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Journal of dynamic systems, measurement, and control: Transactions of the ASME |
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Ajouter le résultat dans votre panierReal-time force and moment estimation for mechanical gas face seal systems using reduced-order Kalman filters / Haojiong Zhang in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°5 (Septembre 2008)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 10 p.
Titre : Real-time force and moment estimation for mechanical gas face seal systems using reduced-order Kalman filters Type de document : texte imprimé Auteurs : Haojiong Zhang, Auteur ; Robert G. Landers, Auteur ; Brad A. Miller, Auteur Année de publication : 2008 Article en page(s) : 10 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : force; functions; Kalman filters; stators Résumé : A method using reduced-order Kalman filters is developed to estimate the thin gas film axial force and moments in real time for mechanical gas face seal systems in a flexibly mounted stator configuration. First-order Gauss–Markov stochastic models, combined with the stator motion equations, form the basis for the reduced-order Kalman filter estimators. Two schemes are presented to estimate axial force and moments based on stator motion measurements. In one scheme, the force and moments are directly estimated and, in another scheme, a set of proper orthogonal decomposition weighting functions is estimated, from which the gas film force and moments are computed. Both estimators are shown to approximate the gas film axial force and moments successfully for different forcing functions over a wide range of compressibility numbers. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Real-time force and moment estimation for mechanical gas face seal systems using reduced-order Kalman filters [texte imprimé] / Haojiong Zhang, Auteur ; Robert G. Landers, Auteur ; Brad A. Miller, Auteur . - 2008 . - 10 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 10 p.
Mots-clés : force; functions; Kalman filters; stators Résumé : A method using reduced-order Kalman filters is developed to estimate the thin gas film axial force and moments in real time for mechanical gas face seal systems in a flexibly mounted stator configuration. First-order Gauss–Markov stochastic models, combined with the stator motion equations, form the basis for the reduced-order Kalman filter estimators. Two schemes are presented to estimate axial force and moments based on stator motion measurements. In one scheme, the force and moments are directly estimated and, in another scheme, a set of proper orthogonal decomposition weighting functions is estimated, from which the gas film force and moments are computed. Both estimators are shown to approximate the gas film axial force and moments successfully for different forcing functions over a wide range of compressibility numbers. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 13 p.
Titre : Inner-loop control for electromechanical (EMA) flight surface actuation systems Type de document : texte imprimé Auteurs : Habibi, Saeid, Auteur ; Jeff Roach, Auteur ; Greg Luecke, Auteur Année de publication : 2008 Article en page(s) : 13 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control equipment; engines; stress; feedback; stiction; flight; design; signals; transfer functions; frequency response; gears; electric motors Résumé : This manuscript pertains to the application of an inner-loop control strategy to electromechanical flight surface actuation systems. Modular electromechanical actuators (EMAs) are increasingly used in lieu of centralized hydraulics for the control of flight surfaces in the aerospace sector. The presence of what is termed as a dead zone in these actuators significantly affects the maneuverability, stability, and the flight profiles of aircrafts that use this actuation concept. The hypothesis of our research is that flight surface actuation systems may be desensitized to the effects of dead zone by using a control strategy with multiple inner loops. The proposed strategy involves (a) high-gain inner-loop velocity control of the driving motor and (b) inner-loop compensation for the differential velocity between the motor versus the aileron. The above hypothesis is confirmed by theoretical and simulated analyses using the model of an EMA flight surface actuator. Our results indicate that for small input signals, this strategy is very effective and that it can (a) considerably increase the bandwidth and the crossover frequency of the system and (b) considerably improve the time response of the system. Further to this analysis, this manuscript presents guidelines for the design of EMA systems. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Inner-loop control for electromechanical (EMA) flight surface actuation systems [texte imprimé] / Habibi, Saeid, Auteur ; Jeff Roach, Auteur ; Greg Luecke, Auteur . - 2008 . - 13 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 13 p.
Mots-clés : control equipment; engines; stress; feedback; stiction; flight; design; signals; transfer functions; frequency response; gears; electric motors Résumé : This manuscript pertains to the application of an inner-loop control strategy to electromechanical flight surface actuation systems. Modular electromechanical actuators (EMAs) are increasingly used in lieu of centralized hydraulics for the control of flight surfaces in the aerospace sector. The presence of what is termed as a dead zone in these actuators significantly affects the maneuverability, stability, and the flight profiles of aircrafts that use this actuation concept. The hypothesis of our research is that flight surface actuation systems may be desensitized to the effects of dead zone by using a control strategy with multiple inner loops. The proposed strategy involves (a) high-gain inner-loop velocity control of the driving motor and (b) inner-loop compensation for the differential velocity between the motor versus the aileron. The above hypothesis is confirmed by theoretical and simulated analyses using the model of an EMA flight surface actuator. Our results indicate that for small input signals, this strategy is very effective and that it can (a) considerably increase the bandwidth and the crossover frequency of the system and (b) considerably improve the time response of the system. Further to this analysis, this manuscript presents guidelines for the design of EMA systems. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 6 p.
Titre : Iterative learning velocity and tension control for single span axially moving materials Type de document : texte imprimé Auteurs : Haiyu Zhao, Auteur ; Christopher D. Rahn, Auteur Année de publication : 2008 Article en page(s) : 6 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : tension; iterative learning control; rollers; displacement; feedback; feedforward control Résumé : Precise tension and speed control of axially moving material systems enables high speed processing of paper, plastics, fibers, and films. A single span model is developed that includes distributed longitudinal vibration, a torque-controlled roller at the left boundary, and a speed-controlled roller at the right boundary. The speed trajectory of the right roller is assumed periodic but unknown. A proportional and derivative (PD) feedback and iterative learning control (ILC) feedforward control law is developed for the left roller torque based on the measured tension and speed at the left boundary. PD tension/speed control is proven to ensure boundedness of distributed displacement and tension. ILC is proven to provide the same theoretical result but greatly improved simulated response to an aggressive stop/start right roller speed trajectory. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Iterative learning velocity and tension control for single span axially moving materials [texte imprimé] / Haiyu Zhao, Auteur ; Christopher D. Rahn, Auteur . - 2008 . - 6 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 6 p.
Mots-clés : tension; iterative learning control; rollers; displacement; feedback; feedforward control Résumé : Precise tension and speed control of axially moving material systems enables high speed processing of paper, plastics, fibers, and films. A single span model is developed that includes distributed longitudinal vibration, a torque-controlled roller at the left boundary, and a speed-controlled roller at the right boundary. The speed trajectory of the right roller is assumed periodic but unknown. A proportional and derivative (PD) feedback and iterative learning control (ILC) feedforward control law is developed for the left roller torque based on the measured tension and speed at the left boundary. PD tension/speed control is proven to ensure boundedness of distributed displacement and tension. ILC is proven to provide the same theoretical result but greatly improved simulated response to an aggressive stop/start right roller speed trajectory. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 14 p.
Titre : Parameter estimation using a combined variable structure and Kalman filtering approach Type de document : texte imprimé Auteurs : Habibi, Saeid, Auteur Année de publication : 2008 Article en page(s) : 14 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : modeling; artificial neural networks; errors; filters; Kalman filters; parameter estimation; stability; noise (sound); filtration Résumé : A method that is often used for parameter estimation is the extended Kalman filter (EKF). EKF is a model-based strategy that implicitly considers the effect of modeling uncertainties. This implicit consideration often leads to the tuning of the filter by trial and error. When formulated for parameter estimation, the “tuned” EKF becomes sensitive to uncertainties in its internal model. The EKF’s robustness can be improved by combining it with the recently proposed variable structure filter (VSF) concept. In a combined form, the modeling uncertainties no longer affect stability, but impact the performance and the quality of the estimation process. Furthermore, the VSF concept provides a secondary set of indicators of performance that is in addition to the estimation error and that pertains to the range of parametric uncertainties. As such, the robustness of the combined method and its multiple indicators of performance allow the use of intelligent adaptation for improving the performance of the estimation process. For real-time applications, online neural network adaptation may be used to improve the performance by progressively reducing specific modeling uncertainties in the system. In this paper, a new parameter estimation method that uses concepts associated with the EKF, the VSF, and neural network adaptation is introduced. The performance of this method is considered and discussed for applications that involve parameter estimation such as fault detection. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Parameter estimation using a combined variable structure and Kalman filtering approach [texte imprimé] / Habibi, Saeid, Auteur . - 2008 . - 14 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 14 p.
Mots-clés : modeling; artificial neural networks; errors; filters; Kalman filters; parameter estimation; stability; noise (sound); filtration Résumé : A method that is often used for parameter estimation is the extended Kalman filter (EKF). EKF is a model-based strategy that implicitly considers the effect of modeling uncertainties. This implicit consideration often leads to the tuning of the filter by trial and error. When formulated for parameter estimation, the “tuned” EKF becomes sensitive to uncertainties in its internal model. The EKF’s robustness can be improved by combining it with the recently proposed variable structure filter (VSF) concept. In a combined form, the modeling uncertainties no longer affect stability, but impact the performance and the quality of the estimation process. Furthermore, the VSF concept provides a secondary set of indicators of performance that is in addition to the estimation error and that pertains to the range of parametric uncertainties. As such, the robustness of the combined method and its multiple indicators of performance allow the use of intelligent adaptation for improving the performance of the estimation process. For real-time applications, online neural network adaptation may be used to improve the performance by progressively reducing specific modeling uncertainties in the system. In this paper, a new parameter estimation method that uses concepts associated with the EKF, the VSF, and neural network adaptation is introduced. The performance of this method is considered and discussed for applications that involve parameter estimation such as fault detection. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 10 p.
Titre : A new approach to scan-trajectory design and track: AFM force measurement example Type de document : texte imprimé Auteurs : Kyong-Soo Kim, Auteur ; Chanmin Su, Auteur ; Qingze, Zou, Auteur Année de publication : 2008 Article en page(s) : 10 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : oscillations; dynamics (mechanics); force; atomic force microscopy; trajectories (physics); design; errors; measurement; algorithms; simulation; modeling; piezoelectric actuators Résumé : In this article, two practical issues encountered in the design and track of scan trajectories are studied: One issue is the large output oscillations occurring during the scanning, and the other one is the effect of modeling errors on trajectory tracking. Output oscillations need to be small in scanning operations, particularly for lightly damped systems, such as the piezoelectric actuators and the flexible structures. Moreover, modeling errors are ubiquitous in practical applications. The proposed approach extends the recently developed optimal scan-trajectory design and control method by introducing the prefilter design to reduce the output oscillations. Furthermore, a novel enhanced inversion-based iterative control (EIIC) algorithm is proposed. The EIIC algorithm is then integrated with the optimal scan-trajectory design method to compensate for the effect of modeling errors on the scanning. The convergence of the iterative control law is discussed, and the frequency range of the convergence is quantified. The proposed approach is illustrated by implementing it to the high-speed adhesion-force measurements using atomic force microscope. Simulation and experimental work are presented and discussed to demonstrate the efficacy of the proposed approach. The experimental results show that compared to the conventional DC-gain method, the proposed approach can reduce the tracking error by over 25 times during the force-curve measurements. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] A new approach to scan-trajectory design and track: AFM force measurement example [texte imprimé] / Kyong-Soo Kim, Auteur ; Chanmin Su, Auteur ; Qingze, Zou, Auteur . - 2008 . - 10 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 10 p.
Mots-clés : oscillations; dynamics (mechanics); force; atomic force microscopy; trajectories (physics); design; errors; measurement; algorithms; simulation; modeling; piezoelectric actuators Résumé : In this article, two practical issues encountered in the design and track of scan trajectories are studied: One issue is the large output oscillations occurring during the scanning, and the other one is the effect of modeling errors on trajectory tracking. Output oscillations need to be small in scanning operations, particularly for lightly damped systems, such as the piezoelectric actuators and the flexible structures. Moreover, modeling errors are ubiquitous in practical applications. The proposed approach extends the recently developed optimal scan-trajectory design and control method by introducing the prefilter design to reduce the output oscillations. Furthermore, a novel enhanced inversion-based iterative control (EIIC) algorithm is proposed. The EIIC algorithm is then integrated with the optimal scan-trajectory design method to compensate for the effect of modeling errors on the scanning. The convergence of the iterative control law is discussed, and the frequency range of the convergence is quantified. The proposed approach is illustrated by implementing it to the high-speed adhesion-force measurements using atomic force microscope. Simulation and experimental work are presented and discussed to demonstrate the efficacy of the proposed approach. The experimental results show that compared to the conventional DC-gain method, the proposed approach can reduce the tracking error by over 25 times during the force-curve measurements. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 16 p.
Titre : Fixed structure feedforward controller design exploiting iterative trials : application to a wafer stage and a desktop printer Type de document : texte imprimé Auteurs : Stan H. van der Meulen, Auteur ; Rob L. Tousain, Auteur ; Okko H. Bosgra, Auteur Année de publication : 2008 Article en page(s) : 16 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control equipment; feedforward control; errors Résumé : In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed structure of the feedforward controller and the optimization of the controller parameters by iterative trials. A linear parametrization of the feedforward controller in a two-degree-of-freedom control architecture is chosen, which results in a feedforward controller that is applicable to a class of motion profiles as well as in a convex optimization problem, with the objective function being a quadratic function of the tracking error. Optimization by iterative trials avoids the need for detailed knowledge of the plant, achieves the controller parameter values that are optimal with respect to the actual plant, and allows for the adaptation to possible variations that occur in the plant dynamics. Experimental results on a high-precision wafer stage and a desktop printer illustrate the procedure. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Fixed structure feedforward controller design exploiting iterative trials : application to a wafer stage and a desktop printer [texte imprimé] / Stan H. van der Meulen, Auteur ; Rob L. Tousain, Auteur ; Okko H. Bosgra, Auteur . - 2008 . - 16 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 16 p.
Mots-clés : control equipment; feedforward control; errors Résumé : In this paper, the feedforward controller design problem for high-precision electromechanical servo systems that execute finite time tasks is addressed. The presented procedure combines the selection of the fixed structure of the feedforward controller and the optimization of the controller parameters by iterative trials. A linear parametrization of the feedforward controller in a two-degree-of-freedom control architecture is chosen, which results in a feedforward controller that is applicable to a class of motion profiles as well as in a convex optimization problem, with the objective function being a quadratic function of the tracking error. Optimization by iterative trials avoids the need for detailed knowledge of the plant, achieves the controller parameter values that are optimal with respect to the actual plant, and allows for the adaptation to possible variations that occur in the plant dynamics. Experimental results on a high-precision wafer stage and a desktop printer illustrate the procedure. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 12 p.
Titre : Feedback linearization tracking control of vehicle longitudinal acceleration under low-speed conditions Type de document : texte imprimé Auteurs : Bin Yang, Auteur ; Li Keqiang, Auteur ; Feng Nenglian, Auteur Année de publication : 2008 Article en page(s) : 12 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : control equipment; actuators; vehicles; feedback; design; engines Résumé : This research addresses the modeling, design, and implementation of a longitudinal acceleration tracking control (LATC) system for a test vehicle at low speeds. An electronic throttle actuator for LATC system application is introduced first, which can be used to perform the switching of three functions arbitrarily: automatic LATC, manual drive-by-wire, and pure manual operation. Then, a nonlinear dynamics model for the test vehicle is proposed by using a state-space equation, and several major nonlinear components including the engine, torque converter, transmission, and electronic throttle actuator are considered simultaneously in this model. Furthermore, focusing on the electronic throttle actuator, the strong nonlinear factors induced by the Coulomb friction and torsion of the return spring are analyzed. In view of the nonlinearity of the proposed model, the concept of feedback linearization is employed to convert the nonlinear system into a linear canonical form, and the analysis of the stability caused by the model’s uncertainty is also discussed. Finally, an acceleration feedback linearization controller and a Kalman filter are introduced. They adopt the linear canonical form, which represents a simpler structure. The performance in tracking desired acceleration at low speeds is confirmed by both computer simulations and experiments. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Feedback linearization tracking control of vehicle longitudinal acceleration under low-speed conditions [texte imprimé] / Bin Yang, Auteur ; Li Keqiang, Auteur ; Feng Nenglian, Auteur . - 2008 . - 12 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 12 p.
Mots-clés : control equipment; actuators; vehicles; feedback; design; engines Résumé : This research addresses the modeling, design, and implementation of a longitudinal acceleration tracking control (LATC) system for a test vehicle at low speeds. An electronic throttle actuator for LATC system application is introduced first, which can be used to perform the switching of three functions arbitrarily: automatic LATC, manual drive-by-wire, and pure manual operation. Then, a nonlinear dynamics model for the test vehicle is proposed by using a state-space equation, and several major nonlinear components including the engine, torque converter, transmission, and electronic throttle actuator are considered simultaneously in this model. Furthermore, focusing on the electronic throttle actuator, the strong nonlinear factors induced by the Coulomb friction and torsion of the return spring are analyzed. In view of the nonlinearity of the proposed model, the concept of feedback linearization is employed to convert the nonlinear system into a linear canonical form, and the analysis of the stability caused by the model’s uncertainty is also discussed. Finally, an acceleration feedback linearization controller and a Kalman filter are introduced. They adopt the linear canonical form, which represents a simpler structure. The performance in tracking desired acceleration at low speeds is confirmed by both computer simulations and experiments. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 9 p.
Titre : Servocontrol of the GS16 turbine gas metering valve by physics-based robust controller synthesis Type de document : texte imprimé Auteurs : Kamran E. Shahroudi, Auteur ; Peter M. Young, Auteur Année de publication : 2008 Article en page(s) : 9 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : physics; control equipment; design; valves Résumé : We present a design approach for robust controller synthesis using a μ-synthesis procedure, which returns a controller in an observor/state-feedback form with physically meaningful states. We are also able to (approximately) retain this physical meaning when using balanced truncation to (significantly) reduce the controller order, as is often necessary in practice. The advantages of this physics-based approach are illustrated by a detailed outline of the controller design for Woodward Governor’s GS16 Turbine Gas Metering Valve. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Servocontrol of the GS16 turbine gas metering valve by physics-based robust controller synthesis [texte imprimé] / Kamran E. Shahroudi, Auteur ; Peter M. Young, Auteur . - 2008 . - 9 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 9 p.
Mots-clés : physics; control equipment; design; valves Résumé : We present a design approach for robust controller synthesis using a μ-synthesis procedure, which returns a controller in an observor/state-feedback form with physically meaningful states. We are also able to (approximately) retain this physical meaning when using balanced truncation to (significantly) reduce the controller order, as is often necessary in practice. The advantages of this physics-based approach are illustrated by a detailed outline of the controller design for Woodward Governor’s GS16 Turbine Gas Metering Valve. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 7 p.
Titre : Singularity-robust inverse kinematics using Lagrange multiplier for redundant manipulators Type de document : texte imprimé Auteurs : Choi, Youngjin, Auteur Année de publication : 2008 Article en page(s) : 7 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : kinematics; errors; redundant manipulators; algorithms; optimization Résumé : In this paper, a singularity-robust inverse kinematics is newly suggested by using a Lagrange multiplier for redundant manipulator systems. Two tasks are considered with priority orders under the assumption that a primary task has no singularity. First, an inverse kinematics problem is formulated to be an optimization one subject to an equality constraint, in other words, to be a minimization problem of secondary task error subject to an equality constraint for primary task execution. Second, in the procedure of minimization for a given objective function, a new inverse kinematics algorithm is derived. Third, since nonzero Lagrange multiplier values appear in the neighborhood of a singular configuration of a robotic manipulator, we choose them as a natural choice of the dampening factor to alleviate the ill-conditioning of matrix inversion, ultimately for singularity-robust inverse kinematics. Finally, the effectiveness of the suggested singularity-robust inverse kinematics is shown through a numerical simulation about deburring and conveyance tasks of a dual arm manipulator system. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Singularity-robust inverse kinematics using Lagrange multiplier for redundant manipulators [texte imprimé] / Choi, Youngjin, Auteur . - 2008 . - 7 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 7 p.
Mots-clés : kinematics; errors; redundant manipulators; algorithms; optimization Résumé : In this paper, a singularity-robust inverse kinematics is newly suggested by using a Lagrange multiplier for redundant manipulator systems. Two tasks are considered with priority orders under the assumption that a primary task has no singularity. First, an inverse kinematics problem is formulated to be an optimization one subject to an equality constraint, in other words, to be a minimization problem of secondary task error subject to an equality constraint for primary task execution. Second, in the procedure of minimization for a given objective function, a new inverse kinematics algorithm is derived. Third, since nonzero Lagrange multiplier values appear in the neighborhood of a singular configuration of a robotic manipulator, we choose them as a natural choice of the dampening factor to alleviate the ill-conditioning of matrix inversion, ultimately for singularity-robust inverse kinematics. Finally, the effectiveness of the suggested singularity-robust inverse kinematics is shown through a numerical simulation about deburring and conveyance tasks of a dual arm manipulator system. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 9 p.
Titre : Minimax input shaper design using linear programming Type de document : texte imprimé Auteurs : Singh, Tarunraj, Auteur Année de publication : 2008 Article en page(s) : 9 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : design; linear programming; nonlinear programming; springs; shock absorbers; equations; uncertainty; stiffness Résumé : The focus of this paper is on the design of robust input shapers where the maximum value of the cost function over the domain of uncertainty is minimized. This nonlinear programming problem is reformulated as a linear programming problem by approximating a n-dimensional hypersphere with multiple hyperplanes (as in a geodesic dome). A recursive technique to approximate a hypersphere to any level of accuracy is developed using barycentric coordinates. The proposed technique is illustrated on the spring-mass-dashpot and the benchmark floating oscillator problem undergoing a rest-to-rest maneuver. It is shown that the results of the linear programming problem are nearly identical to that of the nonlinear programming problem. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Minimax input shaper design using linear programming [texte imprimé] / Singh, Tarunraj, Auteur . - 2008 . - 9 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 9 p.
Mots-clés : design; linear programming; nonlinear programming; springs; shock absorbers; equations; uncertainty; stiffness Résumé : The focus of this paper is on the design of robust input shapers where the maximum value of the cost function over the domain of uncertainty is minimized. This nonlinear programming problem is reformulated as a linear programming problem by approximating a n-dimensional hypersphere with multiple hyperplanes (as in a geodesic dome). A recursive technique to approximate a hypersphere to any level of accuracy is developed using barycentric coordinates. The proposed technique is illustrated on the spring-mass-dashpot and the benchmark floating oscillator problem undergoing a rest-to-rest maneuver. It is shown that the results of the linear programming problem are nearly identical to that of the nonlinear programming problem. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 8 p.
Titre : Command shaping for flexible systems subject to constant acceleration limits Type de document : texte imprimé Auteurs : Jon Danielson, Auteur ; Lawrence, Jason, Auteur ; William Singhose, Auteur Année de publication : 2008 Article en page(s) : 8 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : cranes; vibration; flexible systems; impulse (physics) Résumé : Input shaping is an effective means of eliminating vibration in many types of flexible systems. This paper discusses how input shaper performance is affected by a fixed acceleration limit. This type of limit is a common occurrence in many mechanical drive systems because it corresponds to a constant force or torque input. It is shown that some input shapers are not affected by an acceleration limit under certain conditions. A test criterion is developed to determine what types of input shapers are negatively affected, and a method is proposed to compensate for the detrimental effects of the constant acceleration limit. Experimental results from an industrial crane support the main theoretical results. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Command shaping for flexible systems subject to constant acceleration limits [texte imprimé] / Jon Danielson, Auteur ; Lawrence, Jason, Auteur ; William Singhose, Auteur . - 2008 . - 8 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 8 p.
Mots-clés : cranes; vibration; flexible systems; impulse (physics) Résumé : Input shaping is an effective means of eliminating vibration in many types of flexible systems. This paper discusses how input shaper performance is affected by a fixed acceleration limit. This type of limit is a common occurrence in many mechanical drive systems because it corresponds to a constant force or torque input. It is shown that some input shapers are not affected by an acceleration limit under certain conditions. A test criterion is developed to determine what types of input shapers are negatively affected, and a method is proposed to compensate for the detrimental effects of the constant acceleration limit. Experimental results from an industrial crane support the main theoretical results. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 8 p.
Titre : Optimizing learning convergence speed and converged error for precision motion control Type de document : texte imprimé Auteurs : Douglas A. Bristow, Auteur ; Alleyne, Andrew G., Auteur ; Marina Tharayil, Auteur Année de publication : 2008 Article en page(s) : 8 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : design; errors; filters; iterative learning control; accuracy; motion control Résumé : This brief paper considers iterative learning control (ILC) for precision motion control (PMC) applications. This work develops a methodology to design a low pass filter, called the Q-filter, that is used to limit the bandwidth of the ILC to prevent the propagation of high frequencies in the learning. A time-varying bandwidth Q-filter is considered because PMC reference trajectories can exhibit rapid changes in acceleration that may require high bandwidth for short periods of time. Time-frequency analysis of the initial error signal is used to generate a shape function for the bandwidth profile. Key parameters of the bandwidth profile are numerically optimized to obtain the best tradeoff in converged error and convergence speed. Simulation and experimental results for a permanent-magnet linear motor are included. Results show that the optimal time-varying Q-filter bandwidth provides faster convergence to lower error than the optimal time-invariant bandwidth. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Optimizing learning convergence speed and converged error for precision motion control [texte imprimé] / Douglas A. Bristow, Auteur ; Alleyne, Andrew G., Auteur ; Marina Tharayil, Auteur . - 2008 . - 8 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 8 p.
Mots-clés : design; errors; filters; iterative learning control; accuracy; motion control Résumé : This brief paper considers iterative learning control (ILC) for precision motion control (PMC) applications. This work develops a methodology to design a low pass filter, called the Q-filter, that is used to limit the bandwidth of the ILC to prevent the propagation of high frequencies in the learning. A time-varying bandwidth Q-filter is considered because PMC reference trajectories can exhibit rapid changes in acceleration that may require high bandwidth for short periods of time. Time-frequency analysis of the initial error signal is used to generate a shape function for the bandwidth profile. Key parameters of the bandwidth profile are numerically optimized to obtain the best tradeoff in converged error and convergence speed. Simulation and experimental results for a permanent-magnet linear motor are included. Results show that the optimal time-varying Q-filter bandwidth provides faster convergence to lower error than the optimal time-invariant bandwidth. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 7 p.
Titre : Friction and the inverted pendulum stabilization problem Type de document : texte imprimé Auteurs : Sue Ann Campbell, Auteur ; Stephanie Crawford, Auteur ; Kirsten Morris, Auteur Année de publication : 2008 Article en page(s) : 7 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : friction; control equipment; pendulums; delays; equilibrium (physics) Résumé : We consider an experimental system consisting of a pendulum, which is free to rotate 360deg, attached to a cart. The cart can move in one dimension. We study the effect of friction on the design and performance of a feedback controller, a linear quadratic regulator, that aims to stabilize the pendulum in the upright position. We show that a controller designed using a simple viscous friction model has poor performance—small amplitude oscillations occur when the controller is implemented. We consider various models for stick slip friction between the cart and the track and measure the friction parameters experimentally. We give strong evidence that stick slip friction is the source of the small amplitude oscillations. A controller designed using a stick slip friction model stabilizes the system, and the small amplitude oscillations are eliminated. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Friction and the inverted pendulum stabilization problem [texte imprimé] / Sue Ann Campbell, Auteur ; Stephanie Crawford, Auteur ; Kirsten Morris, Auteur . - 2008 . - 7 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 7 p.
Mots-clés : friction; control equipment; pendulums; delays; equilibrium (physics) Résumé : We consider an experimental system consisting of a pendulum, which is free to rotate 360deg, attached to a cart. The cart can move in one dimension. We study the effect of friction on the design and performance of a feedback controller, a linear quadratic regulator, that aims to stabilize the pendulum in the upright position. We show that a controller designed using a simple viscous friction model has poor performance—small amplitude oscillations occur when the controller is implemented. We consider various models for stick slip friction between the cart and the track and measure the friction parameters experimentally. We give strong evidence that stick slip friction is the source of the small amplitude oscillations. A controller designed using a stick slip friction model stabilizes the system, and the small amplitude oscillations are eliminated. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 4 p.
Titre : A robustness issue of control laws designed by the input-shaping methodology Type de document : texte imprimé Auteurs : S. M. Shahruz, Auteur Année de publication : 2008 Article en page(s) : 4 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : stability; feedback; robustness; mechanisms Résumé : In this note, a robustness issue of control laws designed by the input-shaping methodology is brought to the fore. A control law designed by this methodology consists of a sequence of step inputs that are applied at designated time instants by a switching mechanism. It is shown that the stability of systems controlled by such control laws may not be robust in the presence of errors in the switching time instants. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] A robustness issue of control laws designed by the input-shaping methodology [texte imprimé] / S. M. Shahruz, Auteur . - 2008 . - 4 p.
dynamic systems
Langues : Anglais (eng)
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°5 (Septembre 2008) . - 4 p.
Mots-clés : stability; feedback; robustness; mechanisms Résumé : In this note, a robustness issue of control laws designed by the input-shaping methodology is brought to the fore. A control law designed by this methodology consists of a sequence of step inputs that are applied at designated time instants by a switching mechanism. It is shown that the stability of systems controlled by such control laws may not be robust in the presence of errors in the switching time instants. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]
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