Controller Design for Flexible Systems with Friction: Pulse Amplitude Control

2004 ◽  
Author(s):  
Jae-Jun Kim ◽  
Tarunraj Singh
Keyword(s):  
Controller Design ◽  
Pulse Amplitude ◽  
Flexible Systems ◽  
Amplitude Control

Controller Design for Flexible Systems With Friction: Pulse Amplitude Control

2004 ◽  
Vol 127 (3) ◽  
pp. 336-344 ◽  
Author(s):  
Jae-Jun Kim ◽  
Tarunraj Singh
Keyword(s):  
Control Systems ◽  
Pulse Width ◽  
Controller Design ◽  
Reference Value ◽  
Pulse Amplitude ◽  
Residual Vibration ◽  
Stick Slip ◽  
Amplitude Control ◽  
Precision Motion Control ◽  
Precision Motion

Accounting for friction is important when designing controllers for precision motion control systems. However, the presence of the friction and the flexibility in the system yields undesirable behaviors such as residual vibration and stick-slip oscillation near the reference value. In the proposed development, a pulse amplitude modulated controller with user-specified pulse width, is used to initiate the motion so as to permit the system to coast to the desired final position after the final pulse, with zero residual vibrations. The proposed technique is illustrated on the floating oscillator benchmark problem, where friction acts on the first mass. Numerical simulation illustrates the effectiveness of the proposed technique.

scholarly journals Hybrid Modulation for Modular Voltage Source Inverters with Coupled Reactors

Energies ◽  
2020 ◽  
Vol 13 (17) ◽  
pp. 4450
Author(s):  
Krzysztof Jakub Szwarc ◽  
Pawel Szczepankowski ◽  
Janusz Nieznański ◽  
Cezary Swinarski ◽  
Alexander Usoltsev ◽  
...  
Keyword(s):  
Pulse Width Modulation ◽  
Pulse Amplitude ◽  
Barycentric Coordinates ◽  
Voltage Source ◽  
Switching Frequency ◽  
Amplitude Control ◽  
Voltage Source Inverters ◽  
Hybrid Modulation ◽  
Harmonic Elimination ◽  
Coupled Reactors

This paper proposes and discusses a concept of a hybrid modulation for the control of modular voltage source inverters with coupled reactors. The use of coupled reactors as the integrating elements leads to significant reduction in the size and weight of the circuit. The proposed modulation combines novel coarsely quantized pulse amplitude modulation (CQ-PAM) and innovative space-vector pulse width modulation (SVPWM). The former enjoys very low transistor switching frequency and low harmonic elimination, while the latter ensures high resolution of amplitude control. The SVPWM is based on the use of barycentric coordinates. The feasibility of the proposed solution is verified by simulations and laboratory tests of a 12-pulse modular voltage source inverters with two-level and three-level component inverters.

Practical Resources for Provision of Services to Culturally and Linguistically Diverse Users of AAC

2015 ◽  
Vol 22 (1) ◽  
pp. 25-39
Author(s):  
Elena Dukhovny ◽  
E. Betsy Kelly
Keyword(s):  
Best Practices ◽  
Augmentative And Alternative Communication ◽  
Linguistically Diverse ◽  
Intervention Strategies ◽  
Culturally And Linguistically Diverse ◽  
Limited Resources ◽  
Flexible Systems ◽  
Alternative Communication ◽  
Practical Applications ◽  
Provision Of Services

According to the 2010 U.S. Census, over 20% of Americans speak a language other than English in the home, with Spanish, Chinese, and French being the languages most commonly spoken, aside from English. However, few augmentative and alternative communication (AAC) systems offer multilingual support for individuals with limited functional speech. There has been much discussion in the AAC community about best practices in AAC system design and intervention strategies, but limited resources exist to help us provide robust, flexible systems for users who speak languages other than English. We must provide services that take into consideration the unique needs of culturally and linguistically diverse users of AAC and help them reach their full communication potential. This article outlines basic guidelines for best practices in AAC design and selection, and presents practical applications of these best practices to multilingual/multicultural clients.

Continuous Time Controller Design

IEE Review ◽  
1991 ◽  
Vol 37 (6) ◽  
pp. 228
Author(s):  
Stephen Barnett
Keyword(s):  
Continuous Time ◽  
Controller Design

Quantitative evaluation of slow fluctuations of the volume of liquids inside cranial cavity

2019 ◽  
pp. 51-63 ◽  
Author(s):  
Yu. E. Moskalenko ◽  
T. I. Kravchenko ◽  
Yu. V. Novozhilova
Keyword(s):  
Brain Activity ◽  
Sampling Rate ◽  
Age Groups ◽  
Pulse Amplitude ◽  
Cranial Cavity ◽  
Current Frequency ◽  
Physiological Indicators ◽  
Physiological Phenomenon ◽  
Long Time ◽  
Manned Space

Introduction. Slow fl uctuations in the volume and pressure of liquids in the cranial cavity have been known for a long time and have been studied for more than 100 years. However, their quantitative indicators and their practical signifi cance remain unclear until now due to the diffi culties of research. Nevertheless, it was found that they were connected with the brain activity, which made it possible to use them as one of the physiological indicators in studying the problems of manned space fl ights. Goal of research — to study the possibility of using spectral analysis of slow fl uctuations of the volume of liquids inside the cranium in order to realize the quantitative assessment of their indicators with the use of modern microelectronics and computer technology.Materials and methods. In order to solve this problem we created a complex, in which rheoencephalograph-RG-01 («Mizar») was used as a converter-modulator of physiological signals into electrical oscillations. The device was connected with the ADC (Firm «ADIstrument»), Its software allows to calculate the spectrogram with a sampling rate of 128 kHz. Studies were conducted on volunteers of younger, middle and older age groups. The respiratory rate and the electrocardiography were registered together with the rheoencephalography. Electrodes were fi xed on the volonteers′ fronto-mastoid area.Results. Slow fl uctuations the cranium representan independent physiological phenomenon. The most considerable and valuable were fl uctuations in 0,1–0,3 Hz. It was found that current frequency of 100 or 200 kHz and frequency for quantization of 80–100 kHz was optimal for performing their spectrograms. The structure of such diagram consists of 4–7 peaks with amplitude of 0,4–0,7 units compared with REG pulse amplitude. They depend on age and are characterized by hemispheric asymmetry. Spectral diagrams of slow fl ucation inside cranium are representing inpendent physiological phenomenon. These fl uctuations are not connected by common origin, with heart activity and respiration. They are connected by nature with brain activity and PRM.Conclusion. Can be an informative method for diagnostic and assessment of general status of osteopathic patients well as for the assessment of mechanisms of action of some osteopathic techniques.

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

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