Return to search

Reglering av veka strukturer med multipla sensorer / Control of flexible structures using multiple sensors

In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory. Results from tests with the realistic robot modell shows that disturbance rejection was improved a factor 2 to 5 while tracking performance was improved a factor 4 to 5 according to maximum deviation from the reference path. At the same time good re-sults are achieved regarding oscillation damping and robustness.

Identiferoai:union.ndltd.org:UPSALLA1/oai:DiVA.org:liu-1640
Date January 2003
CreatorsMalmlöf, Erik, Scholander, Ola
PublisherLinköpings universitet, Institutionen för systemteknik, Linköpings universitet, Institutionen för systemteknik, Institutionen för systemteknik
Source SetsDiVA Archive at Upsalla University
LanguageSwedish
Detected LanguageEnglish
TypeStudent thesis, info:eu-repo/semantics/bachelorThesis, text
Formatapplication/pdf
Rightsinfo:eu-repo/semantics/openAccess
RelationLiTH-ISY-Ex, ; 3338

Page generated in 0.0014 seconds