The new energy vehicle industry needs a large number of vehicle power batteries, and its production depends on high-speed and high-precision battery pole-piece cutting equipment, which is mainly ...composed of the electrode material roll uncoiling unit, buffering unit, main drive unit, and cutting unit. Due to the nonlinearity and high-speed intermittent motion mode of a servomotor, the existing control technology is difficult to apply to the cutting system. This article presents a multimotor linear velocity planning approach used to ensure synchronous and cooperative operation of the motors in the cutting system. To achieve fast and accurate positioning control of the main drive motor running in fast acceleration and deceleration, periodic and intermittent mode, an adaptive position controller based on data-driven modeling technique is proposed, which makes the parameters of the controller change with the operation state of the main drive motor so that the controller can obtain good positioning accuracy in a wide working range of the main drive motor. Two linear models are established to represent the relationship between the positioning error and the positioning controller parameters and the main drive motor running conditions. The parameters of the two models are estimated offline and the parameters of the adaptive position controller can be obtained online quickly. Thus, the proposed control method for the main drive motor can be easily realized by general PLC in practical application. Simulation study results show that using the proposed method, the positioning error of the main drive motor is less than 0.1 mm when cutting 89-mm-long battery pole-piece and cutting 1 to 3 pieces/s. This result is much better than that of the position controller with fixed parameters.
This article describes a robust controller design method against plant perturbations, based on multiple frequency response data (FRD). The performance of controller design methods based on FRD ...depends on the reliability of the data. However, this approach has not always been effective for plant whose characteristics are perturbed due to changes in state variables. Therefore, by using multiple FRD that include plant perturbations, we have enabled the design of high precision position controllers that are stable and have high disturbance suppression performance. The measured multiple FRD are integrated into a single FRD at each frequency (integrated FRD), reflecting the plant perturbations in the optimization calculations. The effectiveness of the proposed method has been verified through position control experiments using a ball screw whose FRD perturbs depending on the stage position.
Abstract
For the servo dual motor linkage lag and large error problems, electronic cam curve planning is introduced. This servo system uses Microchip's MPLAB development platform and consists of a ...digital servo driver, two servo motors, etc. The servo motors use a vector control strategy. The position command of the slave servo motor is calculated according to the speed of the spindle motor and the electronic cam table, and the reciprocating motion of the motor pendulum is realised by simulating a mechanical cam, and the five-term and one-term curves are used to articulate with each other in the acceleration, uniform speed and deceleration stages. The experimental results show that with the electronic cam scheme, the servo system combines the advantages of high response speed and high control accuracy, while the curve planning and parameters are easy to adjust and meet the requirements of industrial production.
Abstract
Aerospace servo motor has the characteristics of strong load capacity, fast response and high control accuracy. To satisfy the design target of high dynamic performance and low weight, the ...high magnetic loading ironless-core array rotor structure is applied to balance the low rotational inertia and high torque density of permanent magnet servo system.
Este artículo presenta el diseño y la construcción de un robot móvil (E-BOT) tanto en la parte de hardware como en la de software, el cual funciona como una herramienta de apoyo a los procesos de ...enseñanza y permite afianzar el aprendizaje en temas relacionados a programación teniendo como alcance las estructuras repetitivas, esto por medio de una serie de elementos de aprendizaje previamente construidos. E-BOT cuenta con una serie de actuadores (Led, oled, servomotor, motores) y sensores (ultrasonido y luz reflectante) los cuales son controlados por medio de Arduino que permiten una fácil interacción de EBOT con el mundo real. Adicionalmente se realiza la construcción de un software de verificación que nos permite validar el correcto funcionamiento de todos los módulos construidos.
Most of the existing control methods for servo systems driven by hydraulic actuators have been developed by using a backstepping scheme and assuming that all system states (including internal ...hydraulic signals) are measurable. In this paper, we propose a new control design method for high-order servo systems with hydraulic actuator dynamics, where the backstepping scheme is avoided and only the system output (e.g., motion displacement) is required for the control implementation. For this purpose, the system model is first transformed into a canonical form, where the unknown dynamics in the system are lumped as one term. Then, we introduce a simple robust unknown dynamics estimator (UDE) that has only one tuning parameter but achieves exponential error convergence to accommodate the lumped uncertainties. Therefore, the function approximators (e.g., neural network and fuzzy systems) can be avoided, leading to reduced computational costs, simpler parameter tuning, and improved convergence as compared to backstepping methods. Extensive simulations and experiments based on a realistic test rig are conducted to show the efficacy of the proposed control.
People who have lost their limbs to amputation and neurological disorders confront this loss every morning. As per the literature review, nearly 30% of the Indian population suffered from upper ...extremity amputation. As a coping-up measure, a force-controlled prosthetic limb has been developed to improve their self-reliance, quality of lifestyle and mental strength. The current prosthetic limb operation is done by residual muscle contraction, which contributes to the activation of the sensor and the motor. But there are some cons, the amputee does not know how much pressure needs to be exerted for holding various objects. Also, the amputee still has to undergo the surgical procedure. However, this paper proposes a way to predict the force which is needed to regulate the voltage for the servomotors using different Machine Learning (ML) regression approaches. Support Vector Regressor (SVR), Linear Regression and Random Forest models have been used to predict that force requirement. After comparing the results, the Random Forest model gave a highly accurate prediction of the force needed to control the voltage for the DC servomotors
This paper proposes an adaptive control for a class of nonlinear mechanisms with guaranteed transient and steady-state performance. A performance function characterizing the convergence rate, maximum ...overshoot, and steady-state error is used for the output error transformation, such that stabilizing the transformed system is sufficient to achieve the tracking control of the original system with a priori prescribed performance. A continuously differentiable friction model is adopted to account for the friction nonlinearities, for which primary model parameters are online updated. A novel high-order neural network with only a scalar weight is developed to approximate unknown nonlinearities and to dramatically diminish the computational costs. Comparative experiments on a turntable servo system are included to verify the reliability and effectiveness.
This paper presents an active disturbance rejection adaptive control scheme via full state feedback for motion control of hydraulic servo systems subjected to both parametric uncertainties and ...uncertain nonlinearities. The proposed controller is derived by effectively integrating adaptive control with extended state observer via backstepping method. The adaptive law is synthesized to handle parametric uncertainties and the remaining uncertainties are estimated by the extended state observer and then compensated in a feedforward way. The unique features of the proposed controller are that not only the matched uncertainties but also unmatched uncertainties are estimated by constructing two extended state observers, and the parameter adaptation law is driven by both tracking errors and state estimation errors. Since the majority of parametric uncertainties can be reduced by the parameter adaptation, the task of the extended state observer is much alleviated. Consequently, high-gain feedback is avoided and improved tracking performance can be expected. The proposed controller theoretically achieves an asymptotic tracking performance in the presence of parametric uncertainties and constant disturbances. In addition, prescribed transient tracking performance and final tracking accuracy can also be guaranteed when existing time-variant uncertain nonlinearities. Comparative experimental results are obtained to verify the high tracking performance nature of the proposed control strategy.
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