1 edition of A passive element nonlinear controller for torque-saturating servos found in the catalog.
|Statement||by M.L. Minnis and H.D. Parode|
|Contributions||Parode, H. D., University of Michigan|
|The Physical Object|
|Pagination||1 v. :|
Structural control offers opportunities to design new structures and to retrofit existing structures by the application of counter-forces, smart materials, frictional devices, etc., instead of just increasing the strength of the structure at greater cost. Nonlinear system identification and control of chemical processes using fast orthogonal search Journal of Process Control, Vol. 17, No. 9 Inversion-Based Nonlinear End-Tip Control of Flexible Arm in Presence of Large Model UncertaintiesCited by:
I have a project for school and all I need is a way to control a servo motor torque? For typical hobby servo motor current is controlled by the servo H-briidge being pulsed by the servo's controller chip. The pulse durations are controlled by the difference between the servo current position and the servos commanded position. Using Arduino's analog input (ADC), to create a feedback program for the servo to stop when pressure is applied against the servo horn.
Optimizing servo control with an adaptive nonlinear algorithm Servo control software improves applications requiring accurate path tracking and low settling time, such as CNC and cutting, conveyor tracking, pick-and-place operations, PCB mounting, welding, as . Motor Controllers 17 Item(s) Show 20 40 60 All per page.
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Further,theuseofderivativecontrol,aswellaserror-ratecontrol,is investigatedsincethe latter leads todifficultiesin instances where noise appears inthe input signal. A passive element nonlinear controller for torque-saturating servos By M.
Minnis and H. Parode Get PDF (4 MB)Author: M. Minnis and H. Parode. This paper adopts the backstepping design strategy to develop a Lyapunov-based nonlinear controller for a hydraulic servo-system.
Load, hydraulic and valve dynamics are incorporated in the design. Abstract: This work is an extension of the authors' () previous work on high-performance induction motor control in which the magnetic model of the motor was assumed to be linear.
Here, saturation of the iron in the main path of the induction machine is taken into account. The saturation is modeled in the dq coordinate frame and the model is then used to design an input-output.
The time-state controller tries to reduce the machine's deviation from the guideline, the impedance controller, on the other hand, generates power to assist the operator's maneuver.
Control System Technology focuses on the processes, methodologies, and techniques employed in control system technology, including digital computers, transducers, actuators, and amplifiers.
The book first takes a look at classification, terminology, and definitions, displacement, reference, and velocity of transducers, and strain, force, torque, acceleration, load, and tension of transducers.
Passive and accurate torque control of series elastic actuators Abstract: The principle of series elastic actuation offers considerable advantages for haptic displays compared to stiff actuators. The interaction force between motor and load is directly proportional to their relative position, which corresponds to the elongation of the elastic.
Recently, two saturated PID controllers have been reported: a semiglobal saturated linear PID control (Alvarez, et al., ) and a global saturated nonlinear PID control (Gorez, ).
In this paper we introduce a new global saturated nonlinear PID controller, which has a simpler structure than that presented in (Gorez, ).Cited by: Microstepping With Nonlinear Torque Modulation for Permanent Magnet Stepper Motors Article in IEEE Transactions on Control Systems Technology 21(5) December with 94 Reads.
In this paper, a bondgraph based passive teleoperation architecture is proposed for the non- linear dynamic modeled backhoe. Passive control is designed in two stages. In contrast with the vibration isolation regime, which requires active elements, the gravity compensation can be provided in a passive manner, i.e., without the need for power consumption.
Motion Controllers & Drivers for Linear, Torque, Stepper & DC Servo Motors PI develops motion control solutions in-house to best adjust the features to the requirements of both drive and application. The proposed controller design method for Wiener systems was applied to a pH process (Palancar et al., ), which involves the neutralization of acetic acid (AcH), propionic acid (PrH), and sodium hydroxide (NaOH) in a single tank.
Without buffering, the process exhibits a high degree of nonlinearity. Download figure: Standard image High-resolution image Export PowerPoint slide In figure we can see how different elements of setting, magnitudes of adjustment and magnitudes of control in a servo system are used .Among the elements of a complete control system, the regulators and comparators are fundamental.
A global control strategy of linear and nonlinear control methods is developed for application to the design of hydraulic suspensions in ground vehicles. A nonlinear, three-dimensional passenger car model of 7-dof is used to investigate vehicle ride capabilities with hydraulic actuators employed as active suspension by: 6.
Martin Bates, in Interfacing PIC Microcontrollers (Second Edition), Servo Systems. A servo system controls the output speed or position of a mechanical output using feedback. Originally, analogue control was used; now digital systems achieve the same result.
The controller must be designed to produce the required dynamic response in conjunction with the mechanical load. In the non-linear circuit, the non-linear elements are an electrical element and it will not have any linear relationship between the current & voltage.
The example of the nonlinear element is a diode and some of the nonlinear elements are not there in the electric circuit is called a linear circuit. servo-control (turn the motor into a servo-motor). Note that hobby servos are not to be confused with a full-blown servo motor which has controllable position with no limits on rotation - industrial servo-motors are very expensive, but it is possible to roll you own given a motor, motor driver and an encoder and operating a.
The inverse dynamics analysis of underactuated multibody systems aims at determining the control inputs in order to track a prescribed trajectory. This paper studies the inverse dynamics of non-minimum phase underactuated multibody systems with serial and parallel planar topology, e.g.
for end-effector control of flexible manipulators or manipulators with passive by: Nonlinear Disturbance Observer-Enhanced Dynamic Inversion Control of Missiles. Disturbance-observer-based-control and L 2−L ∞ resilient control for Markovian jump non-linear systems with multiple disturbances and its application to single robot arm system Composite disturbance-observer-based output feedback control and passive Cited by:.
To achieve favorable vibration isolation performance of the passive element beyond the control bandwidth of the active element, the dynamic stiffness of the active element is required to be : Sung-Ryong Hong.
The control strategy takes advantage of the natural passive dynamics of the upper chamber to provide much of the required actuation forces and natural stiffness, while the remaining forces needed to overcome the energy dissipation present in a nonideal system with losses are provided by a nonlinear control law for the charging and discharging Cited by: 2.