Reducing Oscillations During Positioning of A Servomechanism Having Flexibility

Hubinský, Peter; Hauptle, Peter

doi:10.2478/v10187-012-0030-x

Cited by 3 publications

(3 citation statements)

References 10 publications

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“…The harmonic modulation of a velocity set-point signal control method in order to reduce the undesirable oscillations has been utilized in Hubinskỳ and Häuptle. 13 ]. The aforesaid work proposes a control structure used for servomechanisms equipped with a gearbox or namely mechatronic drives (MDs), where undesirable oscillations in transient- as well as semi-steady-states could arise.…”

Section: Introductionmentioning

confidence: 99%

An experimental oscillation damping impedance control for the Novint Falcon haptic device based on the phase trajectory length function concept

Zarei

Kalhor

Masouleh

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper aims at designing an oscillationless open-loop impedance controller for a well-known low-cost haptic device, namely the Novint Falcon haptic device. In this regard, the oscillation number index standing for the ratio of the traversed path in the corresponding phase portrait systems for a certain state to its radial value is employed to evaluate the oscillatory behavior of the system. Based on the identified parameters of the dynamic equation, a precise model of the intended robot is developed in the SimMechanics simulator. According to the obtained results in the simulation, one can infer that there is a certain impedance value in which the value of the oscillation number index has its minimum value. The obtained experimental results reveal that the oscillation number index based controller possesses lower oscillation in comparison to the Falcon’s official software development kit. In fact, by tuning the system’s impedance will result in a better performance for the haptic purposes.

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Section: Introductionmentioning

confidence: 99%

An experimental oscillation damping impedance control for the Novint Falcon haptic device based on the phase trajectory length function concept

Zarei

Kalhor

Masouleh

2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…If the amplitudes of all impulses are non-negative, condition (4) obviously implies that the condition 0 ≤ A i ≤ 1 must be true for each of them. Solving equations (2) while respecting all restrictions, we get the following solution for min(t n ); it describes a positive ZV (zero-vibration) shaper, often expressed in a matrix form [3,7,8,9]: In the time domain, the ZV shaper may be described by the formula:…”

Section: Introductionmentioning

confidence: 99%

Discrete Shaper of Control Signals

Micek

Juríček

2015

JERA

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Method of control signal shaping has been being used in the steering systems with flexible elements since the 1990s. Many useful applications were developed during the next 20 years, primarily in the field of the positioning control systems. Most of the applications were from the area of control systems in machinery industry (cranes, fast-speed lifts, positioning systems, etc.), many of published papers are based on the design of a proper sequence of pulses in the time domain. On the contrary, our approach describes the design of the discrete shaper in the image area and is focused on the digital implementation issues.

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“…It is obvious that if amplitudes of all the pulses are nonnegative, then respecting conditions (5), it must belong to the interval 0 ≤ Ai ≤ 1. With respect to those limitations, by solving the equations (2) we get for min(t n ) the solution describing positive ZV shaper whose design is often stated in matrix form [3], [5], [6], [7]:…”

Section: Proposal Of An Input Shaper In the Time Domainmentioning

confidence: 99%

Using wireless acceleration sensor for system identification

Sarafin¹,

Micek²,

Milanova³

2016

Annals of Computer Science and Information Systems

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Abstract-In practical applications, we often encounter problems controlling weakly damped resonant systems. These are devices which often include inertia masses and flexible connecting elements. These devices are mainly gantry cranes, mechatronic systems, elevators, filling lines for the food industry and many others. One approach to improving the transition process in the control of these weakly damped systems is a method of shaping control signals. This method starts to be used in the control of systems with flexible elements in the 90s of the twentieth century. Over the next twenty years, we meet with successful applications, especially in the control of positioning systems. When we are talking about the theoretical description of input shaping today, we meet mainly with two basic approaches. The first is based on the selection of a proper sequence of pulses in the time domain. The second is based on the design of such discrete shaper, which compensates the effect of the complex poles of a controlled system causing residual vibration. Irrespective of the shaper design method, we must know either the systems oscillations and controlled system damping, or the location of the complex poles causing the vibration.

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Reducing Oscillations During Positioning of A Servomechanism Having Flexibility

Cited by 3 publications

References 10 publications

An experimental oscillation damping impedance control for the Novint Falcon haptic device based on the phase trajectory length function concept

An experimental oscillation damping impedance control for the Novint Falcon haptic device based on the phase trajectory length function concept

Discrete Shaper of Control Signals

Using wireless acceleration sensor for system identification

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