Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference最新文献_第10页

An Experimental Hand/Arm Model for Human Interaction With a Telemanipulation System 人与遥控系统交互的实验手/臂模型

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24617

J. Speich, L. Shao, M. Goldfarb

引用次数: 4

Nonlinear Model Reduction for Automotive System Descriptions 汽车系统描述的非线性模型简化

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24517

Zeyu Liu, J. Wagner

{"title":"Nonlinear Model Reduction for Automotive System Descriptions","authors":"Zeyu Liu, J. Wagner","doi":"10.1115/imece2001/dsc-24517","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24517","url":null,"abstract":"\u0000 The mathematical modeling of dynamic systems is an important task in the design, analysis, and implementation of advanced automotive control systems. Although most vehicle control algorithms tend to use model-free calibration architectures, a need exists to migrate to model-based control algorithms which offer greater operating performance. However, in many instances, the analytical descriptions are too complex for real-time powertrain and chassis model-based control algorithms. Therefore, model reduction strategies may be applied to transform the original model into a simplified lower-order form while preserving the dynamic characteristics of the original high-order system. In this paper, an empirical gramian balanced nonlinear model reduction strategy is examined for the simplification process of dynamic system descriptions. The empirical gramians may be computed using either experimental or simulation data. These gramians are then balanced and unimportant system dynamics truncated. For comparison purposes, a Taylor Series linearization will also be introduced to linearize the original nonlinear system about an equilibrium operating point and then a balanced realization linear reduction strategy will be applied. To demonstrate the functionality of each model reduction strategy, two nonlinear dynamic system models are investigated and respective transient performances compared.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"15 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75549090","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

A Hardware-in-the-Loop Transient Diesel Engine Test System for Control and Diagnostic Development 一种用于控制与诊断的柴油机暂态测试系统的研制

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24532

C. Tartt, J. Moskwa

引用次数: 11

On the Nonlinear Modeling and Identification of Piezoelectric Inertial Actuators 压电惯性作动器的非线性建模与辨识

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24549

David W. Knowles, N. Jalili, T. Khan

{"title":"On the Nonlinear Modeling and Identification of Piezoelectric Inertial Actuators","authors":"David W. Knowles, N. Jalili, T. Khan","doi":"10.1115/imece2001/dsc-24549","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24549","url":null,"abstract":"\u0000 Active counter-force vibration control has significant advantages over the more traditional motion-based active vibration suppression schemes. A piezoelectric ceramic (PZT) inertial actuator is an efficient and inexpensive solution for this type of structural vibration control. In order to properly tune the control parameters of the absorber subsection, an accurate mathematical model is necessary. For this, a nonlinear model for the PZT inertial actuators is presented. In particular, a polynomial form of non-linearity in the dynamical model of the actuator is assumed. An inverse problem is then formed to identify the model parameters of the actuator (absorber). The model parameters consist of the effective mass, damping and stiffness of the actuator as well as the polynomial form of the non-linearity. Using Lyapunov’s second method, the stability conditions for the proposed nonlinear model are established. An experimental setup is developed to validate the proposed nonlinear model. The results of the model identification using the actual experimental data demonstrate that the nonlinear model would better fit the experimental data, when compared to the linear model.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"76 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86679222","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

Piezoelectric Structural Vibration Control Using Active Resonator Absorber 利用有源谐振吸收器控制压电结构振动

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24548

David W. Knowles, N. Jalili, Sriram Ramadurai

{"title":"Piezoelectric Structural Vibration Control Using Active Resonator Absorber","authors":"David W. Knowles, N. Jalili, Sriram Ramadurai","doi":"10.1115/imece2001/dsc-24548","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24548","url":null,"abstract":"\u0000 A novel dynamic vibration absorber is presented while exploring its practical implementation using piezoelectric ceramic (PZT) inertial actuators. It is referred to as active resonator absorber (ARA). The ARA is a passive absorber with an additional dynamic feedback compensator within the PZT actuator. Without any controller, the PZT inertial actuator becomes a passive vibration absorber due to the internal damping and stiffness properties of piezoelectric materials. Hence, it is inherently fail-safe. For active operation, the compensator parameters are designed such that a resonance condition is intentionally created within the absorber to mimic the vibratory energy from the system of concern to which it is attached. The resonance condition can be created through the appropriate design of the compensator and implemented through adjusting the external electrical voltage applied to the absorber. Because the parameters of the PZT actuators (i.e. stiffness, damping, and effective mass) are estimates, compensator designs based on these parameters would result in partial vibration suppression, when utilized in real applications. An auto-tuning method is, therefore, introduced to effectively tune the compensator parameters to improve vibration suppression quality. The effectiveness and stability of the proposed absorber is demonstrated through simulations when appended on a SDOF primary system.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"125 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85356270","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

Modeling and Analysis for Thermal Control of Spindles for Reconfigurable Machines 可重构机床主轴热控制建模与分析

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24584

J. Stein, J. Harder

{"title":"Modeling and Analysis for Thermal Control of Spindles for Reconfigurable Machines","authors":"J. Stein, J. Harder","doi":"10.1115/imece2001/dsc-24584","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24584","url":null,"abstract":"\u0000 Control of thermally induced bearing loads remains an important but unsolved problem for precision, high-speed, metal cutting, machining spindles. Spindle dynamic performance, as well as spindle life, depends on bearing loads. Because these loads can change drastically with a change in process conditions, poor spindle dynamic performance, and dramatically reduced bearing life can result. The purpose of this paper is to evaluate the feasibility of controlling bearing loads by controlling the heat generated by a thermal actuator placed around the housing of the spindle. A mathematical model of the open loop response of a laboratory prototype spindle is developed and validated. The model is then used to evaluate the closed loop performance.\u0000 The results show that closed loop control of the bearing load is achievable in steady state and under bandwidth limited transient conditions. The proposed system has reasonable command authority when additional heat is required, however, it is possible for the system to lose control when the heater is required to “provide” negative heat. This situation can be mitigated by proper choice of initial preload. As expected, measurement noise limits the control gain but is not a limiting factor. More open loop tests are suggested to validate the model under a broader set of conditions. In addition, closed loop validation is suggested. However, based on results obtained it appears bearing load control is achievable by controlling the thermal field around the spindle.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90805875","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

A Method for the Frequency Domain Design of PWM-Controlled Pneumatic Systems pwm控制气动系统的频域设计方法

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24567

E. Barth, Jianlong Zhang, M. Goldfarb

引用次数: 3

Control Design for Ultimate Boundedness of Linear Switched Systems With Controlled and Uncontrolled Subsystems 具有受控和非受控子系统的线性切换系统的极限有界性控制设计

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24592

R. Yedavalli, A. Sparks

{"title":"Control Design for Ultimate Boundedness of Linear Switched Systems With Controlled and Uncontrolled Subsystems","authors":"R. Yedavalli, A. Sparks","doi":"10.1115/imece2001/dsc-24592","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24592","url":null,"abstract":"\u0000 Motivated by the Satellite Formation Keeping Control Problem, this paper presents a theoretical framework for designing controllers for the ultimate boundedness of linear switched systems consisting of both controlled (and thus stable) and uncontrolled (unstable) subsystems. It is shown that if the dwell time in the controlled mode (i.e ‘on time’) and that of the uncontrolled mode (’off time’) are chosen judiciously, ultimate boundedness of the switched system is guaranteed. Towards this direction explicit formulae for the switching times between controlled and uncontrolled modes are provided as a function of the parameters of the ultimate boundedness region. Using Lyapunov theory, a control design procedure is presented that achieves a good trade off between the ratio of ‘off’ and ‘on’ times and the size of the ellipsoidal boundedness regions which are representative of the system performance. The proposed control design technique has useful applications in mechanical and aerospace systems. The importance of this theory and possible extensions of these concepts are discussed.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"26 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73522784","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

Adaptive AQM Routers Supporting TCP Flows 支持TCP流的自适应AQM路由器

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24582

Y. Chait, S. Oldak, C. Hollot, V. Misra

引用次数: 0

Design and Integration of a Torque Sensor Beam Based Masterarm 基于扭矩传感梁的主臂设计与集成

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference Pub Date : 2001-11-11 DOI: 10.1115/imece2001/dsc-24618

Sooyong Lee, Yoon Sang Kim, Changhyun Cho, Munsang Kim

{"title":"Design and Integration of a Torque Sensor Beam Based Masterarm","authors":"Sooyong Lee, Yoon Sang Kim, Changhyun Cho, Munsang Kim","doi":"10.1115/imece2001/dsc-24618","DOIUrl":"https://doi.org/10.1115/imece2001/dsc-24618","url":null,"abstract":"\u0000 A new concept of the exoskeleton-type masterarm, composed of serial links, is introduced in this paper. To provide maximum range of human motion, several redundant joints are added to the serial links. In order to reduce the number of joints to be measured, kinematics of serial links was taken into consideration in design. Three measurable, controllable joints and three redundant free joints are used for the upper arm (shoulder), similarly to the forearm (wrist) while one measurable, controllable joint is used for the elbow. In particular, a torque sensor beam is designed for fine force reflection using the strain gauge. It detects the torque as well as its direction applied by the human operator, which allows the electric brake to be used as an actuator for force reflection. The electric brake constrains the joint movement so that the operator can feel the force. This electric brake outperforms the motor in terms of torque/weight ratio and makes the device light and compact. This masterarm measures the movement of the operator’s arm precisely, and it can be used for teleoperation with a slave robot, or as a motion planner for an industrial robot.","PeriodicalId":90691,"journal":{"name":"Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference","volume":"20 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2001-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"77008546","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