12:10―12:30
F. Lotti, Università di Bologna, M. Salmon, MS Automation, G. Vassura, A. Zucchelli, Università di Bologna, Italy
Specific design issues for automatic packaging machines are discussed, concerning the possible application of electric linear motors, the expected benefits and the main drawbacks. A purposely-defined software tool for the selection of these motors is then illustrated. This tool leads the designer to a systematic definition of all the parameters related to the application on high speed packaging machines and allows a step-by-step choice of the proper actuator, by means of a database where the motors available on the market have been classified and parameterized. Two application cases are then presented and discussed, related to a lifting device in a wrapping machine for home paper-products and to a mobile hot-melt glue dispenser in a box-forming machine. | Motion Synchronization for Multi-Cylinder Electro-Hydraulic System
Hong Sun, George T.C. Chiu, Purdue University, USA
This paper presents a nonlinear control algorithm to address the motion synchronization problem for a 2-cylinder electro-hydraulic (EH) system. A 2-step design approach is applied such that it utilized linear MIMO robust control technique to design an outer loop motion synchronization controller. A nonlinear SISO perturbation observer based pressure/force controller is designed for each of the lift cylinder as the inner loop controller to handle the nonlinearities associated with the EH actuators. Experimental results on a 2-cylinder system are presented to verify the effectiveness of the proposed approach.
| 12:30―12:50 | SICOMAT: A system for SImulation and COntrol analysis of Machine Tools
M. Gautier, M.T. Pham, W. Khalil, Ph. Lemoine, IRCCyN, Ph. Poignet, LIRMM, France
This paper presents a software package for the simulation and the control analysis of machine tool axes. This package which is called SICOMAT (SImulation and COntrol analysis of MAchine Tools) provides a large variety of toolboxes to analyze the behavior and the control of the machine. The software takes into account several elements such as the flexibility of bodies the interaction between several axes the effect of numerical control and the availability to reduce models. |
William S. Owen, Elizabeth A. Croft, University of British Columbia, James R. McFarlane, International Submarine Engineering Ltd., Canada
Stick-slip friction in hydraulic actuators is a problem for accuracy and repeatability. Friction compensation has been approached through various control techniques. This work presents an alternative solution, namely, friction avoidance. By rotating the piston and rod the Stribeck region of the friction-velocity curve is avoided and the axial friction opposing the piston movement is linearized, making control more accurate and robust. Simulation results are presented to validate this approach and identify the operating limits for the rotational velocity. | 12:50―13:10 | A Structured Framework for the Modeling and Control of Modular Machining Centers
Luca Ferrarini, Politecnico di Milano, Giuseppe Fogliazza, MCM SpA, Italy
In the paper, the problem of defining a structured methodology for the modeling and design of the control system for machining centers is addressed. In particular, it is shown how object-oriented modeling technique can be usefully exploited for the definition of two basic reference models, one for the plant to be controlled and one the control functions. The proposed framework includes proper hierarchical composition, formal representations, and compliance with international control standards, which are useful in the perspective of design. The paper shows the application of such concepts to an industrial large machining center for prismatic workpieces.
| T3A | Manipulation and Control | Vibration Control II | T3B | SALA PLATEA | 14:30―16:10 | | Sauro Longhi, Italy | CHAIR | Paolo Rocco, Italy | Koichi Koganezawa, Japan | CO-CHAIR | | Flexible Rope Manipulation by Dual Manipulator System Using Vision Sensor
Takayuki Matsuno, Toshio Fukuda, Fumihito Arai, Nagoya University, Japan
We propose a method of the parameter identification of flexible object. We proposed the method to recognize the shape of the rope by using model of the flexible object and visual information. However in this method accurate recognition and compensation using the visual information are not possible when the flexural rigidity of model is greatly different from that of the actual rope. Here we propose the identification method of the rigidity coefficient of object with experiment results. | 14:30―14:50 | |
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