motion control: generating intelligent comands for mechatronic devices kelvin peng feburary 7 th...
TRANSCRIPT
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- Motion Control: Generating Intelligent Comands for Mechatronic Devices Kelvin Peng Feburary 7 th 2012
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- What is Control? Getting the System to do What you Want
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- How to Control? Add a Feedback Loop Pros: Eliminates errors Disturbance rejection Cons: Stability? Sensors
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- Lets go back to simple control Todays topic: How to design the command generator Pros: Simple, no sensors Stable (if plant is stable) Accurate model not needed Cons: No disturbance rejection Increase rise time
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- Before we go on A General Control System
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- Bridge Crane Vibration Problem
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- (and solution)
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- Why is Vibration Cancelled?
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- Derivation for a Simple Case Constraints Vibration Amplitude (At the end of n impulses) Normalization Positive Impulses Time Optimality
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- Simple Derivation (V=0, 2 impulses) 3 equations, 3 unknowns
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- Input Shaping Arbitrary Commands Slight increase in rise time A i = 1 so that shaped and initial commands have same steady state From previous example: Zero-Vibration (ZV) shaper
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- Bridge Crane Vibration Problem
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- Typical Responses
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- Implementing a Digital Input Shaper Unshaped Command Shaped Command
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- Shaper Robustness Insensitivity the width of a sensitivity curve where vibration remains under V tol, the tolerable level of vibration
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- Increasing Shaper Robustness Insensitivity the width of a sensitivity curve where vibration remains under V tol, the tolerable level of vibration
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- Increasing Shaper Robustness Extra Insensitive (EI) Shaper Insensitivity the width of a sensitivity curve where vibration remains under V tol, the tolerable level of vibration
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- Increasing Shaper Robustness Like a Boss Tradeoff: More impulses are needed, and therefore slower rise time.
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- Multi-Mode Input Shaping Design a shaper for each mode, then convolve to get a shaper that eliminates both modes
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- ZV Shaper for 1 Hz ZV Shaper for 2 Hz X ZV Shaper for 1 Hz and 2 Hz
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- Multi-Mode Specified Insensitivity (SI) Shaper
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- Shaping for Double-Pendulum Payloads
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- Shapers with Negative Impulses Unity Magnitude UMZV shaper Negative shapers: Faster But less robust May excite un- modeled higher modes
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- Special Case: Negative Shapers for On-Off Actuators Not On/Off UMZV Shaper: On-Off
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- On-Off Thrusters: Flexible Satellites (Tokyo Institute of Technology)
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- On-Off Thrusters: Flexible Satellites (Tokyo Institute of Technology)
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- Input Shaping With Feedback Control Input Shaper * Cascaded set of 2 nd order systems Collapse the feedback loop
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- Input Shaping and Feedback Control: Experimental Data Disturbance at EndDisturbance During Motion
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- Input Shaping Inside the Feedback Loop: Hand-Motion Crane Control
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- RF Hand-Motion Crane Control
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- Human Operator Studies
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- Human Operator Learning
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- UnshapedShaped
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- Portable Tower Crane 2mx2mx340 o Interfaces: Pendent, GUI, Internet GUI Overhead Camera Used by Researchers and Students in Atlanta, Japan, Korea
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- Tower Crane: System Overview Screen Interface
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- ME6404 Class Contest
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- Other Applications Many types of cranes Milling machines Coordinate measuring machines Disk drives Long reach robots Spacecraft
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- Scale of Micro Meters (10 -6 m) High Spindle Speeds (120 kRPM) Application of Command Shaping to Micro Mills
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- Experimental Results Stage Tracking Error Part Surface
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- Coordinate Measuring Machines
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- Coordinate Measuring Machine (CMM) Deflection
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- Disk Drive Head Tester
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- Painting Robot
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- GRYPHON Mine Detecting Robot
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- Every control method has strengths and weaknesses (Feedback is not a magic cure-all) The command issued to a system has a significant influence on its response Input shaping Can dramatically reduce system vibration Is easy to implement Conclusions
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- Thank you