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

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Advanced motion control: an adaptive robust control framework 高级运动控制:一种自适应鲁棒控制框架
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297930
B. Yao
{"title":"Advanced motion control: an adaptive robust control framework","authors":"B. Yao","doi":"10.1109/AMC.2004.1297930","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297930","url":null,"abstract":"The rapid advances in microelectronics and microprocessor technologies during the past decades have made the physical integration of mechanical systems, various sensors, and computer based control implementation platform rather affordable and a standard choice for any modern precision machines. Such a hardware configuration enables the control of the overall system to be constructed in the same way as what a human brain normally does - seamless integration of the fast reaction (or instantaneous feedback reaction) to immediate feedback information and the slow learning utilizing large amount of stored past information that is available in the computer based control systems. The theoretically solid nonlinear adaptive robust control (ARC) theory that has been developed recently well reflects such an intuitive integrated design philosophy of human brains, and has been experimentally demonstrated achieving better control performance than existing nonlinear robust controls (e.g., sliding mode controls) or nonlinear adaptive controls in a number of motion control applications. This paper is to expose motion control engineers to the essences of such an advanced nonlinear control design methodology. Some recent ARC research results are discussed as well. The precision motion control of a linear motor driven high-speed/high-acceleration X-Y positioning stage is used as a case study and comparative experimental results are presented to illustrate the performance and practical benefits that can be achieved by the proposed ARC approach in implementation.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"21 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":"114510594","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: 3
Improved design of VSS controller for a linear belt-driven servomechanism 线性带驱动伺服机构VSS控制器的改进设计
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297922
A. Hace, K. Jezernik, A. Sabanoviç
{"title":"Improved design of VSS controller for a linear belt-driven servomechanism","authors":"A. Hace, K. Jezernik, A. Sabanoviç","doi":"10.1109/AMC.2004.1297922","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297922","url":null,"abstract":"The paper deals with position tracking control for a linear belt-driven servomechanism. It utilizes VSS theory for control design. The selected sliding manifold was extended in order to involve also non-rigid modes of the elastical servodrive. However, the proposed controller is simple and practical for implementation. The experiments presented in the paper show that the proposed control scheme effectively suppresses vibrations and furthermore extends the closed-loop bandwidth.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"33 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":"129772157","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: 24
Passivity based control of a magnetic levitation system with two electromagnets for a flexible beam 柔性梁双电磁铁磁悬浮系统的无源控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297654
T. Shimizu, M. Sasaki, K. Wajima
{"title":"Passivity based control of a magnetic levitation system with two electromagnets for a flexible beam","authors":"T. Shimizu, M. Sasaki, K. Wajima","doi":"10.1109/AMC.2004.1297654","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297654","url":null,"abstract":"This paper presents a passivity based control of a magnetic levitation system handling a flexible beam supported by two electromagnets. Elastic vibrations sometimes cause control failure so it is important to suppress the elastic vibrations in order to ensure stable control in case of levitating a flexible object. The system can be decomposed into two subsystems: an electrical subsystem and a mechanical subsystem. It is shown that the whole system can be regarded as a feedback connected system with these subsystems and a controller for each subsystem can be designed independently. Passivity for each subsystem is also shown and a controller for each subsystem is designed based on its passivity. A controller for the electrical subsystem generates the desired magnetic force that makes the flexible beam follows a desired trajectory. A controller for the mechanical subsystem consists of position and velocity feedback related to deflections of the flexible beam. The whole controller ensures stability of the system and suppression of the elastic vibrations by means of Lyapunov stability theory. To illustrate the validity of the controller a numerical simulation is carried out.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"23 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":"121073601","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: 7
Rejection of repeatable runout for HDDs using adaptive filter 使用自适应滤波器抑制hdd的可重复跳动
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297685
M. Kawafuku, M. Iwasaki, H. Hirai, M. Kobayashi, A. Okuyama
{"title":"Rejection of repeatable runout for HDDs using adaptive filter","authors":"M. Kawafuku, M. Iwasaki, H. Hirai, M. Kobayashi, A. Okuyama","doi":"10.1109/AMC.2004.1297685","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297685","url":null,"abstract":"This paper describes designing a controller of a hard disk drive for rejecting repeatable runout. Position Error Signal (PES) consists of Repeatable Runout (RRO) and Non-Repeatable Runout (NRRO), NRRO is decomposed into its contributing component which are force disturbance, mechanical vibration, etc, in frequency domain. The result of the numerical analysis is shown that the RRO has great influence for PES of all disturbances. In this research, the adaptive filter was applied to reject the influence of RRO where the Filtered-X LMS algorithm was used in the adaptive filter. The experimental results showed the validity of the proposed controller design method.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"272 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":"134022461","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: 9
Analysis on the two axis motor (super motor) for electric vehicles 电动汽车用两轴电机(超级电机)分析
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297644
A. Kawamura, T. Okubora, T. Sugawara, M. Nakano, M. Arimitsu
{"title":"Analysis on the two axis motor (super motor) for electric vehicles","authors":"A. Kawamura, T. Okubora, T. Sugawara, M. Nakano, M. Arimitsu","doi":"10.1109/AMC.2004.1297644","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297644","url":null,"abstract":"The theoretical analysis on the two axis motor called the super motor is presented. The super motor is made of one winding and two rotors, however each rotor is effectively driven by the different number of the pole pair winding, and the same winding is used for the flux generation for the two rotors. The electrical torque of the each rotor is theoretically proved to be independent. The detailed analysis is presented.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"9 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":"134032181","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: 3
Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model 基于等效动力学模型的小型电动汽车挂车跟踪控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297663
H. Ohara, T. Murakami
{"title":"Tracking control of a compact electrical vehicle trailer based on equivalent dynamics model","authors":"H. Ohara, T. Murakami","doi":"10.1109/AMC.2004.1297663","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297663","url":null,"abstract":"Recently trajectory control of a compact tractor-trailer using electrical vehicle is studied in industrial environment. There is three reasons. First, improvement of working efficiency is desired. Second, because an electrical vehicle can be controlled easily, utilization of electrical vehicle can be applied to a wide range of tasks. Third, the load transportation capacity is increased by using a compact tractor-trailer. However the conventional trajectory control of a tractor-trailer was based on kinematic model only. So it was applicable only in the environment where the cornering force and the friction don't exist. And it was difficult to adapt the tractor-trailer against the environment changes. In this paper, it composes a controller based on the environmental information. Specifically, it estimates a cornering force and friction and it changes speed and a steering angle based on it. Therefore, it can avoid the jackknife phenomenon which the tractor-truck is peculiar to. It uses PD controller for the controller. Finally, Numerical simulation results is shown.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"4 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":"131227101","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: 4
High speed positioning trajectory design for TDOF controller of hard disk drives with mechanical vibration 机械振动硬盘驱动器TDOF控制器高速定位轨迹设计
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297687
Byung-hoon Chang, Y. Hori
{"title":"High speed positioning trajectory design for TDOF controller of hard disk drives with mechanical vibration","authors":"Byung-hoon Chang, Y. Hori","doi":"10.1109/AMC.2004.1297687","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297687","url":null,"abstract":"In this paper, we propose a novel design method of target trajectory for high-speed and high-precision head-positioning of hard disk drive system. To realize smooth acceleration and deceleration, the derivative of jerk is considered not to activate any mechanical vibrations. We applied the well-known optimal control theory to fix the initial and terminal conditions. Moreover, we showed that various performance can be improved by introducing time varying weighting coefficients. Some experimental results using a 2.5 inch hard disk drive are shown to verify the effectiveness of the proposed method.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"20 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":"117128428","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: 6
Design of feedback laws for dc-to-ac conversion in photovoltaic systems 光伏系统直流-交流转换反馈律设计
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297648
A. Cid-Pastor, C. Alonso, J.F. Cugat-Curto, B. Estibals, L. Martínez-Salamero
{"title":"Design of feedback laws for dc-to-ac conversion in photovoltaic systems","authors":"A. Cid-Pastor, C. Alonso, J.F. Cugat-Curto, B. Estibals, L. Martínez-Salamero","doi":"10.1109/AMC.2004.1297648","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297648","url":null,"abstract":"One-phase dc-ac stand-alone conversion for a photovoltaic standard panel is analyzed in this paper. A modular structure consisting of the cascade connection of a voltage step-up dc-to-dc switching converter with galvanic isolation and a buck converter-based inverter stage is proposed. Different feedback laws for the inverter stage are investigated to guarantee output voltage regulation. A comparative analysis of the modular structure performance under voltage-mode control, current-mode control and optimal control based on linear quadratic regulator (LQR) approach is studied by means of simulation.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"18 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":"121530591","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: 3
Vehicle steering assist by estimated self aligning torque in skid condition 车辆转向辅助估计自对准扭矩在打滑条件
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297679
D. Sekiguchi, M. Toshiyuki
{"title":"Vehicle steering assist by estimated self aligning torque in skid condition","authors":"D. Sekiguchi, M. Toshiyuki","doi":"10.1109/AMC.2004.1297679","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297679","url":null,"abstract":"In the recent aging society, traffic systems require to be safer. As treating this back ground with intellectualizing vehicle, it is useful to estimate accurate Self Aligning Torque (SAT) charged on tire. It is because we could improve some unstable movements of vehicle or operationality of steering by this technique. In this paper, the control algorithm to detect SAT by using the Reaction Torque Observer and not using sort of side slip angle sensor is proposed. It could be also realized only by changing the control algorithm of existing Electric Power Steering system and it is given a try to be applied to improve operationality in lateral skid condition of vehicle. The steering assist torque was controlled to be generated to direction reducing slip angle of front tire. The simulation and experiment was carried out in order to verify the proposed controllability.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"6 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":"124767152","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: 5
Control of a micro-actuator for hard disk drives using self-sensing 硬盘驱动器微致动器的自感知控制
The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04. Pub Date : 2004-03-25 DOI: 10.1109/AMC.2004.1297657
H. Yamada, M. Sasaki, Y. Nam
{"title":"Control of a micro-actuator for hard disk drives using self-sensing","authors":"H. Yamada, M. Sasaki, Y. Nam","doi":"10.1109/AMC.2004.1297657","DOIUrl":"https://doi.org/10.1109/AMC.2004.1297657","url":null,"abstract":"This paper describes control of a micro-actuator for hard disk drives using self-sensing actuation. The self-sensing actuator using electrical bridge circuit can measure either strain or time rate of strain in the actuator. These sensing signals correspond to the tip slope of the actuator and the time rate of tip slope of the actuator. The usefulness of the self-sensing actuation technique is experimentally verified by actively damping the vibration in a micro-actuator.","PeriodicalId":258936,"journal":{"name":"The 8th IEEE International Workshop on Advanced Motion Control, 2004. AMC '04.","volume":"86 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":"124031554","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: 13
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