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In this paper, an analysis is conducted to compare the performances of two permanent magnet synchronous motor position controllers. Both simulation and experimental results show that if the position loop is sampled at a higher rate than the speed and currents loops, both structures (IP+P or P+IP) lead to suitable dynamic and static performances on condition that a proper time sharing is adopted.
Autonomous Underwater Vehicle (AUV) has a strong-coupling nonlinear motion system. Thus, nonlinearity must be considered in the design of AUV' control system. And the control method which is independent of model must be taken into account, too. Fuzzy S plane controller was adopted to solve the motion control problem under various velocities in the paper. Fuzzy control principle was used to adjust...
Paper presents a position control system capable of achieving the prescribed speed and position response, for drives with PMSM and a significant vibration mode. The controller is of cascade structure, comprising an inner speed control loop and an outer position control loop. The inner speed control system complies with principles of vector control and feedback linearisation. The outer position loop...
In this paper, a fuzzy PI (FPI) controller is proposed for position control of six-phase induction motor (6PIM). The fuzzy controller is tuned by using the genetic algorithm so that a high performance of the overall system's response can be achieved. The performance and the robustness of the control system are tested for fully loaded and widely load inertia variations. The proposed scheme is compared...
Considering the disadvantages of STT (Skid-to-Turn) control technology, a kind of ATT (anti-torpedo torpedo) control technique based on BTT (Bank-to-Turn) is proposed. The roll maneuverability mathematics model of ATT is analyzed and predigested necessarily. The roll interference and control equations of ATT are established. Then the roll interference time course and roll angle rapidity are obtained...
The article deals with the mechanical machinery whose task is to juggle using the servo drive system. The ball juggler is an open loop system which uses attractive algorithms with no feedback information about the actual ball position. The position control of juggling arms is the basis of the movement system which works on mathematical model for throwing ball and catching with juggling arms. Our work...
This paper presents a sliding mode control scheme to control a class of electro-hydraulic actuator system. A reaching law and varying boundary layers approaches are proposed in the scheme. The reaching law is aimed to solve the effect of chattering and minimize the reaching time. While, varying boundary layers algorithm is applied to ensure position tracking accuracy and smooth control action. The...
A CODOG system simulation model is built in Matlab/SIMULINK environment, and the model is integrated and improved by using MFC. Then the simulation model is validated by trail data of the ship at sea. Two different “engine-CPP” associated control approaches of accelerating process are proposed, and each approach is simulated and designed. The simulation result shows that adopting the accelerating...
A study of one-dimensional position control of a light iron ball levitated by one electromagnet is proposed in this work. The vertical position of the ball is the target of the proposed control strategy. It is assumed that the position measurement of the ball is inaccessible and thus, estimates of the position are utilized as the feedback signal to the controller. Control of the ball's position is...
This thesis studied the hydraulic servo system used on main press equipment of a multi-roller reversible cold rolling mill. Nozzle flapper type of electrohydraulic servo valve is now widely used. This type of servo valve has such problems as bad contaminating resisting ability, easy to be blocked by contaminating material and requires for highly system maintenance. These problems restricted the reliability...
Today, positioning techniques like GPS already has satisfied performance in outdoor environment, but there are many problems in indoor positioning, and some conventional methods for indoor positioning also have their disadvantage. In order to overcome these problems and find a better performance over these methods, we proposed a new positioning and tracking method. It is based on the wireless sensor...
The acrobot is an under-actuated three-joint planar robot that mimics the human acrobat who hangs from a bar and tries to swing up to a perfectly balanced upside-down position with his/her hands still on the bar. In this paper we first design the under-actuated three-joint acrobot which like human being both in actuate and appearance. And then, dynamic model is derived by Lagrange equations, and controllable...
The trajectory of incoming missile and shrapnel are analyzed to make sure that the incoming missile would be within the distribute range of bullets dispersed by the shrapnel. In the case of the center of bullet group hits the target, the miss distance is optimized with the angle of fire and direction angle as the optimization variables in MATLAB. An unconstrained optimization function `fminsearch'...
This work presents a practical approach to the control of tool's position, in orthogonal cutting, in the presence nonlinear dynamic cutting forces and machine tool dynamics. The controller is Linear Quadratic Gaussian (LQG) type constructed from an augmented model of machine tool realization, tool-actuator dynamics, and a nonlinear dynamic model relating tool displacement to cutting forces. The latter...
This paper presents, an Electro-Mechanical Actuator (EMA) based position control system with redundancy technique is being presented. The servo system is composed of two chains, a prime chain and a redundant chain, which includes the position servo system of the EMA. Only one chain works at a time, probably the main chain operates during normal condition of the system. A new, simpler fault detection...
In this paper, we proposed a hierarchical artificial neural network based adaptive fuzzy logic (HANNFL) control of flexible link carrying pendulum system which was assumed as scaled a tower crane system and capable to move in the horizontal plane. Simulation and experimental studies were realized to control position and tip displacement of the flexible link and swing angles of pendulum. The dynamic...
In this paper, design of an adaptive neural network based interval type-2 fuzzy logic controller (ANNIT2FL), circular and handwriting type trajectory planning are proposed to show ability of a 3-DOF( Degree of Freedom ) Scara type robot manipulator. The kinematic and the dynamic equations are used to obtain equations of motion of robot manipulator and three different rise functions are chosen for...
Hydraulic actuator has been widely used in industrial equipments and processes principally due to its high-power density and system solution that it can provided. The natural nonlinear property of hydraulic cylinder has challenged researchers in designing suitable controller for positioning control, motion control and tracking control. This paper proposes a controller design using trajectory-adaptive...
In order to cancel mechanical sensors in the speed controller system of PMSM, a method of rotor position detection speed/position observation based on active control is proposed. It composed active control strategy of observer according to the error between measured current and observed current, then the rotor's speed/position can be calculated with back-EMF which is estimated. Simulation results...
A pursuer UAV tracking and loitering around a target is the problemanalyzed in this work. The UAV is assumed to be a fixed-wing vehicle and constant airspeed together with bounded lateral accelerations are the main constraints of the problem. The pursuer motion control law proposed in this paper is based on the definition of an oscillatory motion created by a center of oscillation: it allows the pursuer...
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