Journal Article10.3182/20090921-3-TR-3005.00048
Estimation Based PID controller-Sensorless Wave Based Technique ?
Islam S. M. Khalil,Emrah Deniz Kunt,Asif Sabanovic +2 more
- 01 Jan 2009
- Vol. 42, Iss: 19, pp 266-271
TL;DR: Experimental results show the validity of the proposed sensorless estimation algorithm and the possibility of controlling motion and vibration of flexible systems by focusing all the measurements on the actuator side keeping the system free from any attached sensors.
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Abstract: This paper presents a sensorless estimation algorithm for estimating flexible system parameters, dynamics and externally applied forces or torques due to system interaction with the environment. The proposed algorithm makes it possible to design a chain of observers that require measuring actuator's current and velocity along with performing two off-line experiments that do not require any additional measurement from the flexible system. The output of these observers are estimates of the system parameters, estimates of the system dynamics in configuration, motion and acceleration level. Eventually, the estimated positions are used to control the motion and vibration of the flexible lumped system without taking any measurement from the system. Experimental results show the validity of the proposed sensorless estimation algorithm and the possibility of controlling motion and vibration of flexible systems by focusing all the measurements on the actuator side keeping the system free from any attached sensors.
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Citations
Mechatronics기술개발 현황과 과제
權寧住
- 01 Apr 1996
TL;DR: Clark College's Mechatronics Technology (MTX) classes emphasize current concepts and technology by providing practical, hands-on experiences with the latest, industry standard equipment, in addition to the technical knowhow needed to maintain and repair equipment, the certificate and degree programs will help prepare students to think critically, function as a successful team member and communicate clearly too internal and external customers.
279
•Journal Article
A novel algorithm for sensorless motion control of flexible structures
TL;DR: In this article, the authors demonstrate the validity of using an actuator as a single platform for measurements during a motion control assignment of flexible systems kept free from any kind of measurement.
4
A novel algorithm for sensorless motion control, parameter identication and position estimation
Islam Kahalil,Emrah Deniz Kunt,Asif Sabanovic +2 more
- 01 Sep 2009
TL;DR: In this article, an actuator can be used as a single platform for measurement, control and estimation by designing a chain of estimators and performing simple off-line experiments, making use of the fact that rejected torque from the dynamical system consists of all system dynamics beside all external disturbances.
Force control in multi-degree-of-freedom flexible systems — Sensorless technique
Islam S. M. Khalil,Ahmet Teoman Naskali,Asif Sabanovic +2 more
- 15 Dec 2009
TL;DR: This paper attempts to keep the flexible plant free from any measurement while performing a torque control assignment, however, actuator's parameters and variables are assumed to be available.
3
References
Preshaping Command Inputs to Reduce System Vibration
Neil C. Singer,Warren P. Seering +1 more
TL;DR: In this paper, a method for generating shaped command inputs which significantly reduce or eliminate endpoint vibration is presented for the Space Shuttle Remote Manipulator System simulator (DRS), where the desired system inputs are altered so that the system completes the requested move without residual vibration.
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Motion control for advanced mechatronics
TL;DR: In this article, a technique to estimate disturbance is introduced to make motion controller to be an acceleration controller, which is a bridge to connect such robustness and variable stiffness in the controller.
1.8K
On the “bang-bang” control problem
TL;DR: In this paper, the authors considered the case where all the solutions of Z = Az approach zero as t approaches infinity, and the problem of choosing f so as to reduce z to 0 in minimum time.
Mechatronics기술개발 현황과 과제
權寧住
- 01 Apr 1996
TL;DR: Clark College's Mechatronics Technology (MTX) classes emphasize current concepts and technology by providing practical, hands-on experiences with the latest, industry standard equipment, in addition to the technical knowhow needed to maintain and repair equipment, the certificate and degree programs will help prepare students to think critically, function as a successful team member and communicate clearly too internal and external customers.
279