- Tytuł:
- Motion control algorithm and tuning rules for mechanical devices with low sampling-rate electronics
- Autorzy:
-
Gil, Jorge Juan
Diaz, Inaki - Powiązania:
- https://bibliotekanauki.pl/articles/229549.pdf
- Data publikacji:
- 2020
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
motion control
cascade control loops
discrete-time systems
stability
mechatronic systems - Opis:
- Controlling mechanical systems with position and velocity cascade loops is one of the most effective methods to operate this type of systems. However, when using low-rate sampling electronics, the implementation is not trivial and the resulting performance can be poor. This paper proposes effective tuning rules that only require establishing the bandwidth of the inner velocity loop and an estimation of the inertia of the mechanism. Since discrete-time mechatronic systems can also exhibit unstable behavior, several stability conditions are also derived. By using the proposed methodology, a P-PI control algorithm is developed for a desktop haptic device, obtaining good experimental performance with low sampling-rate electronics.
- Źródło:
-
Archives of Control Sciences; 2020, 30, 1; 123-138
1230-2384 - Pojawia się w:
- Archives of Control Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł