slide1 n.
Download
Skip this Video
Loading SlideShow in 5 Seconds..
Motion Control: Generating Intelligent Comands for Mechatronic Devices PowerPoint Presentation
Download Presentation
Motion Control: Generating Intelligent Comands for Mechatronic Devices

Loading in 2 Seconds...

play fullscreen
1 / 47

Motion Control: Generating Intelligent Comands for Mechatronic Devices - PowerPoint PPT Presentation


  • 86 Views
  • Uploaded on

Motion Control: Generating Intelligent Comands for Mechatronic Devices. Kelvin Peng Feburary 7 th 2012. Getting the System to do What you Want. What is Control?. How to Control? Add a Feedback Loop. Pros: Eliminates errors Disturbance rejection. Cons: Stability? Sensors.

loader
I am the owner, or an agent authorized to act on behalf of the owner, of the copyrighted work described.
capcha
Download Presentation

PowerPoint Slideshow about 'Motion Control: Generating Intelligent Comands for Mechatronic Devices' - karston


Download Now An Image/Link below is provided (as is) to download presentation

Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author.While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server.


- - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript
slide1

Motion Control: Generating Intelligent Comands for Mechatronic Devices

Kelvin Peng

Feburary 7th 2012

slide3

How to Control?

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

slide5

Before we go on…

A General Control System

slide9

Normalization

Positive Impulses

Time Optimality

Derivation for a Simple Case

Constraints

Vibration Amplitude

(At the end of n impulses)

slide10

Simple Derivation

(V=0, 2 impulses)

3 equations, 3 unknowns

input shaping arbitrary commands
Input Shaping Arbitrary Commands

From previous example:

Zero-Vibration (ZV) shaper

  • Slight increase in rise time
  • ΣAi = 1 so that shaped and initial commands have same steady state
slide14

Implementing a Digital Input Shaper

Unshaped Command

Shaped Command

slide15

Shaper Robustness

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

slide16

Increasing Shaper Robustness

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

slide17

Increasing Shaper Robustness

Extra Insensitive (EI) Shaper

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

slide18

Increasing Shaper Robustness Like a Boss

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

slide19

Multi-Mode Input Shaping

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

slide20

ZV Shaper for 1 Hz and 2 Hz

ZV Shaper for 1 Hz

X

ZV Shaper for 2 Hz

slide23

Shapers with Negative Impulses

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

Unity Magnitude

UMZV shaper

slide25

On-Off Thrusters: Flexible Satellites

(Tokyo Institute of Technology)

slide26

On-Off Thrusters: Flexible Satellites

(Tokyo Institute of Technology)

slide27

Input Shaping

With Feedback Control

Collapse the feedback loop

Input Shaper *

Cascaded set of 2nd order systems

slide28

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
slide35

Screen Interface

Tower Crane: System Overview

slide37

Other Applications

  • Many types of cranes
  • Milling machines
  • Coordinate measuring machines
  • Disk drives
  • Long reach robots
  • Spacecraft
slide38

Application of Command Shaping

to Micro Mills

  • Scale of Micro Meters (10-6m)
  • High Spindle Speeds (120 kRPM)
slide46

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
    • Can dramatically reduce system vibration
    • Is easy to implement