• 제목/요약/키워드: Velocity feedback Control

검색결과 313건 처리시간 0.031초

XPTOS에 의한 디스크 드라이브 서보메커니즘의 구성시 BESSEL 필터 표준 함수에 근거한 상태피드백이득 결정 (The determination of state feedback gains of XPTOS for disk drive servomechanism based on BESSEL filter prototype)

  • 한권희;이자성
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1996년도 하계학술대회 논문집 B
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    • pp.980-983
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    • 1996
  • This paper presents the method of determining state feedback gains of XPTOS for disk drive servomechanism based BESSEL filter prototype. A typical disk drive actuator can be modeled as second order dynamics for low frequencies. However, the response at higher frequencies shows resonant behavior which cannot be easily modeled. XPTOS consists of the nonlinear control region and the linear control region. In the linear control region, the poles of a second order nominal model of plant must be properly relocated by pole placement technique to attenuate resonant modes at high frequency and to attain minimum time state transition. It is difficult to select position to satisfy this object because velocity feedback gain is subjected to position feedback gain in XPTOS. Here poles of BESSEL filter prototype are selected to determine state feedback gains of XPTOS. Simulation results for disk drive servomechanism using XPTOS having state feedback gains by the proposed method are presented.

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개별 동점 속도제어를 이용한 다점 지지계의 능동진동제어 (Active vibration isolation of a multiple mount system using decentralised collocated velocity feedback control)

  • 김상명
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2000년도 춘계학술대회논문집
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    • pp.291-298
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    • 2000
  • This paper describes a theoretical and experimental investigation into an active vibration isolation system in which four electromagnetic actuators are installed in parallel with each of four passive mounts placed between a piece of equipment and a vibrating base structure. Decentralised velocity feedback control is employed, where each actuator is operated independently by feeding back the absolute equipment velocity at the same location. Although one end of each actuator acts at the sensor positions on the equipment, the control system is not collocated because of the reactive forces acting on the flexible base structure, whose dynamics are strongly coupled with the mounted equipment. Isolation of low frequency vibration is considered where the equipment can be modelled as a rigid body and the mounts as lumped parameter springs and dampers. Control mechanisms are discussed, and some experimental and simulation results are reported.

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Sensory Feedback for High Dissymmetric Master-Slave Dexterity

  • Cotsaftis, Michel;Keskinen, Erno
    • Transactions on Control, Automation and Systems Engineering
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    • 제4권1호
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    • pp.38-42
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    • 2002
  • Conditions are discussed for operating a dissymmetric human master-small (or micro) slave system in best (large position gain-small velocity gain) conditions allowing higher operator dexterity when real effects (joint compliance, link flexion delay and transmission distortion) are taken into account. It is shown that position PD feedback law advantage for ideal case no longer holds, and that more complicated feedback law depending on real effects has to be implemented with adapted transmission line. Drawback is slowdown of master slave interaction, suggesting to use more advanced predictive methods for the master and more intelligent control law for the slave.

태양광 발전 기반 전동기 속도 제어를 위한 적응형 컨버터 제어 기법에 관한 연구 (A Study on Adaptive Converter Control Approach for Velocity Control of Electric Motors with Photovoltaic Power Generators)

  • 박성원;김동완;조현철
    • 전기학회논문지
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    • 제65권8호
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    • pp.1400-1406
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    • 2016
  • This paper presents a new adaptive converter control approach for electric motor systems whose voltage source is excited from photovoltaic (PV) power generators. First, an electric model is represented with dynamic states and output velocity of such DC motor systems. We propose a hybrid converter control law in which a state feedback control is applied as an auxiliary control framework. Moreover, control parameter estimation is derived to realize adaptive converter systems for effective control performance against stochastic PV power excitation in practice. We carry out stability analysis for such converter system by using a well-known eigenvalue theory. Lastly, numerical simulation is conducted to test reliability of the proposed converter control approach and prove its superiority in the control point of view.

보의 진동제어를 위한 압전 액추에이터의 길이변화 효과 연구 (Effect of Piezoactuator Length Variation for Vibration Control of Beams)

  • 이영섭
    • 한국소음진동공학회:학술대회논문집
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    • 한국소음진동공학회 2008년도 춘계학술대회논문집
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    • pp.442-448
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    • 2008
  • This paper presents an approach to define an optimal piezoactuator length to actively control structural vibration. The optimal ratio of the piezoactuator length against beam length when a pair of piezoceramic actuator and accelerometer is used to suppress unwanted vibration with direct velocity feedback (DVFB) control strategy is not clearly defined so far. It is well known that direct velocity feedback (DVFB) control can be very useful when a pair of sensor and actuator is collocated on structures with a high gain and excellent stability. It is considered that three different collocated pairs of piezoelectric actuators (20, 50 and 100 mm) and accelerometers installed on three identical clamped-clamped beams (300 * 20 * 1 mm). The response of each sensor-actuator pair requires strictly positive real (SPR) property to apply a high feedback gain. However the length of the piezoactuator affects SPR property of the sensor-actuator response. Intensive simulation and experiment shows the effect of the actuator length variation is strongly related with the frequency range of SPR property. A shorter actuator gave a wider SPR frequency range as a longer one had a narrower range. The shorter actuator showed limited control performance in spite of a higher gain was applied because the actuation force was relatively small. Thus an optimal length ratio (actuator length/beam length) was suggested to obtain relevant performance with good stability with DVFB strategy. The result of this investigation could give important information in the design of active control system to suppress unwanted vibration of smart structures with piezoelectric actuators and accelerometers.

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Effects of real-time feedback training on weight shifting during golf swinging on golf performance in amateur golfers

  • Hwang, Ji-Hyun;Choi, Ho-Suk;Shin, Won-Seob
    • Physical Therapy Rehabilitation Science
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    • 제6권4호
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    • pp.189-195
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    • 2017
  • Objective: The purpose of this study was to examine the effects of real-time visual feedback weight shift training during golf swinging on golf performance. Design: Repeated-measures crossover design. Methods: Twenty-sixth amateur golfers were enrolled and randomly divided into two groups: The golf swing training with real-time feedback on weight shift (experimental group) swing training on the Wii balance board (WBB) by viewing the center of pressure (COP) trajectory on the WBB. All participants were assigned to the experimental group and the control group. The general golf swing training group (control group) performed on the ground. The golf performance was measured using a high-speed 3-dimensional camera sensor which analyses the shot distance, ball velocity, vertical launch angle, horizontal launch angle, back spin velocity and side spin velocity. The COP trajectory was assessed during 10 practice sessions and the mean was used. The golf performance measurement was repeated three times and its mean value was used. The assessment and training were performed at 24-hour intervals. Results: After training sessions, the change in shot distance, ball velocity, and horizontal launch angle pre- and post-training were significantly different when using the driver and iron clubs in the experimental group (p<0.05). The interaction time${\times}$group and time${\times}$club were not significant for all variables. Conclusions: In this study, real-time feedback training using real-time feedback on weight shifting improves golf shot distance and accuracy, which will be effective in increasing golf performance. In addition, it can be used as an index for golf player ability.

기계임피던스 감소기법을 이용한 회전형 전기-유압식 구동기의 모델 없는 토크제어방법 (Model-Free Torque Control of Rotary Electro-Hydraulic Actuator using Mechanical Impedance Reduction)

  • 이웅용;정완균
    • 로봇학회논문지
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    • 제15권1호
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    • pp.77-89
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    • 2020
  • This paper proposes a simple and intuitive model-free torque-tracking control for rotary electro-hydraulic actuators. The undesirable natural-velocity-feedback effect is discussed by introducing mechanical impedance into the electro-hydraulic actuation system. The proposed model-free torque control comprises inner- and outer-loop control to achieve two control objectives. Inner-loop control reduces the mechanical impedance passively and optimally. To improve the tracking accuracy, a certain form of proportional-integral-derivative control is applied to the outer loop. The robustness of the proposed closed-loop system against external disturbances is demonstrated by transforming the two-loop control structure into a disturbance observer form. The proposed method is validated on a single joint electro-hydraulic actuator.

A Study on the Hydraulic Cylinder with built-in Displacement and Thrust Control Function

  • Kitagawa, Ato;Wu, Chunnan;Park, Sung-Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.1157-1161
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    • 2003
  • A novel actuator with built-in the displacement and the thrust control function is presented in this paper. This actuator is a kind of compact hydraulic cylinder system which consists of a hydraulic cylinder, a spool, a sleeve, a mechanical feedback mechanism and a stepping motor. The displacement and thrust is in proportion to the rotational angle of stepping motor by the mechanical feedback. In order to investigate characteristics of this actuator, simulation study and preliminary experiments are conducted. Through the preliminary experiment this actuator is very effective in the control for displacement and thrust. Also, it became obvious that the stability of system can be adjusted by using the restrictor with the effect of velocity feedback. Furthermore, this paper explained that a flexible compliance control could be realized by adjusting the feedback weighting in the actuator.

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가변하중을 받는 유압실린더의 제어특성개선 (Control Characteristics Improvement of Single Rod Hydraulic Cylinder Subjected to Varying Load)

  • 염만오
    • 한국기계가공학회지
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    • 제2권4호
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    • pp.46-52
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    • 2003
  • For position control of electro-hydraulic servo system, single rod cylinders and double rod cylinders are used. Single rod cylinders have simple structure for manufacturing but different volume ratio of two sides induce to non-linearity in process of then mathematical modeling. So only with conventional PID control method it is difficult to control single rod cylinders precisely. For mole precise position control of single rod cylinders, a controller which is inserted a velocity feedback PID controller and MRAC controller are proposed. With experiment control performances of three control methods are compared. In case of experiment, for external varying load to the system, a hydraulic cylinder and a pressure control valve are used. In conclusion a MRAC is considered a suitable control method for external varying load.

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Robust Adaptive Output Feedback Control Design for a Multi-Input Multi-Output Aeroelastic System

  • Wang, Z.;Behal, A.;Marzocca, P.
    • International Journal of Aeronautical and Space Sciences
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    • 제12권2호
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    • pp.179-189
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    • 2011
  • In this paper, robust adaptive control design problem is addressed for a class of parametrically uncertain aeroelastic systems. A full-state robust adaptive controller was designed to suppress aeroelastic vibrations of a nonlinear wing section. The design used leading and trailing edge control actuations. The full state feedback (FSFB) control yielded a global uniformly ultimately bounded result for two-axis vibration suppression. The pitching and plunging displacements were measurable; however, the pitching and plunging rates were not measurable. Thus, a high gain observer was used to modify the FSFB control design to become an output feedback (OFB) design while the stability analysis for the OFB control law was presented. Simulation results demonstrate the efficacy of the multi-input multi-output control toward suppressing aeroelastic vibrations and limit cycle oscillations occurring in pre- and post-flutter velocity regimes.