The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.最新文献_第5页

Quarry of environmental information based on twin robot system Environment Quarrier 基于双机器人系统的环境信息采集

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297674

S. Katsura, Y. Matsumoto, K. Ohnishi

引用次数: 13

Backlash vibration suppression in torsional system based on the fractional order Q-filter of disturbance observer 基于扰动观测器分数阶q滤波器的扭转系统侧隙振动抑制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297932

Chengbin Ma, Y. Hori

{"title":"Backlash vibration suppression in torsional system based on the fractional order Q-filter of disturbance observer","authors":"Chengbin Ma, Y. Hori","doi":"10.1109/AMC.2004.1297932","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297932","url":null,"abstract":"In this paper, a fractional order Q-filter 1/(Ts+1)/sup /spl alpha// is introduced to substitute the integer order Q-filter 1/(/spl tau/s+1)/sup n/ used in conventional disturbance observer for speed control of torsional system. The theoretical analysis and experimental results show that changing the Q-filter's order fractionally can give a more effective way to adjust control system's frequency and time responses than just tuning it among integer orders. The tradeoff between stability margin loss and the strength of vibration suppression is a common problem in torsional system control. By introducing fractional order control (FOC) approach, control system can be designed more straightforwardly since control system's frequency responses can be altered between integer order control (IOC) system's continuously, while less control parameters are needed to be decided. Design process and experimental results demonstrate that an \"EASY & STRAIGHTFORWARD DESIGN\" can be achieved by introducing FOC control design concept. For implementation of the fractional order Q-filter, broken-line approximation method is applied. Even the realization issues for fractional order controllers are somewhat problematic. Experiment results show that the controllers can actually be realized quite acceptably.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122393907","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 31

A study about the posture and joint stiffness at stationary force control of human arm 人体手臂静止力控制中姿态和关节刚度的研究

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297895

S. Uchida, S. Komada, J. Hirai

引用次数: 2

Design of bang-bang control for dual channel DC-DC buck and boost converter 双通道DC-DC降压和升压变换器的bang-bang控制设计

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297944

I. Denes, R. Barabáš, I. Nagy, E. Masada

引用次数: 0

A new two-degree-of-freedom control system design for track seeking control of hard disk drives 一种新的二自由度硬盘寻迹控制系统设计

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297690

M. Hirata, K. Nonami

引用次数: 9

Motion reconstruction of somersaults using three dimensional model matching method from its silhouette image 利用三维模型匹配方法对空翻的轮廓图像进行运动重建

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297949

S. Kikuchi, K. Nakazawa

引用次数: 2

A study of flexible shoe system for biped robot 双足机器人柔性鞋系统的研究

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297900

H. Minakata

引用次数: 10

Head-positioning control using resonant modes in hard disk drives 硬盘驱动器中使用谐振模式的头部定位控制

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297686

T. Atsumi, T. Arisaka, T. Shimizu, H. Masuda

{"title":"Head-positioning control using resonant modes in hard disk drives","authors":"T. Atsumi, T. Arisaka, T. Shimizu, H. Masuda","doi":"10.1109/AMC.2004.1297686","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297686","url":null,"abstract":"The best way to enhance the IO performance of a hard disk drive is by increasing the spindle speed. Therefore, the effect of windage vibrations caused by the airflow grows with spindle speed. The servo bandwidth is limited by the first-order resonant frequency of the mechanical system. However, the frequencies of the windage vibrations are higher than the first-order resonant frequency. Accordingly, these frequencies are also above the servo bandwidth and are too high to be controlled by a conventional control system. In response to this problem, we have developed two methods for designing a servo control system that can suppress windage vibrations. One method uses a stable mechanical resonant mode, and the other uses a stable resonant mode created by a digital filter. By using these methods, the head-positioning system can control the vibrations above the frequency of the first-order mechanical resonance and the servo bandwidth. Application of these methods to actual hard disk drives showed that they can greatly decrease the windage vibrations in which the peak frequency is about six times the open-loop gain 0-dB crossover frequency.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"124 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2004-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123159517","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 35

LifeMinder: a wearable healthcare support system with timely instruction based on the user's context LifeMinder:可穿戴式医疗保健支持系统，根据用户的情况提供及时的指导

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297910

Kazushige Ouchi, Takuji Suzuki, M. Doi

引用次数: 27

Delay compensation for servo systems using state prediction control and disturbance observer, and its application to HDD head servo control system 基于状态预测控制和扰动观测器的伺服系统延迟补偿及其在硬盘磁头伺服控制系统中的应用

The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297691

F. Suzuki, H. Yada

引用次数: 5