Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244358
Hikaru Sato, T. Miyazaki, Yoshihisa Hojo
Industrial machines are modeled with a two-inertia system. A resonance frequency may not be able to set higher than the frequency band used in operation. When the frequency of the input torque for operation matches a resonance frequency, the vibration of the torsion torque increases. Increased torsion torque vibrations adversely affect machine operation. A method of suppressing an increase in torsion torque vibration includes adding a mechanical damper. The mechanical damper attenuates even at frequencies other than the resonance frequency. Hence, the mechanical damper has an energy loss. Vibration suppression by control is performed without mechanical damper. Generally, in the vibration suppression control to the multi-inertia system, the control bandwidth is set lower than the resonance frequency. If the resonance frequency is lower than the frequency band used for driving, the high-frequency torque used for driving is suppressed. In this paper, the mechanical parameters are changed electrically using electric inertia and friction. When the proposed method is applied to a two-inertia system, the bandwidth is expanded to a frequency higher than the resonance frequency, and an increase in torsion torque vibration is suppressed. The effectiveness of the proposed method is confirmed using simulations and experiments.
{"title":"Vibration Amplitude Suppression Control of Industrial Machine Driven at Resonance Frequency","authors":"Hikaru Sato, T. Miyazaki, Yoshihisa Hojo","doi":"10.1109/AMC44022.2020.9244358","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244358","url":null,"abstract":"Industrial machines are modeled with a two-inertia system. A resonance frequency may not be able to set higher than the frequency band used in operation. When the frequency of the input torque for operation matches a resonance frequency, the vibration of the torsion torque increases. Increased torsion torque vibrations adversely affect machine operation. A method of suppressing an increase in torsion torque vibration includes adding a mechanical damper. The mechanical damper attenuates even at frequencies other than the resonance frequency. Hence, the mechanical damper has an energy loss. Vibration suppression by control is performed without mechanical damper. Generally, in the vibration suppression control to the multi-inertia system, the control bandwidth is set lower than the resonance frequency. If the resonance frequency is lower than the frequency band used for driving, the high-frequency torque used for driving is suppressed. In this paper, the mechanical parameters are changed electrically using electric inertia and friction. When the proposed method is applied to a two-inertia system, the bandwidth is expanded to a frequency higher than the resonance frequency, and an increase in torsion torque vibration is suppressed. The effectiveness of the proposed method is confirmed using simulations and experiments.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"103 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123701193","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/amc44022.2020.9244374
{"title":"Smart Precission Motion Control in Mechatronic Systems","authors":"","doi":"10.1109/amc44022.2020.9244374","DOIUrl":"https://doi.org/10.1109/amc44022.2020.9244374","url":null,"abstract":"","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"217 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132313881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244332
Daiki Kusuyama, Tomoki Emmei, H. Fujimoto, Y. Hori
Electric Vehicles (EVs) have attracted significant attention, and users are enjoying increasing opportunities to recharge EVs by themselves in parking lots. However, the task of power plug insertion is a heavy burden for users particularly with weak power, because the power supply cables for EVs, carrying a large amount of electricity, are heavy and thick. In this paper, we propose a control method of automatic power plug insertion by applying the reaction force/moment control. The reaction force/moment is estimated with a driving force observer and a yaw-moment observer. These estimates are fed back to regulate the reaction force to the desired value and the reaction moment from the power plug to 0. Simulation and experimental results show that the proposed method can accurately estimate the reaction force/moment and control them appropriately. These results demonstrate that proposed method can achieve automatic power plug insertion.
{"title":"Proposal of Automatic Power Plug Insertion Control for Electric Vehicle with In-Wheel-Motors","authors":"Daiki Kusuyama, Tomoki Emmei, H. Fujimoto, Y. Hori","doi":"10.1109/AMC44022.2020.9244332","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244332","url":null,"abstract":"Electric Vehicles (EVs) have attracted significant attention, and users are enjoying increasing opportunities to recharge EVs by themselves in parking lots. However, the task of power plug insertion is a heavy burden for users particularly with weak power, because the power supply cables for EVs, carrying a large amount of electricity, are heavy and thick. In this paper, we propose a control method of automatic power plug insertion by applying the reaction force/moment control. The reaction force/moment is estimated with a driving force observer and a yaw-moment observer. These estimates are fed back to regulate the reaction force to the desired value and the reaction moment from the power plug to 0. Simulation and experimental results show that the proposed method can accurately estimate the reaction force/moment and control them appropriately. These results demonstrate that proposed method can achieve automatic power plug insertion.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"299 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115236511","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244391
Akinori Yabuki, T. Kanmachi, K. Ohishi, T. Miyazaki, Y. Yokokura, I. Ando
To realize vibration suppression for a three-inertia system, this paper proposes a current control system using resonant frequency damping disturbance observer based robot servo system. The resonance frequency components for achieving vibration suppression is estimated by resonant frequency damping disturbance observer. Through the proposed current control system, vibration suppression is achieved against a three-inertia system. The effectiveness of the proposed method is confirmed through experiments
{"title":"Resonant Frequency Damping Disturbance Observer based Robot Servo System","authors":"Akinori Yabuki, T. Kanmachi, K. Ohishi, T. Miyazaki, Y. Yokokura, I. Ando","doi":"10.1109/AMC44022.2020.9244391","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244391","url":null,"abstract":"To realize vibration suppression for a three-inertia system, this paper proposes a current control system using resonant frequency damping disturbance observer based robot servo system. The resonance frequency components for achieving vibration suppression is estimated by resonant frequency damping disturbance observer. Through the proposed current control system, vibration suppression is achieved against a three-inertia system. The effectiveness of the proposed method is confirmed through experiments","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117328170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244328
Mitsuhiro Hattori, H. Fujimoto
Previous studies proposed various optimization algorithms such as gradient method and model predictive control (MPC) to reduce the energy consumption of vehicles with adaptive cruise control. Reducing energy consumption is achieved by optimal velocity control and reducing energy loss. We propose an approach based on dynamic programming (DP). DP is a feedback control with a calculated table of inputs. Autonomous driving trains widely use this method for reducing energy consumption. We created an algorithm, quadrant dynamic programming (QDP), to calculate optimal velocity trajectory. We divided the table into quadrants and seamlessly connected them. With this algorithm, we managed to support many situations even though the table is two-dimension. The result of the simulation and bench tests with an actual vehicle support the fact that the algorithm is valid.
{"title":"Basic Idea of Quadrant Dynamic Programming for Adaptive Cruise Control to Create Energy Efficient Velocity Trajectory of Electric Vehicle","authors":"Mitsuhiro Hattori, H. Fujimoto","doi":"10.1109/AMC44022.2020.9244328","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244328","url":null,"abstract":"Previous studies proposed various optimization algorithms such as gradient method and model predictive control (MPC) to reduce the energy consumption of vehicles with adaptive cruise control. Reducing energy consumption is achieved by optimal velocity control and reducing energy loss. We propose an approach based on dynamic programming (DP). DP is a feedback control with a calculated table of inputs. Autonomous driving trains widely use this method for reducing energy consumption. We created an algorithm, quadrant dynamic programming (QDP), to calculate optimal velocity trajectory. We divided the table into quadrants and seamlessly connected them. With this algorithm, we managed to support many situations even though the table is two-dimension. The result of the simulation and bench tests with an actual vehicle support the fact that the algorithm is valid.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123429100","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244407
Masahiro Kamigaki, S. Katsura
Recent improvement of control technologies allows robots to precisely follow given commands. Robots will be able to expand their executable tasks by saving the motion data that humans demonstrated beforehand. However, it is difficult to deal with the saved motion data when the number of the data increases. In this paper, we focus on writing task and propose an encoder-decoder based neural network for generating time series of motion as a framework for giving motion command directly to the robot. Motions of the robots can be represented as time series data of position data, which contains features of the motions. We can get low dimensional expression of the motion data that is called latent variables by training the network using the saved motion data. We can deal with and generate the saved motion data by using the latent variables and the decoder network. In the experiments, we collected data of writing a Kanji, trained the network using the saved data. We experimentally validated the generated data from the trained network by giving it to the robot.
{"title":"Feature Extraction and Generation of Robot Writing Motion Using Encoder-Decoder Based Deep Neural Network","authors":"Masahiro Kamigaki, S. Katsura","doi":"10.1109/AMC44022.2020.9244407","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244407","url":null,"abstract":"Recent improvement of control technologies allows robots to precisely follow given commands. Robots will be able to expand their executable tasks by saving the motion data that humans demonstrated beforehand. However, it is difficult to deal with the saved motion data when the number of the data increases. In this paper, we focus on writing task and propose an encoder-decoder based neural network for generating time series of motion as a framework for giving motion command directly to the robot. Motions of the robots can be represented as time series data of position data, which contains features of the motions. We can get low dimensional expression of the motion data that is called latent variables by training the network using the saved motion data. We can deal with and generate the saved motion data by using the latent variables and the decoder network. In the experiments, we collected data of writing a Kanji, trained the network using the saved data. We experimentally validated the generated data from the trained network by giving it to the robot.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129424398","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244324
Ryo Ishibashi, K. Seki, M. Iwasaki
Hybrid experimental systems are a promising approach to conduct a wide variety of vibration tests for the structures, where the system combines an actual experiment for the substructure using the actuators with a numerical simulation using mathematical model. The correspondence of boundary displacement between numerical structure and physical structure is required to accurately evaluate the vibration responses in the test. To accomplish the purpose, a dynamically substructured system as a control design framework has been proposed, where the control structure consists of two-degree-of-freedom control with a feedforward compensator and a simple proportional feedback compensator. However, the proportional compensator has the performance limitation for the experimental system with resonant vibrations and/or delay components. This paper introduces $H_{infty}$ control theory as an approach of feedback compensator design in the dynamically substructured system. In the design, the stability margin of the system is explicitly considered by adding the condition based on the stability margin and circle condition to the mixed sensitivity problem. The designed control system is verified by conducting the experiments using a laboratory experimental setup with a basic mass-spring-damper system.
{"title":"Feedback Controller Design Based on $H_{infty}$ Control Theory in Dynamically Substructured System","authors":"Ryo Ishibashi, K. Seki, M. Iwasaki","doi":"10.1109/AMC44022.2020.9244324","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244324","url":null,"abstract":"Hybrid experimental systems are a promising approach to conduct a wide variety of vibration tests for the structures, where the system combines an actual experiment for the substructure using the actuators with a numerical simulation using mathematical model. The correspondence of boundary displacement between numerical structure and physical structure is required to accurately evaluate the vibration responses in the test. To accomplish the purpose, a dynamically substructured system as a control design framework has been proposed, where the control structure consists of two-degree-of-freedom control with a feedforward compensator and a simple proportional feedback compensator. However, the proportional compensator has the performance limitation for the experimental system with resonant vibrations and/or delay components. This paper introduces $H_{infty}$ control theory as an approach of feedback compensator design in the dynamically substructured system. In the design, the stability margin of the system is explicitly considered by adding the condition based on the stability margin and circle condition to the mixed sensitivity problem. The designed control system is verified by conducting the experiments using a laboratory experimental setup with a basic mass-spring-damper system.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130165186","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244433
G. G. Gunnarsson, H. G. Petersen
The use of pre-impregnated fiber plies for manufacturing composite components has a wide range of applications within e.g. aerospace, wind turbines and automotive. Automating the layup of these plies on complex moulds is an unsolved problem. In the Flexdraper project, we address this problem by a tool consisting of an underactuated array of suction cups mounted on linear actuators, interconnected with springs. This paper aims at developing a method to accurately predict the equilibrium configuration of the underactuated degrees of freedom for an arbitrary configuration of the extensions of the linear actuators. Our approach is to establish a model for the potential energy and minimize the value of this energy. The potential energy is due to gravity and the bending and stretching of the springs. We model the shape of the springs using cubic splines and derive expressions for the energies. The developed model is compared to measured data from the setup and the results have RMS errors on the positions around 1mm for four out of five test configurations and around 3mm for the fifth test configuration. Although we still need to further improve the accuracy, the cubic spline model shows the feasibility of the general approach, but a more precise shape approximation of the springs will be needed to achieve lower RMS errors.
{"title":"Minimum-Energy State Determination of an Underactuated Suction Cup Gripper Grid","authors":"G. G. Gunnarsson, H. G. Petersen","doi":"10.1109/AMC44022.2020.9244433","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244433","url":null,"abstract":"The use of pre-impregnated fiber plies for manufacturing composite components has a wide range of applications within e.g. aerospace, wind turbines and automotive. Automating the layup of these plies on complex moulds is an unsolved problem. In the Flexdraper project, we address this problem by a tool consisting of an underactuated array of suction cups mounted on linear actuators, interconnected with springs. This paper aims at developing a method to accurately predict the equilibrium configuration of the underactuated degrees of freedom for an arbitrary configuration of the extensions of the linear actuators. Our approach is to establish a model for the potential energy and minimize the value of this energy. The potential energy is due to gravity and the bending and stretching of the springs. We model the shape of the springs using cubic splines and derive expressions for the energies. The developed model is compared to measured data from the setup and the results have RMS errors on the positions around 1mm for four out of five test configurations and around 3mm for the fifth test configuration. Although we still need to further improve the accuracy, the cubic spline model shows the feasibility of the general approach, but a more precise shape approximation of the springs will be needed to achieve lower RMS errors.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130546771","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2020-09-14DOI: 10.1109/AMC44022.2020.9244409
Yui Shirato, W. Ohnishi, H. Fujimoto, T. Koseki, Y. Hori
Pneumatic cylinders will replace linear motors for high-speed and high-precision applications that require high force. A valve is an important part of the pneumatic driving system as it controls the pressure in the chambers and the pressure changes the stage position. However, valves present nonlinearity and time delay. To address the nonlinearity, we introduced a mass flow rate feedback. For a controller design, pole placement is often used. However, it is difficult to design a stable control system when the plant contains a delay. This study analyzes a condition on closed-loop poles for a stable control system when the plant contains a constant pure time delay. The results indicated that using the stable mass flow rate feedback improved the linearity of the plant for the pressure control system.
{"title":"Controller design of mass flow rate loop for high-precision pneumatic actuator","authors":"Yui Shirato, W. Ohnishi, H. Fujimoto, T. Koseki, Y. Hori","doi":"10.1109/AMC44022.2020.9244409","DOIUrl":"https://doi.org/10.1109/AMC44022.2020.9244409","url":null,"abstract":"Pneumatic cylinders will replace linear motors for high-speed and high-precision applications that require high force. A valve is an important part of the pneumatic driving system as it controls the pressure in the chambers and the pressure changes the stage position. However, valves present nonlinearity and time delay. To address the nonlinearity, we introduced a mass flow rate feedback. For a controller design, pole placement is often used. However, it is difficult to design a stable control system when the plant contains a delay. This study analyzes a condition on closed-loop poles for a stable control system when the plant contains a constant pure time delay. The results indicated that using the stable mass flow rate feedback improved the linearity of the plant for the pressure control system.","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130584871","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","authors":"","doi":"10.1109/amc41390.2018","DOIUrl":"https://doi.org/10.1109/amc41390.2018","url":null,"abstract":"","PeriodicalId":427681,"journal":{"name":"2020 IEEE 16th International Workshop on Advanced Motion Control (AMC)","volume":"194 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-09-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132418395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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