Consideration of Multi-Degree of Freedom Vibration on Large-Sized Gantry Type Linear Motor Slider

2019 ◽  
Vol 31 (2) ◽  
pp. 240-250 ◽  
Author(s):  
Tetsuya Ojiro ◽  
Toshiyuki Tachibana ◽  
Hideki Honda ◽  
Hiroshi Hamamatsu ◽  
Kazuhiro Tsuruta ◽  
...  
Keyword(s):  
Control System ◽  
Modal Analysis ◽  
Vibration Suppression ◽  
Control Method ◽  
Impedance Control ◽  
Linear Motor ◽  
Repulsive Force ◽  
Degree Of Freedom ◽  
Past Study ◽  
Large Production

Many transport units for large production devices now incorporate large-sized gantry type linear motor sliders comprising two parallel linear sliders linked by a joint table. This type of linear motor slider develops a unique mechanical distortion, generating a repulsive force between the two axes that can raise the motor output forces higher than their rated limit. A previous study proposed a method to suppress the repulsive force. However, as feedback gains are set high, force references oscillate and the control system becomes unstable. In past study, yawing vibration suppression methods have been proposed. But, we consider that this vibration is not yawing vibration because the force references include same phase vibration with high gains. Therefore, the modal analysis is performed to analyze this vibration. As a result, it was found that the pitching vibration of the slider was greatly affected. This paper considers this vibration phenomenon, and suppression of the vibration by control method which is similar to impedance control is presented. Hence, it is shown that considering multi-degree of freedom vibration which means yawing vibration and pitching vibration included is important in order to control the large-sized gantry type linear motor sliders.

Research on the Pumping Unit Model Driven by Linear Motor

2011 ◽  
Vol 383-390 ◽  
pp. 1399-1405
Author(s):  
Wen Zhong Ma ◽  
Jin Yan Sun ◽  
Hong Mei Zhang ◽  
De Bao Tian ◽  
Hong Fei Pang
Keyword(s):  
Control System ◽  
Control Method ◽  
Linear Motor ◽  
Oil Field ◽  
Field Equipment ◽  
Model Driven ◽  
Response Characteristics ◽  
Pumping Unit ◽  
Source Paper ◽  
New Research

With superior performances, Linear motor driven pumping unit becomes the electrical control of the focus and emphasis of the recent oil field equipment. Against the beam pumping unit motor efficiency, low power factor and stoke that difficult to regulate, this paper proposes new research programs about energy-saving line pumping systems by linear motor driven source. Paper Studys the mechanical model of linear motor in detail, using MATLAB / SIMULINK, a simulation model is analyzed. At the base of vector control of revolving induction motor, we established the linear motor control system. Theoretical analysis and computer simulation results show that the speed control system has good performance, response characteristics of the electromagnetic force, and demonstrate the proposed mathematical model and control method.

scholarly journals Adaptive Variable Parameter Impedance Control for Apple Harvesting Robot Compliant Picking

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-15 ◽  
Author(s):  
Ji Wei ◽  
Ding Yi ◽  
Xu Bo ◽  
Chen Guangyu ◽  
Zhao Dean
Keyword(s):  
Control System ◽  
Contact Force ◽  
Control Method ◽  
Impedance Control ◽  
Viscoelastic Model ◽  
Variable Parameter ◽  
Response Speed ◽  
Self Tuning ◽  
Impedance Parameters ◽  
Harvesting Robot

In order to reduce the damage of apple harvesting robot to fruits and achieve compliant picking, an adaptive variable parameter impedance control method for apple harvesting robot compliant picking is proposed in this paper. Firstly, the Burgers viscoelastic model is used to characterize the rheological properties of apples and study the variation of mechanical properties of apple grasping at different speeds. Then, a force-based impedance control system is designed. On this basis, aiming at the influence of impedance controller parameters on contact force, three impedance parameters self-tuning functions are constructed to complete the design of an improved force-based impedance control system based on the hyperbolic secant function. The simulation and experimental results show that the proposed control makes the desired force smoother, and its overshoot is about 2.3%. The response speed is faster, and the adjustment time of contact force is shorter of about 0.48 s. The contact force overshoot is about 2%, which is 37.5% less than that of the traditional force-based impedance control. This research improves the control performance for apple harvesting robot compliant picking.

Application of a Position-Force Control Method in a Master-Slave Teleoperation Construction Robot System

2012 ◽  
Vol 229-231 ◽  
pp. 2243-2247
Author(s):  
Ling Tao Huang ◽  
Takuya Kawamura ◽  
Hironao Yamada
Keyword(s):  
Control System ◽  
Force Control ◽  
Control Method ◽  
Reaction Force ◽  
Degree Of Freedom ◽  
Velocity Control ◽  
Robot System ◽  
Urethane Foam ◽  
Object A ◽  
Soft Objects

The purpose of this research is to develop a control method that can provide an operator with a suitable force feeling for grasping fragile or soft objects so as not to totally crush them. This research examines a master-slave control system for a teleoperation construction robot in which a shovel with a fork glove, having four degree of freedom, is regarded as slave side and two joysticks are regarded as master side. In the previous study using a position-velocity control method, two joysticks manipulated the shovel according to the velocity of its piston. However, it was found that the reaction force to the joysticks in grasping fragile or soft objects was insufficient for operators and they were compelled to feel strange while moving the joysticks, because they had to remove the joystick to a middle position to avoid fully grasping the object. A position-force control method, in which the reaction force to the joystick is used as feedback instead of the velocity of a piston, is proposed to overcome the problems. Its effectiveness is verified by experiments of grasping a tin block and a urethane foam block.

Study on Whole PID Control Method of 5 Degree of Freedom Bearing-Less Motor

2014 ◽  
Vol 607 ◽  
pp. 354-357
Author(s):  
Jun Yue Yang ◽  
Yan Jun Ge
Keyword(s):  
Mathematical Modeling ◽  
Control System ◽  
Rigid Body ◽  
Pid Control ◽  
Control Method ◽  
Levitation Force ◽  
Motor Output ◽  
Degree Of Freedom ◽  
Interference Immunity ◽  
Suspension Control

According to the insufficient in the dispersion PID control method of 5 degree of freedom bearing-less motor suspension control system, based on the rigid body kinematics principle, this paper presents a whole PID control method for 5 degree of freedom levitation force, the mathematical modeling has been established, through the experiment, it is proved validity and practicability, The results of experiment show that, compared to the dispersion PID control method, the whole PID control method improves the interference immunity of bearing-less motor output effectively.

scholarly journals Terminal sliding mode speed control method of permanent magnet synchronous linear motor based on adaptive parameter identification

2021 ◽  
Vol 13 (4) ◽  
pp. 168781402110129
Author(s):  
Zheng Li ◽  
Qingshan Zhang ◽  
Jinfeng An ◽  
Yu Xiao ◽  
Hexu Sun
Keyword(s):  
Control System ◽  
Parameter Identification ◽  
Permanent Magnet ◽  
Control Method ◽  
Sliding Mode ◽  
Speed Control ◽  
Linear Motor ◽  
Terminal Sliding Mode ◽  
Adaptive Parameter ◽  
Speed Regulator

In order to make the speed adjustment system of the permanent magnet synchronous linear motor more stable and make the convergence performance of the speed control system better, a speed regulator based on the terminal sliding mode algorithm is proposed. In addition, the permanent magnet synchronous linear motor will also be affected by temperature changes during its operation. Aiming to enhance the adaptability of linear motors to parameter changes, a terminal sliding mode speed control idea based on adaptive parameter identification is proposed. The Popov stability theory and the mathematical model of linear motor are used to construct a parameter identification system. The identification flux parameters are used as the control algorithm of the terminal sliding mode speed regulator and the update matching of speed regulator flux parameters and motor system parameters are realized. Through the above algorithm, the performance of the entire speed control system is improved. The results of simulation experiments can illustrate the effectiveness of this control method and its effect on improving the control performance.

Control System Design of Improved Vertical Lifting Stereo Garage with Linear Motor as Transverse Device

2013 ◽  
Vol 416-417 ◽  
pp. 940-945
Author(s):  
Dong Ru Sun ◽  
Xiao Jie Ye ◽  
Liang Cheng ◽  
Yi Hua Yao ◽  
Yun Yue Ye
Keyword(s):  
Control System ◽  
Induction Motor ◽  
Control Method ◽  
Frequency Control ◽  
Linear Motor ◽  
Direct Drive ◽  
Drive Unit ◽  
Linear Induction Motor ◽  
Vehicle Loading ◽  
Slip Frequency

Rotating induction motor serving as transverse device in traditional stereo garage makes system complex and inefficient. Installing linear motor in lifting platform as direct drive unit can remove intermediate links and drag vehicle loading board of parking slot directly. In this paper, control system of vertical lifting stereo garage with linear induction motor is put forward, including overall organization, operating principle and software program.Linear motor is controlled by Programmable Logic Controller (PLC) in slip frequency control method and PI algorithm. Experiment results indicate that linear motor can track reference velocitycurveand the whole stereo garage can store and take out vehicles automatically and efficiently.

Hybrid Impedance Control of Massage Considering Dynamic Interaction of Human and Robot Collaboration Systems

2009 ◽  
Vol 21 (1) ◽  
pp. 146-155 ◽  
Author(s):  
Kazuhiko Terashima ◽  
◽  
Takanori Miyoshi ◽  
Keisuke Mouri ◽  
Hideo Kitagawa ◽  
...  
Keyword(s):  
Control System ◽  
Human Skin ◽  
Control Method ◽  
Impedance Control ◽  
Vertical Direction ◽  
Lateral Position ◽  
Robot Hand ◽  
Control Methods ◽  
Massage Therapist ◽  
Robot Perception

This paper proposes an intelligent massage control system that uses a multi-fingered robot hand with hybrid impedance control, which is able to recreate the movement and force of a human massage therapist. Therefore, various massage points, such as changes in the stiffness of human skin muscle, can be controlled by using an impedance control method. A hybrid impedance control, comprised of position-based and force-based control methods, was developed. The position-based impedance control is used to control the lateral position of massage on the human skin muscle. On the other hand, the force-based impedance control is used to control the force of the vertical direction on human skin muscle. This paper also identifies human skin muscle through robot perception of impedance to decide on the parameters of the impedance controller. A strategy using impedance control to implement an adaptive control system is presented, under the conditions of both soft and hard skin and muscle. The effectiveness of this massage control system using a multi-fingered robot hand with hybrid impedance control is demonstrated through realistic massage experiments involving pushing and rubbing motions.

Impedance Control of a Pneumatic Servo System with Adaptive Control Method

1991 ◽  
Vol 3 (6) ◽  
pp. 463-469 ◽  
Author(s):  
Toshiro Noritsugu ◽  
◽  
Tsutomu Wada ◽  
Toshiaki Asanoma ◽  
◽  
...  
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Position Control ◽  
Control Method ◽  
Reference Model ◽  
Impedance Control ◽  
Servo System ◽  
Operating Conditions ◽  
Pneumatic Cylinder ◽  
Pneumatic Servo System

One of the typical features of a pneumatic servo is a relatively high compliance due to air compressibility. This feature may be useful for constrained tasks such as deburring, polishing, and assisting humans, in which the relationship between position and force is important. If this relationship of a pneumatic servo becomes actively controllable, it can be effectively applied to these tasks. In order to control this relationship, an impedance control concept has recently been proposed. The impedance of the overall control system depends not only on the manipulator but also on the manipulated object of which the characteristics are usually unknown. Therefore, to attain the desired impedance over extensive operating conditions, an adaptive control strategy is required. This paper proposes an impedance control method of a pneumatic servo, using a position based approach, where an adaptive position control system is constructed inside the force feedback loop. The proposed method is applied to an experimental pneumatic servo system comprised of a pneumatic cylinder, electro-pneumatic proportional control valves, and a spring object. From the experiments, the following has been verified: 1) both static stiffness and dynamic impedance of the pneumatic servo system can be independently regulated by setting a desired reference model; 2) the impedance can be held constant with changes in system parameter such as object stiffness; and 3) the instability problem for the low stiffness setting can be overcome by setting high damping in the reference model. The proposed impedance control method may prove to be effective for both improving a pneumatic servo and developing its new applications.

Mechanical Design and Control of a 2 Degree of Freedom Robotic Hand Rehabilitation Device

2014 ◽  
Author(s):  
Patrick Murphy ◽  
Qing Chao Kong ◽  
Constantinos Mavroidis
Keyword(s):  
Control System ◽  
Mechanical Design ◽  
Impedance Control ◽  
Degree Of Freedom ◽  
Robotic Hand ◽  
Hand Rehabilitation ◽  
Automated Control ◽  
Home Setting ◽  
Robotic Therapy ◽  
Flexion And Extension

Robotic neurorehabilitation is a rapidly growing field in both research and industry. Robotics offer the ability to create less labor-intensive rehabilitation for therapists, while providing an interactive experience for patients. Furthermore, the ability to implement assistive robotic therapy in the home setting has the potential to increase the frequency of patient rehabilitation sessions while decreasing the overall cost of therapy. Therefore, the design, control, and initial testing of an actuated 2 degree of freedom hand rehabilitation device is presented. A 2 degree of freedom hand rehabilitation device, named the Navigator, is mechanically capable of assistive or resistive mode exercise for flexion and extension of the fingers, as well as pronation and supination of the wrist. A series elastic actuator incorporating a rack and pinion provides actuation to flexion and extension of the fingers. A belt drive is used to provide actuation to pronation and supination of the wrist. Position and load sensors are integrated into both actuators to provide feedback for the control system. The implementation of an impedance control system utilizing position, force, and torque feedback is also presented. Automated control results as well as preliminary pilot data of resistive mode exercises are presented. The impedance controller interacts with a virtual environment. Preliminary results of the controller confirm the efficacy of the device’s mechanical design.

scholarly journals Null-space impedance control of 7-degree-of-freedom redundant manipulators based on the arm angles

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092529
Author(s):  
Genliang Xiong ◽  
Yang Zhou ◽  
Jiankang Yao
Keyword(s):  
Control Method ◽  
Null Space ◽  
Impedance Control ◽  
High Gain ◽  
Degree Of Freedom ◽  
Redundant Manipulators ◽  
Redundant Manipulator ◽  
Impedance Characteristics ◽  
The Stability ◽  
Self Motion

An impedance control method in null-space for 7-degree-of-freedom redundant manipulators is presented in this article. The null-space impedance motion of the redundant manipulator was described in the angle domain and a null-space impedance equation was established. To successfully obtain joint angular velocity, a high-gain observer is designed. The stability of the proposed control method was proved based on passive theory. The proposed null-space impedance control method not only preserved the Cartesian space impedance characteristics of the redundant manipulator but also achieved null-space impedance control. When the manipulator interacted with the outside world, the position error of the end effector asymptotically converged due to the self-motion of the manipulator. Simulations and experiments of the general impedance control method and the proposed impedance control method verified the effectiveness of the proposed method.

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