Simple Dynamics and Open-Loop Control for Horizontal Boom Motion of Rotary Cranes

2014 ◽  
Author(s):  
Naoki Uchiyama ◽  
Shigenori Sano ◽  
Huimin Ouyang
Keyword(s):  
Simple Model ◽  
Vibration Suppression ◽  
Open Loop ◽  
Algebraic Equations ◽  
Open Loop Control ◽  
Residual Vibration ◽  
Loop Control ◽  
Rotary Crane ◽  
Nonlinear Force ◽  
Residual Vibration Suppression

This paper presents a simple model of rotary crane dynamics that includes only significant nonlinear force terms. This simple model allows to derive analytical solutions of the differential equations of the model. Thus, a simple trajectory that considers residual vibration suppression without sensing it, using only horizontal boom motion, can be generated by solving algebraic equations numerically. The effectiveness of the proposed method is demonstrated by numerical simulations and experimental results.

scholarly journals Robustness of Command Input Preshaping Technique Applied to Residual Vibration Reduction

2004 ◽  
Vol 11 (3-4) ◽  
pp. 377-382 ◽  
Author(s):  
Paolo Pennacchi
Keyword(s):  
Vibration Reduction ◽  
Open Loop ◽  
Open Loop Control ◽  
Residual Vibration ◽  
Loop Control ◽  
System Parameters ◽  
Control Techniques ◽  
Command Input

Open-loop control techniques, such as command input preshaping, are quite sensible to modelling errors and noise. In the paper, an analysis and a discussion about the robustness of the technique with respect to the errors than can affect estimation of the values of the system parameters is presented.

Open-Loop Control of a Flexible Manipulator With Two Links: Experimental Results

2001 ◽  
Author(s):  
G. Mimmi ◽  
L. Frosini ◽  
P. Pennacchi ◽  
C. Rottenbacher
Keyword(s):  
Open Loop ◽  
Experimental Results ◽  
Flexible Manipulator ◽  
Control Technique ◽  
Open Loop Control ◽  
Residual Vibration ◽  
Rectangular Section ◽  
Loop Control ◽  
System Parameters ◽  
Set Up

Abstract This paper describes the experimental results of an open-loop control technique applied to a flexible manipulator, specially designed for space duties, in order to reduce the residual vibrations at the end of the positioning. The experimental set-up is a system with two flexible links with rectangular section connected by rotational joints. First, the experimental identification of the system parameters has been carried out. Then, four different motion inputs have been implemented. The performances of these motion inputs are compared in terms of residual vibration at the end of the positioning. The experimental results confirm the effectiveness of the motion input pre-shaping technique in the reduction of the residual vibrations.

Open-loop control of compensation for optical propagation through a turbulent shear flow

1998 ◽  
Author(s):  
C. Truman ◽  
Lenore McMackin ◽  
Robert Pierson ◽  
Kenneth Bishop ◽  
Ellen Chen
Keyword(s):  
Shear Flow ◽  
Open Loop ◽  
Turbulent Shear ◽  
Turbulent Shear Flow ◽  
Open Loop Control ◽  
Loop Control ◽  
Optical Propagation

Precise open-loop control of MEMS deformable mirror shape

2008 ◽  
Author(s):  
Thomas Bifano ◽  
Jason Stewart ◽  
Alioune Diouf
Keyword(s):  
Open Loop ◽  
Deformable Mirror ◽  
Open Loop Control ◽  
Loop Control

Responses and Optimization of a PID-Based Speed Regulating System of the Planetary Mixer

2011 ◽  
Vol 418-420 ◽  
pp. 1865-1868
Author(s):  
Ming Jin Yang ◽  
Xi Wen Li ◽  
Zhi Gang Wang ◽  
Tie Lin Shi
Keyword(s):  
Control System ◽  
Open Loop ◽  
Open Loop Control ◽  
Efficient Operation ◽  
Loop Control ◽  
Loop Control System ◽  
Response Optimization ◽  
Close Loop Control ◽  
Close Loop Control System

The performance of speed regulating is very important to the mixing process with safe, efficient operation and high quality of production. Strategies and practices of responses and optimization of a PID-based speed regulating system of a planetary mixer were presented in this paper. Research results show that: by means of the signal constraint function presented by Simulink Response Optimization, optimization PID parameters of the 2-DOF-PID controller can be obtained, and the response of close-loop control system has quite good performance of overshoot, response time, and stability compared with an open-loop control system.

Experimental Verification of Open-loop Control for an Underwater Eel-like Robot

2002 ◽  
Vol 21 (10-11) ◽  
pp. 849-859 ◽  
Author(s):  
Kenneth A. Mcisaac ◽  
James P. Ostrowski
Keyword(s):  
Experimental Work ◽  
Experimental Verification ◽  
Vision System ◽  
Open Loop ◽  
Open Loop Control ◽  
Loop Control ◽  
Position Sensing ◽  
Theoretical Predictions ◽  
Approximate Expressions ◽  
Good Agreement

In this paper, we describe experimental work using an underwater, biomimetic, eel-like robot to verify a simplified dynamic model and open-loop control routines. We compare experimental results to previous analytically derived, but approximate expressions for proposed gaits for forward/backward swimming, circular swimming, sideways swimming and turning in place. We have developed a five-link, underwater eel-like robot, focusing on modularity, reliability and rapid prototyping, to verify our theoretical predictions. Results from open-loop experiments performed with this robot in an aquatic environment using an off-line vision system for position sensing show good agreement with theory.

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