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Motion Control: Generating Intelligent Commands for Mechatronic Devices. Kelvin Peng January 31 st 2013. What is Control?. Getting the System to do What you Want. How to Control ?. Controls 101: Add a Feedback Loop!. Pros: Eliminates errors Disturbance rejection. Cons: Stability?

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slide1

Motion Control: Generating Intelligent Commands for Mechatronic Devices

Kelvin Peng

January 31st 2013

slide2

What is Control?

Getting the System to do What you Want

slide3

How to Control?

Controls 101: Add a Feedback Loop!

  • Pros:
  • Eliminates errors
  • Disturbance rejection
  • Cons:
  • Stability?
  • Sensors
slide4

Let’s go back to simple control

  • Pros:
  • Simple, no sensors
  • Stable (if plant is stable)
  • Accurate model not needed
  • Cons:
  • No disturbance rejection
  • Increase rise time

Today’s topic:

How to design the command generator for oscillatory plants

slide8

Normalization

Positive Impulses

Time Optimality

Solving for the two impulses

Vibration Amplitude

(after n impulses)

We want this to be zero, i.e. V=0

t1

t2

slide9

Solving for the two Impulses

3 equations, 3 unknowns

Zero-Vibration (ZV) input shaper

input shaping arbitrary commands
Input Shaping Arbitrary Commands
  • Slight increase in rise time
  • ΣAi = 1 so that shaped and initial commands have same steady state
slide13

Implementing a Digital Input Shaper

Unshaped Command

Shaped Command

slide14

Shaper Robustness

Insensitivity – the width of a sensitivity curve where vibration remains under Vtol , the tolerable level of vibration

slide15

Increasing Shaper Robustness

Insensitivity – the width of a sensitivity curve where vibration remains under Vtol , the tolerable level of vibration

slide16

Increasing Shaper Robustness

Extra Insensitive (EI) Shaper

Insensitivity – the width of a sensitivity curve where vibration remains under Vtol , the tolerable level of vibration

slide17

Increasing Shaper Robustness Like a Boss

Tradeoff: More impulses are needed, and therefore slower rise time.

slide18

Multi-Mode Input Shaping

Design a shaper for each mode, then convolve to get a shaper that eliminates both modes

slide19

ZV Shaper for 1 Hz and 2 Hz

ZV Shaper for 1 Hz

X

ZV Shaper for 2 Hz

slide22

Shapers with Negative Impulses

  • Negative shapers:
  • Faster
  • But less robust
  • May excite un-modeled higher modes

Unity Magnitude

UMZV shaper

slide24

On-Off Thrusters: Flexible Satellites

(Tokyo Institute of Technology)

slide25

On-Off Thrusters: Flexible Satellites

(Tokyo Institute of Technology)

slide26

Input Shaping

With Feedback Control

Collapse the feedback loop

Input Shaper *

Cascaded set of 2nd order systems

slide27

Disturbance During Motion

Input Shaping and Feedback Control:

Experimental Data

Disturbance at End

portable tower crane
Portable Tower Crane
  • 2mx2mx340o
  • Interfaces: Pendent, GUI, Internet GUI
  • Overhead Camera
  • Used by Researchers and Students in Atlanta, Japan, Korea
slide34

Screen Interface

Tower Crane: System Overview

slide36

Other Applications

  • Many types of cranes
  • Milling machines
  • Coordinate measuring machines
  • Disk drives
  • Long reach robots
  • Spacecraft
slide39

Application of Command Shaping

to Micro Mills

  • Scale of Micro Meters (10-6m)
  • High Spindle Speeds (120 kRPM)
slide47

Conclusions

  • Every control method has strengths and weaknesses (Feedback is not a magic cure-all)
  • The command issued to a system has a significant influence on its response
  • Input shaping
    • Is excellent for applications with problematic vibrations
    • Is easy to implement
slide49

Before we go on…

A General Control System