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This article aims to seek approaches to modeling and controlling the motion of mass-flexible structure systems composed of two lumped masses connected by two flexible structures modeled as distributed masses. The system model is first developed, and the system transfer function is then determined. With the system model, there are two control schemes (feedback control and feedforward control) proposed...
In hard disk drive manufacturing, the servo tracks are written with the equipment of servo track writer. External vibrations during servo track writing process give rise to servo track writing error. The servo track writing error can cause some critical errors during data writing operation. This paper proposes two control schemes using an effective Finite Impulse Response (FIR) compensator to attenuate...
The characteristics of servo system play an important role in machining capability of CNC machine tool. The author analyzes the cause of follow error, discusses the relationship between follow error and contour error while machining straight contour, and some computation formularies have been worked out. The method of compound control has been put forward in the last in order to reduce the follow...
This paper proposes a new walking pattern generation method for humanoid robots. This paper uses the linear inverted pendulum model (LIPM) which is composed of zero moment point (ZMP) and center of mass (CoM). Based on LIPM, the proposed method consists of feedforward control and feedback control for walking pattern generation of humanoid robots. The linear quadratic regulator(LQR) as a feedback controller...
This paper proposes a novel iterative tuning algorithm for achieving velocity control of a two-mass torsional motor system with uncertain parameters. The command generator tracking (CGT) theory is used to establish a direct relationship between the physical model parameters of the system and the feedforward parameters of a special 2DOF controller. This relationship enables the controller to be tuned...
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