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1
Stein, Jeffrey L., and Churn-Hway Wang. "Estimation of Gear Backlash: Theory and Simulation." Journal of Dynamic Systems, Measurement, and Control 120, no. 1 (March 1, 1998): 74–82. http://dx.doi.org/10.1115/1.2801324.
Повний текст джерелаАнотація:
Machine and product condition monitoring is important to product quality control, especially for unmanned manufacturing. This paper proposes a technique for the estimation of clearance in mechanical systems under dynamic conditions with specific application to the estimation of backlash in gear systems of servomechanisms. The technique is based on a momentum transfer analysis that shows that the change in the speed (defined as bounce) of the primary gear due to impact with the secondary gear is related to the magnitude of the backlash. An algorithm is presented to estimate the bounce in real-time. The algorithm estimates the bounce by computing the standard bounce which is defined as the standard deviation of the demodulated envelope of the primary gear speed. The standard bounce is shown to be a good measure of the bounce when the system is excited sinusoidally. The algorithm’s accuracy and sensitivity are verified through computer simulation of an open-loop DC servomechanism. An approximately linear relationship between the standard bounce and the backlash magnitude is observed. This holds for backlash values exceeding recommended tolerances by ±100 percent. The algorithm is also shown to be insensitive to changes in the simulation model structure, model parameters as well as system and measurement noise. The estimation technique is accurate, computationally simple, and requires no additional sensors if the servosystem to be monitored already has a conventional tachometer.
2
Lee, S. R., and K. Srinivasan. "Self-Tuning Control Application to Closed-Loop Servohydraulic Material Testing." Journal of Dynamic Systems, Measurement, and Control 112, no. 4 (December 1, 1990): 680–89. http://dx.doi.org/10.1115/1.2896195.
Повний текст джерелаАнотація:
Extensive reliance on manual controller tuning in closed-loop material testing applications makes such applications good candidates for self-tuning control implementation. The current work deals with the modeling, on-line identification, and self-tuning control of electrohydraulic servomechanisms used for closed-loop control of stroke, load, or strain involving low signal frequencies. The application to load and strain control results in servovalve operation close to null and increases the significance of nonideal aspects of servovalve operation such as valve mechanical null offset, valve overlap and radial clearance. Modifications in process modeling and on-line identification necessary to accommodate these aspects are described and shown to be effective by simulation and experiment. A pole-placement controller design approach is used for controller adaptation, the control algorithm being chosen based on analysis of robustness of the control system. The self-tuning control system is shown to be effective, by simulation and experiment.
3
Ye, N., S. Scavarda, M. Betemps, and A. Jutard. "Models of a Pneumatic PWM Solenoid Valve for Engineering Applications." Journal of Dynamic Systems, Measurement, and Control 114, no. 4 (December 1, 1992): 680–88. http://dx.doi.org/10.1115/1.2897741.
Повний текст джерелаАнотація:
PWM (Pulse width modulated) solenoid valves possess the advantages of low cost, high flow rate gain, and simple structure. However, the use of a PWM solenoid valve causes both discontinuity and nonlinearity of the flow rate; this results in difficulties of modeling and of control. This paper presents our work on modelling a pneumatic PWM solenoid valve for engineering applications. Two models are presented: one is the instantaneous mass flow rate model which can be used in the simulation to study the dynamic behavior of pneumatic PWM control systems; another model is the equivalent mass flow rate model which is developed for facilitating the synthesis of pneumatic PWM servomechanisms. An equation for determining the maximum operating modulation ratio of the PWM solenoid valve is also presented. Simulated results using the established models are compared with the experimental results for both the static characteristics of a PWM solenoid valve and the dynamic behavior of a system composed of a PWM solenoid valve and a constant volume chamber.
4
Chávez-Estrada, Francisco A., Jacobo Sandoval-Gutiérrez, Juan C. Herrera-Lozada, Mauricio Olguín-Carbajal, Daniel L. Martínez-Vázquez, Miguel Hernández-Bolaños, and Israel Rivera-Zárate. "Performance Comparisons of Bio-Micro Genetic Algorithms on Robot Locomotion." Applied Sciences 10, no. 11 (June 2, 2020): 3863. http://dx.doi.org/10.3390/app10113863.
Повний текст джерелаАнотація:
This paper presents a comparison of four algorithms and identifies the better one in terms of convergence to the best performance for the locomotion of a quadruped robot designed. Three algorithms found in the literature review: a standard Genetic Algorithm (GA), a micro-Genetic Algorithm ( μ GA), and a micro-Artificial Immune System ( μ AIS); the fourth algorithm is a novel micro-segmented Genetic Algorithm ( μ sGA). This research shows how the computing time affects the performance in different algorithms of the gait on the robot physically; this contribution complements other studies that are limited to simulation. The μ sGA algorithm uses less computing time since the individual is segmented into specific bytes. In contrast, the use of a computer and the high demand in computational resources for the GA are avoided. The results show that the performance of μ sGA is better than the other three algorithms (GA, μ GA and μ AIS). The quadruped robot prototype guarantees the same conditions for each test. The structure of the platform was developed by 3D printing. This structure was used to accommodate the mechanisms, sensors and servomechanisms as actuators. It also has an internal battery and a multicore Embedded System (mES) to process and control the robot locomotion. The computing time was reduced using an mES architecture that enables parallel processing, meaning that the requirements for resources and memory were reduced. For example, in the experiment of a one-second gait cycle, GA uses 700% of computing time, μ GA (76%), μ AIS (32%) and μ sGA (13%). This research solves the problem of quadruped robot’s locomotion and gives a feasible solution (Central Pattern Generators, (CPGs)) with real performance parameters using a μ sGA bio-micro algorithm and a mES architecture.
5
MBIHI DJOUMESSI, Markov. "Design and Virtual Simulation of an Optimal PID/LQRT-PSO Control System for 2WD Mobile Robots." Algerian Journal of Signals and Systems 6, no. 2 (June 30, 2021): 98–111. http://dx.doi.org/10.51485/ajss.v6i2.130.
Повний текст джерелаАнотація:
This research paper presents a relevant contribution to optimal control of angular velocities with trajectories tracking for 2WD mobile robots. The dynamic model of each robotic servomechanisms is modelled from experimental data as a second order transfer function. Then, the direct and reverse kinematic equations are analytically developed. Then, the LQRT (Linear Quadratic Regulator with Tracking) gains for angular velocity of servomechanisms, are computed over infinite time horizon from corresponding Riccatti equations, using PSO (Particles Swarm Optimization) values of weighted matrix Q and R. Therefore, the LQRT solution computed from PSO of Q and R is known as LQRT-PSO. In addition, the LQRT-PSO gains computed from the related Riccati equations, are transformed into equivalent PID/LQRT-PSO gains for angular velocities control. Furthermore, a trajectory tracking flowchart is designed to reinforce the robustness of the overall control system. On the other hand, relevant developments conducted in the design step, are organized into an overall Matlab/Simulink PID/LQRT-PSO scheme. Finally, the obtained simulation results are presented in order to show the high performance of the proposed PID/LQRT-PSO control scheme for 2WD mobile robots.
6
Ułanowicz, Leszek, and Ryszard Sabak. "Computer Aided Design Process for Hydraulic Servo." Journal of KONBiN 52, no. 4 (December 1, 2022): 11–40. http://dx.doi.org/10.2478/jok-2022-0039.
Повний текст джерелаАнотація:
Abstract This study presents a method of computer support for the design of a hydraulic servo dedicated to the aircraft control system. A 3D geometric model of the servo was developed, which enabled the simulation of its kinematics. The paper presents a simulation model of a hydraulic servo that enables simulation of the dynamics of its mechanisms. The servomechanism model takes into account the dynamics of the movement of the distributor slider and the dynamics of the actuator piston rod movement under the influence of forces occurring in the servo. As a result of the simulation, step characteristics and static characteristics of the servo response were obtained. The presented model makes it possible to visualize the dynamics of operation of the prototype servo in various modes of its operation with different parameters of its control. It allows you to quickly and conveniently test the concept of an hydraulic servo and evaluate its functioning.
7
Siew, Boon C., Ben M. Chen, and Tong H. Lee. "Design and Implementation of a Robust Controller for a Free Gyro-Stabilized Mirror System." Journal of Dynamic Systems, Measurement, and Control 121, no. 3 (September 1, 1999): 550–56. http://dx.doi.org/10.1115/1.2802513.
Повний текст джерелаАнотація:
In this paper, we consider the problem of designing a robust controller for a multivariable servomechanism of a free gyro-stabilized mirror system where there exists cross-coupling between the axes. The nonlinear dynamics of the system are first linearized and reformulated into an H∞ problem. A reduced order output feedback controller is then designed using the asymptotic time-scale and eigenstructure assignment (ATEA) technique. The overall design has been implemented using a personal computer with C++ and tested on the actual gyro-stabilized mirror system. Our simulation and implementation results show that the design is very successful.
8
Osiecki, Leszek, Piotr Patrosz, Bettina Landvogt, Janusz Piechna, Tomasz Zawistowski, and Bartek Zylinski. "Simulation of fluid structure interaction in a novel design of high pressure axial piston hydraulic pump." Archive of Mechanical Engineering 60, no. 4 (December 1, 2013): 509–29. http://dx.doi.org/10.2478/meceng-2013-0031.
Повний текст джерелаАнотація:
Abstract A novel type of an axial, piston-driven high pressure hydraulic pump with variable capacity marks a significant improvement in the area of the hydraulic machinery design. Total discharge from hydrostatic forces eliminates a need for a servomechanism, thus simplifying operation, reducing weight and introducing the possibility of the pump displacement control by computer. PWK-type pumps, invented in the Gdansk University of Technology, offer high efficiency for pressure levels up to 55 MPa, ability to work self sucking even at high speed. However, the heart of the new invention, the commutation unit, creates harmful pressure peaks. Those peaks can be mitigated by the introduction of a compensation chamber with elastic walls. Owing to the dynamic character of events taking place in the pump, a need for computer simulation arouse in order to understand phenomena leading to the occurrence of pressure peaks and choose compensation chamber parameters accordingly. A CFD package alone would not be sufficient to reliably represent the interaction between the compensation chamber wall and the working fluid. This paper presents Fluid Structure Interaction approach comparing 3 different models: 2 simplified models of the pump and a full pump model.
9
Krivts, Dr Igor L. "Optimization of Performance Characteristics of Electropneumatic (Two-Stage) Servo Valve." Journal of Dynamic Systems, Measurement, and Control 126, no. 2 (June 1, 2004): 416–20. http://dx.doi.org/10.1115/1.1771693.
Повний текст джерелаАнотація:
Servo valve is the key element in electropneumatic servomechanism. In this study, an electropneumatic two-stage servo valves were investigated in order to improve their static and dynamic characteristics. These servo valves consist of a pilot stage and a power stage. The paper discusses three different pilot stages: the jet pipe pilot stage, the supply (side) flapper nozzle pilot stage and the exhaust (side) flapper nozzle pilot stage. The static and dynamic characteristics of the devices were investigated analytically and by computer simulation. For the three pilot stage types it was found that the optimal value of the static and dynamic characteristics could be obtained if the ratio between the effective areas of the supply channel and exhaust port of the pilot stage has a definite value (depending on the pilot stage type).
10
Cheok, Ka C., Hongxing Hu, and Nan K. Loh. "Modeling and Identification of a Class of Servomechanism Systems With Stick-Slip Friction." Journal of Dynamic Systems, Measurement, and Control 110, no. 3 (September 1, 1988): 324–28. http://dx.doi.org/10.1115/1.3152689.
Повний текст джерелаАнотація:
This paper describes a technique for modeling and identifying a class of nonlinear servomechanism systems with stick-slip friction. The physics of the stick-slip friction is considered in modeling the process. Identification of the system parameters is formulated as a nonlinear optimization problem. A modified simplex algorithm is proposed as the optimization procedure. The difficulties encountered in choosing identification algorithm and input signals for the problem are discussed. A simulation example of a servomotor system is provided.
11
Chang, Timothy, and Zhengfang Chen. "Reliable Decentralized Servomechanism Problem for Large-Scale Systems." Journal of Dynamic Systems, Measurement, and Control 128, no. 2 (February 3, 2005): 441–48. http://dx.doi.org/10.1115/1.2196420.
Повний текст джерелаАнотація:
In this paper, the reliable control problem for decentralized systems is considered. It concerns the ability of closed-loop system to maintain stability and disturbance rejection properties during arbitrary sensor, controller, and actuator failure without being retuned. The notion of block decentralized robust servomechanism problem with complete reliability is first introduced to address systems with a block diagonal feedback structure. This is followed by establishing two conditions for reliability: (i) systems satisfying certain steady-state interaction characteristics or (ii) systems possessing minimum phase “block” transmission zeros. Accordingly, two types of decentralized controllers are applied to achieve reliable control for these two categories of systems. Simulation examples are also included to illustrate the properties of the reliable control system.
12
DeSantis, R. M. "On the Implementation of a Continuous Controller Via a Discrete Valued Controller." Journal of Dynamic Systems, Measurement, and Control 114, no. 3 (September 1, 1992): 352–58. http://dx.doi.org/10.1115/1.2897355.
Повний текст джерелаАнотація:
A procedure for implementing a continuous controller, the output of which may vary within a continuous range of values, by means of a discrete controller, of which the output may only be given a discrete set of values, is presented. The theoretical development is based on the variable structure systems approach and is complemented with an analytical and experimental study of a position servomechanism with an elastic transmission. Relevant properties of the ensuing feedback system are discussed under both nominal and perturbed operating conditions. Preliminary simulation and experimental results suggest the procedure to be reliable, easy to implement and practically feasible.
13
LeQuoc, S., R. M. H. Cheng, and A. Limaye. "Investigation of an Electrohydraulic Servovalve With Tuneable Return Pressure and Drain Orifice." Journal of Dynamic Systems, Measurement, and Control 109, no. 3 (September 1, 1987): 276–85. http://dx.doi.org/10.1115/1.3143855.
Повний текст джерелаАнотація:
This paper describes a new concept of electrohydraulic servovalve where the novelty lies mainly in the fact that the return pressure and return orifice of the servovalve are tuneable and can be adjusted to satisfy the system control requirements. The actuator velocity characteristics of a hydraulic servomechanism operating under steady state condition is analysed through the use of dimensionless quantities. It is established that the proposed configuration exhibits a nonlinear actuator velocity versus servovalve opening relationship and at small servovalve opening, the system offers a higher actuator velocity. The closed loop system transient responses are also investigated by means of digital computer simulation. The results are experimentally verified on a test rig specifically designed for this purpose. It is observed that with the return pressure and return orifice properly tuned, one can achieve a high gain yet high damping servosystem. A design procedure is described which provides the designer with a step by step method for determining the tuning parameters in order to obtain a desired system performance.
14
Soliman, Hisham M., Ehab Bayoumi, Amer Al-Hinai, and Mostafa Soliman. "Robust Decentralized Tracking Voltage Control for Islanded Microgrids by Invariant Ellipsoids." Energies 13, no. 21 (November 3, 2020): 5756. http://dx.doi.org/10.3390/en13215756.
Повний текст джерелаАнотація:
This manuscript presents a robust tracking (servomechanism) controller for linear time-invariant (LTI) islanded (autonomous, isolated) microgrid voltage control. The studied microgrid (MG) consists of many distributed energy resources (DERs) units, each using a voltage-sourced converter (VSC) for the interface. The optimal tracker design uses the ellipsoidal approximation to the invariant sets. The MG system is decomposed into different subsystems (DERs). Each subsystem is affected by the rest of the system that is considered as a disturbance to be rejected by the controller. The proposed tracker (state feedback integral control) rejects bounded external disturbances by minimizing the invariant ellipsoids of the MG dynamics. A condition to design decentralized controllers is derived in the form of linear matrix inequalities. The proposed controller is characterized by rapid transient response, and zero error in the steady state. A robustness analysis of the control strategy (against load changes, load unbalances, etc.) is carried out. A MATLAB/SimPowerSystems (R2017b, MathWorks, Natick, MA, USA) simulation of the case study confirm the robustness of the proposed controller.
15
Kuo, C. Y., and Shay-Ping T. Wang. "Nonlinear Robust Hybrid Control of Robotic Manipulators." Journal of Dynamic Systems, Measurement, and Control 112, no. 1 (March 1, 1990): 48–54. http://dx.doi.org/10.1115/1.2894138.
Повний текст джерелаАнотація:
The success of a robot force and position (hybrid) control scheme relies extensively upon its robustness against uncertainties such as unknown external disturbance or modeling errors in the description of robot, sensor and environment. In this paper we propose a new nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and gives a set of position and force equations in the hand or cartesian coordinates. The linear part applies the servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control under severe modeling errors.
16
Chang, Pei-Ming, and Suhada Jayasuriya. "An Evaluation of Several Controller Synthesis Methodologies Using a Rotating Flexible Beam as a Test Bed." Journal of Dynamic Systems, Measurement, and Control 117, no. 3 (September 1, 1995): 360–73. http://dx.doi.org/10.1115/1.2799127.
Повний текст джерелаАнотація:
The objective of this study is to assess the effectiveness of a number of control system synthesis methodologies as practical design tools. The effectiveness is measured by the extent to which a controller obtained by a specific methodology has to be tuned for it to work in a real implementation. For this purpose we consider as a test bed a highly flexible beam attached to a d.c. motor driven rigid hub. Included in the study are five synthesis methodologies. They are (i) classical PD control, (ii) the LQR technique, (iii) robust servomechanism theory, (iv) the Lyapunov method, and (v) Quantitative Feedback Theory (QFT). Used are extensive computer simulations and actual experiments with each of the controllers synthesized using these methodologies. Each of the compensators performed satisfactorily in simulations. In actual implementation, however, some of the controllers did not work as predicted by simulations. The higher the d.c. gain and the bandwidth of the synthesized controller it is less likely to work in reality. This was clearly observed with the LQR controller, the servo controller and the Lyapunov based controllers. The QFT controller is the only one that accounted for the bandwidth limit at the synthesis stage. The other controllers require much fine tuning by trial and error for satisfying actual physical limits including the bandwidth. It is established that controllers designed using methodologies which incorporate real practical considerations such as modeling uncertainties, bandwidth limitations and input saturations need very little tuning whereas the others yield controllers which after tuning are quite different from the synthesized ones.
17
Kuo, C. Y., and Shay-Ping T. Wang. "Nonlinear Robust Industrial Robot Control." Journal of Dynamic Systems, Measurement, and Control 111, no. 1 (March 1, 1989): 24–30. http://dx.doi.org/10.1115/1.3153015.
Повний текст джерелаАнотація:
A new nonlinear robot control scheme is proposed in this paper which is robust against modeling errors and unknown disturbance. The control input consists of a nonlinear part and a linear part. The nonlinear part decouples robot dynamics to obtain a set of equations in terms of each joint’s input and output; the linear part applies robust servomechanism theory to suppress effects of modeling error and unknown disturbance. The nonlinear part can be calculated by using recursive Newton-Euler formulas or parallel processing hardware, and the linear part by dedicated, localized microprocessors. Therefore, this methodology is computationally efficient, and is applicable to general robot configuration. The scheme is applied to control a two-joint, SCARA-type robot. The simulation results demonstrate that this scheme can achieve fast and precise robot motion control under substantial modeling errors.
18
Chalhoub, Nabil G., and Xiaoying Zhang. "Modeling and Control of Backlash in the Drive Mechanism of a Radially Rotating Compliant Beam." Journal of Dynamic Systems, Measurement, and Control 118, no. 1 (March 1, 1996): 158–61. http://dx.doi.org/10.1115/1.2801137.
Повний текст джерелаАнотація:
The exclusion of the dynamic characteristics of indirect drives, from the controller design, has often led to a degraded performance in precision servomechanisms. In this study, the adverse effects of backlash, in the drive mechanism of a radially rotating flexible beam, are examined. The topological variations of the structure are handled by latent constraint equations which can be rendered active through the monitoring of the contact torque as well as kinematic indicators. A “backlash controller” is introduced to replace the original controller of the beam only during the period of gear disengagement. The experimental and numerical results provide a qualitative validation of the backlash model. The relationships with which the backlash in gearing would interact with both the servo-loop controller and the structural flexibility of the system are investigated. In addition, the digital simulations have proven that the “backlash controller” provides a viable approach in reducing the adverse effects of backlash on the overall system response.
19
Vu, Truong Nguyen Luan, Vo Lam Chuong, Nguyen Tam Nguyen Truong, and Jae Hak Jung. "Analytical Design of Fractional-Order PI Controller for Parallel Cascade Control Systems." Applied Sciences 12, no. 4 (February 21, 2022): 2222. http://dx.doi.org/10.3390/app12042222.
Повний текст джерелаАнотація:
The fractional-order proportional-integral (FOPI) controller tuning rules based on the fractional calculus for the parallel cascade control systems are systematically proposed in this paper. The modified parallel cascade control structure (PCCS) with the Smith predictor is addressed for stable, unstable, and integrating process models with time delays. Normally, the PCCS consists of three controllers, including a stabilized controller, for a class of unstable and integrating models, a disturbance rejection controller in the secondary loop, and a primary servomechanism controller. Accordingly, the ideal controller is obtained by using the internal model control (IMC) approach for the inner loop. The proportional-derivative (PD) controller is suggested for the stabilized controller and is designed based on a stability criterion. Based on the fractional calculus, the analytical tuning rules of the FOPI controller for the outer loop can be established in the frequency domain. The simulation study is considered for three mentioned cases of process models and the results demonstrate the flexibility and effectiveness of the proposed method for the PCCS in comparison with the other methods. The robustness of the proposed method is also justified by perturbed process models with ±20% of process parameters including gain, time constant, and delay time.
20
Dalla Vedova, Matteo D. L., Paolo Maggiore, Lorenzo Pace, and Alessio Desando. "Evaluation of the Correlation Coefficient as a Prognostic Indicator for Electromechanical Servomechanism Failures." International Journal of Prognostics and Health Management 6, no. 1 (November 1, 2020). http://dx.doi.org/10.36001/ijphm.2015.v6i1.2240.
Повний текст джерелаАнотація:
In order to identify incipient failures due to a progressive wear of a primary flight command electromechanical actuator, several approaches could be employed; the choice of the best ones is driven by the efficacy shown in fault detection/identification, since not all the algorithms might be useful for the proposed purpose. In other words, some of them could be suitable only for certain applications while they could not give useful results for others. Developing a fault detection algorithm able to identify the precursors of the abovementioned electromechanical actuator (EMA) failure and its degradation pattern is thus beneficial for anticipating the incoming malfunction and alerting the maintenance crew such to properly schedule the servomechanism replacement. The research presented in the paper was focused to develop a fault detection/identification technique, able to identify symptoms alerting that an EMA component is degrading and will eventually exhibit an anomalous behavior, and to evaluate its potential use as prognostic indicator for the considered progressive faults (i.e. frictions and mechanical backlash acting on transmission, stator coil short circuit, rotor static eccentricity). To this purpose, an innovative model based fault detection technique has been developed merging several information achieved by means of Fast Fourier Transform (FFT) analysis and proper "failure precursors" (calculated by comparing the actual EMA responses with the expected ones). To assess the performance of the proposed technique, an appropriate simulation test environment was developed: the results showed an adequaterobustness and confidence was gained in the ability to early identify an eventual EMA malfunctioning with low risk of false alarms or missed failures.