Search results for "motion control"
showing 10 items of 70 documents
Analysis of Offshore Knuckle Boom Crane - Part One: Modeling and Parameter Identification
2013
This paper presents an extensive model of a knuckle boom crane used for pipe handling on offshore drilling rigs. The mechanical system is modeled as a multi-body system and includes the structural flexibility and damping. The motion control system model includes the main components of the crane's electro-hydraulic actuation system. For this a novel black-box model for counterbalance valves is presented, which uses two different pressure ratios to compute the flow through the valve. Experimental data and parameter identification, based on both numerical optimization and manual tuning, are used to verify the crane model. The demonstrated modeling and parameter identification techniques target…
Mechatronic Contouring System for Unconventional Sheet Metal Forming Processes
2006
This paperwork was developed in order to present the work concerning the use of mechatronic approach in the study of motion control systems for metal forming processes. The paper presents the use of low cost motion control systems, based upon induction motors, as driving systems in unconventional sheet metal forming processes. The main goal of this work was to implement a 2D contouring system for driving the active plate. The model of the system, simulations and some experimental work will be presented.
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.
Speed Control of a two-Degrees of Freedom Induction Motor with Rotor Helical Motion for Industrial Applications
2014
This paper describes the realization of a two-degrees of freedom induction motor prototype with rotor helical motion, suitable for several industrial applications as grinders, augers, drilling and milling spindles, robotic arms and drives for medical tools and prostheses. This prototype was realized by combining a three-phase tubular linear induction motor (TLIM) with the stator of a three-phase rotary induction motor, resulting in a THMIM (Tubular Helical Motion Induction Motor). Moreover, a possible simple electrical drive, capable to control the helical motion, is proposed, simulated and analyzed. In particular, the mathematical model of the THMIM has been initially developed and, then, …
Velocity sensorless control of a PMSM actuator directly driven an uncertain two-mass system using RKF tuned with an evolutionary algorithm
2010
This paper proposes a solution to tune an observer keeping robust closed loop performances for the sensorless motion control of an uncertain mechanical load directly driven by a PMSM through a flexible axis. An evolutionary algorithm optimizes the observers degrees of freedom. Experiments show that performances are effectively maintained.
Design and Sensitivity Analysis of a Reduced-Order Rotor Flux Optimal Observer for Induction Motor Control
2007
This paper aims to give simple and effective design criteria of rotor flux reduced-order observers for motion control systems with induction motors. While the observer is optimized for rotor and stator resistance variations, a sensitivity analysis is carried out in the presence of variations of all the motor parameters by means of either transfer function from true to observed rotor flux or simulation in a MATLAB-SIMULINK environment, assuming the voltages supplying the motor to be different from those supplying the observer. The sensitivity analysis makes it possible to establish design criteria for the observer in question. The behaviour of the proposed reduced order observer is compared …
Fuzzy Adaptive EKF Motion Control for Nonholonomic and Underactuated Cars with Parametric and non Parametric Uncertainties
2007
A new fuzzy adaptive motion control system including on-line extended Kalman''s filter (EKF) for wheeled underactuated cars with non-holonomic constraints on the motion is presented. The presence of parametric uncertainties in the kinematics and in the dynamics is treated using suitable differential adaptation laws. We merge adaptive control with fuzzy inference system. By using fuzzy system, the parameters of the kinematical controller are functions of the lateral, longitudinal and orientation errors of the motion. In this way we have a robust control system where the dynamics of the motion errors is with lower time response than the adaptive control without fuzzy. Also Lyapunov''s stabili…
Stability and Noises Evaluation of Fuzzy Kalman UAV Navigation System.
2009
In this paper a new Fuzzy/Kalman navigation system for Unmanned Aerial Vehicles (UAV) is presented. A closed loop velocity Fuzzy navigation system is proposed for stabilizing the UAV in a reference trajectory generated dynamically and for obtaining a forward velocity command. The Kalman's filter (KF) is included in the feedback line of the fuzzy control system to filter the internal noise of the sensors and to evaluate the external noise due to possible perturbations of the nominal motion. The efficiency of the navigation system has been shown through experimental tests in a Matlab environment.
Simulation approach for improving CNC milling machines accuracy for single axis motion
2010
CNC milling machines are widely used in manufacturing processes. In time, their accuracy is decreasing, which directly influences the accuracy of the manufactured parts. This research proposes a simulation-based method for improving the accuracy of the above mentioned machines, which is suitable to be applied at the shop floor level. A model of the feed drive, using a dc servomotor as actuator, is the core of the proposed approach. Matlab & Simulink based simulation diagrams were built in order to test the behavior of the system.
Fuzzy Data Fusion for Real-World Mapping Using 360° Rotating Ultrasonic Sensor
1997
Abstract Mobile robot perception of the external environment is limited by the features of the used sensor. An useful technique used to improve robot perception is data fusion. This paper presents an approach to build a map of an unknown environment applying fuzzy data fusion methods to data acquired through an ultrasonic sensor. Conditioning of these data and motion control of the mobil robot by fuzzy data fusion are also described. The resulting two dimensional map is used for path planning and navigation. The proposed approach is exrperimentally tested using real distance measures acquired by a 360° rotating sensor.