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According to the positioning accuracy requirements of the two-dimensional precision positioning system, a two dimensional intelligent positioning control system is used in our study. The precision positioning experiment is also conducted. The experimental result shows that the positioning accuracy and the dynamic performance of the fuzzy neuron self-adaptive PID control system in high-speed movement...
Shape memory alloy (SMA) composites offer a great potential as actuators because of its excellent power to weight ratio, smooth motion and silent actuation. However, SMA actuated robotic manipulator systems have severe hysteresis, system nonlinearities, model and parametric uncertainties those are often responsible for position inaccuracy in a regulation or tracking system. A simple and upstanding...
Direct Current (DC) servomotors are widely used in robot manipulator applications. Servomotors use feedback controller to control either the speed or the position or both, and the basic continuous feedback control is PID controller. This paper discusses the modeling and simulation of DC servomotor control built using MATLAB/Simulink, and the analysis of controller performance, namely a PID controller,...
Universal stretch and bending machine (USBM) is a combination of stretch machine and bending machine which are used in car door sash production. The main purpose of combining these two machines is to reduce the number of machines, space utilization and increase productivity. This paper presents the design and modeling for revolute control techniques of USBM simplified module. Conventional proportional-integral-derivative...
Aiming at the problem that the single position closed loop PID controller cannot meet the specifications of the motion control of the great inertia system with backlash, a double position closed loop fuzzy PID controller is proposed in this paper. Compared with the general fuzzy logic controller and PID controller, the results show that this control method can greatly improve the system's control...
A control scheme based on fuzzy adaptive PID with a Modified Smith Predicator (MSP) for the control of micromanipulation is proposed. For the vision delay, a timing modeling of visual servoing system is built. According to analysis for the position based dynamic look and move control scheme, the control scheme employs fuzzy PID with a similar structure to the Smith predictor called modified Smith...
The essential problem in controlling robots is to make the manipulator follow a desired trajectory. This paper presents the genetic algorithm tuned fuzzy PID controller (GAFPID) to follow the desired trajectory for a three degree of freedom (DOF) robot arm. Numerical simulation using the dynamic model of three DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative...
The paper examines the applicability of Iterative Feedback Tuning (IFT) to the position control of the inverted pendulum system in crane mode. Two control solutions are considered, the linear one employing two PID controllers and the fuzzy control one based on two PID-fuzzy controllers. Real-time experiments validate the controller designs.
An enhancement of the dynamic behavior of the rotating shaft work at high operating speed by using Squeeze film dampers (SFDs) has been becoming an important part in changing the dynamic characteristics of machinery. In this paper, a new type Controllable Squeeze Film Damper (CSFD) is proposed, designed and fabricated by changing the clearance of the thin-film fluid. Both of the critical speed and...
The "ball-in-tube" experiment can be applied in some industrial field such as oil industry .etc. It is more of being used in the university laboratory for researching non-linear control technology. The control object for "ball in a tube" is to regulate the speed of a fan blowing air into a tube so as to keep a Ping-Pang ball suspended at some predetermined position in the tube...
In this paper, a modified fuzzy gain scheduling PID controller via particle swarm optimization (PSO) method has been investigated. Unlike traditional try and error method or other tuning methods, some important tunable variables of proposed controller are determined by PSO method, i.e., the boundary and slope of membership functions. The gain margin and oscillation frequency determined by traditional...
The positioning systems generally need a good controller to achieve high accuracy, fast response and robustness. In addition, ease of controller design and simplicity of controller structure are very important for practical application. For satisfying these requirements, NCTF (nominal characteristic trajectory following controller) has been proposed as a practical point-to-point (PTP) positioning...
A precision positioning micro-stage driven by the piezoelectric actuator (PZT) is designed in this paper. The mathematic model of the micro-stage is modeled. Based on the theoretical calculation and the finite element analysis by ANSYS, the micro-stage is designed, which has the advantages of high precision, fast frequency response and high structural compaction. In order to overcome the inherent...
The applications of switched reluctance motors (SRM) have being increased day by day, but it is a multivariable, strong-coupling and highly nonlinear system, there are lots of difficulties to model and control. This paper proposes a non-linear model and a small-signal model to a four-phase 8/6 pole SRM according to the non-linear and quasi-linear inductance models of it. On the basis of the non-linear...
Aimed at combining the advantages of the lightweight mechanism and the passive compliant movement, pneumatic actuators are used to drive a series of climbing robots to meet the requirements of glass-wall cleaning for high-rise buildings. The pneumatic systems in Sky Cleaners include X, Y and Z cylinders, brush cylinders and the vacuum suckers. The major challenge in the pneumatic systems is the ability...
In order to decrease the orientation error induced by motion control of a differential-drive mobile robot, a fuzzy logic cross-coupling motion controller that integrates the cross-coupling control and fuzzy logic techniques together is presented. Cross-coupling control can directly minimize the orientation error by coordinating the motion of the two drive wheels. Experimental results show that the...
Shape memory alloy (SMA) actuators, which have ability to return to a predetermined shape when heated, have many potential applications in aeronautics, surgical tools, robotics and so on. Although the number of applications is increasing, there has been limited success in precise motion control since the systems are disturbed by unknown factors beside their inherent nonlinear hysteresis or the surrounding...
Variation of the system parameters and external disturbances always happen in the CNC servo system. With a traditional PID controller, it will cause large overshoot or poor stability. In this paper, a fuzzy-PID controller is proposed in order to improve the performance of the servo system. The proposed controller incorporates the advantages of PID control which can eliminate the steady-state error,...
This paper focuses on the design of T-S fuzzy path controller for improving the high-speed tracking accuracy of a four-wheel omnidirectional mobile robot (ODMR). Usually, when an ODMR moves in high speed, the adverse effects induced by Coriolis force significantly deteriorate the tracking performances. In this paper, a T-S fuzzy control designed with both the state feedback and path tracking error...
This paper presents a fuzzy switching grey prediction PID controller to an experimental propeller setup which is called the twin rotor multi-input multi-output system (TRMS). The goal of this study is to stabilize the TRMS in significant cross coupling conditions and to experiment with set-point control and trajectory tracking. The proposed scheme enhances the grey prediction method of difference...
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