scholarly journals Hybrid Adaptive Control Of CSTR Using Polynomial Synthesis And Pole-Placement Method

2010 ◽  
Author(s):  
Jiri Vojtesek ◽  
Petr Dostal ◽  
Roman Prokop
Keyword(s):  
Adaptive Control ◽  
Pole Placement ◽  
Placement Method ◽  
Hybrid Adaptive Control

scholarly journals Control of Pole-Climbing Robot Orientation using Self-Tuning Method

2018 ◽  
Vol 9 (3) ◽  
pp. 1029
Author(s):  
Muhammad Aziz Muslim ◽  
Goegoes Dwi Nusantoro ◽  
Rini Nur Hasanah ◽  
Mokhammad Hasyim Asy’ari
Keyword(s):  
Pole Placement ◽  
Original Position ◽  
Main Task ◽  
Climbing Robot ◽  
Positive Direction ◽  
Rotary Encoder ◽  
Tuning Method ◽  
Placement Method ◽  
Angle Change ◽  
Self Tuning

This paper describes the method to control a hybrid robot whose main task is to climb a pole to place an object on the top of the pole. The hybrid pole-climbing robot considered in this paper uses 2 Planetary PG36 DC-motors as actuators and an external rotary encoder sensor to provide a feedback on the change in robot orientation during the climbing movement. The orientation control of the pole-climbing robot using self-tuning method has been realized by identifying the transfer function of the actuator system under consideration, being followed with the calculation of control parameters using the self-tuning pole-placement method, and furthermore being implemented on the external rotary encoder sensor. Self-tuning pole-placement method has been explored to control the parameters q<sub>0</sub>, q<sub>1</sub>, q<sub>2</sub>, and p<sub>1</sub> of the controller. The experiments were done on a movement path in a form of a cylindrical pole. The first experiment was done based one the change in rotation angle of the rotary sensor with the angle values greater than 50˚ in the positive direction, whereas the second experiment was done with the angle values greater than -50˚ in the negative direction. The experiment results show that the control of the robot under consideration could maintain its original position at the time of angle change disturbance and that the robot could climb in a straight direction within the specified tolerance of orientation angle change.

scholarly journals The usage of Lambert W function for identification and speed control of a DC motor

2019 ◽  
Vol 32 (4) ◽  
pp. 581-600
Author(s):  
Radmila Gerov ◽  
Zoran Jovanovic
Keyword(s):  
Closed Loop ◽  
Dc Motor ◽  
Pole Placement ◽  
Step Response ◽  
Lambert W Function ◽  
Placement Method ◽  
Speed Regulation ◽  
Measured Speed ◽  
Proportional Controller ◽  
Integral Gain

The paper proposes a new method of identifying the linear model of a DC motor. The parameter estimation is based on the closed-loop step response of the DC motor under a proportional controller. For the application of the method, a deliberate delay of the measured speed was introduced. The paper considers the speed regulation of the direct current motor with negligible inductance by applying 1-DOF and 2-DOF, proportional integral retarded controllers. The proportional and integral gain of the PI retarded controllers was received by using a pole placement method on the identified model. The Lambert W function was applied for the identification and in designing the controller with the purpose of finding the rightmost poles of the closed-loop as well as the boundary conditions for selecting the gain of the PI controller. The robustness of the calculated controllers was considered under the effect of an disturbance, uncertainty in each of the DC motor parameters as well as perturbations in time delay.

Adaptive Process Control in Noncircular Grinding

1999 ◽  
Author(s):  
Hans Kurt Tönshoff ◽  
Stephan Scherger ◽  
Helmut Hinkenhuis
Keyword(s):  
Adaptive Control ◽  
Process Control ◽  
Position Control ◽  
Dimensional Accuracy ◽  
Control Unit ◽  
Setup Time ◽  
Relevant Information ◽  
Adaptive Process Control ◽  
Tangential Forces ◽  
Hybrid Adaptive Control

Abstract Conventional process control in noncircular grinding requires high efforts concerning adjustment and optimization. The increasing demands on multi-product-ability as well as small lot sizes or single piece production do no longer allow these efforts. Furthermore, process relevant information like normal or tangential forces is not monitored, consequently there is no possibility for process quality control to support a constant workpiece quality. This article introduces a hybrid adaptive control which consists of three components: The contour pre-filtering unit converts the contour data into a nominal value curve that is twice differentiable. Limited dynamic ranges of the drives, especially at high rates of workpiece rotations, are considered in the predictive feeddrive position control unit. The normal force control unit keeps the swelling of the machine at a constant value and therefore improves the dimensional accuracy of noncircular workpieces like e.g. cams. The hybrid adaptive control dramatically reduces the setup time of the process and results in improved workpiece quality.

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