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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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Brake control characteristics of a linear synchronous motor for ropeless elevator 无绳电梯用直线同步电机的制动控制特性
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509289
H. Yamaguchi, H. Osawa, T. Watanabe, H. Yamada
{"title":"Brake control characteristics of a linear synchronous motor for ropeless elevator","authors":"H. Yamaguchi, H. Osawa, T. Watanabe, H. Yamada","doi":"10.1109/AMC.1996.509289","DOIUrl":"https://doi.org/10.1109/AMC.1996.509289","url":null,"abstract":"This paper represents an experimental ropeless elevator with a linear synchronous motor (LSM) of rated thrust of 3 kN. The LSM consists of an array of permanent magnets (PMs) as the secondary member and a layout of the double sided armatures located along the guide way as the primary member. By adoption of PM type yokeless secondary and double sided armatures, a light moving part and small normal force have been realized. The operating test using a PWM inverter has shown the following results. (1) The elevator has been able to move up and down smoothly and stopped at any position. The calculated velocity in normal operation has differed from the measured velocity by less than 3%. (2) In case of interruption of power supply, falling velocity of the cage has been suppressed at a speed of 0.25 m/s by the dynamic brakes. The difference of falling velocity between the measured and calculated values was within 5%. (3) The efficiency and power factor of the LSM were 64% and 0.93 respectively.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"115 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":"114263870","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: 15
Fundamental study of Biped Bike prototype controlled by accelerator and brake pedals 双足自行车加速和制动踏板控制样机的基础研究
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509412
H. Minakata, Y. Hori
{"title":"Fundamental study of Biped Bike prototype controlled by accelerator and brake pedals","authors":"H. Minakata, Y. Hori","doi":"10.1109/AMC.1996.509412","DOIUrl":"https://doi.org/10.1109/AMC.1996.509412","url":null,"abstract":"Biped Bike is a new tool for transportation. It has a bird-like gait which is controlled by a rider in real-time using accelerator and brake pedals, steering wheel, etc. The authors discuss a variable walking speed control technique based on the virtual inverted pendulum method, and computer simulations of the second prototype machine.","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":"130806681","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
Fine motion control of robot manipulators in deburring applications utilizing cutting tool signals 利用刀具信号进行去毛刺机器人的精细运动控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509385
A. Abou-El-Ela, R. Isermann
{"title":"Fine motion control of robot manipulators in deburring applications utilizing cutting tool signals","authors":"A. Abou-El-Ela, R. Isermann","doi":"10.1109/AMC.1996.509385","DOIUrl":"https://doi.org/10.1109/AMC.1996.509385","url":null,"abstract":"The feasibility of exclusively utilizing cutting tool signals as an alternative feedback technique to enhance robotic machining of complex precision components is evaluated. A hybrid fine motion control scheme based on sophisticated models of the cutting tool dynamics and the nonlinear cutting process is proposed for accommodating the robot trajectory to positional inaccuracies in automated deburring and chamfering applications. Artificial neural networks as general approximators in conjunction with correlation analysis methods are employed to establish the nonlinear mapping of the measurable cutting tool quantities to the depth of engagement during the cutting operation. A superordinate adaptation strategy is developed to adjust the direction of motion correction and the nominal robot path to the local workpiece displacement. The effectiveness and performance of the proposed fine motion control scheme are demonstrated by some robotic deburring and chamfering experiments of fibre-reinforced plastics with a high-speed cutting tool.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"68 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":"129062990","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
Vibration control for cartesian 3 axes robot 直角三轴机器人的振动控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509324
T. Yamamoto, K. Tanaka, M. Sumiyoshi
{"title":"Vibration control for cartesian 3 axes robot","authors":"T. Yamamoto, K. Tanaka, M. Sumiyoshi","doi":"10.1109/AMC.1996.509324","DOIUrl":"https://doi.org/10.1109/AMC.1996.509324","url":null,"abstract":"This paper presents a vibration control method for a cartesian 3 axes robot which can be used practically with a conventional PID controller. We focused attention on preshaping control based on not only the difference between acceleration and deceleration times but also difference between the positive and negative jerk (differentiation of acceleration). We confirmed that even a low-cost control unit can reduce the vibration settling time by 0.2 to 0.5 second, half the time of conventional PID control.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"3 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":"126861923","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
Learning control system for manipulators with the ability to use already acquired knowledge in other problem 机械臂的学习控制系统具有将已有知识应用于其他问题的能力
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509419
S. Hayakawa, T. Oka, T. Suzuki, S. Okuma
{"title":"Learning control system for manipulators with the ability to use already acquired knowledge in other problem","authors":"S. Hayakawa, T. Oka, T. Suzuki, S. Okuma","doi":"10.1109/AMC.1996.509419","DOIUrl":"https://doi.org/10.1109/AMC.1996.509419","url":null,"abstract":"The conventional learning control system doesn't have the capability of generalization, because input data for one trajectory, acquired by learning, cannot be applied to other trajectories. In this paper, we propose the new learning control system with the neural network. The neural network can acquire and memorize the dynamics of the system based on the data obtained from conventional learning process. By using this system, we can obtain the well-approximated input data for any trajectory.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"5 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":"131906803","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
Optimal motion control of elastic plants 弹性植物的最优运动控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509313
F. Palis, A. Buch, U. Ladra
{"title":"Optimal motion control of elastic plants","authors":"F. Palis, A. Buch, U. Ladra","doi":"10.1109/AMC.1996.509313","DOIUrl":"https://doi.org/10.1109/AMC.1996.509313","url":null,"abstract":"Using modal analysis the dynamic behaviour of elastic plants is reduced to a 4/sup th/ order system. Applying the maximum principle of Pontrjagin time and energy optimal control laws are calculated for a 4/sup th/ order modal model. The influence of parameter variations, model approximation and other disturbances is compensated by an additional closed-loop control algorithm based on a special coordinate transformation to a cascade model.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"2 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":"130476727","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 hybrid control architecture with a fuzzy supervisory controller and slave controller modules 采用模糊监控控制器和从控模块的混合控制体系结构
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509393
T. Furuta, K. Tomiyama
{"title":"A hybrid control architecture with a fuzzy supervisory controller and slave controller modules","authors":"T. Furuta, K. Tomiyama","doi":"10.1109/AMC.1996.509393","DOIUrl":"https://doi.org/10.1109/AMC.1996.509393","url":null,"abstract":"A two-layered hybrid control architecture with multiple simple slave controllers as lower layer modules and a fuzzy supervisory controller implemented in the framework of the Kosko's bi-directional associative memory (BAM) as an upper layer module is proposed in this paper. The architecture can be looked at as a self-tuning procedure for parameters of the lower layer controllers based on heuristic knowledge that is implemented in the form of fuzzy if-then rules. Discussion includes an application of the proposed controller to a robot manipulator.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"41 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":"133774232","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
Micro active guide wire catheter using ICPF actuator 采用ICPF作动器的微主动导丝导管
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509338
S. Guo, T. Nakamura, T. Fukuda
{"title":"Micro active guide wire catheter using ICPF actuator","authors":"S. Guo, T. Nakamura, T. Fukuda","doi":"10.1109/AMC.1996.509338","DOIUrl":"https://doi.org/10.1109/AMC.1996.509338","url":null,"abstract":"We have proposed a new prototype model of micro-catheter with active guide wire that has two bending degrees of freedom using ICPF (ionic conducting polymer film) actuator on its front end as the servo actuator. In this paper, the bending characteristics of the micro-active catheter (MAC) have been measured by application of electricity in physiological saline solution. By using simulators (whose conditions are similar to those of a body cavity), we also carried out simulation experiments \"in vitro\" and the contrast experiments of operability between the proposed catheter and conventional guide wire catheter. The experimental results indicate that the proposed MAC is applicable to intracavity operations.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"31 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":"123888964","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
Robust speed servo system for wide speed range based on instantaneous speed observer and disturbance observer 基于瞬时速度观测器和扰动观测器的宽速度范围鲁棒速度伺服系统
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509427
K. Ohishi, Y. Nakamura
{"title":"Robust speed servo system for wide speed range based on instantaneous speed observer and disturbance observer","authors":"K. Ohishi, Y. Nakamura","doi":"10.1109/AMC.1996.509427","DOIUrl":"https://doi.org/10.1109/AMC.1996.509427","url":null,"abstract":"Proposes a new robust speed servo system for a wide speed range including an ultra low speed range for a DC servo motor, which is based on the instantaneous speed observer and the disturbance observer. The proposed system has a two control strategy. First, this paper designs the instantaneous speed observer which uses the information of an armature current and an armature voltage. The proposed observer takes account of both the voltage drop of the power converter and the armature resistance variation. The second strategy is to realize both the robust speed control for disturbance torque and the adaptive speed control for inertia variation. For this strategy, this paper designs the disturbance observer based inertia identification algorithm. The total speed servo system becomes the robust speed servo system for a wide speed range.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"2 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":"126717271","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: 15
Robust position control of DC servomotors using fuzzy reasoning 基于模糊推理的直流伺服电机鲁棒位置控制
Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI: 10.1109/AMC.1996.509390
T. Senjyu, S. Ashimine, K. Uezato
{"title":"Robust position control of DC servomotors using fuzzy reasoning","authors":"T. Senjyu, S. Ashimine, K. Uezato","doi":"10.1109/AMC.1996.509390","DOIUrl":"https://doi.org/10.1109/AMC.1996.509390","url":null,"abstract":"In position control for DC servomotors using the equivalent disturbance torque observer, the position control ability is affected by the estimation error of torque observer. We propose the robust position control of DC servomotors using fuzzy reasoning to consider the estimation error. In order to compensate the estimation error, we combine the equivalent disturbance torque observer and a feedback controller. The influence of estimation error is restrained by the feedback controller introducing fuzzy reasoning. The reason why we introduce fuzzy control is that the estimation error for the observer is highly nonlinear and it cannot be detected by a linear error estimator. In this case, it is very convenient to use fuzzy reasoning to identify the estimation error. The simulation and experimental results confirm the validity of the proposed control technique.","PeriodicalId":360541,"journal":{"name":"Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE","volume":"59 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":"114734683","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: 1
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