Download or read book High Performance Control of a Transmission Based Servo Actuator System written by and published by . This book was released on 2006 with total page 274 pages. Available in PDF, EPUB and Kindle. Book excerpt: High performance actuation is a key factor in the industrial robot area. The transmission based servo actuator system (TBA) is a new type of robot actuator with a brushless DC servo motor and a three speed discrete variable transmission (DVT). The proposed TBA design can match the performance of a typical hydraulic actuator with compact size and weight. The TBA is a typical hybrid dynamic system consisting of three continuous dynamic systems and a discrete state controller. This dissertation addresses the fundamental problems associated with the TBA system control from a hybrid system point of view. A detailed dynamic model of the TBA is developed. Due to the complexity of the TBA system, an exact model is unwieldy for control design and analysis purposes. In this research, the TBA system is simplified into a hybrid system with three second order linear time invariant systems, on which all the controls are developed. Dynamic stability of the TBA is critical for its function as a servoactuator. For a hybrid system, the stability problem has much broader range of issues than a purely continuous system. In general, the plant stability and the subsystem stability are independent. For example, a hybrid system with stable subsystems can be unstable for certain switch sequences; on the other hand, a hybrid system with unstable subsystems can be stabilized by proper switch signals. In this dissertation, a sufficient condition is established for stability of the TBA system. It is proven that the hybrid system is stable under asynchronous switching if there exists a common Lyapunov function for all subsystems. It is proven that the TBA subsystems can have a common Lypunov function by designing appropriate feedback controller. The feedback controller to stabilize the TBA can be transformed into a PID equivalent controller because the subsystems are second order linear time invariant systems (LTI). The PID controller was then implemented and high performance in terms of position error and transient suppression has been achieved. The discrete state controller should be stable, which means that its output should be consistent if the hybrid system is subjected to disturbances. A common phenomenon is that the state changes back and forth very frequently near the switch boundary, which is referred to as transition instability. This research proposes a switch strategy consisting of two boundaries to achieve the transition stability, and it is proved that the proposed switch strategy is transition stable. An optimal controller is designed and difficulties associated with implementation are generated. Based on the proposed control methods, a multithread real time control software has been developed to achieve a deterministic control loop sampling. The control software is developed in C/C++ under Real Time Application Interface (RTAI), which provides a real time programming environment in a normal Linux operating system. With the proposed controller and a prototype TBA test system, TBA stability and control performance was demonstrated and evaluated. The following results were observed: 1. Steady state error of 0.005 degrees at the emulated robust manipulator shoulder pitch joint. 2. Control loop sampling period of 1 millisecond with negligible delay. 3. Transient disturbances associated with the gear shifting of ~20% in most cases. 4. The methods and applications used in this dissertation can be extended to a large range of hybrid dynamic systems in terms of control system design, analysis and implementation. This research contributes to the literature and research knowledge base in the following ways: 1. Exploration and solution of the control problems of TBA's in the hybrid system control context. 2. Expansion of the fundamental understanding of the practical control issues of TBA's. 3. Analysis, design, and implementation of a real time TBA control system, and identification of the most suitable control strategy for the TBA. 4. The development of analysis and control methods that can be extended to a much broader range of hybrid dynamic systems.

Download or read book Analysis and Design of a Gear Shifting Mechanism for Transmission Based Servo actuators written by Kalyana Bhargava Ganti and published by . This book was released on 2003 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The fundamental idea of Transmission Based Actuators (TBA) is to incorporate a multi-speed transmission to spread a servomotor's torque speed characteristics across a wider output speed range. TBA uses multi-speed transmissions such that heavy, high-torque motors can be traded for high-speed, reduced mass motor-transmission combinations. TBA design consists of a D.C. Brushless motor, discrete gear transmission and a fixed reduction. Of these, the fundamental to the proof of principle of TBA is the design of the discrete gear transmission. Basically the DVT is a three-speed gearbox consisting of 3 sets of epicyclic gears. Every planetary gear set is a two-degree of freedom system. In the present design one input is always the sun gear and the other is the ring gear. The motor gives one input to the planetary gear and the second input to the planetary gear set is obtained by locking the band brakes such that the ring gear speed is zero. Three different speeds are obtained by selectively and synchronously locking the three annular ring gears using corresponding external flexible band brakes. The complete dynamic model of the Gear Shifting Mechanism (GSM) has been developed and the braking torque has been estimated. The gear shifting mechanism primarily consists of a band brake, a series of mechanical linkages and electrical actuator. It is used to stop the ring gear, rotating at a very high speed and hold it to obtain the desired gear ratio. Then a brake test stand has been designed and built to test the functionality of the GSM. The effective braking torque and the system time constant were measured for both dry and wet conditions. The obtained test results have been analyzed with respect to the predicted simulated results.

Download or read book Mechanical Design and Analysis of a Discrete Variable Transmission System for Transmission based Actuators written by and published by . This book was released on 2004 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Over the past few years, replacing the hydraulic servo actuators with their electrical counter parts for robotics and remote handling systems has been an active field of research. These systems are of particular interest for tasks involved with the US Department of Energy, where the level of radiation exposure is high and the tasks are highly repetitive. With the hydraulic servo actuators, one is concerned with the issues like the high complexity, cost of the system and the difficulty of maintenance of the system. For high payload operations, the hydraulic systems provide an order of magnitude increase in the power density, which is almost impossible to achieve using the electrical servo actuators. Hence, for the electrical servo actuators to be used for high payload operations, the fundamental issue concerning the power and torque density must be addressed. Previous research conducted on this front suggested the use of a variable speed transmission system to spread the servomotor's torque-speed characteristics across a wider output speed range. This has the effect of allowing smaller high power motors to also deliver high torques at low speeds. By using a variable speed transmission, the motor size can be reduced dramatically while increasing the overall actuator power density in the process. This work goes further into the detailed design of the discrete variable transmission system. A three-stage planetary gear transmission system is considered for the analysis and design. With the use of the three-stage planetary gear transmission, there are a complex and varied design issues involved. Selecting a configuration for the transmission is the first question to be answered. With the given configuration, and the ratios required the individual gears have to be sized accordingly. Other design elements involve the design of the shafting, achieving the desired configuration, bearings, housing and the design of a gear shifting mechanism. A detailed kinematic and dynamic analysis of the entire gear system is required for the design of the various components mentioned above. Analytical results are presented along with a computer-aided analysis of the work using the Pro-Engineer design and analysis software. Future work on this will be to turn this into a commercially available system, which comes down to optimizing the current design. Possibilities of optimization for the current design will be identified. A discussion on the prototype evaluation of the transmission system along with a sample test result is presented.

Download or read book Power Transmission and Motion Control PTMC 2001 written by Clifford R. Burrows and published by John Wiley & Sons. This book was released on 2001-11-28 with total page 376 pages. Available in PDF, EPUB and Kindle. Book excerpt: Advanced in fluid power engineering motion and control Power Transmission and Motion Control is a collection of papers showcased at the PTMC 2001 conference at the University of Bath. Representing the work of researchers and industry leaders from around the world, this book features the latest developments in power transmission, with an emphasis on motion and control studies from the field of fluid power engineering. Insight into current projects on the forefront of technology and innovation provides an overview of the current state of the field while informing ongoing work and suggesting direction for future projects.

Download or read book Towards High performance Force controlled Pneumatic Actuator with Long Transmission Lines written by Khurram Mahmood Butt and published by . This book was released on 2018 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: A force-controlled pneumatic actuator with long connecting pneumatic tubes is a well-accepted solution to develop MRI-compatible force control applications. Such an actuator represents an uncertain, second-order, nonlinear system with input delay. The integral sliding mode control, because of guaranteed robustness against matched uncertainties throughout the system response, provides a favorable option to design a robust controller for the actuator. However, if the controller is based on a linear integral sliding surface, the response of the actuator overshoots, especially when there are large initial errors. Minimizing overshoot results in a smaller controller bandwidth and a slower system response. This thesis presents a novel nonlinear integral sliding surface to improve the transient response of the actuator. The proposed surface is a linear integral sliding surface augmented by a nonlinear function of tracking error and does not have a reaching phase when there are initial errors and even multiple steps in the desired trajectory. The surface enables the integral sliding mode controller to offer variable damping during the system response and minimizes the overshoot without compromising the controller bandwidth, rise, and settling times. The thesis also implements logically driven, time-efficient tuning of controller for desired transient response of the actuator. For this purpose, first a novel multimodal optimization algorithm is proposed which has better globalization and lower numerical cost as compared to the evolutionary, swarm and available globalized local search optimization methods. Next, the effectiveness of the proposed algorithm is examined for model-based and model-free tuning of a position controller for a servo pneumatic system whose performance has been reported in another doctoral thesis after rigorous trial-and-error tuning. On yielding better results, the same algorithm-based tuning is used to tune the force controllers having the linear and proposed nonlinear integral sliding surfaces for desired actuator response and performance comparison. Simulation studies and experimental tests conducted on a prototype MRI-compatible test rig show that the controller based on the proposed sliding surface successfully eliminates the overshoot without compromising the controller bandwidth, rise, and settling times. It also outperforms the controller having a linear integral sliding surface. The thesis also establishes the asymptotic stability of the proposed controller using Lyapunov's stability criterion.

Download or read book Dissertation Abstracts International written by and published by . This book was released on 2006 with total page 774 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Applied mechanics reviews written by and published by . This book was released on 1948 with total page 400 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book NASA Technical Note written by and published by . This book was released on 1969 with total page 712 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Engineering for Surgery written by Nicola Pio Belfiore and published by MDPI. This book was released on 2020-12-10 with total page 204 pages. Available in PDF, EPUB and Kindle. Book excerpt: This Special Issue offers a little taste of the immense variety of an intrinsically vast and interdisciplinary subject, namely, the applications of engineering to surgery. Some of these have been successfully applied or are still under development, while we have been offered a preview of others thanks to the fantasy of creative science fiction writers. This Special Issue aims to stimulate the interest of engineers and surgeons, who will benefit from mutual advantages gained from their cooperation.

Download or read book Dynamic Performance Analysis of a Fuel control Valve for Use in Airbreathing Engine Research written by Peter G. Batterton and published by . This book was released on 1969 with total page 34 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Proceedings of 2023 Chinese Intelligent Systems Conference written by Yingmin Jia and published by Springer Nature. This book was released on 2023-11-05 with total page 850 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the proceedings of the 19th Chinese Intelligent Systems Conference, CISC 2023, which was held during October 14–15, 2023, in Ningbo, Zhejiang, China. The book focuses on new theoretical results and techniques in the field of intelligent systems and control. This is achieved by providing in-depth studies of a number of important topics such as multi-agent systems, complex networks, intelligent robots, complex systems theory and swarm behavior, event-driven and data-driven control, robust and adaptive control, big data and brain science, process control, intelligent sensors and detection technology, deep learning and learning control, navigation and control of aerial vehicles, and so on. The book is particularly suitable for readers interested in learning intelligent systems and control and artificial intelligence. The book can benefit researchers, engineers and graduate students.

Download or read book Scientific and Technical Aerospace Reports written by and published by . This book was released on 1994 with total page 328 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book High Precision Control of Indirect Drive Systems Based on End effector Sensor Information written by Cheng-Huei Han and published by . This book was released on 2009 with total page 252 pages. Available in PDF, EPUB and Kindle. Book excerpt: This dissertation emphasizes the use of end-effector sensor information for the performance enhancement of indirect drive systems for motion control. Indirect drive systems, unlike direct drive systems, use gear transmission mechanisms in the chain of links and actuator for the purpose of speed reduction and torque amplification. As a result, they are widely used in applications that require high torque capacity such as robotic applications. The gear transmission mechanisms, however, introduce compliance and nonlinear properties such as friction and hysteresis to the system. Moreover, when robots are driven at high speeds to increase productivity and quality, oscillations on the end-effector often occur caused by the transmission mechanism. Thus, the use of gear mechanisms brings great challenges to the design of servo control systems for robot manipulators that requires high precision at high speed. To enhance the performance of servo control systems for robot manipulators, this dissertation first presents a tuning method that automatically finds the servo gains of fixed structure controllers for a specified trajectory. The current practice is to tune the controller gains manually, which is a time-consuming task even for experienced control engineers. An automated gain tuning process saves not only time but also the labor cost. The tuning method presented in this dissertation finds the optimal controller gains using real-time nonlinear programming. The controller gains are tuned and the effectiveness of the tuning method is demonstrated by experiments. The dissertation then presents an adaptive disturbance cancellation scheme to reduce the oscillations caused by the transmission error from speed reducers. To enhance performance of the adaptive scheme while maintaining a good transient response, two modifications are introduced to the basic compensation structure. Experimental results confirm the effectiveness of the proposed schemes and the improvement in load side performance. Robots often perform the same task repeatedly in industrial applications and thus the tracking error becomes repetitive from one run to another. Iterative learning control is a practical and promising method that reduces the error which repeats in every cycle. An optimization-based iterative learning controller design for the purpose of disturbance rejection is proposed in the third part of this dissertation. It is a model-based design method, where the trade-off between performance and robustness can be handled. Two iterative learning controllers based on different sensor information are designed and compared. Due to the lack of load side position measurements, a load side position estimation algorithm based on Kalman filtering is proposed. The experimental results are presented to confirm the effectiveness of the estimation scheme and the benefits of applying learning controllers for rejecting load side vibrations. Experiments of the research issues mentioned above are performed on a single axis test stand. As the first step to generalize the control algorithms developed in this dissertation to actual multi-degree-of-freedom robots, system identification of the FANUC M-16iB robot is presented in the last part of this dissertation.

Download or read book Machine Learning and Mechanics Based Soft Computing Applications written by Thi Dieu Linh Nguyen and published by Springer Nature. This book was released on 2023-03-01 with total page 323 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights recent advances in the area of machine learning and robotics-based soft computing applications. The book covers various artificial intelligence, machine learning, and mechanics, a mix of mechanical computational engineering work. The current computing era has a huge market/potential for machine learning, robotics, and soft computing techniques and their applications. With this in view, the book shares latest research and cutting-edge applications useful for professionals and researchers in these areas. ​

Download or read book Official Gazette of the United States Patent Office written by United States. Patent Office and published by . This book was released on 1973 with total page 1472 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Encyclopedia of Automotive Engineering written by and published by John Wiley & Sons. This book was released on 2015-03-23 with total page 3888 pages. Available in PDF, EPUB and Kindle. Book excerpt: Erstmals eine umfassende und einheitliche Wissensbasis und Grundlage für weiterführende Studien und Forschung im Bereich der Automobiltechnik. Die Encyclopedia of Automotive Engineering ist die erste umfassende und einheitliche Wissensbasis dieses Fachgebiets und legt den Grundstein für weitere Studien und tiefgreifende Forschung. Weitreichende Querverweise und Suchfunktionen ermöglichen erstmals den zentralen Zugriff auf Detailinformationen zu bewährten Branchenstandards und -verfahren. Zusammenhängende Konzepte und Techniken aus Spezialbereichen lassen sich so einfacher verstehen. Neben traditionellen Themen des Fachgebiets beschäftigt sich diese Enzyklopädie auch mit "grünen" Technologien, dem Übergang von der Mechanik zur Elektronik und den Möglichkeiten zur Herstellung sicherer, effizienterer Fahrzeuge unter weltweit unterschiedlichen wirtschaftlichen Rahmenbedingungen. Das Referenzwerk behandelt neun Hauptbereiche: (1) Motoren: Grundlagen; (2) Motoren: Design; (3) Hybrid- und Elektroantriebe; (4) Getriebe- und Antriebssysteme; (5) Chassis-Systeme; (6) Elektrische und elektronische Systeme; (7) Karosserie-Design; (8) Materialien und Fertigung; (9) Telematik. - Zuverlässige Darstellung einer Vielzahl von Spezialthemen aus dem Bereich der Automobiltechnik. - Zugängliches Nachschlagewerk für Jungingenieure und Studenten, die die technologischen Grundlagen besser verstehen und ihre Kenntnisse erweitern möchten. - Wertvolle Verweise auf Detailinformationen und Forschungsergebnisse aus der technischen Literatur. - Entwickelt in Zusammenarbeit mit der FISITA, der Dachorganisation nationaler Automobil-Ingenieur-Verbände aus 37 Ländern und Vertretung von über 185.000 Ingenieuren aus der Branche. - Erhältlich als stets aktuelle Online-Ressource mit umfassenden Suchfunktionen oder als Print-Ausgabe in sechs Bänden mit über 4.000 Seiten. Ein wichtiges Nachschlagewerk für Bibliotheken und Informationszentren in der Industrie, bei Forschungs- und Schulungseinrichtungen, Fachgesellschaften, Regierungsbehörden und allen Ingenieurstudiengängen. Richtet sich an Fachingenieure und Techniker aus der Industrie, Studenten höherer Semester und Studienabsolventen, Forscher, Dozenten und Ausbilder, Branchenanalysen und Forscher.

Download or read book DC Motors Speed Controls Servo Systems written by Sam Stuart and published by Elsevier. This book was released on 2013-10-22 with total page 529 pages. Available in PDF, EPUB and Kindle. Book excerpt: DC Motors - Speed Controls - Servo Systems: An Engineering Handbook is a seven-chapter text that covers the basic concept, principles, and applications of DC and speed motors and servo systems. After providing the terminology, symbols, and systems of units, this book goes on dealing with the basic theory, motor comparison, and basic speed control methods of motors. The subsequent chapters describe the phase-locked servo systems and their optimization and applications. These topics are followed by a discussion of the developments made by Electro-Craft in the field of DC Brushless Motors. The final chapter provides revised data sheets on Electro-Craft products and describes the models in the motomatic range of speed controls, servomotor controls, and digital positioning systems. This handbook is of great value to professional engineers and engineering students.