modeling analysis and control

Modeling, Measurement and Control P18

... Figures 18.5, 18.6, and 18.7 where (18.30) and for i = 1, 2, …, n, j = 1, 2, …,m we have (18.31)For j = 1 we replace t2ij withFor j = m we replace t6ij and t7ij withwhere and i + n = i. ... × 25) = (36 × 75) ∗ (75 × 25). and the dimensions are (36 × 6) = (36 × 18) ∗ (18 × 6). and the dimensions are (36 × 24) = (36 × 36) ∗ (36 × 31) ∗ (31 × 24).The control inputs uαij are deﬁned ... (18.21) and (18.22)into (18.24) yields the relationship between q and the independent variables t5, t1, r1, r2 as follows: (18.27)To put (18.27) in a matrix form, deﬁne the matrices: and PIIIIIIIIIIIIIIII13333333313333333312=−−=−−−∆∆0000000000000000qrtttrqrqrttt11111111...

Modeling, Measurement and Control P21

Danh mục: Kĩ thuật Viễn thông

... problems, increased reliability and improved thermal capacity areachieved. On the other hand, brushless motors require more complex and expensive control systems.Sensors and switching circuitry are ... cheap, robust, and reliable, and at the same time offer good torque characteristics. However, control of such motorsis rather complicated. Advanced vector controllers are expensive and do not guarantee ... we also mention high stiffness and efﬁciency (0.75 to 0.85). The main drawbacksare heaviness and high price. Toothed rack -and- pinion transmission allows R/T and T/R transformation of motion....

Modeling, Measurement and Control P23

Danh mục: Kĩ thuật Viễn thông

... the command and control of a vector such as position or force is not enough to control the interaction betweensystems (dynamic networks). The controller must also be able to command and control ... impedance control is an augmentation of position control. The actions of the manipulator control and hardware and the interaction between a robot and its environment are described by network analysis. ... measurements, and a controller involving a PD regulator and robust control part. Thepurpose of the robust controller is to ensure that the control tracking error (i.e., the differencebetween target and...

Modeling, Measurement and Control P24

Danh mục: Kĩ thuật Viễn thông

... consequent is a control action. Thus, the rule base can be represented as:R1: if X1 is A11 and … and Xn is A1n, then Y1 = B11 and … and Ym = B1mR2: if X1 is A21 and … and Xn ... .Detailed analysis of the inﬂuence of different fuzzy implication functions and union and intersectionoperators on control quality can be found in, e.g., Lee,28 Mizumoto,32 and Stachowicz and ... N.J. Mandiˇc, E.M. Scharf, and E.H. Mamdani. Practical application of a heuristic fuzzy rule-basedcontroller to the dynamic control of a robot arm. IEEE Proceedings on Control Theory and Applications,...

Modeling, Measurement and Control P26

Danh mục: Kĩ thuật Viễn thông

... The control station consists of a TV monitor, and a control panel withjoysticks and pushbutton commands. Bi-directional radio links allow simultaneous transmission of1. Commands from the control ... desired (commanded) one. In this case, the above equation becomes (26.34)where uR and uL are left- and right-wheel control inputs. From (Equations 26.22 and 26.23) weobtain: (26.35) and (26.36)FIGURE ... issues from the standpoint of both linear and nonlinear control theories. We explain the difference between controllability in the linear system theory and controllability of mobile robots, having...

Tài liệu Modeling, Measurement and Control P31 doc

Danh mục: Kĩ thuật Viễn thông

... Processes and Their Monitoring and Control 8.1 Assembly Processes8.2 Monitoring and Control of Resistance Welding Process8.3 Monitoring and Control of Arc Welding ProcessesReferences 9 Control ... Monitoring and Control 6.5 Other Process Phenomena6.6 Future Direction and EffortsAcknowledgments References 7 Forming Processes: Monitoring and Control 7.1 Introduction: Process and Control ... Machine Control 7.4 Machine Control: Force or Displacement?7.5 Process Resolution Issues: Limits to Process Control 7.6 Direct Shape Feedback and Control 7.7 SummaryReferences 8 Assembly and...

Tài liệu Modeling, Measurement and Control P28 docx

Danh mục: Kĩ thuật Viễn thông

... interconnected set of links and powered joints that support or move a wrist, a handor an end effector.• Wrist: a set of joints between the arm and the hand that allows the hand to be oriented tothe ... high positioning accuracy for precise assembly, fast and vibration-free motion for short cycletimes, and advanced control for path precision and controlled compliance. Figure 28.11 shows theprinciple ... simple and efﬁcient design. The structure is stiff and allows excellent positioningaccuracy and high speeds, but working volume is limited.If the number of independent robot axes (arm and wrist)...

Tài liệu Modeling, Measurement and Control P29 doc

Danh mục: Kĩ thuật Viễn thông

... the analysis and observation of object motions and their immediate interactions as sensorimotor prim-itives. 2,13 Tasks are divided into:• Elementary motions without sensor guidance and control ... meals, pharmaceuticals, and documents along normal corridors.Clear and simple user interfaces, robust robot navigation, and ability to open doors and operateelevators by remote control make it a ... 28.27 Centralized and decentralized data storage and retrieval for car-type identiﬁcation and robotprogram selection. (From Leondes, C.T., Mechatronic Systems Techniques and Applications,...

Tài liệu Modeling, Measurement and Control P30 pptx

Danh mục: Kĩ thuật Viễn thông

... refueled by a robot (left) and atouch-screen terminal for inserting credit card, entering reﬁlling order and printing (right). (From Leondes, C.T.,Mechatronic Systems Techniques and Applications, Vol. ... islandis guaranteed at all times. Figure 28.33 depicts a reﬁlling station in operation since September 1995at Fraunhofer IPA.For more than 3 years, the robot has shown its reliability and ... undergoing redesign to meet cost and operation requirements.FIGURE 28.32 Working principle of the docking sensor. (From Leondes, C.T., Mechatronic Systems Techniques and Applications, Vol. 2, Gordon...

Tài liệu Process Systems Analysis And Control P2 pptx

Danh mục: Tài liệu khác

... by substitution into the differential equation and, as expected, are found to be -2 and respectively. Thenx(t) = -2 + + + + and the constants and are determined by the three initial conditions.The ... +The unknown function of time is x(t), and . . . , a a are constants.The given function is called In addition, for all problemsof interest in control system analysis, the initial conditions are ... with the conclusion that-1-j2Comparison of Eqs. (3.8) and (3.11) and the result for B show that we havetwo possible ways to assign a and so that we match the form of Eq.(3.11). They are...

Tài liệu Process Systems Analysis And Control P1 docx

Danh mục: Cơ khí - Chế tạo máy

... development and evaluation of algorithmsfor processes that cannot be controlled easily by control; some ofthe areas investigated are control, adaptive control, direct digital control, and batch control ... Control 34Digital Computer Simulation of Control Systems35 Microprocessor-Based Controllers and Distributed Control 517543Bibliography559Index5616PROCESS SYSTEMS ANALYSIS AND CONTROL glance, it would ... chemicalengineering laboratory, applied mathematics, and process dynamics and control. At Purdue, he developed a new course and laboratory in process control and col-laborated with Dr. Lowell B. Koppel...

Analysis and control of nonlinear process systems

Danh mục: Điện - Điện tử

Tài liệu Modeling, Measurement and Control P1 pptx

Danh mục: Kĩ thuật Viễn thông

... and structural vibration of the machine tool and wear, failure, and thermaldeformations of the tool (Rangwala and Dornfeld, 1990; Li and Elbestawi, 1996).Currently, commercially available controllers ... sequence of operations and processplanning, control of the machines and monitoring of the processes (on/off line), automation,networking and communication systems, and quality control of the production ... major epochs: (1) precomputer numerical control, (2) computernumerical control (CNC), and (3) knowledge epochs (Mehrabi and Ulsoy, 1997; Mehrabi, Ulsoy, and Koren, 1998). In the pre-CNC epochs...

Tài liệu Modeling, Measurement and Control P3 pdf

Danh mục: Kĩ thuật Viễn thông

... each control aregion or subsystem of the machine, and these PLCs communicate and cooperate to control theentire machine. These distributed systems are easier to wire up, and can be designed and ... Event Control of Manufacturing Systems 3.1 Introduction3.2 Background on the Logic Control Problems Logic Control Deﬁnition • Control Modes • Logic Control Speciﬁcation • Tasks of a Logic Control ... Electrotechnical Commission (IEC), Programmable Controllers Programming Lan-guages, IEC Standard 1131, Part 3, 1993.13. R. Kumar and V. K. Garg, Modeling and Control of Logical Discrete Event Systems,...

Tài liệu Modeling, Measurement and Control P5 pptx

Danh mục: Kĩ thuật Viễn thông

... Dynamic modeling for control of the milling process,ASME Journal of Engineering for Industry, 110, 4, 367–375.50. Tomizuka, M. and Zhang, S., 1988, Modeling and conventional adaptive PI control ... G., and Wu, C. L., 1996, Feed, speed, and torque controllers for drilling,ASME Journal for Manufacturing Scientists and Engineers, 118, 2–9.55. Nachtigal, C. L. and Cook, N. H., 1970, Active control ... T., Tlusty, J., and Smith, S., 1992, Use of audio signals for chatter detection and control, ASME Journal for Manufacturing Scientists and Engineers, 119, 146–157.45. Schoﬁeld, S. and Wright, P.,...

Tài liệu Modeling, Measurement and Control P6 ppt

Danh mục: Kĩ thuật Viễn thông

... 1992.17. Landers, R. G., Supervisory Machining Control: A Design Approach Plus Force Control and Chatter Analysis Components, Ph.D. dissertation, Department of Mechanical Engineering and Applied ... supervisory control implementation in a through-hole drilling operation.TABLE 6.1Comparison of Drilling Control Strategies41No Controller Feed/Speed Controller Torque/Speed Controller Supervisory ControllerMachining ... 122, 1993.40. Landers, R. G. and Ulsoy, A. G., Supervisory machining control: Design approach and experi-ments, Annals of the CIRP, 47, 301, 1998.41. Ulsoy, A. G. and Koren, Y., Control of machining...