2013 IEEE International Conference on Mechatronics (ICM)最新文献_第9页

Improving EV lateral dynamics control using infinity norm approach with closed-form solution 用闭合解的无穷范数方法改进电动汽车横向动力学控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518568

A. Viehweider, V. Salvucci, Y. Hori, T. Koseki

{"title":"Improving EV lateral dynamics control using infinity norm approach with closed-form solution","authors":"A. Viehweider, V. Salvucci, Y. Hori, T. Koseki","doi":"10.1109/ICMECH.2013.6518568","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518568","url":null,"abstract":"Over-actuated EVs offer a high degree of freedoms that can be exploited for better vehicle dynamic behaviour, energy efficiency, vehicle safety and comfort. If the cost of the actuators can be brought to a reasonable level, then sophisticated control algorithm should make the most out of the over-actuation property. A key aspect in lateral dynamics control of an over actuated EV with In Wheel motors and active front and/or rear steering is the so called control allocation problem. Often such problems are solved using the 2 norm (weighted least square solution) as it is expressed in a closed form-solution and has a low fixed number of arithmetic operations suited for real time control. In this work a closed-form solution based on the infinity norm for the case of 2 to 3 control allocation problem in EV lateral dynamic control is derived, and validated by means of simulation runs considering an electric vehicle with In-Wheel-Motor traction and active front and rear steering. During a “sine with a dwell” steering command at a constant velocity the superiority of the proposed algorithm based on the infinity norm is shown.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130786559","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 accuracy tracking control using friction model with velocity characteristic in short span seeking operation 基于速度特性的摩擦模型的短跨度寻优高精度跟踪控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519135

M. Kawafuku, M. Mizoguchi, M. Iwasaki

{"title":"High accuracy tracking control using friction model with velocity characteristic in short span seeking operation","authors":"M. Kawafuku, M. Mizoguchi, M. Iwasaki","doi":"10.1109/ICMECH.2013.6519135","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519135","url":null,"abstract":"This paper describes a head positioning controller in HDDs based on a dynamic characteristic of rolling friction. In the control system in HDDs, the head assembly was influenced the effect of several disturbances, e.g., RRO, flutter vibration, force disturbance, and so on. At the force disturbance, it caused by wind force, external shock, tension force of Flexible Printed Circuit, and rolling friction around pivot bearing. In these force disturbances, the influence of the rolling friction is large at positioning in minute area. Therefore, controlling the rolling friction is important at short span seeking for the high performance trajectory. In the past research, we proposed the friction model that considered about the dynamic characteristics of rolling friction. However, this model expressed only the friction motion of short span seeking operation, and was not able to express the friction characteristic of various operations. Therefore, we present a new friction model that considered a velocity characteristic based on Koizumi's model. And we propose a 2 DOF control system to suppress the effect of the rolling friction with dynamic characteristic. The effects of the proposed friction model and controller performance are verified by experimental results of short span seeking operation.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132386003","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

Oblique coordinate based micro-macro bilateral control using a piezoelectric cantilever 基于斜坐标的压电悬臂梁微宏观双向控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518530

Yoshitomo Matsumi, Yu Nakajima, Shinnosuke Yamaoka, K. Ohnishi

{"title":"Oblique coordinate based micro-macro bilateral control using a piezoelectric cantilever","authors":"Yoshitomo Matsumi, Yu Nakajima, Shinnosuke Yamaoka, K. Ohnishi","doi":"10.1109/ICMECH.2013.6518530","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6518530","url":null,"abstract":"In this paper, oblique coordinate based micro-macro bilateral control using a piezoelectric cantilever is proposed. Haptic feedback is provided to an operator through the system utilizing a reaction force observer (RFOB) taking hysteresis and linear dynamics of the piezoelectric cantilever into account. Scaling of the position and the force enables operator to manipulate micro objects, and to feel the slight reaction force from the objects. RFOB makes it possible to estimate the reaction force without force sensors. Oblique coordinate based control indicates how to tune the gain ratio between a master robot and slave robot when the actuator of the master robot is different from that of salve. An experiment is conducted to verify the proposed method by using a linear motor and a piezoelectric cantilever. The results showed that the operator could feel the reaction force applied to the slave robot which was scaled up 500 times. It also showed precise position tracking with the error of ±1.1 μm. The force estimation on the piezoelectric cantilever was achieved with error of only ±0.003 N.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114969812","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

Dynamic analysis and control of robotic manipulator for chemically aggressive environments 化学侵蚀环境下机械臂的动力学分析与控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518548

M. Goubej, M. Svejda

引用次数: 3

Swarm-based evaluation of nonparametric SysML mechatronics system design 基于群的非参数SysML机电系统设计评价

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518576

Mohammad Chami, Haitham Bou-Ammar, H. Voos, K. Tuyls, Gerhard Weiss

引用次数: 3

Supervisory control of PV-battery systems by online tuned neural networks 基于在线调谐神经网络的光伏电池系统监控

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518518

L. Ciabattoni, Gionata Cimini, M. Grisostomi, G. Ippoliti, S. Longhi, Emanuele Mainardi

引用次数: 18

Vibration control of resonant system by using reflected wave rejection with fractional order low-pass filter 采用分数阶低通滤波器抑制反射波的谐振系统振动控制

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519152

E. Saito, S. Katsura

{"title":"Vibration control of resonant system by using reflected wave rejection with fractional order low-pass filter","authors":"E. Saito, S. Katsura","doi":"10.1109/ICMECH.2013.6519152","DOIUrl":"https://doi.org/10.1109/ICMECH.2013.6519152","url":null,"abstract":"This paper proposes a novel vibration control of a resonant system by using a reflected wave rejection with a fractional order low-pass filter. In a conventional research, a vibration control using a reflected wave rejection based on wave equation was proposed. From the viewpoint of the wave, vibrations are suppressed by eliminating a reflected wave. The conventional method can suppress the all resonances by using a reflected wave rejection. However, the conventional reflected wave rejection assumes that poles of the resonant system are located on the imaginary axis at regular intervals. Considering real industry application, there is few case that the above assumption is realized. Therefore, in this paper, the resonant system is modeled as a wave equation including not only spring but also damper. Considering the damper effect, the proposed method is not restricted by the above assumption. In addition, based on the wave equation including the damper effect, this paper presents the method of eliminating the reflected wave. The reflected wave is eliminated by a novel reflected wave rejection with a fractional order low-pass filter. Finally, the validity of the proposed method is verified by simulation and experimental results.","PeriodicalId":448152,"journal":{"name":"2013 IEEE International Conference on Mechatronics (ICM)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126227940","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

A measurement probe for coordinate measuring machines based on GMR technology 一种基于GMR技术的三坐标测量机测量探头

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6518521

Emre Karuc, E. Kiliç, M. Dolen

引用次数: 1

Prototype development and real-time trot-running implementation of a quadruped robot: RoboCat-1 四足机器人RoboCat-1的原型开发和实时小跑实现

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519111

Kana Kotaka, B. Ugurlu, M. Kawanishi, T. Narikiyo

引用次数: 6

Development of grasping/manipulating system simulation platform considering collision model 考虑碰撞模型的抓取/操纵系统仿真平台的开发

2013 IEEE International Conference on Mechatronics (ICM) Pub Date : 2013-05-23 DOI: 10.1109/ICMECH.2013.6519097

Bum Jun Kwon, N. Motoi, T. Shimono, A. Kawamura

引用次数: 0