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Robustness Evaluation of Feedback Control Scheme for Overhead Crane
M.S. Saealal,N.M.A. Nik Abd Kadir,M.A. Zawawi,M.A. Ahmad,M.Z. Mohd 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper presents theoretical investigations into the dynamic characterization of a two dimensional gantry crane system. A dynamic model of the system is developed using Euler-Langrange formulation. Simulation exercises are performed in Matlab with three different control strategies; LQR, DFS and PD controllers and then the results are compared with uncontrolled system. To study the effects of initial sway angle on the response of the gantry crane system, the results are evaluated with varying initial sway angle in the algorithm. Simulation results are presented in time and frequency domains. Performance and robustness of the feedback controllers in minimizing the sway angle is examined in terms of time response specifications and magnitude of sway. Finally, a comparative assessment of different initial sway angle to the system performance and robustness is assessed and discussed.
The Direct Strain Feedback With PID Control Approach For A Flexible Manipulator
M. Z. M Tumari,M.A Ahmad,M.S Saealal,M. A. Zawawi,Z. Mohamed,N. M. Yusop 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
Flexible manipulator (FM) is a robotic arm that can accomplish different tasks and the arm is a lightweight type, which means at least one dimension of their cross section is relatively small compared to their length. This project presents the development of direct strain feedback (DSFB) with PID controller for vibration control of a FM system. Strain gauge is the main sensor used as a strain measurement for giving a feedback to the system. The strain measurement also has been used as a displacement sensor at the endpoint of the link. The displacement was used to observe the performance of the system. The performances of the controllers are assessed in terms of the input tracking capability (desired position) and vibration reduction as compared to original system. Finally, the DSFB with PID has been implemented to achieve the desired performance.