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In this work we present the problem of tuning gains for type P-D controller with gravity compensation on a robot of three degrees of freedom. A function for the proportional and derivative gains modifies the amplitude to be adjusted depending on the value of the variables on which it depends. We present the demonstration of stability for the controller. Experimental results of the proposed controller...
A climbing robot is designed to climb a tree with diameter of 10 cm. The robot utilizes modular mechanism as locomotion of the robot that consists of 6 steps which enable the climbing module to carry its weight by using two servo motors. The robot utilizes encompassing grip in gripping module which wrapped the tree to increase the surface area of frictional force. In the initial condition, the climbing...
Performance of servo valve has already been analyzed and improved in the S-domain which is a kind of classical control. In this paper, performance improvement of servo valve is conducted by pole placement that is a method of modern control. Consequently, controllability and stability of suggested model is confirmed and performance improvement is achieved. Furthermore, the research about effect of...
This study investigated a flux oriented control of Active Mass Damper (AMD) induction motor for buildings under seismic ground motion. Composed primarily of an induction motor, a mass bloc and a ball screw, the electric-type active mass damper (AMD) system is free from noise problems, oil leakage, and labor-intensive maintenance that commonly are associated with hydraulic AMD systems. In this study...
Due to its high effiency and high power density, the permanent magnet synchronous motor (PMSM) widely is used in servo drive systems. However, the PMSM position loop is vulnerable to be affected by the uncertainties of motor parameter variations and load disturbances. This paper proposes a new deadbeat control strategy for PMSM, in which a sliding active disturbance rejection controller is adopted...
A five-phase, permanent-magnet synchronous motor with smart stator teeth “SST concept” and without star point connection is presented. The whole power electronics is integrated in the motor housing. This servo drive is much more compact and powerful than the state-of-the-art compact servo drives shown in Fig. 1 and previously published air-cooled concepts, published in [1] or [2]. The drive realizes...
This paper presents a study on control strategy for torque ripple reduction in switched reluctance servo motor. It has been revealed that instantaneous current profiling technique is one of the effective solution to suppress the torque ripple in SR motor. The proposed control consists of ideal current reference profile generation and current tracking control. Assuming that the actual current can accurately...
This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, two contributions are presented: i) A stable force feedback controller that can cope with inherent PAM nonlinearities is synthesized using the dissipativity theory, for each PAM...
In the paper results of using fractional order PI current controller in comparison with using classical one in case of servo drive cascade control system are presented. The issue of modelling static friction, that is the most important factor having a huge influence on the motion and current characteristic especially in case of slow motion and small movements, were also described. The most significant...
This paper deals with high-performance position control of hydraulics servo systems in general. The hydraulic servo system used is a two link robotic manipulator actuated by two hydraulic servo cylinders. A non-linear model of the hydraulic system and a Newton-Euler based model of the mechanical system were constructed and linearized. Controllers are implemented and tested on the manipulator. Pressure...
During the on orbit working process of space station, the docking mechanisms play a very important role. The docking mechanisms bear multi-degree of freedom directions force and torque on the long time on-orbit running. So the multi degree of freedom force and torque fatigue test experiment is necessary for the design and test of docking mechanisms. A multiple-degree of freedom force and torque loading...
The extra torque of electrohydraulic load simulator loading system affects its performance seriously. To eliminate the extra torque, the pressure servo valve control load simulator is proposed. This article establishes the electro-hydraulic load simulator mathematical model based on flow servo valve and pressure servo valve, analyzes the mechanism of overcoming extra torque load and simulation, provides...
This paper introduces a kind of hydraulic control system using direct drive mode to rotate bucket-wheel, presents the principle of the system and the difference between conventional throttle control, valve control and direct drive. The simulation model of bucket-wheel direct drive hydraulic system was established and simplified correspondingly. Eventually got the transfer function of the system. This...
The joint drive of quadruped robot, the highly integrated valve-controlled cylinder (HIVC), whose control performance could effect on the whole machine of the robot directly. In this paper, based on the structure principles of flow servo valve and pressure-flow servo valve, the mathematical models of above two kinds of servo valve are established to analyze their dynamical performance respectively...
It is well known that slip control of lock-up clutch in automatic transmission systems is a crucial technology for improving fuel economy and driving comfort. However, plant parameters rapidly vary according to turbine speed, making the slip control challenging. For this problem, we apply nonlinear output regulation theory for the system represented as a linear parameter-varying system with the turbine...
Single gimbal control moment gyroscope (SGCMG) is used as the actuator of attitude control system for modern satellites. High precision control of the SGCMG gimbal servo system is difficult to achieve because of the existing multi-source and strong coupling disturbances. In this paper, multi-source disturbances are modeling, meanwhile, a high precision controller is designed, including a variable...
Aiming to improve worldwide nursing care system, improving quality of life for elderly and disable people, invention and innovation of human friendly and safe wearable rehabilitation devices are rapidly increasing. This paper presents a novel, low-cost and wearable servo valve using buckled tube for pneumatic actuators. In the previous study, the construction, operating principle and the statics and...
In this paper, we address the problem of traversing rough terrains with hexapod walking robots. Although there can be found several approaches to deal with the terrain complexity, the proposed approach is strictly focused on a minimalist and cheap sensor equipment without additional inertial and exteroceptive sensors. The main idea of the proposed approach is to consider only the feedback from the...
Mobile robots are the subject of many studies in robotics. Nevertheless, there is still a lot to be done in this field of knowledge, especially if it comes to ball-shaped constructions. This document focuses on a design and manual remote control of a mobile spherical robot with an internal pendulum like mechanism.
In servo system, elastic component in transmission can produce mechanical resonance. The existence of backlash will aggravate the damage of resonance. According to dead-zone model, two-mass elastic system with backlash is established. The conclusion that the existence of backlash decreases the elastic coefficient of shaft equivalently and its quantitative relation are researched. This paper proposes...
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