Search results for "Motion control"
showing 10 items of 70 documents
Positioning system for assembly and manufacturing tasks
2019
The paper presents a two-axis positioning system using asynchronous motors as actuation devices. Theuse of asynchronous motors reduces the overall cost of the system, while providing actuating torques superior to the ones provided by stepping motors. The system is controlled by mean of a programmable logic controller (PLC) and two voltage-frequency inverters fitted with motion control cards. In contrasts to a stepping motor system, which works in open loop mode, the proposed system uses closed loop control on each axis. The motion loop is closed by means of an incremental encoder.
Guidelines to Select Between Self-Contained Electro-Hydraulic and Electro-Mechanical Cylinder
2020
This research paper presents guidelines on how to select between self-contained electro-hydraulic and electromechanical cylinders. An example based on the motion control of a single-boom crane is studied. The sizing process of the different off-the-shelf components is analyzed in terms of design impact when replacing a traditional valve-controlled hydraulic cylinder. The self-contained electro-hydraulic solution is the best choice when a risk for high impact forces is present, when the required output power level lies continuously above 2 kW, or when installation space, weight, and cost are critical design objectives. However, the electro-mechanical solution is expected to show more control…
Low-cost motion control solution for industrial manufacturing systems
2011
This paperwork deals with a low-cost actuation solution, based upon induction motors, which was seldom used in the motion control systems, especially for the machine tools feed drives. A simulation approach, based upon a mathematical model of the induction motor, for tuning the controllers of the systems is presented. Experimental researches developed upon a two axes motion control system, both axes being driven by alternating current asynchronous motors were also performed in order to test the proposed strategies. The asynchronous motors, used as actuation devices were equipped with incremental rotary encoders and controlled by vector frequency inverters and DSP motion control cards were u…
Internal model-based feedback control design for inversion-free feedforward rate-dependent hysteresis compensation of piezoelectric cantilever actuat…
2018
Abstract This study proposes a new rate-dependent feedforward compensator for compensation of hysteresis nonlinearities in smart materials-based actuators without considering the analytical inverse model. The proposed rate-dependent compensator is constructed with the inverse multiplicative structure of the rate-dependent Prandtl–Ishlinskii (RDPI) model. The study also presents an investigation for the compensation error when the proposed compensator is applied in an open-loop feedforward manner. Then, an internal model-based feedback control design is applied with the proposed feedforward compensator to a piezoelectric cantilever actuator. The experimental results illustrate that the propo…
Novel Concept for Electro-Hydrostatic Actuators for Motion Control of Hydraulic Manipulators
2021
Self-contained hydraulic cylinders have gained popularity in the recent years but have not been implemented for high power articulated hydraulic manipulators. This paper presents a novel concept for an electro-hydrostatic actuator applicable to large hydraulic manipulators. The actuator is designed and analyzed to comply with requirements such as load holding, overload handling, and differential flow compensation. The system is analyzed during four quadrant operation to investigate energy efficiency and regenerative capabilities. Numerical simulation is carried out using path control and 2DOF anti-swing of a hydraulic crane as a load case to illustrate a real world scenario. A comparison wi…
Researches Regarding Optimizing the Accuracy of CNC Laser Cutting Machines
2015
The experimental researches presented in this paper are aimed to improve the manufacturing accuracy of a contouring machine together with an approach to eliminate the errors which lead to a less precise part after machining.In order to eliminate the errors, the machine's feed drives were tuned leading to a more precise part. In order to validate the proposed approach, the accuracy of the machine was tested before and after the tuning process.
On Switching between Motion and Force Control
2019
In motion control technologies, an automatic switching between trajectory following and set reference force, upon the impact, is a frequently encountered requirement. Despite both, motion and force controls, are something of well-understood and elaborated in the control theory and engineering practice, a reliable switching between them is not always self-evident. It can lead to undesired deadlocks, limit cycles, chattering around switching point and, as consequence, to wearing or damages in the controlled plant and its environment. This paper contributes to analysis and understanding of the autonomous switching from the motion to force control and vice versa. Simple output and state feedbac…
Experimental framework of traveling trolley with swinging load for hybrid motion control
2018
A novel experimental framework of the traveling trolley with swinging load is proposed. The system is designed as a controlled moving cart with pendulum for investigation of the hybrid motion control methods, involving the discrete sensors and impulsive event-based state observations and control actions. A mechatronic approach of principal system design, modeling, and identification are provided together with a motion control of the cart and simple event-based control of a-priori unknown final position. The coupled motion dynamics is analyzed and evaluated by using the discrete sensors, along with the control results.
Intelligent Adaptive Motion Control for Ground Wheeled Vehicles
2014
In this paper a new intelligent adaptive control is applied to solve a problem of motion control of ground vehicles with two independent wheels actuated by a differential drive. The major objective of this work is to obtain a motion control system by using a new fuzzy inference mechanism where the Lyapunov’s stability can be assured. In particular the parameters of the kinematical control law are obtained using an intelligent Fuzzy mechanism, where the properties of the Fuzzy maps have been established to have the stability above. Due to the nonlinear map of the intelligent fuzzy inference mechanism (i.e. fuzzy rules and value of the rule), the parameters above are not constant, but, time a…
Fuzzy/Kalman Hierarchical Horizontal Motion Control of Underactuated ROVs.
2010
A new closed loop fuzzy motion control system including on-line Kalman's filter (KF) for the two dimensional motion of underactuated and underwater Remotely Operated Vehicle (ROV) is presented. Since the sway force is unactuated, new continuous and discrete time models are developed using a polar transformation. A new hierarchical control architecture is developed, where the high level fuzzy guidance controller generates the surge speed and the yaw rate needed to achieve the objective of planar motion, while the low level controller gives the thruster surge force and the yaw torque control signals. The Fuzzy controller ensures robustness with respect to uncertainties due to the marine envi…