Predictive Contour Control for Multi-axis Motion System with Unified Model

2019 ◽  
Author(s):  
Chaolei Ma ◽  
Xiuyun Zhang ◽  
Yan Yan ◽  
Tingna Shi
Keyword(s):  
Unified Model ◽  
Motion System ◽  
Contour Control

Precise Contour Control of Biaxial Motion System Based on MPC

2018 ◽  
Vol 6 (4) ◽  
pp. 1711-1721
Author(s):  
Tingna Shi ◽  
Xiuyun Zhang ◽  
Zhanqing Zhou ◽  
Changliang Xia
Keyword(s):  
Motion System ◽  
Contour Control

scholarly journals Contour control of biaxial motion system based on RBF neural network and disturbance observer

2021 ◽  
Vol 13 (8) ◽  
pp. 168781402110348
Author(s):  
Sanxiu Wang ◽  
Shengtao Jiang
Keyword(s):  
Neural Network ◽  
Feedback Linearization ◽  
Disturbance Observer ◽  
Control Method ◽  
Rbf Neural Network ◽  
Servo System ◽  
Observation Error ◽  
Tracking Accuracy ◽  
Motion System ◽  
Contour Control

Friction is the main factor which degrades the control precisions of the servo system. In this paper, a cross coupled control method based on RBF neural network and disturbance observer is proposed for multi-axis servo system with LuGre friction, in order to implement high precision tracking and contouring control. Firstly, a feedback linearization controller is designed to realize the position stable tracking for single-axis motion; then, the disturbance observer is used to observe and compensate the friction. However, in practical application, the observation gain is difficult to select, and it is easy to cause observation error. In order to enhance the tracking accuracy and system robustness, the RBF neural network is introduced to approximate the disturbance observation error online. Finally, the cross coupled control is used to coordinate the motion between the axes to improve the contour accuracy. The simulation results show that the proposed method can effectively compensate the influence of friction on the system, has good tracking accuracy and high contour control precision.

Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
P. R. Ouyang ◽  
V. Pano
Keyword(s):  
Degrees Of Freedom ◽  
Lyapunov Method ◽  
Original System ◽  
Robotic Manipulators ◽  
Robotic Manipulator ◽  
Synchronization Control ◽  
Control Law ◽  
Contour Tracking ◽  
Motion System ◽  
Contour Control

In this paper, a new position domain synchronization control (PDSC) law is proposed for contour control of multi-DOF nonlinear robotic manipulators with the main goal of improving contour tracking performance. The robotic manipulator is treated as a master-slave motion system, where the position of the master motion is used as an independent reference via equidistant sampling, and the slave motions are described as functions of the master motion. To build this relationship, the dynamics of the original system is transformed from time domain to position domain. The new control introduces synchronization and coupled errors in the control law to further coordinate the master and slave motions. Stability analysis is performed based on the Lyapunov method for the proposed PDSC, and simulations are conducted to verify the effectiveness of the developed control system.

Generalized Predictive Contour Control of the Biaxial Motion System

2018 ◽  
Vol 65 (11) ◽  
pp. 8488-8497 ◽  
Author(s):  
Xiuyun Zhang ◽  
Tingna Shi ◽  
Zhiqiang Wang ◽  
Qiang Geng ◽  
Changliang Xia
Keyword(s):  
Motion System ◽  
Contour Control

FORCE MAJEURE, CHANGE OF CIRCUMSTANCES AND TERMINATION OF CONTRACT

2016 ◽  
Vol 3 (1) ◽  
pp. 31-44
Author(s):  
Shiyuan Han
Keyword(s):  
United Nations ◽  
Contract Law ◽  
Unified Model ◽  
The Other ◽  
Final Decision ◽  
Dual Model ◽  
Chinese Law ◽  
Force Majeure ◽  
United Nations Convention ◽  
Distinct Line

It is impossible to draw a distinct line between force majeure and change of circumstances, because the two overlap. In order to regulate both force majeure and change of circumstances, the United Nations Convention on Contracts for the International Sale of Goods (CISG) has adopted a unified model in article 79, whereas Chinese law adopts a dual model by treating them as different things and regulating them in different articles. Where the purpose of a contract becomes impossible to achieve because of a force majeure and both the CISG and Chinese Contract Law (the CCL) adopt the same model of termination of the contract, the contract should be terminated by one party with a notice to the other party instead of ipso facto avoidance. In a case of a change of circumstances, in order to terminate the contract, both the CISG and the CCL actually follow the path of raising an action by a notice of avoidance or termination to theother party. Both approaches have their merits and demerits but the differences between them in practice are not as large as presumed. Where force majeure and change of circumstances overlap each other, possible ways for termination of the contract are for a party either to choose their preferred solution or to follow the lex specialis derogat generali. The latter way is preferred in this article; and while in an action for termination the judge may balance the interests of both parties in making a final decision, the uniform application of the law, the safety of the transaction and the fairness of the judgment may be ensured in so doing.

Sign in / Sign up

Export Citation Format

Share Document