http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : Luis Cantera (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
A Delay-based Nonlinear Controller for Nanopositioning of Linear Ultrasonic Motors
Luis Luna,Kevin López,Rubén Garrido,Sabine Mondié,Luis Cantera 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.1
This work introduces a delay-based nonlinear controller aimed at position control of linear ultrasonic motors (LUMs), which is termed the cascade nonlinear proportional integral retarded (CNPIR) control law. This new controller incorporates a time delay in its structure, composed of two nested loops. The inner velocity loop is regulated through an integral retarded (IR) controller that contains a time delay in its structure. The outer position loop resorts to a nonlinear proportional (NP) controller endowed by a saturation function. A tuning procedure for the CNPIR controller is also proposed, and it is based on the placement of multiple dominant roots. The inner loop is tuned by assigning a dominant triple root, whereas a method based on solving a transcendental equation allows tuning the outer loop and assigns two dominant roots. Moreover, pole dominance is assessed through the argument principle. Experimental results on a linear ultrasonic motor allow assessing the real-time performance of the proposed controller to achieve high precision and fast response in spite of the effects of inner disturbances, hysteresis, and friction phenomena.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
