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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Controller Design for Transmission Systems with Variable Compliance

Hsu, Ying-feng 02 July 2001 (has links)
Transmission mechanism is usually modeled as a rigid component in most control tasks of manufacturing processes. Nevertheless, experimental studies have shown that the inherent compliant characteristic of transmission mechanisms seriously degrades the whole system¡¦s performance. This paper presents an adaptive control strategy to overcome positioning difficulty of a transmission system with a variable compliance. A flexible joint, consisting of sixteen linear springs, is designed for actual positioning experiments. In order to enhance variation of the compliance, an eccentric load is located behind the flexible joint. Therefore, the axial compliance is not fixed and will change according to the load¡¦s angular position. The proposed controller is developed on an adaptive control structure to provide capability of fast adaptation to compliance variation. Besides, the robustness of the control system is also specifically emphasized to improve positioning performance with respect to model uncertainty and unknown disturbances. The control law is obtained by applying the Lyapunov¡¦s theorem. Effectiveness of the presented control method is demonstrated on trajectory control of an experimental transmission mechanism with the flexible joint under variable compliance conditions.

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