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The paper presents an innovative approach for designing a mechatronic system. The proposed methodology integrates modern design techniques like Model based design; Rapid Control Prototyping and Hardware in the Loop in the development process of such systems. Using the proposed method a 6 DOF parallel robot is developed. The results regarding the implementations and the advantages of the proposed design...
The paper proposes a control design approach based on a multipoint linearization method for linear electro-hydraulic servo systems. The nonlinear model - which includes the nonlinearities of friction forces, valve dynamics, oil compressibility and load influence - is developed by means of the associated differential equations. Based on some mathematical transformations and approximations, the model...
The paper presents an approach for developing and testing the control system for a parallel structure using rapid control prototyping (RCP). The control algorithm is developed and simulated using Simulink, the implementation of the algorithms is made using the Matlab toolbox real time workshop and the DS1104 board from dSpace. The method is applied for a plan parallel robot with three degrees of freedom...
This paper presents some applications of a model based predictive control (MBPC) type algorithm which Is applied to nonlinear processes. The basic Idea of the algorithm Is the on-line simulation of the future behaviour of the control system, by using a few candidate control sequences. Then, using rule based control these simulations are used to obtain the 'optimal' control signal. The efficiency and...
This paper presents some applications of a model based predictive control (MBPC) type algorithm which is applied to nonlinear processes. The basic idea of the algorithm is the on-line simulation of the future behaviour of the control system, by using a few candidate control sequences. Then, using rule based control these simulations are used to obtain the 'optimal' control signal. The efficiency and...
In the paper, different approaches concerning the control of PKM (Parallel Kinematic Machines) are presented. The paper is focused on a Model Based Predictive Control (MBPC) type algorithm which uses on-line simulation and rule-based control. The efficiency and applicability of the proposed algorithm for a SISO motion system are demonstrated through applications.
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