Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE最新文献_第6页

An H/sub /spl infin// almost disturbance decoupling robust controller design for a piezoelectric bimorph actuator with hysteresis 具有滞回的压电双晶片作动器H/sub /spl频/频几乎干扰解耦鲁棒控制器设计

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509295

B.M. Chen, T. Lee, C. Hang, Y. Guo, S. Weerasooriya

引用次数: 4

Application and comparison of alternative position sensors in high-accuracy control of an X-Y table 不同位置传感器在X-Y工作台高精度控制中的应用与比较

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509298

M. Fischer, M. Tomizuka

{"title":"Application and comparison of alternative position sensors in high-accuracy control of an X-Y table","authors":"M. Fischer, M. Tomizuka","doi":"10.1109/AMC.1996.509298","DOIUrl":"https://doi.org/10.1109/AMC.1996.509298","url":null,"abstract":"High-accuracy positioning is applied in a variety of modern computer-controlled machines. The achievable precision is not only determined by the mechanical properties of the systems but strongly depends on the utilized control algorithms and the quality of the sensor signals. The objective of this paper is to demonstrate how alternative position sensors influence the performance of a robust digital tracking controller consisting of a disturbance observer in the velocity loop, a feedback controller in the position loop, and a zero phase error tracking controller as feedforward controller. Two different sensor systems for an x-y positioning table are considered. While a digital encoder is attached to the actuating motor, a laser interferometer with a significantly higher resolution directly measures the position of the compliantly coupled table. The latter case represents a noncollocated system. After introducing the hardware setup, both the system identification and the controller design are briefly reviewed. The impact of the measurement device on the control performance and the optimal choice of the controller parameters are investigated in extensive experiments.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"19 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":"132994807","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: 10

Automatic generating machines of patterns 自动生成图案的机器

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509310

Kihachi Takeichi, Y. Hasegawa, T. Matsuo

引用次数: 0

A control method of speed control drive system with backlash 一种带间隙调速传动系统的控制方法

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509321

Y. Wu, K. Fujikawa, H. Kobayashi

引用次数: 10

DC servo speed control of an inkjet print head transport system using a phase-locked loop 用锁相环控制喷墨打印头传输系统的直流伺服速度

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509292

H. Lin, M. Lu, J. Horng, T.B. Yang, S. Hsieh, C. Hsiao, H. Tai, J.S. Chen

引用次数: 9

Analysis and design of H/sub /spl infin// preview tracking control systems H/sub /spl / in/ preview跟踪控制系统的分析与设计

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509296

A. Morán, Y. Mikami, M. Hayase

引用次数: 16

Analysis and design of AC servo motion drive control system with 2-mass mechanical resonant load 具有2质量机械谐振负载的交流伺服运动驱动控制系统分析与设计

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509316

K. Inoue, M. Nakaoka

{"title":"Analysis and design of AC servo motion drive control system with 2-mass mechanical resonant load","authors":"K. Inoue, M. Nakaoka","doi":"10.1109/AMC.1996.509316","DOIUrl":"https://doi.org/10.1109/AMC.1996.509316","url":null,"abstract":"This paper describes a new control method and its optimum design for servo motion drive system with 2-mass resonant load. In the first place, its new control method is proposed which is composed of a speed control loop with a PI compensated controller and a load speed feedback loop to prevent the mechanical resonance or anti-resonance generation in this system. The load speed is detected by an observer possible to sense the accurate load speed even if the load disturbances change. In the second place, a new design method for the servo motion drive system treated here is presented, which is based upon the a parameter ultimate sensitivity method. This design method is possible to calculate the optimum control gains by using only one parameter /spl alpha/. By setting the optimum control gains to a servo motion drive system, it will be able to improve not only the stability of the servo system near the frequency ranges of the mechanical resonance or anti-resonance, but also the characteristics of the dynamic response in the servo motion drive system. Finally, several simulation results are illustrated and the effectivenesses of the control implementation in addition to the optimum design method are proved sufficiently.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"29 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":"122194985","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

Proposal of trajectory generation for redundant manipulators using variational approach applied to minimization of consumed electrical energy 基于电能消耗最小化的变分方法的冗余机械手轨迹生成方法

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509331

A.R. Hirakawa, A. Kawamura

引用次数: 19

Control of nonlinear motion processes in processing-machines by individual electric drives 用单独的电力驱动控制加工机械中的非线性运动过程

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509290

R. Schonfeld

引用次数: 1

Systemization with CAD/CAM welding robots for bridge fabrication 桥梁制造用CAD/CAM焊接机器人的系统化

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509384

Y. Sugitani, Y. Kanjo, M. Murayama

{"title":"Systemization with CAD/CAM welding robots for bridge fabrication","authors":"Y. Sugitani, Y. Kanjo, M. Murayama","doi":"10.1109/AMC.1996.509384","DOIUrl":"https://doi.org/10.1109/AMC.1996.509384","url":null,"abstract":"Innovations for the sub-assembly process have been implemented with CAD/CAM multirobot welding system. There are 26 sets of arc welding robot have been under operation for steel bridge panel fabrication in NKK's Tsu Works. The first step was taken in 1992. The box girder panel sub-assembly lines with 14 welding robots were developed. The second step, the plate girder panel sub-assembly line with 10 welding robots was developed in 1994. During the same period, the T-shaped transverse rib sub-assembly line with 2 welding robots was developed. The key technologies of welding systemization are classified into 4 groups, such as welding process, sensor, robot and computer system. Doubled welding efficiency has been attained with high-speed rotating arc welding process. Furthermore, this process is more effective to reduce panel deformation because of the lower welding heat input. The welding is stabilized with precise accuracy by multifunction arc sensor based on the high-speed rotating arc i.e. joint end detecting, bead end detecting and seam tracking arc sensor. The welding tasks of the panel are distributed into multiple robots and executed coordinately as if autonomous distributed robot system. All the welding robots are controlled by the teaching-less CAD/CAM system. This system is especially effective for these kinds of works where almost all the panels are different shapes. The line management system is installed to assure more effective production. The Ethernet LAN is used to communicate between the lines and office.","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":"125869154","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