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In this paper a new controller design method for Electric Power Steering (EPS) system with Variable Gear Transfer System (VGTS) is proposed. The control purpose is to achieve the desired steering gear ratio, the desired power assist with good steering feel and the desired feedback of reaction force from road surfaces to the driver. The basic idea of controller design is to apply decoupling control...
Our previous paper presented a method for reducing adhesion forces by oscillation and showed the adhesion state can be checked by analyzing the data obtained by laser displacement meter. However, there are several problems in this method. 1) The end-effector must be located at the specific point where laser displacement meter can measure oscillation. 2) The adhesion state can not be checked if something...
This paper presents a nonlinear friction modeling and its evaluation for rolling friction behaviors in ball screw-driven table systems. The rolling friction behaves as a nonlinear component in the table drive mechanism, especially in the micro-displacement region, deteriorating the control performance in the fine positioning. The friction characteristic, therefore, should be clarified to provide the...
This paper presents an adaptive control methodology of shaking table systems for earthquake simulators. In the system, reaction force generated by a specimen on the shaking table generally deteriorates the table motion performance, resulting in the lower control accuracy of seismic tests. In order to compensate for the reaction force and to provide the precise table motion, therefore, an adaptive...
In this paper, we propose a precise following control technique that is suppressing the effect of pivot friction by using high precision friction model.
This paper presents a novel position command shaping approach for the mechanical vibration suppression in mechatronic systems. Although conventional command shaping approaches can suppress the specified mechanical vibrations, mechanical and/or electrical perturbations in plant may deteriorate the motion performance. In this research, a linear matrix inequality (LMI) design framework is applied to...
This paper presents a practical control methodology of shaking tables for earthquake simulators. Reaction force generated by a nonlinear specimen on the shaking table generally deteriorates the motion performance of the table, resulting in the lower control accuracy of seismic tests. In order to provide the precise table motion, therefore, a compensator for the reaction force is designed by using...
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