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1
Ma, Li. "Multi-axis numerical control." Thesis, University of Canterbury. Engineering, 1989. http://hdl.handle.net/10092/6462.
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This thesis presents the analysis, design and development of a multi-axis machinery numerical control system. The purpose of this research is to provide a numerical control method to overcome the multi-axis numerical control problem.
The control system includes an IBM-PC computer as a host processor, a plug in multimotor controller board based on commercial numerical motor controller ICs. These implement a software specified digital control algorithm and output a PWM control number. Six motors, their driven actuators, and digital incremental feedback encoders complete the system.
The experimental aspects of the work included the design of the IBM-PC plug in motor controller board and the motor drive board, computer software for real-time control and the system testing. For the theoretical aspects of the work, control theory was used to develop the mathematical model of the system. This aimed at providing a tool to predict and optimize the system performance, therefore, to fulfil the high positioning and high precision control task.
2
Von, Klemperer Nicholas. "Dual-axis tilting quadrotor aircraft: Dynamic modelling and control of dual-axis tilting quadrotor aircraft." Master's thesis, Faculty of Engineering and the Built Environment, 2018. http://hdl.handle.net/11427/30156.
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This dissertation aims to apply non-zero attitude and position setpoint tracking to a quadrotor aircraft, achieved by solving the problem of a quadrotor’s inherent underactuation. The introduction of extra actuation aims to mechanically accommodate for stable tracking of non-zero state trajectories. The requirement of the project is to design, model, simulate and control a novel quadrotor platform which can articulate all six degrees of rotational and translational freedom (6-DOF) by redirecting and vectoring each propeller’s individually produced thrust. Considering the extended articulation, the proposal is to add an additional two axes (degrees) of actuation to each propeller on a traditional quadrotor frame. Each lift propeller can be independently pitched or rolled relative to the body frame. Such an adaptation, to what is an otherwise well understood aircraft, produces an over-actuated control problem. Being first and foremost a control engineering project, the focus of this work is plant model identification and control solution of the proposed aircraft design. A higher-level setpoint tracking control loop designs a generalized plant input (net forces and torques) to act on the vehicle. An allocation rule then distributes that virtual input in solving for explicit actuator servo positions and rotational propeller speeds. The dissertation is structured as follows: First a schedule of relevant existing works is reviewed in Ch:1 following an introduction to the project. Thereafter the prototype’s design is detailed in Ch:2, however only the final outcome of the design stage is presented. Following that, kinematics associated with generalized rigid body motion are derived in Ch:3 and subsequently expanded to incorporate any aerodynamic and multibody nonlinearities which may arise as a result of the aircraft’s configuration (changes). Higher-level state tracking control design is applied in Ch:4 whilst lower-level control allocation rules are then proposed in Ch:5. Next, a comprehensive simulation is constructed in Ch:6, based on the plant dynamics derived in order to test and compare the proposed controller techniques. Finally a conclusion on the design(s) proposed and results achieved is presented in Ch:7. Throughout the research, physical tests and simulations are used to corroborate proposed models or theorems. It was decided to omit flight tests of the platform due to time constraints, those aspects of the project remain open to further investigation. The subsequent embedded systems design stemming from the proposed control plant is outlined in the latter of Ch:2, Sec:2.4. Such implementations are not investigated here but design proposals are suggested. The primary outcome of the investigation is ascertaining the practicality and feasibility of such a design, most importantly whether or not the complexity of the mechanical design is an acceptable compromise for the additional degrees of control actuation introduced. Control derivations and the prototype design presented here are by no means optimal nor the most exhaustive solutions, focus is placed on the whole system and not just a single aspect of it.
3
Carranca, Ricardo Luís d'Abreu Fernandes. "3D motion control with axis interpolation." Master's thesis, Universidade de Aveiro, 2012. http://hdl.handle.net/10773/10103.
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Mestrado em Engenharia MecânicaHá alguns anos que a automação e controlo entraram no mundo do entretenimento. A evidenciar este facto, tem-se assistido nos últimos anos a um aumento de soluções e inovações nesta área. Tal desafio resulta em grande parte, da exigência dos espetadores, com uma cada vez maior componente emocional, que deriva da transposição para a indústria do espetáculo, de façanhas extraordinárias, por exemplo com personagens importados do universo de heróis da banda desenhada. Este campo de criatividade, com efeitos visuais, tem aplicações no teatro, cinema ou concertos. A par destes desenvolvimentos, tem surgido a necessidade de evolução de equipamentos para simulação de vôos/saltos. Por este motivo, é objetivo desta dissertação estudar uma solução a nível de sistemas de controlo - software e hardware - capaz de satisfazer as necessidades dum sistema deste tipo. Para o sucesso de um projecto desta natureza é fundamental o controlo perfeito de movimentos e trajectórias complexas. O trabalho aqui desenvolvido centrou-se nestas temáticas, em especial, no desenvolvimento de um sistema de controlo capaz de simular cenas de vôo a três dimensões, com aplicabilidade na indústria do entretenimento.
Since a few years ago, automation and control became an important tool in the simulation of visual effects as part of the entertainment industry. In fact, in the last few years the number of solutions in this highly creative field has increased. A challenging vector for this arises from the spectators’ exigency, expecting to meet a quite high emotional experience rank when assisting for example to the performance of actors recreating the heroes of comics stories or even the incarnation of cartoons performers. Among these developments there is the need of upgrading the flying simulators. So, the aim of this dissertation is to study a control solution - software and hardware - capable of meeting the needs that a system like this requires. The very realistic materialization of complex trajectories with perfect motion control is a field of primary importance for the success of the project, therefore that thematic has been explored and developed. The work here developed focused on these issues, particularly in developing a control system capable of simulating flight scenes in three dimensions, with application in the entertainment industry.
4
Urbanski, Henryk F. "Neuroendocrine control of the reproductive axis." Thesis, University of Edinburgh, 2004. http://hdl.handle.net/1842/27569.
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Research highlights: (1) Having established a novel remote blood sampling set-up, I was able to clearly demonstrate that sex-steroid-independent diurnal changes in the pulsatile pattern of luteinizing hormone (LH) secretion play a central role in triggering the onset of puberty in female rats; (2) I was subsequently able to show that glutamate receptors represent a fundamental component of the reproductive neuroendocrine axis, and that their manipulation can profoundly influence reproductive function; (3) By developing mouse monoclonal antibodies that are highly specific to gonadotrophin-releasing hormone (GnRH), I made it possible for GnRH-producing neurones to be chemically characterized using multiple-label immunohistochemistry; so far, I have freely distributed these antibodies to >70 investigators around the world; (4) Through a series of photoperiodic and histochemical studies I was able to establish that an area of the brain known as the bed nucleus of the stria terminalis represents a key relay station for environmental signals that impinge on the GnRH neuronal circuits of seasonal breeding species; this finding has also helped to establish the hamster as an experimental model for seasonal affective disorder; (5) Traditionally, the neurotransmitter GABA was thought to exert its influence on the reproductive axis exclusively by its actions at the level of the hypothalamus; but this idea has now been brought into question because of my novel finding that GABA is also highly expressed within the pituitary gland itself; (6) Traditionally, control of gonadotrophin secretion in mammals was thought to be controlled by a single neuropeptide, known as mammalian GnRH or GnRH-1; my recent cloning of a second form of the GnRH (GnRH-II), and demonstration of its unique expression pattern in the rhesus monkey hypothalamus, has opened up a new way of thinking about how the hypothalamus controls reproductive function.
5
Xiang, Shi Zhan. "Central control of the rat thyroid axis." Thesis, Brunel University, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.320216.
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Gizatullin, A. O. "Robust Control for Multi-Axis Test Rigs." Thesis, University of Bath, 2008. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.516949.
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Structural test rigs may incorporate between 1 and 30 hydraulic actuators each providing a load or displacement control. A closed loop PID controller is most commonly used to provide displacement or load control. Normally, industrial controllers provide a relatively high operational bandwidth of the actuator and a good performance within its operational range. The problem arises when the load is changing over a considerable range and sometimes in an unexpected manner. This causes undesirable interaction between actuators and results in degradation of the reference signal tracking. The controller proposed in this thesis is designed to meet aforementioned challenges facing the control system for modern multi-axis rigs: to reach satisfactory reference signal tracking without the need for iteration and robust performance in the presence of interactions and disturbances. The controller is a novel extension of the Model Reference Adaptive Control method known as Minimal Control Synthesis (MCS). It is arranged to function seamlessly through integration with a conventional test rig controller. Furthermore the controller employs important features which allow model following behaviour of the hydraulic cylinder and, to a large extent, to compensate for the actuator dynamics by the inverse model extension. A theoretical tool has been proposed for the analysis of the adaptation dynamics of the controller. A multi-axis scheme for the controller utilises a decentralised approach which implies individual control of each cylinder of the multi-axis system with coupling effects treated as disturbances, which should be attenuated by the adaptive controller. Experimental studies for single-axis and multi-axis variants of the control scheme were conducted on a six-axis MAST. Very good dynamic performance was demonstrated relative to a standard industrial controller. However, it was found that the bandwidth and disturbance attenuation property of the controller were compromised to some degree because it was not feasible to include acceleration feedback signal in the controller structure.
7
Theodorou, Theodoros. "Three-axis attitude control of solar sails utilising reflectivity control devices." Thesis, University of Surrey, 2016. http://epubs.surrey.ac.uk/812756/.
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Solar sails are spacecraft that utilise the Solar Radiation Pressure, the force generated by impinging photons, to propel themselves. Conventional actuators are not suitable for controlling the attitude of solar sails therefore specific attitude control methods have been devised to tackle this. One of these methods is to change the centre of pressure with respect to the center of mass thus creating a torque. Reflectivity Control Devices (RCDs) have been proposed and successfully used to change the centre of pressure. Current methods that utilise RCDs have control authority over two axis only with no ability to control the torque about the normal of the sail surface. This thesis extends the state of the art and demonstrates 3-axis control by generating arbitrary torque vectors within a convex polyhedron. Two different RCD materials are considered, transmission and diffusion technologies both compatible with the proposed concept. A number of metrics have been developed which facilitate the comparison of different sail configurations. One of these metics is the sun map which is a graphic representation of the sun angles for which control authority is maintained. An iterative design process is presented which makes use of the metrics developed and aids in the design of a sail which meets the mission requirements and constraints. Moreover, the effects of different parameters on the performance of the proposed control concept are discussed. For example it is shown that by alternating the angle between the edge and middle RCDs the control authority increases. The concept's scalability has been investigated and a hybrid control scheme has been devised which makes use of both RCDs and reaction wheels. The RCDs are complemented by the reaction wheels to achieve higher slew rates while in turn the RCDs desaturate the reaction wheels. Finally, a number of simulations are conducted to verify the validity of the proposed concept.
8
Shuman, Ali Murtatha. "Modeling and Control of 6-axis Robot Arm." Thesis, Linköpings universitet, Reglerteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-171928.
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Robot manipulators are getting more and more attention nowadays. This is due to their high precision and the speed they provide while executing their tasks. The desires for such high standards are increasing exponentially due to the extended workspace that manipulators provide. Therefore, a safe controller is needed to make it possible for the robot to work alongside people considering the safety precautions. These safety preconditions are widely spread, even when the needs for better human-friendly robots are rising. This thesis will introduce and explain a way to model a 6-axis robot by using its dynamical properties as well as the development of a joint space inverse dynamic controller. The controller will be tested in various different ways. Firstly by adding noise to the measured data. Then testing the robustness of the control model, while the simulated model includes properties different from those used for the controller itself. The different properties would for example be payloads and the inertia of the links. Thereafter, evaluating the precision of a followed path that is given by an operational space trajectory. The outcome of these experiments show promising results. The results show that the controller is able to manage a noise in both the joint angle and joint velocity. It also shows that an error in the payload data will give a small error in the joint angles, sequentially that gives an acceptable error for the end-effector in the operational space. Furthermore, the controller manages to keep the maximum errorin the joint angle low, while it is following a trajectory in the operational space.
9
Chen, Changmin. "Motion control and synchronisation of multi-axis drive systems." Thesis, Loughborough University, 1994. https://dspace.lboro.ac.uk/2134/7360.
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Bredenkamp, Adolf Friedrich Ludwig. "Development and control of a 3-axis stabilised platform." Thesis, Link to the online version, 2007. http://hdl.handle.net/10019/380.
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Ratcliffe, James David. "Iterative learning control implemented on a multi-axis system." Thesis, University of Southampton, 2005. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.419149.
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Smith, Anthony Paul. "Improved axis synchronisation in a distributed machine control interpolator." Thesis, Nottingham Trent University, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.261374.
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Thayer, Douglas Gary. "Multi-sensor control for 6-axis active vibration isolation /." Thesis, Connect to this title online Connect to this title online; UW restricted, 1998. http://hdl.handle.net/1773/9976.
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14
Golaski, Edmund Walter 1976. "Direct haptic control of a 3-axis milling machine." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/88887.
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Hasnain, Bakhtiyar Asef, and Ali Algoz. "A Control System For A 3-Axis Camera Stabilizer." Thesis, Uppsala universitet, Signaler och System, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-355845.
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The purpose of the project is to implement a control system for a 3- axis camera stabilizer. The stabilization is done by controlling three blushless DC motors driving the yaw, pitch and roll movements of the camera stabilizer's frame, respectively. The stabilizer's frame (equipped with three motors) is used in this project, and it is directly taken from a commercial product, Feiyu Tech G4S. The control system concerned in this project consists of a Teensy 3.6 microcontroller unit (MCU) implemented with three PID controllers, the motor drivers to drive the three motors, and an inertial measurement unit (IMU) of 9 degrees of freedom.The MCU is also used to process the IMU angle measurements of the camera position in 3- axis motion, in particular, it converts the IMU raw data to an angle for each of the axis, it then processes the angle data using a Kalman filter to reduce the noise. In the end of the project a prototype has been built and tested, it uses the control system to run the stabilizing process. It is shown to work quite successfully. In particular, it can run smoothly in the roll and pitch axes and compensate for unwanted movement, however the yaw axis does not function as intended due to a misplacement as well as poor calibration process of the magnetometer sensor in the IMU, which is left for future work.
16
Breedon, Philip James. "Multiple axis fuzzy logic control of an industrial robot." Thesis, Nottingham Trent University, 2001. http://irep.ntu.ac.uk/id/eprint/10298/.
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Robot control systems can be considered complex systems, the design of a controller involving the determination of the dynamic model for the system. This in itself can be a complicated task due to non-linearities, multiple axis (degrees of freedom) control and the constantly changing working environment. Problems arise when the theoretical model produced for such a system is not accurate. When developing a controller using conventional techniques a design scheme has to be produced, usually based on a model of the system. In addition kinematics equations must be derived to take into account the physical boundaries of the system. The work outlined in this thesis utilises fuzzy logic control to address these control issues. Fuzzy logic provides functional capability without the use of a system model and has characteristics suitable for capturing the approximate, vaiying values found in real world systems. Initial development of a single axis fuzzy logic control system was implemented on a Dainichi industrial five-axis robot, replacing the existing control and hardware systems with a new developmental system. The concept of fuzzy logic and its application to control highlights the potential advantages that fuzzy logic control (PLC) can provide when compared to the more conventional control methodologies. Additional new control hardware has been interfaced to an existing robot manipulator, making it possible to compare PLC and PIDVF (Proportional Integral Derivative Velocity FeedforwardlFeedback) controllers for single axis development. Average response time and overshoot for a given set point were compared for each system. The results proved that, using a basic PLC minimal overshoot and fast rise times could be achieved in comparison to the commercial PIDVF system. Further research concentrated on the development of the control software to provide multiple axis control for an industrial robot using a continuous path algorithm. The more from single axis to multiple axis control provided a much more complex control problem. A novel and innovative process for the fuzzy controller was implemented with up to three axes reaching the target point simultaneously. Control of the industrial robot was investigated using methods that were more suited to real time controL The most significant change was a reduction in the number of fuzzy rules when compared to single axis control. During robot control no adaptation of the rule base or membership functions was carried Out Ofl line; only system gain was modified in relation to link speed and joint error within predetermined design parameters. The fuzzy control system had to manage the effects of frictional and gravitational forces whilst compensating for the varying inertia components when each linkage is moving. Testing based on ISO 9283 for path accuracy and repeatability verified that real time control of three axes was achievable with values of 938tm and 864tm recorded for accuracy and repeatability respectively. The development of novel industrial robot real time multi-axis fuzzy controller has combined new control hardware with an efficient fuzzy engine addressing inverse kinematics, scaling and dynamic forces in order to provide a viable robot control system.
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Cronauer, Tom, and Brian Eslinger. "REMOTE CONTROL OF TWO AXIS AUTO-TRACKING TELEMETRY ANTENNAS." International Foundation for Telemetering, 1999. http://hdl.handle.net/10150/606827.
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International Telemetering Conference Proceedings / October 25-28, 1999 / Riviera Hotel and Convention Center, Las Vegas, NevadaDue to Cost and Safety considerations the Range Division of the 412th Test Wing is upgrading remote telemetry (TM) antenna sites to be operated and monitored remotely. This is possible, in part, due to the installation of fiber optic cable, and the use of ATM communications protocol. Both of these applications significantly reduce signal latency from the remote control station located at Ridley Mission Control Center (RMCC) and the Antenna site. This paper discusses the challenges associated with controlling these sophisticated systems remotely. We will also describe the decisions and how they were made, the concerns over system performance, and the impact to other systems. This paper also addresses the technologies chosen to support the requirements and overcome the challenges. The benefits of remote range sensors are also discussed. We will provide top-level block diagrams of the system architecture.
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Soraghan, Conaill Eoin. "Aerodynamic modelling and control of vertical axis wind turbines." Thesis, University of Strathclyde, 2014. http://oleg.lib.strath.ac.uk:80/R/?func=dbin-jump-full&object_id=23210.
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Designing a structure which harnesses energy from the wind offshore is a radically different design challenge compared to that which the industry standard three-blade Danish model horizontal axis wind turbine (HAWT) has evolved to serve. Vertical axis wind turbines (VAWTs) may prove to be suitable candidates for the offshore sector due to the potential to locate heavy and complex mechanical components near the water surface providing ease of access and a low centre of gravity. Unlike their horizontal-axis counterparts, VAWT designs have not benefited from forty years of intense research and development. Therefore many challenges lie ahead for VAWT technology but lessons can be drawn from the development of HAWT technology. The main aims of this thesis are to create a design tool capable of investigating the performance of large scale, variable pitch VAWTs and to provide analyses of rotor design and control systems that would align utility scale VAWTs with aerodynamic performance and operational flexibility of state of the art HAWTs. The design tool developed is based on the double multiple streamtube (DMS) adaptation of blade element momentum theory and it incorporates tip loss effects, flow curvature, dynamic stall, flow expansion and variable pitch. Validation demonstrates good estimation of local wind flow conditions and aerodynamic performance for both fixed pitch and variable pitch rotors. The model has been developed to investigate in particular V-rotor performance and the potential of variable pitch for VAWTs. A contribution is made to DMS modelling, which involves capturing the effects of varying degrees of streamtube expansion occurring along the blade. This contribution is referred to as fanning and is particularly significant when implementing or designing pitch regimes. Three novel investigations are provided that contribute to fixed pitch VAWT rotor design and control. Firstly, a method for applying lift to drag ratio to VAWTs is introduced, which accounts for azimuthal variation in aerodynamic performance. Secondly, the impact of wind shear on V-rotor rotor design is analysed. Thirdly, a solution for smoothing power fluctuations from aggregated VAWTs is proposed, which is based on controlling the phase of each rotor so peaks in individual generated power do not occur simultaneously. A holistic approach to the way in which cyclic variable pitch can benefit VAWT operation is provided. Five control objectives are identified that span the entire operating envelope for any wind turbine, namely providing high torque during start-up, maximising power coefficient in below rated conditions, alleviating cyclic loading, power limiting in above rated conditions and aerodynamic braking in extremely high winds. Two test case turbines are designed, a similarly rated H-rotor and V-rotor, and for each turbine and each objective, a cyclic pitch regime is developed and analysed.
19
Konghirun, Mongkol. "Fast-transient current control strategy and other issues for vector controlled ac drives." The Ohio State University, 2003. http://rave.ohiolink.edu/etdc/view?acc_num=osu1070302487.
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Wilde, Paul Ivan Anthony. "The application of circulation control for three axis control of a tailless aircraft." Thesis, University of Manchester, 2009. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.506598.
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Crane, James William. "Limbic system control of endocrine stress responses /." St. Lucia, Qld, 2002. http://www.library.uq.edu.au/pdfserve.php?image=thesisabs/absthe16769.pdf.
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McMaster, Robert S. "The design and manufacture of a low cost, six axis, industrial robot." Thesis, Cranfield University, 1985. http://dspace.lib.cranfield.ac.uk/handle/1826/10275.
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The aim of the work presented in this thesis is to investigate the
feasibility of producing a low cost, 6 axis, Industrial Robot.
The formulation of a design specification based on market trends is
shown, and used as a starting point for formal design analysis.
A robot conceptual design based on two, series coupled, triangular link
mechanisms was devised, following a detailed analysis of various
kinematic mechanisms. The purpose of the mechanisms analysis was to
find a low cost, inherently stiff, means of driving the robot main axes;
in
particular, the shoulder and elbow joints.
By adopting the novel concept of a hand and wrist mechanism, a "true
3 axes" wrist was devised. A unique feature of this is that the roll,
pitch and yaw axes form an orthogonal set with the origin at the wrist
point.
Although emphasis is placed on the robot mechanical design, a Servo
amplifier system, suitable for driving all 6 axes of the robot is
presented, and recommendations for a position control system are
given.
Finally, costs relating to the robot mechanical system, Servo amplifier
system and Position control system were investigated. The variation in
cost with robot volume is shown for each of the 3
systems. This
indicates that a
manufacturing cost of E9000 per robot can be achieved
providing at least 150 robots are produced.
The following papers have been published by the author in connection
with this work:
(i) The Development and Design of a Low Cost Assembly Robot,
Proceedings of the 7th B.R.A. Annual Conference, May 1984.
pp 171-182.
(ii) Overview of Robotic Manufacture Worldwide, Seminar
"Exploiting robot in arc welding fabrication", The Welding
Institute, Cambridge, Nov. 1984. pp 1-7
23
Yang, Xuedong. "Modeling and control of two-axis belt-drive gantry robots." Diss., Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/13061.
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Shipei, Tian. "A Multi Axis Real Time Control From PLC With ROS." Case Western Reserve University School of Graduate Studies / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=case1512697537178262.
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Layeghi, Kamran. "Kinematics and dynamics simulation control of a five-axis robot." Thesis, Keele University, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.277928.
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Gobbalipur, Ranganath Jayanth. "Multi-axis probing system for nano-metrology." The Ohio State University, 2009. http://rave.ohiolink.edu/etdc/view?acc_num=osu1229908979.
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Yoon, Zizung [Verfasser]. "Robust Three-Axis Attitude Control System for Micro Satellites / Zizung Yoon." Aachen : Shaker, 2011. http://d-nb.info/1071529250/34.
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Robotham, Antony John. "The aerodynamic control of the V-type vertical axis wind turbine." n.p, 1989. http://ethos.bl.uk/.
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Ondrey, Larry P. "Three axis force override rate control of a PUMA 560 manipulator." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1993. http://handle.dtic.mil/100.2/ADA267313.
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Lee, Chia-Wei, and 李嘉緯. "MEMS gyroscope system using single-axis/dual-axis control input." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/90598275619332556855.
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碩士國立交通大學
機械工程學系
99
The mechanical structure imperfections and circuit imperfections greatly affect the performance of a gyroscope system. Normally this problem is lessened by physically tooling the hardware structures, for example, expensive fabrication facilities, post-fabrication processes, and complicated circuit designs. The disadvantages of doing so are costly. Recently, more and more research proposed using control methods (software approaches) to compensate the effect resulting from those imperfections and obtain correct angular rates because they can be very cost effective. However, those approaches often require a gyroscope system equipped with dual-axis control inputs and the mass of the proof mass must be known beforehand. The existing commercial gyroscopes only equips with single axis control input. Thus, those existing compensation methods can not apply.
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Chih, Ming Chang, and 張志銘. "Five-axis Optical Alignment Control System." Thesis, 2004. http://ndltd.ncl.edu.tw/handle/93507020005866293889.
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碩士國立清華大學
動力機械工程學系
92
The alignment of two collimators inside DWDM involves the alignment of position and direction in 3D space, therefore five degree-of-freedom alignment device is needed. The objective is to find loss which is larger than -0.3dB. The real intensity model is identified by experiments. Based on this model, the alignment procedure is conducted in two phases, coarse and fine tuning. Coarse tuning is used to reduce loss to -30dB by scanning and fine tuning finishes the alignment to -0.3dB.Two methods in fine tuning, Basic search method and Function fitting method, which can not be used in local maximum problem. The results show the developed alignment method works successfully and the Function fitting method is better than Basic search method.
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Tsai, Bing-Huan, and 蔡秉寰. "Iterative Learning Control Technology for Five-Axis Contouring Control." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/48xmts.
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碩士國立虎尾科技大學
機械設計工程研究所
101
In this paper, a five-axis command-based iterative learning control (FCILC) with tool center point control function (TCPCF) is proposed to improve the tracking and contouring performance for five-axis repetitive contour machining. Without changing the original CNC control architecture, the proposed FCILC utilizes the learning algorithm to updates the input commands based on the tracking errors from the previous process. The TCPCF can detect the sharp corner and discontinuity of the tool position and orientation, and generate smooth five-axis motion trajectories based on the constraints of tangential and axial jerk. The FCILC can reduce the tracking and contouring errors caused by servo lag and friction, and alleviate the effects of noise accumulation. Finally, FCILC with a zero-phase filter is applied to a C-type five-axis engraving machine using a PC-based controller. Experiment results validate that the contour errors of the TCP can be significantly reduced using the proposed technology.
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Chou, Chen-Kuan, and 周陳寬. "Trajectory planning for multi-axis motion control." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/97060180624838998492.
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碩士國立雲林科技大學
電機工程系
102
In this thesis has been integrated Point-to-Point motion and contour motion into more complete trajectory planning. Machine tool's demand as time goes by increase, Machine's requirement transforms simple point processing into complex path constraint contour processing, the basic theory of Trajectory planning transforms Point-to-Point motion into contour motion, but the contour motion's algorithm is more complex, so burden the massive calculation. However, the main condition of across the more complex algorithm is CPU's Performance increase, even maybe use hardware acceleration. In this thesis have two types. One is Point-to-Point motion that used T-Curve and S-Curve. Another one is contour motion that used PVT based on cubic Hermite interpolation. And then implement it and pass through packaged into easier use tools.
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Liu, Chin-Ju, and 劉錦育. "Adaptive motion control of single-axis servomechanism." Thesis, 1995. http://ndltd.ncl.edu.tw/handle/65151811782943923359.
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Yeh, Tzu-hao, and 葉子豪. "Path Control for 3-Axis Engraving Machine." Thesis, 2010. http://ndltd.ncl.edu.tw/handle/3u7nc6.
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碩士中原大學
光機電及資電控產業研發碩士專班
98
Abstract As the electronic products are gotten smaller and the quantity of output is to be requested, the trend of the needs for speed and accuracy is more precise. Therefore, upgrading the speed and the accuracy of contour error on tracking control has become an important point. However, the process method of traditional CNC machines only can support line and circular interpolations but cannot accept motion along curve and circular paths. Therefore, the traditional CNC machines have to rely on CAM, a method to generate the NC code called G-code by approximating many tiny linear or circular segments, to plan the cutter paths. But this approximating method requires higher transmission speed; it also occupies huge memory capacity and makes the velocity of machine tool discontinuous, in order to difficultly meet the requirement of high speed and better precision. In the thesis, the main purpose is to track the path, the nonlinear characteristic in a servomechanical system may pose performance limitations. Friction is an important factor which affect the precision of positioning. A mathematical model of a 3-Axis Engraving Machine with IP controller has been established with consideration of friction effects, and consider the reference trajectory for the NURBS (Non-uniform rational b-splines) path. Contour error refers to the lack of coordination on multi-axis motion and errors generation between motion path and pre-set path. In order to solve the contour error using cross-coupled control of the compensation operation, and increase the coordination of the axis to reduce the contour error. Combinations in such a controller to replace the traditional calculating the controller parameters way of try and error. Focus on path tracking in three-dimensional space. Moreover, through 3-Axis Engraving Machine actually make the finished product and contour error is about 0.2mm with coordinate measuring machine.
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Zhang, Ming-Kai, and 張銘凱. "Multi-axis Motion Control of Trajectory Planning." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/46064709718039563906.
Full textAbstract:
碩士國立雲林科技大學
電機工程系
103
This thesis develop an architecture which integrate Point-to-Point motion and contour motion into Trajectory planning, and can work with DSP. Machine's requirement transforms simple point processing into complex contour processing with the progress of the times. The basic theory of Trajectory planning transforms Point-to-Point motion into contour motion, but the contour motion's algorithm is more complex. However, contour motion can be realized now, the major cause is CPU’s performance increased even use hardware acceleration. This thesis has two types. One is Point-to-Point motion that used T-Curve and S-Curve. Another one is contour motion that used PVT which is based on cubic Hermite interpolation and Spline which is based on cubic Spline interpolation. Then implement it.
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LIN, WU CHIA, and 吳佳霖. "Construction of Five-Axis Robot Control System." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/11019525959099706484.
Full textAbstract:
碩士吳鳳科技大學
光機電暨材料研究所
103
This thesis mainly analyzes axis robot inverse kinematics using commercial software Working Model which is employed to solve equations of the inverse kinematics for robot arm. Then in order to complete the motion control of the five-axis robot by the motion control system, the above obtained data of the reverse movement (Inverse Kinematics) of each axis through the motion control system. Usually, the mechanism design technology of robot arm is principally focused on the non-mobile and non-interactive mechanical arms for industrial applications. The mechanism design of robot arm emphasizes the interaction between humans and robot arm. To achieve these interactive tasks, robot arms require to be both lightweight and flexible, for example, sending greetings to human or grabbing objects as programmed. It can be seen from the experimental results that the motor located at the shoulder of robot arm delivers power to hand through the timing elbow belt. Since the arm is relatively heavy, belt needs regular maintenance due to its fatigue, fracture and other shortcomings resulting in the failure to lift itself up for long period of time. It then gives rise to a new design of mechanical arm, which places a turbine scroll bar at each joint. By doing so and for the reason that the turbine scroll bar is equipped with mechanical self-locking function, the robot arm is more stable and can lift itself up for longer time since the power does not come from the motor nor bypass the joint. To meet the applications of motion control card, a rear end motor encoder is installed allowing both control card and mechanical arm to function properly and reducing the failure rate of robot arm.
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Lin, Ying-Jie, and 林盈傑. "Trajectories Planning For Multiple Axis Motion Control." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/7qd6ce.
Full textAbstract:
碩士國立雲林科技大學
電機工程系碩士班
96
The thesis is mainly developed to be suitable in gauge tool machine of motion control system. The development of machine technological has changed with the production state all the time. In the future, the manufacturing industry development tends to give priority in the high production and the high efficiency primarily. Therefore how to reduce the coordinate measuring time as well as enhance gauging surface precision has become the important consideration. In order to make the function of measuring equipment move fast and smoothly on time. This thesis calculate the data of position, speed, and acceleration by giving the order of position direction to the PMAC2A researched and developed of Deltu Tau Data System company. In order to cause the measuring means function more fast and stable migration at once , the thesis issues PMAC2A of the position instruction by way of writing motion program by PC to control card, operates materials and so on position, speed as well as acceleration by trajectories planning for motion control to insert, and in order to propel machine by way of the PCI interface to communicate F2812 digital control card . Performs the detail interpolation by way of (path way plan law), makes bridge of the communication by way of the PCI bus to deliver again to the F2812 zero control card actuates the machine .In addition the man-machine interface with MATLAB analyzing displacement, speed curve and the acceleration waveform. The path plan anticipated finally in the event.
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Kai-Chiang, Wu, and 吳凱強. "Contouring Control for Multi-Axis Motion Control Based on Equivalent Errors." Thesis, 2000. http://ndltd.ncl.edu.tw/handle/48714658250602386909.
Full textAbstract:
碩士國立中正大學
機械系
88
This thesis is concerned with the contouring control of a multi-axis motion control. Complicated or approximate contour errors are adopted as control objectives in conventional approaches. It will lead to the difficult design of contouring controllers or degrading the performance of the controller, and can not be applied to nonlinear plants. Our study use the algebraic function satisfied by arbitrary desired path to establish equivalent errors, including equivalent contour errors and tangential error. They are taken as the new control objectives in our research. The advantages are that contour errors can be controlled directly, and equivalent contour errors do not need linear approximation. Moreover, the method can be applied to arbitrary curves. The equivalent errors are regarded as a set of new coordinates. In other words, it transforms the contouring control problem into a stabilization problem. So that we can design the controller by stabilization technique. Our research employes the technique of feedback stabilization for controller design. Contour error can be decreased rapidly and stably. The sliding mode control and feedforward friction compensator are utilized to improve the robustness to system uncertainty as needed. One of the advantages is that this method not only integrates the effects of commonly used feedback, feedforward, cross-coupled control, and robustness, but is also applicable to nonlinear plants. We also perform the numerical simulation study about smooth curves and piecewise curves. Finally, the experimental results about tracking circle of linear servo biaxial system are presented. Both numerical simulations and experimental results verify the analysis.
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Chou, Mei-Chung, and 周梅忠. "Control System Integration For A 3-axis Robot." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/57274833013787360642.
Full textAbstract:
碩士中原大學
光機電及資電控產業研發碩士專班
100
Thanks to the highly developed technology, the manufacturing industry becomes striving. In order to reduce the cost as well as to enhance the quality and the efficiency of the production, it is an inevitable trend to use automation equipments. In this research, a three-axis robotic arm system is designed for the Printed Circuit Board manufacturing process. Through precise and fast as well as reliable mechanical design of the robot arm system, the goal of throughput rate of 12 pieces per minute (12pcs/min) can be reached. This report introduces the three-axis robotic arm system made by SCHMID automation company. Programmable logic controller associated with the PC-based servo motion control is the primary control layer and Human machine interface is included as the monitor layer, constructs the robot control system. With the auxiliary sensors and driving systems, an entire robot system is able to carry out the pick and place task in the PCB panels. Via experime testing, the robot system can achieve the desired throughput of 12 pics/min.
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Wang, po-hui, and 王博暉. "Motion Control of The Seven Axis Robot Arm." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/12984125880963528757.
Full textAbstract:
碩士國立雲林科技大學
電機工程系碩士班
100
This thesis develops a seven axis robot arm using NI motion controller card, Maxon Motors, and Maxon drivers and programs the motion trajectories of multi-axis with high precision ball screw, vision processing. Users can use remote controller to control the robot arm via wireless RF interface. First the thesis develops a robotic arm with stability, high precision, multi-functional operation and programs motion trajectories. For the assigned tasks the robotic arm uses the information of motor encoders and the limite of maximal movement to program the motion path. Using a single join controller finishes point to point controll on the user interface. The arm can catchs,various shape objects according to the real-time image signal. The robot arm can programs motion path of each joint or Cartesian coordinates system to complete some difficult tasks, such as writing, drawing and dominoes formation, etc.
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Chen, Wei-Zuo, and 陳威佐. "Two Axis Sun Tracker System Design and Control." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/98680502833906364299.
Full textAbstract:
碩士國立勤益科技大學
電機工程系
99
The aim of this thesis is to design and control a two axis sun tracker system. The sun tracker system consists mainly of a tracking mechanism, a sun location sensor, and an electrical control system as follows. 1.Two axis sun tracker mechanism design: The mechanism of sun tracker system has mainly three parts, a horizontal axis base, a vertical axis loading platform, and a control box. The horizontal axis base and vertical axis loading platform are driven by high gear ratio DC motors to reduce the motor size and the rated power. The designed gear ratio is higher enough to load middle size solar cells. 2.The sun location sensor includes sensor mechanism and CdS (Cadmium Sulphide) sensor circuit. The sensor mechanism is design for arranging four CdS on four symmetrical ramp surfaces to benefit the CdS have different sensitivity to distinguish different light source. 3.The electrical control system consists mainly of servo control card, CdS sensor circuit, and programming. The servo control card uses PIC18F8720 chip as the control kernel. Integrating the necessary power MOSFET and encoder signal circuit it can execute the position loop control of DC servo motor. The CdS circuits are divided as north-southern and west-east two groups. Each group contains signal processing circuit to ensure signal measurement. Different light location will generate voltage difference from the sensor circuit. Zero voltage difference denotes the loading panel is orthogonal to light beams. Finally, the developed two axis sun tracker system is tested using incandescent lamp, fluorescent lamp, and sunlight to demonstrate the feasibility and success. The experimental results show that the loading panel can track the different light source always, no matter the incandescent lamp, fluorescent lamp, or sunlight. Keywords: sun tracker, PIC microcontroller, solar cell, solar array, servo control.
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Jiang, Ming-Zhen, and 江銘振. "Multi-axis motion control platform of high efficiency." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/17762427153675166412.
Full textAbstract:
碩士國立雲林科技大學
電機工程系碩士班
94
This paper presents an automatic DSP-Based identification system for parameters, to validate the transfer function model of unknown system. The sinusoidal testing signal parameters, such as frequency range, amplitude and sampling period, are defined by the user. The testing signals enter the unknown system, and the frequency response collected at the output ports is analyzed based on the mathematical theorems. Finally, the parameters of the transfer function are identified. Therefore, there is no additional measuring equipment is needed to analyze the system dynamic model. The software is to develop a visualized module design of mathematical algorithm. The procedure is to design and simulate the control system under MATLAB and SIMULINK, and turn the control principle into C language through RTW (Run Time Workshop). Compile program used C-language compiler can generate real-time control program. The whole operation is accomplished under Windows circumstance.Besides, I also develop a unit of Multi-axis motion control platform of high efficiency(contain Motherboard、MOTION_AD_DA、MOTION_IO card) which estimate identification platform for parameters. The motion control platform certainly communicate with USB interface and PC , and can communicate with each other with PCI interface. I can insert a piece digital control card of C6713 and F2812 , which operate multi-axis motor control. Moreover, I discuss motion trajectory among point-to-point which include polynomial、S-curve、Linear and arc curves plan etc. The curve simulation in the follow trajectory motion compare with Linear、Newton、Lagrange、Hermite、Spline interpolation.
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Lin, Heng, and 林. 恆. "Slow-Axis Control for an Electrostatic Scanning Micromirror." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/53hcnw.
Full textAbstract:
碩士國立清華大學
電子工程研究所
105
Abstract This thesis proposes to design a slow-axis trajectory control system for an capacitively transduced scanning micromirror to achieve robust performance. To design a controller, we first establish the mathematical model of the plant that includes the behavior of capacitances versus rotation angles simulated by Coventorware. The complete plant model is obtained following polynomial fitting in Matlab and combined with the second-order mechanical system. Then we linearize the plant model and build the Bode diagram, as a design reference of the controller. Finally, we perform time-domain analysis of the control system by using Simulink to confirm system stability, followed by implementation of the control circuits. In the measurement, we successfully use the same electrode for capacitive driving and sensing. The controller’s frequency response is consistent with the simulation. Although we fail to get the desired results during closed-loop control, we still try to find and solve the problem. We think that the nonlinearity of electrostatic driving negatively impacts the feedback control system. Non-idealities, such as noise and DC offset, are likely to be the reasons to cause instability. We try to add additional DC offset, as a temporary command, before applying the real command. The system is still not stable. The effect of uncertainties is beyond expectation. At the end, we lower the system’s gain and successfully close the loop. The result confirms the reliability of our simulation and the feasibility of the system. Keywords：micromirror, electrostatic, trajectory control
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LIN, JUN-MING, and 林俊銘. "Computer Aided Design Multi-Axis Motion Control Platform." Thesis, 2019. http://ndltd.ncl.edu.tw/handle/8qb42h.
Full textAbstract:
碩士國立雲林科技大學
電機工程系
107
With the advancement of technology and the advancement of the industrial automation industry, the requirements and precision of the machine tool are gradually increasing. Therefore, it is increasingly important to select the machining mode and the trajectory mode. The purpose of this paper is to design a computer-aided manufacturing machine with coffin manufacturing and material reduction manufacturing capabilities that can parse various CAD output file formats and convert them into G-Code commands, and design a programmable and controllable motion controller. This paper is divided into three parts. The first part is the self-made human-machine interface of the upper layer. It is responsible for setting user parameters and parsing CAD file format and converting it into G-Code command, and monitoring the three-axis motion control platform by monitoring window. Process the path and communicate with the lower layer. The second part is the V8 core board, which is mainly responsible for controlling the motor, receiving and parsing the G-Code command and the trajectory planning calculation. The third part is the motion control platform, which consists of two synchronous motors and one stepping motor. It mainly tests the above theory.
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Huang, Shih-Yi, and 黃士益. "Design and Control of an 8-Axis Manipulator." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/19122225837482279954.
Full textAbstract:
碩士國立臺灣大學
機械工程學研究所
101
This thesis is aimed to design a compact industrial robot arm and then extend the one arm to two arms so that the robot can safely interact with human beings. It is divided into two parts. The first part is to design an 8-axis manipulator by using the dual-axis modularized actuator (DAMA) system. This special designed mechanism of the 8-axis robot arm makes it folded on itself like a small-sized rectangular box, which is convenient for storing and carrying. The 8-axis robot arm is not only good for factory use but also good for humanoid application. This kind of 8-axis robot is the only design of the robot in the world. The second part of this thesis extends the one robot arm to two robot arms and uses impedance control to realize two-arm coordination control. We establish the 6-axis force sensors, which can measure the interaction force between the arm and the object, in the wrists of the two humanoid robot arms. When an external force acts on the object or on the arms, the arms can move compliantly with the direction in which the external force acts, and simultaneously stably holds the object so that the safety human-robot interaction can be achieved. Applying this design concept and two-arm coordination control to the environment in which humans live, the robot is shown to safely interact with human beings
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Chen, Chia-Han, and 陳佳漢. "Trajectory Control Design for Multi-Axis Motion Platform." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/80493176545622252629.
Full textAbstract:
碩士國立雲林科技大學
電機工程系
102
A PC-Based 3-axis XYZ control system is developed in this thesis. The Real-Time Workshop (RTW) tool in Matlab/Simulink software is used to execute the motion control. The time domain system identification method is applied here to obtain the X-axis and Y-axis system model. The Ziegler-Nichols rule is used to design the PID controller parameters. We also develop a Visual Basic software interface to control the platform with ADLINK motion control card. The P-command and V-command mode control are designed to evaluate the system performances. Four contour trajectories, like square, triangle, star and circle, are conducted successfully. It is shown that our proposed method provide the better performances on average tracking error and standard deviation for different contour tracking.
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YAN, MING XIAN, and 顏銘憲. "Magnetic Bearing Design with Single-axis Active Control." Thesis, 2003. http://ndltd.ncl.edu.tw/handle/20166516945558048233.
Full textAbstract:
碩士國立臺灣大學
電機工程學研究所
91
Internal manufacturer specializing in computer fans have developed the technology of Magnetic Levitation Motor Fan and took a patent on the design for the time being. The principle of magnetic-levitated train is led into the structure of motor. The weight of impeller rotor is attractive by the magnet plate, so that the tail top of the shaft is without load and contacted with the cap fixed on the bottom of the metal tube, which results in keeping the motor rotating evenly at a fixed point and a consistent distance from inner surface of the bearing. As a result of passive Magnetic Levitation design of the system, the influence of friction on noise and speed of rotation will be reduced greatly. Though there is still a contact point between the tail top of the shaft and the cap. The system performance will be improved if we can get over the contact point. In order to achieve suspension and reduce the cost and volume of the bearing system, the magnetic levitation design of single degree of freedom is selected to the first architecture in this thesis. In another word, the combination of active and passive control is adopted. We control the magnetism of the electromagnet to keep the suspension of the shaft in the axial direction, and use the passive bearing composed of two sets of permanent magnets to keep the balance of the shaft in the radial direction. After the test, the first design could be axial suspension. But, it can’t be placed in any mounted position. Therefore we follow up the first design with a new design of small architecture, which the volume and weight of the shaft is reduced and the balance force of the shaft in the radial direction is enhanced. Through the results of the simulation, the defects of the first design will be improved.
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Chen, Long Ren. "An adaptive pitch axis autopilot design for an unstable nonminimum phase pitch axis model." Thesis, 1990. http://hdl.handle.net/1957/38014.
Full textAbstract:
An adaptive pitch axis autopilot design procedure is presented. The
design procedure is applicable to both stable and unstable pitch axis models
and to those having nonminimum phase. The design approach assumes
the adaptive autopilot is activated after achieving level flight. It is shown a
rate-feedback compensator can be designed to ensure stable level flight
pitch axis operation for the entire desired flight regime. The adaptive
control loop design utilizes a pole-placement algorithm. The closed-loop
characteristic polynomial is designed to have dominant poles of that of an
ideal second order system to obtain the desired transient response. The
identification of the system uses a modified least-squares algorithm with a
variable forgetting factor. The nonlinear pitch axis model is used in
simulations to evaluate the design. Command response tests include the
step response and the ramp command response.
Simulation results indicate that the adaptive pitch axis autopilot is
capable of tracking altitude commands after activation. The closed-loop
system response is close to that of the ideal second order system having the
dominant poles.Graduation date: 1991
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Huang, Zhao-Tang, and 黃昭堂. "Development of the Numerical Control Program for a Five-axis Machine Tool with Nonorthogonal Rotary Axis." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/82638745185047443325.
Full textAbstract:
碩士大葉大學
機電自動化研究所碩士班
95
The postprocessor is the important interface that converts cutter location data to machine control data, and is much more complicated in five-axis machine tool due to the simultaneous motion of linear and rotary axes. Since most researches of five-axis postprocessor method only deals with the orthogonal machine tool’s configuration, this paper has developed a postprocessor methodology for three types of five-axis machine tools with a nutating head and table whose rotational axes are in an inclined plane. The advantage of this kind of configuration is to switch from vertical to horizontal machining in one machine. The machine tool’s form-shaping funcation matrix is derived based on the homogeneous coordinate transformation and the forward kinematics . The analytical equation of NC data is obtained by the inverse kinematics and the form-shaping funcation matrix. The linearization algorithm for postprocessor is developed to ensure the machining accuracy. A window-based five-axis postprocessor with nutating axes programmed by Borland C++ Builder and OpenGL has been developed and can generate the NC code of the above three types’ configuration according to the presented algorithm. Through the commercial solid cutting software VERICUT and trial cut experiment, it demonstrated the feasibility of the proposed postprocessor methodology.