10:50―11:10 A Radial Basis Function Networks Approach for the Tracking Problem of Mobile Robots
A. D'Amico, G. Ippoliti, S. Longhi, Università di Ancona, Italy
The paper proposes a Radial Basis Function Networks (RBFN) approach to the solution of the tracking problem for mobile robots. RBFN-based controllers are investigated in order to introduce some degree of robustness in the control system and to avoid the main disadvantage of Multilayer Neural Networks (MNN) to be highly nonlinear in the parameters. The training of the nets and the control performances analysis have been done in a real experimental setup. The proposed solutions are implemented on a PC-based control architecture for the real-time control of the LabMate mobile base and are compared with MNN-based control schemes. The experimental results are satisfactory in terms of tracking errors and computational efforts.
| T1C | Actuators | Manufacturing Systems I | T1D | SALA BIANCA | 09:30―11:10 | SALA TURCA | | | CHAIR | Devendra Garg, USA | Ciro Natale, Italy | CO-CHAIR | Shreyes Melkote, USA | Improved Setpoint Adjustment for Ultrasonic Motors
Thomas Schulte, Norbert Fröhleke, Universität Paderborn, Germany
Speed control strategies for piezoelectric drives have been presented by several authors. Beside various control strategies based on adaptive structures like MIAS, MRAS, neural nets or Fuzzy control, a completely model based control system using an inner bending wave control and an outer speed control including a torque calculator for linearization has been presented. This paper deals with investigations and improvements of this torque calculator. The setpoint adjustment is focused to utilize the degrees of freedom for the bending wave values, which represents an additional potential for optimization of the performance of the drive system. Theoretical and experimental results confirm the advances.
| 09:30―09:50 | Sensing & Control of Conform(TM) Extrusion Gap Between Wheel and Tooling Plates
Kafeel A. Khawaja, Holton Machinery Ltd, Lakmal Seneviratne, King’s College London, UK
The results of an investigation into the automation of the Conform TM Extrusion process using mechatronic solutions are presented in this paper. Conform Extrusion is a very versatile manufacturing process, enabling the production of a wide variety of high quality products in continuous lengths. During Conform TM Extrusion, it is very important to maintain an appropriate gap between the wheel and tooling, in order to achieve product quality. An active gap sensing and control system for improving Conform Extrusion product quality is presented. The gap is measured using an air gauge system and controlled using a hydraulic actuation system. A feedback controller is employed to attain the required gap, specified by the user ...
| Dynamic Modeling of Hysteresis in Piezoceramics
R. Ben Mrad, H. Hu, University of Toronto, Canada
A model for hysteresis in piezoceramic actuators when they are subject to dynamic voltage excitations is developed. The model uses measurements of the first order reversal curves and the rate of change of the input voltage signal. The model is shown through experiments to offer high accuracy under voltage excitations at frequencies up to 800 Hz. | 09:50―10:10 | Formal Analysis of Existing Control Sooftware in Cyclic Closed Production Line
Lado Lenart, Institut "Jožef Stefan", Slovenia
The existing software in control of alcaline batteries industrial production line of flow--shop type was critically analyzed from the viewpoint of modern control theory of dynamic event systems (DES). The installed software itself was coded in ladder logic in PLC controllers. Two guidelines were followed in this analysis first the minimax algebra solution for timing supervision and construction of exception language and second the formal way for organizing the DES supervisor supremal control language. The results of analysis are reported.
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Vincenzo Delli Colli, Roberto Di Stefano, Fabrizio Marignetti, Maurizio Scarano, Università di Cassino, Italy
The paper introduces a novel approach to the voltage controlled current source inverter (CSI) .The switching strategy is based on the current space vector modulation. Numerical simulations point out that the voltage feedback allows to reduce dramatically the voltage ripple in comparison with a traditional VSI.
| 10:10―10:30 | Model-Aided Stability Control on Machine Tools
Michael F. Zäh, Ludwigsburg, Germany
Chatter often prevents installed drive power from being exploited to the full in the application of machine tools. This type of dynamic instability is usually caused by the compliance of the machine frame and of the drive systems. This paper proposes a dynamic process model using a closed loop structure to simulate the operating behavior of the machine, which is characterized by the chatter-free workable depth of cut. The results of this simulation can be employed for stability-constrained adaptive control by connecting a personal computer to a machine tool.1 Abstract: Chatter often prevents installed drive power from being exploited to the full in the application of machine tools. This type of dynamic instability is usually caused by the compliance of the machine frame and of the drive systems. This paper proposes a dynamic process model using a closed loop structure to simulate the … | | |
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