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Identification and compensation of friction for a dual stage positioning systemThimmalapura, Satish Voddina 01 November 2005 (has links)
Motion control systems are usually designed to track trajectories and/or regulate about a desired point. Most of the other objectives, like minimizing the tracking time or minimizing the energy expended, are secondary which quantify the above described objectives. The control problem in hard disk drives is tracking and seeking the desired tracks. Recent increase in the storage capacity demands higher accuracy of the read/write head. Dual stage actuators as compared to conventional single actuator increases the accuracy of the read/write head in hard disk drives. A scaled up version of the dual stage actuator is considered as the test bed for this thesis. Friction is present in all electromechanical systems.
This thesis deals with modelling of the dual stage actuator test bed. A linear model predicts the behavior of the fine stage. Friction is significant in the coarse stage. Considerable time has been spent to model the coarse stage as a friction based model. Initially, static friction models were considered to model the friction. Dynamic models, which describe friction better when crossing zero velocity were considered. By analyzing several experimental data it was concluded that the friction was dependent on position and velocity as compared to conventional friction models which are dependent on the direction of motion. Static and Coulomb friction were modelled as functions of velocity and position. This model was able to predict the behavior of the coarse stage satisfactorily for various initial conditions. A friction compensation scheme based on the modelled friction is used to linearize the system based on feedback linearization techniques.
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Contribution to the design of control laws for bilateral teleoperation with a view to applications in minimally invasive surgery.Delwiche, Thomas 09 December 2009 (has links)
Teleoperation systems have been used in the operating rooms for more than a decade. However, the lack of force feedback in commercially available systems still raises safety issues and forbids surgical gestures like palpation. Although
force feedback has already been implemented in experimental setups, a systematic methodology is still lacking to design the control laws.
The approach developed in this thesis is a contribution towards such a systematic
methodology: it combines the use of disturbance observers with the use of a structured fixed-order controller. This approach is validated by experiments performed on a one degree of freedom teleoperation system. A physical model of
this system is proposed and validated experimentally.
Disturbance observers allow to compensate friction, which is responsible for performance degradation in teleoperation. Contrary to alternative approaches,they are based on a model of the frictionless mechanical system. This allows to compensate friction with a time varying behavior, which occurs in laparoscopy.
Parametric uncertainties in this model may lead to an unstable closed-loop. A kind of "separation principle" is provided to decouple the design of the closed-loop system from the design of the observer. It relies on a modified problem statement and on the use of available robust design and analysis tools.
A new metric is proposed to evaluate the performance of friction compensation systems experimentally. This metric evaluates the ability of a compensation system to linearize a motion system, irrespective of the task and as a function of frequency. The observer-based friction compensation is evaluated with respect to
this new metric and to a task-based metric. It correctly attenuates the friction in the bandwidth of interest and significantly improves position and force tracking during a palpation task.
Structured fixed-order controllers are optimized numerically to achieve robust closed-loop performance despite modeling uncertainty. The structure is chosen among classical teleoperation structures. An efficient algorithm is selected and
implemented to design such a controller, which is evaluated for a palpation task. It is compared to a full-order unstructured controller, representative of the design approach that has been used in the teleoperation literature up to now. The comparison highlights the advantages of our new approach: order-reduction steps and
counter-intuitive behaviors are avoided.
A structured fixed-order controller combined with a disturbance observer is implemented during a needle insertion experiment and allowed to obtain excellent performance.
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Nonlinear control of co-operating hydraulic manipulatorsZeng, Hairong 07 December 2007 (has links)
This thesis presents the design, analysis, and numerical and experimental evaluation of nonlinear controllers for co-operation among several hydraulic robots operating in the presence of significant system uncertainties, non-linearities and friction. The designed controllers allow hydraulically driven manipulators to (i) co-operatively handle a rigid object (payload) following a given trajectory, (ii) share the payload and (iii) maintain an acceptable internal force on the object.
A general description of the kinematic and dynamic relations for a hydraulically actuated multi-manipulator system is presented first. The entire mathematical model incorporates object dynamics, robot dynamics, hydraulic actuator functions and friction dynamics. For the purpose of simulations, a detailed numerical simulation program of such a system is also developed, in which two three-link planar robot manipulators resembling the Magnum hydraulic manipulators manufactured by ISE, interact with each other through manipulating a common object.
The regulating control problem is studied next, in which the desired position of the object and the corresponding desired link displacement change step-wise. Initially, a controller is designed based on a backstepping technique, assuming that full knowledge of the dynamics and kinematics of the system is available. The assumption is then relaxed and the control system is analyzed. Based on the analysis, the controller is then modified to account for the uncertainty of the payload, robot dynamic parameters and hydraulic functions.
Next, the regulating controller is extended to a tracking controller, which allows the object to follow a given trajectory and is robust against parameter uncertainties. Additionally, an observer is added to the controller to avoid the need of acceleration feedback.
To investigate the effect of friction force, the above controllers are examined by introducing the most recent and complete LuGre friction model into the system dynamics. The tracking controller is then redesigned to compensate the effect of friction. Observers are designed to observe the immeasurable friction states. Based on the observed friction states and estimated friction parameters, an appropriate friction compensation scheme is designed which does not directly use velocity in order to avoid the need of acceleration feedback by the controller.
Finally, the problem of “explosion of terms” coming from the backstepping method is solved by using the concept of dynamic surface control in which a low pass filter is integrated to avoid model differentiation.
Simulations are carried out for analysis of the control system and verification of the developed controllers. Experimental examinations are performed on an available hydraulic system consisting of two single-axis hydraulic actuators. / February 2008
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Nonlinear control of co-operating hydraulic manipulatorsZeng, Hairong 07 December 2007 (has links)
This thesis presents the design, analysis, and numerical and experimental evaluation of nonlinear controllers for co-operation among several hydraulic robots operating in the presence of significant system uncertainties, non-linearities and friction. The designed controllers allow hydraulically driven manipulators to (i) co-operatively handle a rigid object (payload) following a given trajectory, (ii) share the payload and (iii) maintain an acceptable internal force on the object.
A general description of the kinematic and dynamic relations for a hydraulically actuated multi-manipulator system is presented first. The entire mathematical model incorporates object dynamics, robot dynamics, hydraulic actuator functions and friction dynamics. For the purpose of simulations, a detailed numerical simulation program of such a system is also developed, in which two three-link planar robot manipulators resembling the Magnum hydraulic manipulators manufactured by ISE, interact with each other through manipulating a common object.
The regulating control problem is studied next, in which the desired position of the object and the corresponding desired link displacement change step-wise. Initially, a controller is designed based on a backstepping technique, assuming that full knowledge of the dynamics and kinematics of the system is available. The assumption is then relaxed and the control system is analyzed. Based on the analysis, the controller is then modified to account for the uncertainty of the payload, robot dynamic parameters and hydraulic functions.
Next, the regulating controller is extended to a tracking controller, which allows the object to follow a given trajectory and is robust against parameter uncertainties. Additionally, an observer is added to the controller to avoid the need of acceleration feedback.
To investigate the effect of friction force, the above controllers are examined by introducing the most recent and complete LuGre friction model into the system dynamics. The tracking controller is then redesigned to compensate the effect of friction. Observers are designed to observe the immeasurable friction states. Based on the observed friction states and estimated friction parameters, an appropriate friction compensation scheme is designed which does not directly use velocity in order to avoid the need of acceleration feedback by the controller.
Finally, the problem of “explosion of terms” coming from the backstepping method is solved by using the concept of dynamic surface control in which a low pass filter is integrated to avoid model differentiation.
Simulations are carried out for analysis of the control system and verification of the developed controllers. Experimental examinations are performed on an available hydraulic system consisting of two single-axis hydraulic actuators.
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Nonlinear control of co-operating hydraulic manipulatorsZeng, Hairong 07 December 2007 (has links)
This thesis presents the design, analysis, and numerical and experimental evaluation of nonlinear controllers for co-operation among several hydraulic robots operating in the presence of significant system uncertainties, non-linearities and friction. The designed controllers allow hydraulically driven manipulators to (i) co-operatively handle a rigid object (payload) following a given trajectory, (ii) share the payload and (iii) maintain an acceptable internal force on the object.
A general description of the kinematic and dynamic relations for a hydraulically actuated multi-manipulator system is presented first. The entire mathematical model incorporates object dynamics, robot dynamics, hydraulic actuator functions and friction dynamics. For the purpose of simulations, a detailed numerical simulation program of such a system is also developed, in which two three-link planar robot manipulators resembling the Magnum hydraulic manipulators manufactured by ISE, interact with each other through manipulating a common object.
The regulating control problem is studied next, in which the desired position of the object and the corresponding desired link displacement change step-wise. Initially, a controller is designed based on a backstepping technique, assuming that full knowledge of the dynamics and kinematics of the system is available. The assumption is then relaxed and the control system is analyzed. Based on the analysis, the controller is then modified to account for the uncertainty of the payload, robot dynamic parameters and hydraulic functions.
Next, the regulating controller is extended to a tracking controller, which allows the object to follow a given trajectory and is robust against parameter uncertainties. Additionally, an observer is added to the controller to avoid the need of acceleration feedback.
To investigate the effect of friction force, the above controllers are examined by introducing the most recent and complete LuGre friction model into the system dynamics. The tracking controller is then redesigned to compensate the effect of friction. Observers are designed to observe the immeasurable friction states. Based on the observed friction states and estimated friction parameters, an appropriate friction compensation scheme is designed which does not directly use velocity in order to avoid the need of acceleration feedback by the controller.
Finally, the problem of “explosion of terms” coming from the backstepping method is solved by using the concept of dynamic surface control in which a low pass filter is integrated to avoid model differentiation.
Simulations are carried out for analysis of the control system and verification of the developed controllers. Experimental examinations are performed on an available hydraulic system consisting of two single-axis hydraulic actuators.
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Control Of Systems Under The Effect Of FrictionBaykara, Berkay 01 December 2009 (has links) (PDF)
Precision control under the effect of friction requires an effective compensation of friction. Since friction has a complex and highly nonlinear behaviour, it is generally insufficient to represent the friction in a dynamic control
system only with a linear viscous model, which is mostly valid in high-velocity motions. Especially when the control system moves near zero velocity regions or changes the direction of motion, an accurate modelling of friction including the lowvelocity dynamic behaviour is a prerequisite to obtain a more complete and realistic dynamic model of the system. Furthermore, the parameters of the friction model
should be identified as accurate as possible in order to attain a satisfactory performance. Therefore, the parameters of the friction should be estimated regarding the working conditions. The estimated friction force can then be used to improve the
controlled performance of the dynamic system under consideration.
In this thesis, the modelling, identification and compensation of friction in a rotary mechanical system are studied. The effectiveness of the existing friction models in the literature are investigated / namely the classical Coulomb with viscous
friction model, the Stribeck friction model, the LuGre friction model, and the Generalized Maxwell-Slip (GMS) friction model. All friction models are applied to the system together with the same linear, proportional with derivative (PD)-type and
proportional with integral and derivative (PID)-type feedback control actions for the sake of being faithful in comparison. The accuracy of the friction compensation methods is examined separately for both the low-velocity and high-velocity motions of the system. The precision of friction estimation is also shown in the case of using
both the desired velocity and measured velocity as an input to the friction models.
These control studies are verified in simulation environment and the corresponding results are given. Furthermore, an experimental set-up is designed and manufactured as a case study. The parameters of the aforementioned friction models
are identified and the control laws with different friction models are applied to the system in order to demonstrate the compensation capabilities of the models. The results of the experiments are evaluated by comparing them among each other and with the simulation results.
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Estudo de métodos de compensação de atrito em uma válvula de controle em planta de neutralização de pH. / Study of friction compensation methods in a control valve in a pH neutralization plant.Velasquez Peñaloza, Andres Camilo 26 November 2015 (has links)
O elemento final de controle mais usado nas malhas de processo na indústria é a válvula de controle. Portanto, é necessário assegurar que ela possua o melhor desempenho possível, a fim de assegurar um funcionamento satisfatório da malha de controle. Devido ao desgaste natural das partes móveis e o ressecamento das gaxetas, as válvulas apresentam atrito que insere oscilações na abertura da válvula e devido a seu comportamento não linear que diminui a eficiência do controle. A presença de oscilações nas malhas de controle aumenta a variabilidade das variáveis de processo, o desgaste dos componentes e o consumo de energia, além de provocar o desperdício de materiais. Por isto, no presente trabalho são estudados e implementados diferentes compensadores de atrito existentes na literatura, visando reduzir o efeito do atrito nas válvulas e, por sua vez as oscilações na variável do processo. Estes métodos são aplicados na Planta Piloto de Neutralização de pH do Laboratório de Controle de Processos Industriais (LCPI). O processo de neutralização de pH é não-linear e apresenta características variantes no tempo, as quais tornam mais complexo o controle do processo. Inicialmente foi feita a implementação dos compensadores em um software acadêmico (MATLAB®), devido à familiaridade que se tem com ele, o que facilitou um melhor entendimento dos métodos de compensação junto com o controlador PID no processo. Em uma segunda etapa, a fim de trazer os estudos a um ambiente mais prático, foram implementados os algoritmos de compensação de atrito em um sistema de controle industrial (ABB®). Nos dois casos se realizaram testes em modo servo e regulatório e se avaliaram os resultados obtidos usando o índice ITAE (Integral Time Absolute Error). Os resultados evidenciam que os compensadores conseguem diminuir a variabilidade na válvula de controle, sendo que o compensador CR2 apresentou o melhor desempenho para o modo servo e regulatório. / The most used final control element in process loops in the industry is the control valve. It must ensure that it has the best possible performance in order to guarantee a satisfactory operation of the control loop. Due of the natural wear of moving parts and drying gaskets, valves exhibit friction. This friction inserts oscillations in the valve opening and due to its non-linear behavior; this causes the efficiency to decrease. The presence of oscillations in the control loop increases the variability of the process variables, the component wear, energy consumption and cause a waste of materials. Therefore, in this work we studied and implemented different friction compensation methods that exist in literature, in order to reduce the effect of friction on the valves and in turn the oscillations in the process variable. These methods are applied in the Pilot Plant Neutralization pH of Industrial Process Control Laboratory (LCPI), the pH neutralization process is nonlinear and presents time-varying characteristics, these characteristics become the control process more complex. Initially, it was made the implementation of compensation methods in academic software (MATLAB®), due to the familiarity that already exist with it, which facilitated a better comprehension of the compensation methods with the PID controller in the process. In a second step, in order to bring the study to a more practical environment, the friction compensation algorithms were implemented in an industrial control system (ABB®). In both cases were performed tests inn servo and regulatory mode, and evaluated the results using the ITAE index (Integral Time Absolute Error). The results show that in general terms that the compensating methods showing a very satisfactory performance, with the compensator CR2 showed the best performance for the servo and regulatory mode.
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Controle não linear adaptativo com compensação de atriti de um manipulador scara com acionamento pneumáticoSchlüter, Melissa dos Santos January 2018 (has links)
Sistemas pneumáticos se tornaram cada vez mais presentes em vários segmentos do mercado e são amplamente utilizados na indústria, principalmente devido à sua facilidade de manutenção, baixo custo, segurança e aplicabilidade em diversos processos. O desenvolvimento contínuo da tecnologia conduziu a um aumento nas pesquisas relacionadas ao controle de sistemas de servoposicionamento pneumático, resultando em algoritmos que têm avançado na direção da disponibilização de controle mais preciso destes sistemas. O presente trabalho se propõe ao desenvolvimento de um manipulador tipo SCARA composto por dois atuadores rotativos e um prismático, todos pneumáticos. Estes dispositivos apresentam grandes não linearidades, que dificultam seu controle. Assim, visa-se no presente trabalho o desenvolvimento de um controlador baseado em um modelo que possa superar as principais dificuldades relacionadas a essas não linearidades, como o comportamento não linear da relação pressão-vazão na servoválvula, a dinâmica dos gases na aleta e as forças de atrito O principal objetivo dessa tese é propor uma estratégia de controle baseada na Lei do Torque Computado Adaptativo com compensação explícita do atrito que contemple as peculiaridades dinâmicas estruturais deste tipo de sistema com aplicação de controle de trajetória. O modelo matemático para o atuador pneumático rotativo proposto no âmbito do presente trabalho e utilizado na síntese desse controlador foi avaliado por meio de resultados de simulações e experimentos executados em um protótipo projetado e construído também no escopo do presente trabalho. Os resultados da aplicação do controlador proposto, operando em regime de seguimento de trajetórias contínuas indicam que a estratégia de controle do Torque Computado Adaptativo, em conjunto com o esquema de compensação explícita do atrito, leva o sistema a uma redução dos erros de seguimento de trajetória em posição quando comparado com as técnicas do Torque Computado com parâmetros fixos, Torque Computado com parâmetros fixos com compensação explícita do atrito e Torque Computado Adaptativo sem a compensação explícita do atrito. / Pneumatic systems become increasingly present in different segments of the market and are widely used in industry, mainly due to their ease of maintenance, low cost, safety and applicability in various processes. The continued development of technology resulted in an increase in the research related to the control of pneumatic servo drive positioning systems, resulting in algorithms that have advanced in the direction of the availability of more precise control of these systems. This study has the purpose of to develop a type pneumatic driven SCARA manipulator that consists of a prismatic and two rotary actuators. These devices present highly nonlinear, which harder their control. Thus, the target of this work is to develop a controller based on a model that can overcome the main difficulties related to these nonlinearities, such as the nonlinear behavior of the pressure-flow ratio in the servo valve, the gas dynamics in the fin and friction. The main objective of this thesis is to propose a control strategy based on the Adaptive Computed Torque Law with explicit compensation of the friction that contemplates the structural dynamic peculiarities of this type of system with application of trajectory control The mathematical model for the rotary pneumatic actuator proposed in the present work and used in the synthesis of this controller was evaluated through simulations results and experiments executed in a prototype designed and also built in the scope of the present work. The results of the application of the proposed controller, operating in continuous trajectories tracking regime, indicate that the Adaptive Computed Torque control strategy, together with the explicit friction compensation scheme, leads the system to a reduction of the following errors trajectory in position when compared to techniques as Computed Torque with fixed parameters, Torque Computed with explicit friction compensation and Computed Torque Adaptive without explicit friction compensation.
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Controle em cascata de um atuador hidráulico utilizando redes neuraisBorges, Fábio Augusto Pires January 2017 (has links)
No presente trabalho, é realizada a modelagem e identificação de um serovoposicionador hidráulico de uma bancada de testes. As expressões analíticas tradicionalmente utilizadas em uma estratégia em cascata aplicada ao controle de trajetória de posição são obtidas. A estratégia em questão utiliza, conjuntamente, a linearização por realimentação como lei de controle do subsistema hidráulico e a lei de controle de Slotine e Li no subsistema mecânico. Com base na mesma estratégia, um controlador em cascata neural é proposto. Em tal controlador, a função analítica que representa o mapa inverso, presente na linearização por realimentação, e a função de compensação de atrito utilizada na lei de Slotine e Li são substituídas por funções constituidas por meio de redes neurais de perceptrons de múltiplas camadas. Essas redes neurais têm como entradas os estados do sistema e também a temperatura do fluido hidráulico. O novo controlador é apresentado em uma versão onde as redes neurais são aplicadas sem modificações on-line e em outra, onde são apresentadas leis de controle adaptativo para as mesmas. A prova de estabilidade do sistema em malha fechada é apresentada em ambos os casos. Resultados experimentais do controle de seguimento de trajetórias de posição em diferentes temperaturas do fluido hidráulico são apresentados. Esses resultados demonstram a maior efetividade do controlador proposto em relação aos controladores clássicos PID e PID+feefforward e ao controlador em cascata com funções analíticas fixas. Os experimentos são realizados em duas situações: quando não ocorrem variações paramétricas importantes no sistema, onde é utilizado o controlador em cascata neural fixo e quando ocorrem essas variações, onde se utiliza o controlador em cascata neural adaptativo. / In this work, the modeling and identification of a hydraulic actuator testing setup are performed and the analytical expressions that are used in a cascade control strategy applyied in a position trajectory tracking control are designed. Such cascade strategy uses the feedback linearization control law in the hydraulical subsystem and the Slotine and Li control law in the mechanical one. Based on this cascade strategy, a neural cascade controller is proposed, for which the analytical function used as inversion set in the feedback linearization control law and the friction function compensation of the Slotine and Li control law are replaced by multi layer perceptrons neural networks where the inputs are the states of the system and the hydraulic fluid temperature. The novel controller is introduced in two different aproachs: the first one where the neural networks do not have on-line modifications and the second one where adaptive control laws are proposed. For both of them the stability proof of the closed-loop system is presented. Experimental results about some position tracking controls performed in different fluid temperature are showed. The results show that the novel controller is more efective than the classical PID, PID+feedforward and the traditional analytical cascade controller. The experiments are performed in two different setups: considering the system without importants parametric variations where is applied the non adaptive cascade neural controller and in the presence of parametric variations where is applied the adaptive cascade neural controller.
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Online Identification of Friction Coefficients in an Industrial RobotLängkvist, Martin January 2009 (has links)
<p>All mechanical systems with moving parts are affected by friction, including industrial robots. Being able to design an accurate friction model would further increase the performance of todays robots. Friction is a complex dynamic phenomena that is constantly changing depending on the state and environment of the robot. It is therefore beneficial to update the parameters of the friction model online. An estimate of the friction will be made using the feedback control signal with the help of a feedforward control scheme in a two axis simulation setup. The friction estimate is then used for an offline identification of three friction model parameters in a static Lugre friction model. Improvements on the identification will be done by introducing some shut-off rules that will improve the estimate. The normalized least mean square method (NLMS) will then be used to update the parameters online. A simulation of friction compensation with a fixed friction model, and with an adaptive friction model will be studied. The method will also be simulated using experimental data taken from a real industrial robot.</p>
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