

2013 ◽  
Vol 278-280 ◽  
pp. 1447-1450
Author(s):  
Dong Won Shin ◽  
Kyoung Seok Park
Keyword(s):  
Motion Control ◽  
Cycle Time ◽  
New Method ◽  
Calculation Time ◽  
Fast Motion ◽  
Complex Trajectory ◽  
Trajectory Generator

This paper presents the new method of generating the trajectory at every cycle using PVAJT data, where P means the position, V the velocity, A the acceleration, J the jerk, and T is the multiplied cycle time. This method reduces the calculation time in the trajectory planner so that it takes less time to generate more complex trajectory. Several path trajectories are realized by the PVAJT algorithm to show the performance of proposed method.

Disturbance Observer in Robust DC Motor Control

2014 ◽  
Vol 614 ◽  
pp. 219-223
Author(s):  
Hong Cheng Huang ◽  
Yi Zhang ◽  
Heng Deng
Keyword(s):  
Motion Control ◽  
Disturbance Rejection ◽  
Disturbance Observer ◽  
Control Structure ◽  
Specific Method ◽  
Motion Controller ◽  
External Disturbances ◽  
Dc Motor Control ◽  
Proportional Derivative Controller ◽  
Two Degree Of Freedom

The disturbance observer is a specific method of designing a two degree of freedom control structure to achieve insensitivity to modeling error and disturbance rejection. It has been successfully applied in a variety of motion control applications. In motion control, the major sources of uncertainties are friction, inertia, and external disturbances. These uncertainties should be taken into account by any robust motion controller. In this paper, this element is a PD (proportional-derivative) controller. The disturbance observer proves its advantages through the simulation and experiments. With disturbance observer, better tracking performance can be achieved with less control energy.

Ultra-Fast Motion Control

2017 ◽  
pp. 107-136 ◽  
Author(s):  
Mitsuo Hirata ◽  
Hiroshi Fujimoto
Keyword(s):  
Motion Control ◽  
Fast Motion

Design of Multi-Axis Motion Controlled System Based on SERCOS Bus

2012 ◽  
Vol 468-471 ◽  
pp. 831-834
Author(s):  
Liang Ji Chen ◽  
Xiao Zhang ◽  
Hui Ying Li
Keyword(s):  
Control System ◽  
Motion Control ◽  
Control Structure ◽  
Industrial Automation ◽  
Controlled System ◽  
Feedback Information ◽  
Electrical Drives ◽  
Automation Equipment ◽  
Working Principle ◽  
Motion Parameters

SERCOS is an international standard for communication in the digital servo system and electrical drives. It has been increasingly used in industrial automation equipment. This paper introduces the working principle and property of the SERCOS interface, and the SERCOS bus technology is used in the multi-axis motion control system. The PC coordinately control the slave computer through SERCOS bus. At the same time, PC will receive the feedback information of motion parameters timely, which can enhance the flexibility of the control system. SERCOS realizes the multi-axis motion based on the TwinCAT software platform, which has verified the rationality and feasibility of the control structure.

On the fast motion control of R/W head track following in hard-disc-drives

2017 ◽  
Vol 1 (3) ◽  
pp. 253
Author(s):  
Manel Taktak Meziou ◽  
Nabil Derbel ◽  
Jawhar Ghommam
Keyword(s):  
Motion Control ◽  
Fast Motion
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