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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE最新文献

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Friction models for a mobile machine using piezo vibration 基于压电振动的移动机械摩擦模型
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509336
K. Tani
{"title":"Friction models for a mobile machine using piezo vibration","authors":"K. Tani","doi":"10.1109/AMC.1996.509336","DOIUrl":"https://doi.org/10.1109/AMC.1996.509336","url":null,"abstract":"Micro-machines and micro-robots, recently under development for medical and industrial applications, need both manipulative and locomotive capabilities. We built a small mobile machine which has two legs made of bimorph piezoelectric actuators. It proceeds by vibrating one leg and making selective use of the friction between the legs and the floor. Simulations were made to investigate the dynamics of its mobility using different friction models. The simulation results were compared with the movement of the machine measured using an accelerometer, which showed that the viscous friction model explains the movement better than the Coulomb friction model. Four-legged machines were also built and tested for multidimensional mobility.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125777650","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
Adaptive control for a throwing motion of a 2 DOF robot 二自由度机器人抛掷运动的自适应控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509405
N. Kato, K. Matsuda, T. Nakamura
{"title":"Adaptive control for a throwing motion of a 2 DOF robot","authors":"N. Kato, K. Matsuda, T. Nakamura","doi":"10.1109/AMC.1996.509405","DOIUrl":"https://doi.org/10.1109/AMC.1996.509405","url":null,"abstract":"A throwing motion control for a 2 degree of freedom robot is studied. Our control objective is to reduce the target error. We design a trajectory of the robot in consideration of the torque limit, the maximum angular velocity and the time required, from the beginning of the throwing motion to hitting a mark. We apply nonlinear dynamic compensation with parameter estimation for trajectory control. Furthermore, we modify the time when an object is released from hand by using the estimated parameters and the predicted target error. The effectiveness of this method is examined. The result shows that this method provides satisfactory performance for a reduction of target error.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126138260","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: 23
Contour error analysis and gain tuning for CNC machining center 数控加工中心轮廓误差分析及增益整定
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509404
Il-Ju Na, Chong-Ho Choi, T. Jang, Byeong-Kap Choi, Osok Song
{"title":"Contour error analysis and gain tuning for CNC machining center","authors":"Il-Ju Na, Chong-Ho Choi, T. Jang, Byeong-Kap Choi, Osok Song","doi":"10.1109/AMC.1996.509404","DOIUrl":"https://doi.org/10.1109/AMC.1996.509404","url":null,"abstract":"One of the most important performance criteria in tuning the gain of position loop controller for CNC machining center is the contour error. We derive error formulae for the linear and circular interpolation which can be applied to the axis-matched and mismatched cases. For the axis-matched case, the derived formula can be easily interpreted in the frequency domain. Based on this interpretation, we propose a gain tuning method for the P and PD controller. The effectiveness of the method is demonstrated in a series of experiments.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129417903","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
Implementation of cooperative manipulation using decentralized robust position/force control 利用分散鲁棒位置/力控制实现协同操作
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509304
T. Mukaiyama, K. Kim, Y. Hori
{"title":"Implementation of cooperative manipulation using decentralized robust position/force control","authors":"T. Mukaiyama, K. Kim, Y. Hori","doi":"10.1109/AMC.1996.509304","DOIUrl":"https://doi.org/10.1109/AMC.1996.509304","url":null,"abstract":"This paper proposes a control scheme which realizes cooperative motion to handle a target object by using two robot manipulators. The first robot, which is used as the leader, has only the robust position controller. The second robot, which is used as the follower, has the position based force controller. Based on this very simple strategy, we can easily realize intelligent cooperative manipulation by completely decentralized control. We demonstrate its control performance by experiments of moving an object back and forth, and discuss on future problems.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130326990","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: 12
Field oriented control of induction machine-simulation and realization 感应电机磁场定向控制的仿真与实现
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509401
C. Millet, D. Leroux, C. Bergmann
{"title":"Field oriented control of induction machine-simulation and realization","authors":"C. Millet, D. Leroux, C. Bergmann","doi":"10.1109/AMC.1996.509401","DOIUrl":"https://doi.org/10.1109/AMC.1996.509401","url":null,"abstract":"Considers field-oriented control simulated and realized with the same package software/hardware: \"Matlab-Simulink/dSpace Card\". With simulations and classical methods used automatically as pole placement, it was possible to design current, speed and position loops. Experimental results, with a small power machine, show the good performance of this structure which included a non-linear decoupling of the direct axis.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126877534","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: 2
Design of a globally stable direct adaptive VSS regulator for multivariable nonminimum-phase systems based on the doubly coprime factorization 基于双素数分解的多变量非最小相位系统全局稳定直接自适应VSS调节器设计
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509442
N. Minamide
{"title":"Design of a globally stable direct adaptive VSS regulator for multivariable nonminimum-phase systems based on the doubly coprime factorization","authors":"N. Minamide","doi":"10.1109/AMC.1996.509442","DOIUrl":"https://doi.org/10.1109/AMC.1996.509442","url":null,"abstract":"An adaptive regulator problem for continuous-time multivariable nonminimum-phase systems of unknown order is considered using the idea of the sliding mode control method. Introducing the augmented state variable filters of an input, an output and an auxiliary input and taking an advantage of the doubly coprime factorization associated with the system transfer matrix, an adaptive state feedback control scheme is proposed that drives these augmented state variables to the subspace defined by the intersection of the two sliding hyperplanes on which the state variables decay to the origin exponentially quickly. The global asymptotic stability of the proposed adaptive regulator is established under the assumption that the upper bound of the controllability index is known.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130580271","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: 0
Dynamic trajectory control of a variable structure type four-wheeled robot to pass over steps 变结构四轮机器人过台阶的动态轨迹控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509414
O. Matsumoto, S. Kajita, K. Tani
{"title":"Dynamic trajectory control of a variable structure type four-wheeled robot to pass over steps","authors":"O. Matsumoto, S. Kajita, K. Tani","doi":"10.1109/AMC.1996.509414","DOIUrl":"https://doi.org/10.1109/AMC.1996.509414","url":null,"abstract":"We have developed a robot called a 'variable structure type four-wheeled robot' which, with a simple structure, has ability to pass over a step. Though this robot has only one degree of freedom to change the body's structure, it can run on four wheels (4-wheeled mode) or on two wheels like a wheeled inverted pendulum (2-wheeled mode). For the realization of stepping up and down, we already proposed a method by combining the transfer from 4- to 2-wheeled mode and the transfer from 2- to 4-wheeled mode and realized an experiment of passing over a step whose height is larger than the radius of the wheel successfully. In this paper, we propose two dynamic trajectory control methods to make the passing over a step speedy. First, we have divided the whole sequence of stepping up or down into two sequences and extended the planning of soft-landing trajectory which we already proposed in the transfer from 2-to 4-wheeled mode to cover each sequence. As a result, we have successfully realized an experiment of stepping up or down of this robot in about 15 seconds. Second, using the same trajectory planning method to cover the exchange of the contacting wheel from rear to front, we have planned a continuous trajectory throughout stepping up or down. As the result we have successfully realized an experiment of the stepping up or down of this robot in only 2.4 seconds.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126402889","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
Studies on horizontal axis wind turbine electric generation system with variable speed control 变速控制水平轴风力发电系统的研究
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509308
Y. Shimizu, M. Takada, H. Fujiwara, Y. Yasui, T. Maeda, Y. Kamada, T. Hori, M. Ishida, N. Yamada
{"title":"Studies on horizontal axis wind turbine electric generation system with variable speed control","authors":"Y. Shimizu, M. Takada, H. Fujiwara, Y. Yasui, T. Maeda, Y. Kamada, T. Hori, M. Ishida, N. Yamada","doi":"10.1109/AMC.1996.509308","DOIUrl":"https://doi.org/10.1109/AMC.1996.509308","url":null,"abstract":"This paper describes the number of field tests on electric power generation undertaken with a 8-kW horizontal axis wind turbine equipped with the inverter generation system. It was proved that the generated electric power can be greatly improved when the variable speed control is applied.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126566669","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: 2
A robust control strategy for an unstable mechanical system 不稳定机械系统的鲁棒控制策略
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509297
G. Cristadoro, A. De carli, L. Onofri
{"title":"A robust control strategy for an unstable mechanical system","authors":"G. Cristadoro, A. De carli, L. Onofri","doi":"10.1109/AMC.1996.509297","DOIUrl":"https://doi.org/10.1109/AMC.1996.509297","url":null,"abstract":"The unstable mechanical system used to test the robust control strategy is a beam and ball system. The main nonlinearities are due to stiction and friction in the servomotor which moves the beam, the main uncertainties are due to the ball size variations. The beam position is perturbed by external disturbances acting on the beam. The proposed robust control strategy compensates the static friction by acting on the supply voltage of the motor, makes the behavior of the beam almost independent of the ball size variation, makes the system behavior insensible to external disturbance by the online compensation of their estimated value. Simulation and experimental tests confirm the validity of this approach.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115770791","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
Robust induction motor control for electric vehicles 电动汽车的鲁棒感应电机控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509288
K. Jezernik
{"title":"Robust induction motor control for electric vehicles","authors":"K. Jezernik","doi":"10.1109/AMC.1996.509288","DOIUrl":"https://doi.org/10.1109/AMC.1996.509288","url":null,"abstract":"An induction motor is one of the suitable motors for the electric vehicles. The induction motor used in the electric vehicles has been generally controlled based on the vector control method to obtain good dynamic torque response. A new discrete-time control algorithm has been developed by combining variable structure system (VSS) and Lyapunov design. It possesses all the good properties of the sliding mode control and avoids the unnecessary discontinuity of the control input, thus eliminating chattering which has been considered as a serious obstacle for applications of VSS. A unified control approach for the stator currents and torque control based on the discrete-time sliding mode for application in indirect vector control for an IM drive is developed. The validity of the algorithm was verified by simulation and experiment.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1996-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131486841","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
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