Position Control

This paper presents a process of systematization and analysis of the reliability parameters of a proportional hydraulic platform that aims to study position control using hydraulic systems. Currently the positioning systems using hydraulic circuits include mechanical and electronic components and software. These automatic systems involve diverse and complex technologies, for which reason the reliability analysis is difficult. Moreover, the failure modes which can occur in each item can produce distinct effects, increasing the complexity of this analysis. The control of all parameters involved becomes very difficult for the design agents, with consequences for the other phases of the life cycle. In this regard a methodology to systemize the information necessary to obtain a product with reliability is proposed. In this process, hierarchic FTA and FMEA diagrams are used as tools for the systematization of the reliability parameters, and Petri Nets are is used to represent the states a...

This paper presents an adaptive position control scheme for DC motors based on an on-line closed loop continuous-time identiflcation method. A fast, non-asymptotic, algebraic identiflcation method is used to estimate simultaneously the unknown sys- tem parameters and the unmeasured states to update an adaptive position control scheme.

Robots have been traditionally used as positioning devices without muchregard to external forces experienced by the tool. This has limited furtherpotential applications of robots in automation. Most tasks that remain to beautomated require constrained robot motion and/or involve work done by therobot on the environment. Such tasks require both force and positioncontrol. The ability to control the end-effector compliance is

ABSTRACT The paper presents design, simulation, implementation and testing of an inductive displacement sensor based on a Linear Variable Differential Transformer (LVDT) controlled by a single chip electronic module with 16 bit RISC microcontroller. LVDT device is widely used in hydraulic and pneumatic mechatronic systems for measuring physical quantities like displacement, force or pressure; it consists of two magnetic coupled coils with a common moving core; its displacement is converted in reluctance variation of magnetic circuit. Standard electronics for LVDT sensor conditioning is analog - quadrate oscillator, synchronous demodulator and amplifiers - but has its drawbacks - relative complex, hard to adjust, many components and packages, no connection to computer systems. The originality aspects of the work come from the unique method of finding displacement information by switching supply voltage in the coils of inductive device. This method uses only peripherals from a microcontroller so is low cost and easy to adjust. Present paper focuses on modelling and simulation of displacement measuring method but analyzes also implementation aspects for a real application (an electro hydraulic position control system).

This paper presents the use of Simelectronics Program for modeling and control of a two degrees-of freedom coupled mass-spring-damper mechanical system.The aims of this paper are to establish a mathematical model that represents the dynamic behaviour of a coupled mass-spring damper system and effectively control the mass position using both Simulink and Simelectronics.The mathematical model is derived based on the augmented Lagrange equation and to simulate the dynamic accurately a PD controller is implemented to compensate for the oscillation sustained by the system as a result of the complex conjugate pair poles near to the imaginary axis.The input force has been subjected to an obstacle to mimic actual challenges and to validate the mathematical model a Simulink and Simelectronics models were developed, consequently, the results of the models were compared. According to the result analysis, the controller tracked the position errors and stabilized the positions to zero within a settling time of 6.5sec and significantly reduced the overshoot by 99.5% and 99. 7% in Simulink and Simelectronics respectively. Furthermore, it is found that Simelectronics model proved to be capable having advantages of simplicity, less time-intense and requires no mathematical model over the Simulink approach.

Abstract: Based on the output of software made in Visual Basic, an electromechanical implement lift system with position control was developed to maximize useful power of a low horse power (hp) tractor by replacing hydraulic system requiring higher power. It comprised of two lower links, one top link, two lift rods, one connecting rod and a power screw mechanism. The prototype was tested as per IS: 12224-1987 for recommended load of 150 kg on test frame and satisfactory results were found. The response time for lifting a load of maximum lifting capacity on test frame i.e. 116 kg and 110 kg for entire lifting range was found to be 71 s and 20.7 s for single start screw and triple start screw, respectively as compared to 44.7 s and 13.3 s for lowering the loads. The position control of the system was also tested and found satisfactory with no drop in the height for maximum lifting capacity. The developed system could save 88 % of tractor input power compared to hydraulic system. Highl...

The Linear Motion Servo System consists of a cart driven by a DC motor, via a rack and  pinion mechanism to ensure consistent and continuous traction. Since many controllers canbe implemented in this system in order to control the position, therefore the implementation of a practical controller must be investigated. A practical controller is proposed known as a Nominal Characteristic Trajectory Following (NCTF) to control the position of the cart. This paper presents a position tracking control strategy that meets the position tracking performance. The effectiveness of the proposed NCTF controller is evaluated and compared with Proportional-Velocity (PV) controller through simulation and experiment.

We have put our model in this paper in which we will be controlling the speed and direction of the servomotor through FPGA. So, as to guarantee the precision from the check control procedure, we have made a project in which the document provides the control plane associated with servo motor depending on Altera DE1 board gentle primary processor as program controller. The system utilizes FPGA since the primary gadget, as well as within Quartus II 10.0 program atmosphere. The associated control components aremade to type a good executable control program in which speed and direction will be controlled the servo motor performance. The particular handle signs from your handle method are usually separated and amplified which results in the push to appreciate the particular handle with the servo motor. Based on the features associated with Altera, it is expounded through 2 facets of equipment's hardware as well as a software program that supplies an answer for that style associated wi...

A novel actuator system which has achieved increased popularity to provide these advantages such as high strength and power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available, cheap power source, inherent safety and mobility assistance to humans performing tasks has been the utilization of the pneumatic artificial muscle (PAM) manipulator, in recent times. However, the complex nonlinear dynamics of the PAM manipulator makes it a challenging and appealing system for modeling and control design. The problems with the time variance, compliance, high hysteresis and nonlinearity of pneumatic systems have made it difficult to realize precise position control with high speed. In order to realize satisfactory control performance, the effect of nonlinear factors contained in thePAM manipulator must be considered. The purpose of this study is to improve the control performance of thePAM manipulator using a nonlinearPID controller. Superb mixture of conventionalPID controller and the neural network, which has powerful capability of learning, adaptation and tackling nonlinearity, brings us a novel nonlinearPID controller using neural network. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practicalPAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through the experiments, which suggests its superior performance and disturbance rejection.

Construction progress monitoring has been perceived as one of the key factors that prompt the achievement of a construction project. However, assessing the progress is time consuming, costly and obliges specialized personnel to reduce disagreements and approximate the actual performance to the original plan as close as possible. Image processing is a promising method that has been developed for automated monitoring of construction projects. It has attracted increasing attention for progress monitoring, quality assurance and work space analyses. Nonetheless, remarkable drawbacks still remain in image processing, particularly for outdoor environment such as construction progress monitoring. The principle downside of image processing goes back to the image resolution. Ambient lightning condition significantly affects the image quality which does affect the accuracy of data, extracted from related images. Much research strives to reduce the level of errors for data extraction but so far none has been able to deliver complete satisfactory and reliable result. In this research a novel approach based on thermal image analysis is presented. The new method consists of three phases: First, collecting the thermal and original images by utilizing Infrared-Camera. Second, estimating the position of captured images by the use of wireless sensor network implemented in the work space. Finally, the 3D plan will be updated automatically in the Building Information Modeling (BIM) software. The preliminary experimental results from an actual concrete building construction site show the feasibility of inferring the actual state of progress by the use of thermal images to overcome the limitation of vision monitoring. 

AUTOMATED CONSTRUCTION PROGRESS MONITORING USING THERMAL IMAGES AND WIRELESS SENSOR NETWORKS. Available from: https://www.researchgate.net/publication/275024236_AUTOMATED_CONSTRUCTION_PROGRESS_MONITORING_USING_THERMAL_IMAGES_AND_WIRELESS_SENSOR_NETWORKS#share [accessed Sep 11, 2015].

The paper describes the development of an electrically operated pneumatic fast-switching valve for pneumatic position control systems. The valve was designed and fabricated as an on–off valve with 2/2-way function and its characteristics were investigated. The detailed theoretical analysis and preliminary tests were carried out on the manufactured valve and showed that the switching time of the single stage valve

Precise modelling of servo-pneumatic actuation plants continues to remain a major challenge. In this work, the complete mathematical model of a double-acting pneumatic cylinder with cushioning sections at both ends of the piston stroke has been developed. The proposed model considers the entire stroke of the piston, including cushioning sections as these sections affect the positioning accuracy of the piston. A pulse width modulation algorithm has been applied to control the position of the pneumatic cylinder. Computer simulation and experimental tests have been carried out on the developed model. The results of simulation and experimental studies have been shown to yield a better performance compared with existing mathematical models.

The Brushless Direct Current (BLDC) motor is one of the motors types rapidly gaining attractiveness. Actually they are becoming widely used in various consumer and industrial systems. As the name implies, BLDC motors do not use brushes for commutation, they are electronically commutated. This paper presents a Matlab simulation model that includes the control speed and position of a trapezoidal

Direct Current (DC) servomotors are widely used in robot manipulator applications. Servomotors use feedback controller to control either the speed or the position or both, and the basic continuous feedback control is PID controller. This paper discusses the modeling and simulation of DC servomotor control built using MATLAB/Simulink, and the analysis of controller performance, namely a PID controller, PI controller, fuzzy-scheduled PID controler, and a fuzzy-logic-based self tuning PI controller on the system. The singleton fuzzification is used as a fuzzifier. The center average is used as a defuzzifier. Two control modes are applied in sequential to the plant: speed control, and then position control. Simulation results show that fuzzy-logic-based self tuning PI controller has the best performance compared to conventional PID controller and fuzzy-scheduled PID controler.

The aim of this paper is to employ fractional order proportional integral derivative (FO-PID) controller and integer order PID controller to control the position of the levitated object in a magnetic levitation system (MLS), which is inherently nonlinear and unstable system. The proposal is to deploy discrete optimal pole-zero approximation method for realization of digital fractional order controller. An approach of phase shaping by slope cancellation of asymptotic phase plots for zeros and poles within given bandwidth is explored. The controller parameters are tuned using dynamic particle swarm optimization (dPSO) technique. Effectiveness of the proposed control scheme is verified by simulation and experimental results. The performance of realized digital FO-PID controller has been compared with that of the integer order PID controllers. It is observed that effort required in fractional order control is smaller as compared with its integer counterpart for obtaining the same system performance.

AbstrAct: The present study faces the problem of safely controlling the position trajectory of a multirotor aerial vehicle subjected to a conic constraint on the total thrust vector and a linear convex constraint on the position vector. The problem is solved using a linear state-space model predictive control strategy, whose optimization is made handy by replacing the original conic constraint set on the thrust vector by an inscribed pyramidal space, which renders a linear set of inequalities. The proposed method is evaluated on the basis of Monte Carlo simulations taking into account a random disturbance force. The simulation results show the effectiveness of the method in tracking the commanded trajectory while respecting the constraints. They also predict the effect of both the speed command and the maximum allowed inclination angle on the system performance.

In this paper, position control of a BLDC motor is
studied. This position control is LQG/LTR control
algorithm. In addition, a system identification approach
is used to obtain the nominal plant of BLDC Motor. As a
consequence, proposed controller is employed for an
experiment. It is done by a real-time target machine.

Servomotor uses feedback controller to control either the speed or the position or both. This paper discusses the performance comparisons of a modified genetic algorithm, named as the semi-parallel operation genetic algorithm (SPOGA) and the conventional genetic algorithm (GA), in optimizing the I/O scale factors, membership functions, and rules of a hybrid-fuzzy controller. Singleton fuzzification is used as a fuzzifier with seven membership functions for both input and output of the controller, whilst center of average is used as a defuzzifier. A 21-bit-30-population is used in SPOGA for both I/O scales and for membership functions. Two control modes are applied in cascaded: position and speed. Both the simulation and practical experiment results show that fuzzy-logic parallel integral controller (FLIC) with SPOGA-optimized is better as compared to FLIC with GA-optimized and also the non-optimized FLIC, FLC, and PI in terms of performance and the reduction of the number of test runs for the optimization.

In this paper a control strategy of Automated Guided Vehicle (AGV) is proposed. The vehicle movement controlled by an inboard PLC do not need physical guide. The vehicle has 3 wheels. The front wheel is used for steering and driving. The 2 rear wheels are free and equipped with 2 encoders. The strategy is based on 2 main purposes: the path is stored in the PLC memory and the vehicle displacement is calculated form the wheel rotation measurement. The comparison between the required path and the actual position of the AGV allow calculating deviation error. Function of this error, a correction strategy of driving speed and steering angle is applied in order to get a smooth and precise displacement. Mobile vehicles must know its position and orientation in order to movement to reach the goals precisely. We describe localization techniques for AGV that is based on the principle of Kalman Filtering (KF) algorithm estimation. This paper also addresses the problems of factory navigation and...