Dynamic Compliance and its Compensation Control of HIVC Force Control System

Kai-xian Ba,Bin Yu,Wen-feng Li,Dong-kun Wang,Ya-liang Liu,Guo-liang Ma,Xiang-dong Kong 대한전기학회 2018 Journal of Electrical Engineering & Technology Vol.13 No.2

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamiccompliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

Dynamic Compliance and its Compensation Control of HIVC Force Control System

Ba, Kai-xian,Yu, Bin,Li, Wen-feng,Wang, Dong-kun,Liu, Ya-liang,Ma, Guo-liang,Kong, Xiang-dong The Korean Institute of Electrical Engineers 2018 Journal of Electrical Engineering & Technology Vol.13 No.2

In this paper, the dynamic compliance and its compensation control of the force control system on the highly integrated valve-controlled cylinder (HIVC), the joint driver of the hydraulic drive legged robot, is researched. During the robot motion process, the outer loop dynamic compliance control is applied on the base of hydraulic control inner loop and most inner loop control are the force or torque closed loop control. While the dynamic compliance control effectiveness of outer loop can be affected by the inner loop self-dynamic-compliance. Based on this problem, the dynamic compliance series composition theory of HIVC force control system as well as the analysis of its self-dynamic-compliance is proposed. And then the paper comes up with the compliance-enhanced control, which is a compound compensation control method of dynamic compliance with multiple series branches. Finally, the experiment results indicate that the control method mentioned above can enhance the dynamic compliance of HIVC force control system observably. This provides the compensation control method of inner loop dynamic compliance for the outer loop compliance control requiring the high accuracy and high robustness for the robot.

The Dynamic Compliance and Its Compensation Control Research of the Highly Integrated Valve-controlled Cylinder Position Control System

Kaixian Ba,Bin Yu,Xiangdong Kong,Hua-Long Zhao,Jin-Song Zhao,Qi-Xin Zhu,Chun-He Li 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.4

The highly integrated valve-controlled cylinder (HIVC) is the joint driver in the hydraulic drive leggedrobot motion process, with the inner-loop-control-based outer loop dynamic compliance control method of the hydraulicsystem adopted. Yet the dynamic compliance of the HIVC position inner loop control has effects on theaccuracy of the outer loop dynamic compliance control. Therefore, the dynamic compliance parallel compositiontheory of the HIVC position inner loop control is presented and its dynamic compliance is analyzed in this paper,based on the HIVC position control nonlinear mathematical model. Moreover, the multiple parallel branch dynamiccompliance compound compensation control method is also designed and the dynamic compliance parallel compositionis rearranged. The experimental results indicate that adopting the compensation control method can decreasethe dynamic compliance of the HIVC position control system dramatically, which would provide the inner loopdynamic compliance compensation control method of the robot with high accuracy and high robustness.

Motorized vehicle active suspension damper control with dynamic friction and actuator delay compensation for a better ride quality

Shin, Donghoon,Lee, Geesu,Yi, Kyongsu,Noh, Kihan Professional Engineering Publishing Ltd 2016 Proceedings of the Institution of Mechanical Engin Vol. No.

<P>This paper describes motorized active suspension damper control with dynamic friction and actuator delay compensation for an enhanced ride quality. The control algorithm consists of a supervisory controller, an upper-level controller and a lower-level controller. The supervisory controller determines the control modes, such as the passive control modes and the active control mode. The upper-level controller, which incorporates the existing actuator delay, computes the damping force using linear quadratic control theory. The actuator input is determined by the lower-level controller by compensating the dynamic friction torque. To estimate the sprung-mass displacement, the sprung-mass velocity, the unsprung-mass displacement and the unsprung-mass velocity, two state estimators are proposed. An adaptive observer is developed for the non-linear dry friction to estimate the ball-screw dynamic friction caused by the axial movement of the actuator and the viscosity. The performance of the proposed control algorithm was evaluated from simulations. It was shown from simulations that the proposed motorized active suspension damper control with a friction and delay compensation algorithm can improve the ride quality.</P>

The Effects of Elastic Ankle Taping on Static and Dynamic Postural Control in Individuals With Chronic Ankle Instability

Jin-seok Lim,Seo-hyun Kim,Il-young Moon,Chung-hwi Yi 한국전문물리치료학회 2021 한국전문물리치료학회지 Vol.28 No.3

Background: Postural control deficit is a major characteristic in patients with chronic ankle instability (CAI). Elastic ankle tapings are commonly used to facilitate postural control in pa-tients with CAI as well as prevent relapse of a lateral ankle sprain. However, equivocal evidence exists concerning the effect of elastic ankle taping on postural control. Objects: This study aimed to evaluate the effects of elastic ankle tapings using kinesio tap-ing (KT) and dynamic taping (DT) on static and dynamic postural control in patients with CAI. Methods: Fifteen subjects with CAI were participated in this study. The participants per-formed tests under three conditions (barefoot, KT, and DT). Static postural control was evalu-ated using the one-leg standing test (OLST) and dynamic postural control using the modified Star Excursion Balance Test (mSEBT). One-way repeated-measures analysis of variance was used to compare center of pressure (CoP) data and normalized mSEBT reach distances among the three conditions (with 慣 = 0.05). Results: The CoP parameters (path length, ellipse area, and mean velocity) of the OLST signifi-cantly decreased on applying KT and DT compared with those when barefoot. The normalized reach distances in the anteromedial (AM), medial (M), and posteromedial (PM) directions of the mSEBT significantly increased with DT compared to that in the control condition. Further, the higher reach distances with KT compared with those in the control condition were ob-tained in the M and PM directions of the mSEBT. No significant differences were identified in any of the OLST and SEBT parameters between the two different taping applications. Conclusion: KT and DT improved static postural control during the OLST compared with the control condition. Moreover, these tapes improved dynamic postural control during the mSEBT compared to the control. Therefore, elastic ankle tapings are useful prophylactic de-vices for the prevention and treatment of ankle sprain in people with CAI.

Balancing and Velocity Control of a Unicycle Robot Based on the Dynamic Model

Han, Seong I.,Lee, Jang M. Institute of Electrical and Electronics Engineers 2015 IEEE transactions on industrial electronics Vol. No.

<P>This paper presents a dynamic-model-based control scheme for the balancing and velocity control of a unicycle robot. Unicycle robot motion consists of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel pendulum. The unicycle robot lacks an actuator for yaw-axis control, which makes the derivation of the dynamics relatively simple although it may limit the motion control. The Euler-Lagrange equation is applied to derive the dynamic equations of the unicycle robot to implement dynamic speed control. To achieve real-time speed control, a sliding-mode control and a nonzero set-point linear quadratic regulator (LQR) are utilized to guarantee stability while maintaining the desired speed-tracking performance. In the roll controller, a sigmoid-function-based sliding-mode controller has been adopted to minimize switching-function chattering. An LQR controller has been implemented for pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, wheel angle, and angular velocity. The control performance of the two control systems using a single dynamic model has been experimentally demonstrated.</P>

A Discrete-time Integral Sliding Mode Predictive Control Using Iterative Dynamic Linearization Data Model

Mingdong Hou,Weigang Pan,Yaozhen Han 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7

The current study presents a data-driven integral sliding mode predictive control method for a category of discrete-time repetitive nonlinear systems. At first, a compact form of iterative dynamic linearization (IDL) technology is utilized to establish an IDL data model. Then, considering the time and iterative domain simultaneously, an iterative integral sliding mode surface is constructed to establish an iterative integral sliding mode controller. The stability of the presented control strategy is then demonstrated through a precise mathematical analysis. Furthermore, to further reduce the control error, an iterative integral sliding mode predictive control strategy is established using the model predictive control. Since the proposed method is a data-driven control scheme, it only employs the online I/O data for parameter estimation and controller design. The effectiveness and monotonic convergence of the proposed schemes are evaluated through simulations. Comparative results with the data-driven optimal iterative learning controller (DDOILC) and the enhanced DDOILC indicate that the presented controller can provide a faster convergence and less tracking error.

Controlling Spillway Gates of Dams Using Dynamic Fuzzy Control

Woo, Young-Woon,Han, Soo-Whan,Kim, Kwang-Baek The Korea Institute of Information and Commucation 2008 Journal of information and communication convergen Vol.6 No.3

Controlling spillway gates of dams is a complex, nonlinear, non-stationary control process and is significantly affected by hydrological conditions which are not predictable beforehand. In this paper, control methods based on dynamic fuzzy control are proposed for the operation of spillway gates of dams during floods. The proposed methods are not only suitable for controlling spillway gates but also able to maintain target water level in order to prepare a draught. In the proposed methods, we use dynamic fuzzy control that the membership functions can be varied by changing environment conditions for keeping up the target water level, instead of conventional static fuzzy control. Simulation results demonstrate that the proposed methods based on dynamic fuzzy control produce an accurate and efficient solution for both of controlling spillway gates and maintaining target water level defined beforehand.

FTESO-based Nonsingular Fast Integral Terminal Sliding Mode Finite Time Control for the Speed and Tension System of the Cold Strip Rolling Mill

Le Liu,Ranyang Deng,Zhuang Ma,Yiming Fang 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.1

To weaken the influences of uncertainties on the finite time tracking control performance of the speed and tension system of the reversible cold strip rolling mill driven by alternating current (AC) asynchronous motors, a dynamic surface backstepping nonsingular fast integrated terminal sliding mode control (DSBNFITSMC) strategy is proposed based on finite time extended state observers (FTESOs). Firstly, the FTESOs are constructed to dynamically observe the system’s mismatched uncertainties, and the observation errors can converge to zero in finite time. Next, the dynamic surface backstepping control is combined with the nonsingular fast integrated terminal sliding mode finite time control to complete the controller designs for the speed and tension system of the reversible cold strip rolling mill, which solve the “differential explosion” problem in conventional backstepping control, and simplify the design processes of the system controllers. Again, theoretical analysis shows that the proposed control strategy can guarantee the closed-loop system is practical finite time stability in the Lyapunov sense. Finally, the simulation research is carried out on the speed and tension system of a reversible cold strip rolling mill by using the actual data, and results show the validity of the proposed control strategy.

Dynamic Control Approach for Network Systems under Event-triggered Communication with Dual Triggers

Yuchao Guo,Cheng Song,Yuan Fan 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.11

This work studies the event-triggered control problem for networked control systems. The plant is controlled directly by a dynamic local controller, which receives the reference control signal from the remote controller. The measurement signal of the plant and the reference control signal of the remote controller have their separate event triggers, and thus the remote controller and the local controller can decide when to transmit signals on their own. It is proved that with the proposed control approach and the dual event triggers, the closed loop system is globally asymptotically stable, which has been illustrated by simulation results.