Motion control algorithm and tuning rules for mechanical devices with low sampling-rate electronics

• Autorzy: Gil Jorge Juan , Diaz Inaki

Identyfikatory

DOI

10.24425/acs.2020.132588

• Języki publikacji: EN

Abstrakty

EN

Controlling mechanical systems with position and velocity cascade loops is one of the most effective methods to operate this type of systems. However, when using low-rate sampling electronics, the implementation is not trivial and the resulting performance can be poor. This paper proposes effective tuning rules that only require establishing the bandwidth of the inner velocity loop and an estimation of the inertia of the mechanism. Since discrete-time mechatronic systems can also exhibit unstable behavior, several stability conditions are also derived. By using the proposed methodology, a P-PI control algorithm is developed for a desktop haptic device, obtaining good experimental performance with low sampling-rate electronics.

Słowa kluczowe

EN

motion control; cascade control loops; discrete-time systems; stability; mechatronic systems

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2020
• Tom: Vol. 30, No. 1
• Strony: 123--138
• Opis fizyczny: Bibliogr. 15 poz., fot., rys., wykr., wzory

Twórcy

autor

Gil Jorge Juan

• TECNUN, University of Navarra, and CEIT, San Sebastián, Spain

autor

Diaz Inaki

• TECNUN, University of Navarra, and CEIT, San Sebastián, Spain

Bibliografia

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• [12] L. Abdullah, Z. Jamaludin, M. Salleh, B. Abu Bakar, J. Jamaludin, T. Chiew, and N. Rafan: Theoretical analysis of velocity and position loop behaviour of nonlinear cascade feedforward controller for positioning of xy table ballscrew drive system, in Materials, Industrial, and Manufacturing Engineering Research Advances 1.1, ser. Advanced Materials Research, vol. 845, Trans Tech Publications, 2 2014, pp. 831–836.
• [13] K. Ogata: Discrete-Time Control Systems, 2nd ed., Pearson Prentice-Hall, 1995.
• [14] Modern Control Engineering, Pearson Prentice-Hall, 2002.
• [15] R. H. Castain and R. P. Paul: An on-line dynamic trajectory generator, The International Journal of Robotics Research, 3(1) (1984), 68–72.

Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2020).