Dissertations / Theses on the topic 'Servo and regulatory control'

Automatic control is used to operate all kinds of processes: everything from temperature in houses to the control of robots. The course in automatic control in Uppsala University includes laboratory experiments where students conduct tests on a wheel controlled by a, so called, PID-controller which is one of the most widely used control mechanisms. This is a prime opportunity for students to get practical experience of working with PID-regulators and test how different parameters influence results. That system has been improved in this project as there were previously several issues with the system. The system was buggy and one of the tasks where the students are to test the systems’ reaction to oscillating input signals was cancelled because that feature had not been implemented yet. These issues were successfully fixed in this project and all tasks are now doable. Another problem was (and is still to some degree) that a lot of measurement noise occurs when measuring speed. This in turn causes the part of the controller that is sensitive to noise (the derivative part, for those familiar with PID-controllers) to function poorly. Some improvement has been made to this by using low-pass filtering for control purposes and the least square method for display purposes, but the signal is still noisy. The key to solving this issue lies in implementing an algorithm that can precisely estimate the speed without distorting any other information, or alternatively buy sensors with higher precision.

Tot i la seva senzillesa, la idea de la realimentació negativa (o "feedback" en anglès) és extremadament poderosa i ha tingut un gran impacte en la societat des de la revolució industrial ençà. En l'actualitat, els sistemes de control estan a tot arreu. A la indústria de processos, per exemple, s'encarreguen de mantenir les variables d'interès aprop dels valors de consigna. Encara més, els sistemes de control han de garantir aquests objectius tot i la presència d'incertesa en el procés i l'existència de pertorbacions. En aquest sentit, la realimentació representa un mecanisme essencial alhora de millorar tant la qualitat com l'eficiència energètica en molts processos de fabricació. El tema cabdal d'aquesta tesi consisteix en el disseny analític de compensadors (també anomenats controladors) fent servir l'esquema convencial en realimentació unitària. El marc adoptat és del control lineal i invariant en el temps (LTI). Encara que la realitat és de naturalesa no lineal, la simplificació al cas lineal no suposa una restricció greu ja que, localment, sempre podem considerar l'aproximació lineal del procés sota control. Posteriorment, el rang d'operació del compensador es pot extendre fent servir algun procediment de control adaptatiu. Des del punt de vista del disseny del controlador, l'escenari considerat planteja, entre d’altres, dos compromisos fonamentals. D'una banda, el controlador haurà de sel·leccionar-se per tal d'assolir un bon balanç entre rendiment i robustesa de modelat. D'altra banda, existeix també un conflicte entre el rendiment tipus "regulatori" (rebuig de pertorbacions) i el rendiment tipus "servo" (seguiment de la consigna), essent de vegades convenient trobar-ne un equilibri entre aquests dos modes de funcionament. L'objectiu d'aquesta tesi és proporcionar procediments de disseny analítics basats en un model de la planta i els compromisos de robustesa/rendiment i servo/regulació. A diferència d'altres mètodes, els procediments presentats eximeixen el dissenyador d'haver de pensar pesos o models de referència adients. A més, els paràmetres de sintonia tenen un significat intuitiu per tal de simplificar l'ajustament dels paràmetres del controlador. Com que els controladors de tipus Proporcional-Integral-Derivatiu (PID) continuen sent els més emprats en la pràctica, s'ha considerat l'aplicació a aquest tipus particular de controlador. Per últim, val a dir que l'apropament analític d'aquesta tesi permet determinar, de manera explícita, com els diferents compromisos considerats afecten l'el·lecció final del controlador. Aquesta característica, creiem, és també valuosa des del punt de vista docent.<br>La idea de la realimentación negativa (o "feedback" en inglés), si bien sencilla, es extremadamente poderosa y ha tenido un gran impacto en la sociedad desde la revolución industrial. En la actualidad, los sistemas de control están en todas partes. En la industria de procesos, por ejemplo, son los encargados de mantener las variables de interés próximas a los valores de consigna, todo ello pese a la incerteza en el proceso y las perturbaciones externas. En este sentido, la realimentación es la única manera de estabilizar una planta inestable, y se presenta así como un mecanismo esencial en procesos de fabricación con el fin de mejorar la calidad del producto final y la eficiencia energética. El tema central de esta tesis es el diseño analítico de compensadores (también llamados controladores) en realimentación. El marco de control adoptado es del control lineal e invariante en el tiempo (LTI). Aunque la realidad raramente es de naturaleza lineal, la restricción al caso LTI obedece a su simplicidad y al hecho de que, localmente, es siempre posible aproximar un proceso no lineal por otro lineal. Desde este punto de vista, el rango de operación del compensador puede extenderse posteriormente mediante planificación de ganancia o control adaptable. Respecto a la configuración de control, esta tesis considera el esquema convencional en realimentación unitaria. En el escenario considerado, tenemos por un lado que el controlador debe diseñarse para proporcionar un buen compromiso entre el rendimiento y la robustez ante incerteza en el proceso. Por otro lado, también existe un conflicto entre el rendimiento tipo "servo" (seguimiento de la referencia o consigna) y el rendimiento tipo "regulatorio" (rechazo de las perturbaciones), siendo a veces deseable encontrar un equilibrio entre ambos modos de funcionamiento. El objetivo de esta tesis es proporcionar procedimientos de diseño analíticos basados en un modelo del proceso y los compromisos de robustez/rendimiento y servo/regulación. En los métodos propuestos no es necesario que el diseñador seleccione pesos o modelos de referencia como pasa con otros enfoques. Además, los parámetros de sintonía tienen un significado intuitivo con el fin de simplificar el ajuste de los parámetros del controlador. Debido a que los controladores de tipo Proporcional-Integral-Derivativo (PID) son ampliamente utilizados en la industria, se ha considerado la aplicación a este tipo de controladores. Por último, mencionar que el enfoque analítico de la tesis permite plasmar, de forma explícita, cómo los diferentes compromisos considerados influyen en la elección final del compensador. Esta característica es también valiosa desde el punto de vista de la docencia del control automático.<br>The concept of (negative) feedback, albeit simple, is extremely powerful, and has since the Industrial Revolution changed our world dramatically. Nowadays, control systems are everywhere. In process industry, for example, they keep the manipulated variables close to the set-points in spite of disturbances and changes in the plant. Moreover, feedback provides the only means to stabilize unstable processes. This way, the feedback mechanism reveals essential for improving product quality and energy efficiency, which yields better (sustainable) economy. The theme of this thesis is on analytical design of feedback compensators through linear control theory. The restriction to the Linear Time Invariant (LTI) case is not severe in the sense that most processes are well modeled locally by LTI systems. The operating range of the controller can then be extended using gain scheduling or adaptation. Within this work, the standard single-loop feedback configuration is assumed. Among the control objectives, stability and robustness are important considerations because of the presence of uncertainty in practice. Apart from that, the controller faces servo (set-point tracking) and regulation (disturbance rejection) objectives. In the considered scenario, it is well-known that there is an inherent compromise between robustness and performance. In general, the servo and regulation objectives are also conflicting and sometimes a balance is desirable. An example is in cascade configurations: the inner loop should be tuned based on tracking as it receives the set-points from the master loop. However, the inner loop may also need acceptable load disturbance suppression capabilities. Another good example is found in Model Predictive Control (MPC) applications due to frequent changes of set-points by the server. Finally, there may be a trade-off between the response to disturbances entering at the input and at the output of the plant, which can be understood as a servo/regulator trade-off too. The goal of this thesis is to provide model-based design procedures in terms of the Robustness/Performance and Servo/Regulator trade-offs, and give insight into how the tuning depends on the process parameters. In the presented methods, the designer is not required to choose weighting functions nor reference models as in other approaches, and the involved parameters have a clear meaning to facilitate the tuning process. Because PID controllers are prevalent in industry, application to PID tuning is considered most of the times. Although numerical methods for controller derivation may yield superior performance than analytical ones, the latter category has been preferred for several reasons. First, analytical procedures help understand the problem at hand. Second, when applied to low-order models, well-motivated tuning rules which are simple and easy to memorize can be obtained. These features are very desirable from the operator's point of view as well as for teaching purposes.

A servo system intended to steer antennas on board ships is designed, built and tested. It uses a Brushless Direct Current (BLDC) motor with an encoder to keep track of its position, and Field Oriented Control (FOC) implemented on Toshibas microprocessor TMPM373 in order to control the current flowing to the motor. The servo system will be connected in cascade to another already existing servo system and controlled with two input signals. The first signal determines if the antenna axis should rotate clockwise or counter clockwise. The second signal is a stream of pulses, where each pulse means that the motor should move one encoder point. A printed circuit board is designed and built to complete these tasks. A proportional-integral regulator is used to control the position of the motor, using the position error as the controller input. The servo system is tested. The performance of the resulting servo system is sufficient to satisfy the required position error limit of 0.5 degrees. In order to reduce the periodic disturbances presented in the system in experiments, Iterative Learning Control (ILC) is implemented. It is shown that using ILC further decreases the position error.

The content of this master´s thesis is compact complex piece of knowledge from semestral projects 1 and 2. These semestral projects deal with analysis two-axle servo - drive, most common methods design regulators, design regulators and their simulation. Further was analysed quality regulation integral criteria, whereupon connect simulation circular and linear interpolation. Simulation was effected by force of Matlab Simulink. In one’s chapter was tested effect feedforwards to regulation. In closing parts is acquaint with control section position EPOS, and programming environment Open PCS company Maxon. In this environment was biaxial drive with EC motors Maxon and control section EPOS P 24/5 programmed. Results was discusseds with simulation.

This thesis concerns the exploitation of the site isolation concept in cascade sequences that facilitate rapid construction of complex polycyclic molecules. Site isolation is the anchoring of mutually destructive reagents onto solid supports to prevent their mutual deactivation.

Thesis (Ph. D.)--Ohio State University, 2003.<br>Title from first page of PDF file. Document formatted into pages; contains xix, 222 p.; also includes graphics (some col.) Includes bibliographical references (p. 215-222). Available online via OhioLINK's ETD Center

The entire thesis text is included in the research.pdf file; the official abstract appears in the short.pdf file; a non-technical public abstract appears in the public.pdf file. Title from PDF of title page (University of Missouri--Columbia, viewed on November 18, 2009). Thesis advisor: Dr. Roger Fales. Includes bibliographical references.

Vision information is essential for planning and control of autonomous systems.Vision-based control systems leverage rich visual input for motion planningand manipulation tasks. This thesis studies the problem of Image-BasedVisual Servo (IBVS) control for quadrotor UAVs. Despite the effectiveness ofvision-based systems, the control of quadrotors with IBVS presents the nontrivialchallenge of matching the 6 DoF control output obtained by the IBVSwith the 4DoF of the quadrotor. The novelty of this work lies in addressing theunder-actuation problem of quadrotors using linear Model Predictive Control(MPC). MPC is a well-known optimization control technique that leverages amodel of the system to predict its future behaviour as a function of the inputsignal. We extensively evaluate the performance of the designed solution onboth simulated environment and real-world experiments.<br>Visuell information är grundläggande för planering och kontroll av autonomasystem. Visionsbaserade kontrollsystem drar nytta av rik visuell inmatningför rörelseplanerings- och manipuleringsuppgifter. Den här avhandlingenstuderar problemet med Image-Based Visual Servo (IBVS) -kontroll förquadrotor UAVs. Trots effektiviteten hos visionsbaserade system utgör kontrollenav quadrotorer med IBVS den icke-triviala utmaningen att matcha 6DoF-kontrollutgång som erhållits av IBVS med 4DoF från quadrotorn. Nyheteni detta arbete ligger i en ny formulering av underaktiveringsproblemetför quadrotorer med linjär Model Predictive Control (MPC). MPC är en välkändoptimeringskontrollteknik som utnyttjar en modell av systemet för attförutsäga dess framtida beteende som en funktion av insignalen. Vi utvärderaromfattande prestandan för den designade lösningen i både simulerad miljö ochverkliga experiment.

Includes bibliographical references<br>This thesis deals with the control of a humanoid robot based on visual servoing. It seeks to confer a degree of autonomy to the robot in the achievement of tasks such as reaching a desired position, tracking or/and grasping an object. The autonomy of humanoid robots is considered as crucial for the success of the numerous services that this kind of robots can render with their ability to associate dexterity and mobility in structured, unstructured or even hazardous environments. To achieve this objective, a humanoid robot is fully modeled and the control of its locomotion, conditioned by postural balance and gait stability, is studied. The presented approach is formulated to account for all the joints of the biped robot. As a way to conform the reference commands from visual servoing to the discrete locomotion mode of the robot, this study exploits a reactive omnidirectional walking pattern generator and a visual task Jacobian redefined with respect to a floating base on the humanoid robot, instead of the stance foot. The redundancy problem stemming from the high number of degrees of freedom coupled with the omnidirectional mobility of the robot is handled within the task priority framework, allowing thus to achieve con- figuration dependent sub-objectives such as improving the reachability, the manipulability and avoiding joint limits. Beyond a kinematic formulation of visual servoing, this thesis explores a dynamic visual approach and proposes two new visual servoing laws. Lyapunov theory is used first to prove the stability and convergence of the visual closed loop, then to derive a robust adaptive controller for the combined robot-vision dynamics, yielding thus an ultimate uniform bounded solution. Finally, all proposed schemes are validated in simulation and experimentally on the humanoid robot NAO.

Lo scopo della tesi è stato migliorare la previsione dei consumi energetici di una soluzione meccatronica per poter fornire ai clienti un'informazione più precisa. Viene svolta un'analisi teorica delle perdite ed un'indagine sullo stato dell'arte dei componenti. Successivamente viene sviluppato un codice per generare delle mappe di efficienza per il motore elettrico, in grado di considerare il particolare punto di funzionamento nel diagramma coppia velocità. E' stato condotto un esperimento per validare il suddetto metodo nelle condizioni operative reali. Infine, le informazioni ricavate dalle mappe di efficienza vengono integrate nella selezione ottima dei componenti permettendo una valutazione più affidabile del Total Cost of Ownership.

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2011.<br>ENGLISH ABSTRACT: This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control. Typically, visual servo techniques can be categorised into imagebased visual servoing and position-based visual servoing. This thesis discusses each of these approaches, and argues that a position-based visual servo control approach is more suited to human following. A position-based visual servo strategy consists of three distinct phases: target recognition, target pose estimation and controller calculations. The thesis discusses approaches to each of these phases in detail, and presents a complete, functioning system combining these approaches for the purposes of human following. Traditional approaches to human following typically involve a controller that causes platforms to navigate directly towards targets, but this work argues that better following performance can be obtained through the use of a controller that incorporates target orientation information. Although a purely direction-based controller, aiming to minimise both orientation and translation errors, suffers from various limitations, this thesis shows that a hybrid, gain-scheduling combination of two traditional controllers offers better targetfollowing performance than its components. In the case of human following the inclusion of target orientation information requires that a definition and means of estimating a human’s orientation be available. This work presents a human orientation measure and experimental results to show that it is suitable for the purposes of wheeled platform control. Results of human following using the proposed hybrid, gain-scheduling controller incorporating this measure are presented to confirm this.<br>AFRIKAANSE OPSOMMING: Die ontwerp van ’n visiestelsel en beheer-komponente van ’n enkel-kamera robot vir die volging van mense word hier aangebied. Die gebruik van visuele terugvoer in die beheerlus word visie-gebaseerde of visuele servobeheer genoem. Visuele servobeheer tegnieke kan tipies onderskei word tussen beeld-gebaseerde servobeheer en posisie-gebaseerde visuele servobeheer. Altwee benaderings word hier bespreek. Die posisie-gebaseerde benadering word aanbeveel vir die volging van mense. Die posisie-gebaseerde servobeheertegniek bestaan uit drie duidelike fases: teiken herkenning, teiken oriëntasie bepaling en die beheerder berekeninge. Benaderings tot elk van hierdie fases word hier in detail bespreek. Dan word ’n volledige funksionele stelsel aangebied wat hierdie fases saamvoeg sodat mense gevolg kan word. Meer tradisionele benaderings tot die volging van mense gebruik tipies ’n beheerder wat die platvorm direk laat navigeer na die teikens, maar hier word geargumenteer dat beter werkverrigting verkry kan word deur ’n beheerder wat die teiken oriëntasie inligting ook gebruik. ’n Suiwer rigting-gebaseerde beheerder, wat beide oriëntasie en translasie foute minimeer, is onderhewig aan verskeie beperkings. Hier word egter aangetoon dat ’n hibriede, aanwinsskedulerende kombinasie van die twee tradisionele beheerders beter teikenvolging werkverrigting bied as die onderliggende twee tegnieke. In die geval van die volging van mense vereis die insluiting van teiken oriëntasie inligting dat ’n definisie van die persoon se oriëntasie beskikbaar is en dat dit geskat kan word. ’n Oriëntasie maatstaf vir mense word hier aangebied en dit word eksperimenteel getoon dat dit geskik is om ’n platvorm met wiele te beheer. Die resultate van die volging van mense wat die voorgestelde hibriede, aanwins-skedulerende beheerder gebruik, met hierdie maatstaf, word ter ondersteuning aangebied.

COORDENAÇÃO DE APERFEIÇOAMENTO DO PESSOAL DE ENSINO SUPERIOR<br>Sistemas hidráulicos são usados onde se requerem forças e torques relativamente altos, alta velocidade de resposta para o início, parada e reversão da velocidade. Eles são usados em sistemas industriais, em robótica, simuladores de movimento, plantas automatizadas, exploração de minérios, prensas, e especialmente em sistemas de testes de fadiga de materiais. As máquinas de testes de fadiga baseadas em sistemas servo-hidráulicos têm como propósito fazer ensaios nos materiais para prever a vida útil em serviço. Os ensaios de fadiga são quase sempre independentes da freqüência de trabalho. Para uma dada resistência do material e magnitudes das tensões alternadas e médias aplicadas, a vida à fadiga depende essencialmente do número de ciclos de carga aplicados ao material testado. Por esse motivo, trabalhar com a máquina de ensaios de materiais a uma freqüência elevada traz vantagens de redução de tempo e custo dos ensaios, sem interferir nos resultados. A aplicação da carga pode ser repetida milhões de vezes, em freqüências típicas de até cem vezes por segundo para metais. Para se atingirem estas freqüências, relativamente altas para um teste de fadiga, é necessário um sistema de controle eficiente. Nesta dissertação, técnicas de controle por aprendizado são desenvolvidas e aplicadas a uma máquina de ensaios de materiais, permitindo a aplicação de carregamentos de amplitude variável em alta freqüência. A metodologia proposta consiste em fazer um controle do tipo bang-bang, restringindo à servo-válvula do sistema a trabalhar sempre nos seus limites extremos de operação, i.e., procurando mantê-la sempre completamente aberta em uma ou outra direção. Devido à dinâmica do sistema, os pontos de reversão devem ficar antes dos picos e vales de força ou tensão desejada. O instante de reversão é um parâmetro que depende de diversos fatores, como a amplitude e carga média da solicitação, e também é influenciado por zonas mortas causadas, e.g., por folgas na fixação dos corpos de prova. Para que a servo-válvula trabalhe no limite de seu funcionamento, o algoritmo de aprendizado obtém os instantes ótimos para as reversões, associados a variáveis adimensionais com valores entre 0 e 1, armazenados em tabelas específicas para cada tipo de carregamento. A lei de aprendizado preenche e atualiza constantemente os valores das tabelas durante a execução dos testes, melhorando a resposta do sistema a cada evento. Apresentam-se a modelagem dinâmica de uma máquina servohidráulica e de sua malha de controle, e simulações comparando o controle PID com o controle por aprendizado proposto. A validação experimental é feita em uma máquina servo-hidráulica de ensaios de fadiga. Para este fim, um software de controle em tempo real foi especialmente desenvolvido e implementado em um sistema computacional CompactRIO. Os resultados demonstram a eficiência da metodologia proposta.<br>Hydraulic systems are used where relatively high forces and torques are required, or when high response speeds are necessary. They are used in industrial systems, robotics, movement simulators, automated plants, ore exploration, presses, and especially in fatigue testing systems. Fatigue tests are usually performed on servo-hydraulic systems, in order to predict the behavior of materials and their life in service. Fatigue tests are almost always independent of the loading frequency. For a given material and magnitudes of alternate and mean stresses, the fatigue life depends essentially on the number of applied load cycles on the tested material. For this reason, working with the material testing machine at high frequencies brings the advantages of reduction in time and cost, without altering the results. The application of the load can be repeated millions of times, in frequencies of up to one hundred times per second for metals, or even more. To achieve such frequencies, relatively high for a fatigue test, it is necessary to use an efficient control system. In this thesis, learning control techniques are developed and applied to a materials testing machine, allowing the application of constant or variable amplitude loads in high frequency. The proposed methodology consists of implementing a bang-bang type control, restricting the system servo-valve to always work at its extreme limits of operation, i.e., always keeping it completely open in one or the other direction. Due to the system dynamics, the reversion instant must happen before achieving the peaks and valleys of desired force (or stress, strain, etc.). The reversion instant is a parameter that depends on several factors, such as the alternate and mean loading components. It is also influenced by dead zones caused, e.g., by the slack in the mounting between a CTS specimen and the machine pins. As the servo-valve works in its limits of operation, the learning algorithm tries to obtain the optimal instants for the reversions, associating them to a non dimensional variable with values between 0 and 1, stored in specific tables. The learning law constantly updates the values of the table during the execution of the tests, improving the system response. In this work, the dynamic modeling of a servo-hydraulic machine is presented, together with its control scheme. Simulations are performed to compare results from PID and learning controls. The experimental validation is made using a servohydraulic testing machine. For this purpose, real time control software is developed and implemented in a CompactRIO computational system. The results demonstrate the efficiency of the proposed methodology.

An optimization of a servo system for a satellite antenna system wasperformed. A brushless DC motor with an angle encoder was used, whoseangular velocity had to be controlled with great precision. Specializedhardware was used to implement field oriented control to directlycontrol the torque and magnetic flux of the motor. Multiple velocitycontrollers were tested for the closed servo system, which controlledthe amplitude of the motor current to achieve the given reference valuefor the angular velocity. A PI regulator was tested and evaluated aslacking in terms of precision, which was caused by low resolution of theerror signal for the angular velocity of the motor. This in turn wascaused by low resolution of the angular velocity measurement. Theanguluar velocity error signal was filtered to combat this, and a feedforward method was implemented where the reference value for the angularvelocity was integrated over time to generate a reference value for theangular position. Since the angular position could be measured withbetter precision, a better error signal based on the angular positioncould be generated which was then used as input to another regulatorwhose output signal was added to the original regulator to increase theaccuracy of the system significantly. The two regulator output signalswere then weighted based on the reference value for the angularvelocity. This was done because the two regulators performed well fordifferent velocity bands, which this method took into consideration. Thefinal servosystem fullfilled the set requirements by a good margin.

The need to save energy, cut costs, and increase profit margin in process manufactureincreases continually. There is also a global drive to reduce energy use and cut down co2 emission and combat climate change. These in turn have led to more stringent requirements on process control performance. Hence, the requirements for modern systems are often not achievable using classical control techniques. Therefore, advanced control strategies are often required to ensure optimal process performance. Despite these challenges, PID has continued to be the dominant industrial control scheme. However, for systems with complex dynamics and/or high performance requirements, PID control may not be sufficient. Therefore, a significant number of industrial control loops are not performing optimally and more advanced control than PID may be required in order to achieve optimal performance. MPC is one of the advanced control schemes that has had a significant impact in the industry. Despite the benefits associated with the implementation of MPC, the technology has remained a niche application in process manufacture. This thesis seeks to address these issues by developing ways that could lead to widespread application of MPC. In the first part of this thesis, a study was carried out to understand the characteristics of processes that would benefit from the application of MPC at the regulatory control level even in the single-input single-output (SISO) case. This is a departure from the common practice in which MPC is applied at the supervisory control layer delivering set points to PID controllers at the regulatory control layer. Both numerical simulation and industrial studies were used to show and quantify benefits of MPC for SISO applications at the regulatory control layer. Some issues that have led to the limited application of MPC include the cost and human efforts associated with modelling and controller design. And to achieve high process performance, accurate models are required. To address this issue, in the second part of this thesis, a novel technique for designing MPC from routine plant data – routine data MPC (RMPC) is proposed. The proposed technique was successfully implemented on process models. This technique would reduce the high human cost associated with MPC deployment, which could make it a widespread rather than niche application in the process manufacturing industry.

This document represents the final thesis of Mr. Alvaro polo Brihuega, which consists of a study of the servo motors dynamisel and design a solution for controlling them.This solution will use a VHDL programmed FPGA connected to the servo motors and the subsequent study of the changes that occur in the servo to get some resources to control their movement and the torque which plays such movent with respect to external forces. All this will be pointing to an ultimate goal as the control of changes instrength and dampen the same as falls and bumps in systems with installed servo

An industrial control valve has been designed by Eaton (AxisPro® valve). The servo performance valve has onboard electronics that features external and internal sensor interfaces, advanced control modes and network capability. Advanced control modes are implement in the valves firmware. With the help of the white space it is possilbe to execute custom code directly on the valve that interact with these controls. Small OEM applications, like rubber moulding machines, benefit from the comination of build in controls and custom code, to provide adaptations for their special machines.

碩士<br>國立臺灣科技大學<br>自動化及控制研究所<br>95<br>This thesis aims to develop an Servo Vision Control for Pneumatic Positioning System. The thesis focuses on the study of the positioning control of Z-axis. 　　Above all, we achieved a Vision System with Pneumatic Servo Control for Positioning Moving Target. The linear scale is replaced by a CCD camera as position sensor. Images are analyzed by vision-based man-machine interface to obtain position information. The analyzed information will be transmitted to an pneumatic servo system via RS-232 for positioning moving target. At last, the data recorder collects both positions of pneumatic servo actuator and moving target to prove the possibility of the entire system.

碩士<br>南亞技術學院<br>機械工程系機械與機電工程碩士班<br>105<br>As the human’s heart, motor in mechanical system provides power source for running the equipments, so the motor performances such as the responding speed and the stability are very important. In daily life, the applications of DC motors such as rolling doors, pump motors, are able to operate while beyond the static friction force. In the process it will encounter in magnetic saturation as well as the long stable time that causes the system out of control. Therefore nonlinear research has gradually attracted people’s attentions. In this study, firstly, Matlab Simulink software was applied to construct the system control model for stability analysis. Secondly, Routh–Hurwitz(R-H) stability criterion and describe function method are used to obtain the stability parameters of controller. By using PID controller, a verification result of subsequent system shows that the response curve of R-H criterion is not acceptable. On the other hand, for better, the description of system stability by DFM demonstrates that the system can still return to the stable state under external disturbance influence.

Thesis (M. Sc.)--University of Alberta, 2009.<br>Title from pdf file main screen (viewed on Dec. 10, 2009). "A thesis submitted to the Faculty of Graduate Studies and Research in partial fulfillment of the requirements for the degree of Master of Science in Chemical Engineering, Department of Chemical and Materials Engineering, University of Alberta." Includes bibliographical references.

碩士<br>國立成功大學<br>製造資訊與系統研究所碩博士班<br>100<br>This thesis focuses on the synchronized motion control for a Precision Micro-Servo Press with a double-crank linkages mechanism. By the motion analysis, we can get the angular displacement, angular velocity and angular acceleration of cranks corresponding to the displacement, velocity and acceleration curves of the slider. The study also made use of the B-spline curve planning four stamping processing motion curves: Drawing, Piercing, Coining and Multi-Stroke. In this study, single-axis control design, the velocity loop using Robust PID Controller, Pre-Controller and Disturbance Observer(DOB), the position loop using Proportional Controller and Kalman Filter, two-axis control design, using Cross-Coupling Controller(CCC). According to the experiment results, we know the system architecture can solve the problem of the slider unbalanced when the angular displacement of motors are different. This study established a Precision Micro-Servo Press with a double-crank linkages mechanism as an experimental test platform, and verified with four stamping processing motion curves. The experimental results of this system architecture can effectively reduce the synchronized motion position error range of the slider in ±12.0μm.

碩士<br>國立高雄應用科技大學<br>機械與精密工程研究所<br>101<br>In this thesis, to stabilize the liquid pressure-controlled in a water cleaning system, planed and designed of a hydraulic servo control system. The control module is based on the microprocessor and planed PC Based the interface of transmission by RS232 to monitor the pressure value and calculated pressurizing pump differential pressure values and transmit control commands to the microprocessor then drive the servo motor to achieve the stable liquid pressure in a hydraulic servo control system. On the PC side, the design is based on the C# to do compare and correct between the target pressure value and servo motor speeds, while the design of the pressure regulator control method allows hydraulic servo control system can be done effectively stable pressure regulator controls the pressure of the entire system sensing component is the use of pressure transmitters, and pressure value is to capture by A/D card. In the simulation, the motion analyzing of a hydraulic servo control system motion based on PID and Fuzzy controller was done by MATLAB/SIMULINK software. On the experiment, we use C# to create a man-machine interface with the RS232 protocol to send control commands, while using pressure transmitters pass back and forth a hydraulic servo control system pressure values, In the hardware configuration, mainly including a pressurizing pump, serial unit, the power conversion unit, I/O hydraulic pressure sensors(transmitters), the DC motor drive unit(drive and speed control). In this thesis we have built a set of hydraulic servo control system presses by reaching a stability to control of purpose, at the same time letting to add to press system can ensure its clean water effect and stabilize water and add the service life of pressing the system. Rise the function of clean water system further because this system considers to add to press fluctuation and long term that the pressuring pump passes in and out water pressure to supervise and control at the same time, can also consequently reach the pipeline pressure of the hydraulic system variation supervision in addition.

碩士<br>國防大學理工學院<br>兵器系統工程碩士班<br>100<br>As technology advances, robot arms have become widely used to replace traditional manpower, increasingly engaged in work involving high risk, labor intensive or beyond human capability. Robot arms are therefore widely used in industrial applications, precision medical surgery and national defense areas. Robot arm control techniques have become critical in robot development. The robotic arm motion problem is intrinsically a nonlinear dynamic coupled characteristic. It is therefore not easy to build a mathematical model. Designing a suitable robot arm controller using traditional control theory is therefore difficult. The advantages of using fuzzy control theory to design an intelligent controller include building the system using a rule base generated from expert experience and knowledge without understanding the system mathematical model. Establishing such rules is complicated because the number of traditional fuzzy theory rules will grow exponentially with the increase in input variables. In addition, with the increase in robot degrees of freedom it will become much harder to find solutions for the inverse kinematics. This research therefore uses hierarchical fuzzy theory to replace the inverse kinematics to achieve robotic arm motion control, reduce the number of fuzzy rules and avoid solving inverse kinematic solutions. Using a hardware and software combination we can actually verify the effectiveness of the robot arm hierarchical fuzzy logic controller.

碩士<br>義守大學<br>電機工程學系<br>90<br>PID control theory has been developed for many years. Lots of control theories were proposed during these years. Up to now, the PID rule is still the major controller for practice. It can be explained by PID Controller owns simple construct, easy to implement and good performance. To achieve digitalization and high accuracy, the PID control rule is implemented on a DSP chip. The objective in this paper is to implement a DSP-based PID controller on the servomotor control. The whole framework is to use the computer with the assembly language to implement PID rule. Download program to DSP through the interface of RS232. Then, transform PWM signal and output it to full bridge driver in order to control DC servomotor to correct position. The major conclusion of this thesis is the DSP make use of PID theorem with the possibility, and improve disadvantages of traditional PID controller.

碩士<br>國立交通大學<br>電機與控制工程系<br>88<br>Robots have had far less impact in applications where the work environment and object placement cannot be accurately controlled. This limitation is largely due to the inherent lack of sensory capability in robot systems. Vision is a useful robotics sensor since it mimics the human sense of vision and allows for noncontact measurement of the environment.However,typically visual sensing and manipulation are combined in an open-loop fashion,"looking" then "moving". The accuracy of the resulting operation depends directly on the accuracy of the visual sensor and the robot end-effector. An alternative to increasing the accuracy of these subsystems is to use a visual-feedback control loop, that is Visual Servo Control in this thesis. Visual servo control is use some information from visual equipment that can control robot to our desired position relative to an object by inputting the image features of the object. Visual servoing is the fusion of results from many elemental areas including high-speed processing, kinematics, dynamics, control theory, and rel-time computing. We use feature-based visual servo control scheme, but there is a unknow depth parameter in feature Jacobian matrix. Due to the unknow depth parameter we cannot get the next position. In order to solve the problem, we use Extended kalman filter as a depth estimator. When depth is given, the overall control scheme can track to our desired position accurately.

碩士<br>國立交通大學<br>機械工程系<br>87<br>For a linear stepping motor with an air bearing, the air gap between the forcer and the stator is maintained by the pressure generated by the air bearing. As the winding current varies, the changing electromagnetic forces cause the air gap to fluctuate continuously. As a result, the parameters of the linear stepping motor also vary rapidly. In this thesis, the model of a linear stepping motor is derived by using the coenergy method. This model is further simplified and transformed to the d-q frame to facilitate controller design. Then, a nonlinear adaptive control method is developed for the control of the current, the velocity and the position of the linear stepping motor. This method guarantees the parameter estimation as well as the asymptotic convergence of the command tracking error. Experimental results aslo show that this method is very robust when the disturbance loads is present.

碩士<br>國立臺灣科技大學<br>自動化及控制研究所<br>95<br>This thesis aims to develop an autofocus system and a visual servo control system. In the autofocus system, a focus-measured method calculated by the terms of the middle frequency after the discrete cosine transform and an autofocus search algorithm are proposed. In the visual servo control system, the servo position control for pneumatic YZ axes system is realized by combining the visual tracking algorithm and the sliding mode adaptive controller. The visual tracking algorithm consists of the random circle detection (RCD) and sum of absolute differences (SAD). The target can be tracked by SAD, after it has been found by RCD. Finally, the proposed auto-focus system and the visual servo control system are verified experimentally.

碩士<br>國立虎尾科技大學<br>光電與材料科技研究所<br>99<br>This thesis proposes a servo motor positioning control and remote monitoring system. The Programmable Logic Controller (PLC) and Human Machine Interface (HMI) are key controllers in equipment side. This system can be entered and stored the route of position coordinate of servo motor in advance. This system also can control many sets of system via the network system by the central control computer in the same time. And it can collect relevant data to set up a database via the central control computer. Generally speaking the remote monitoring system and database system both are very huge. And their setup cost is also very high. This thesis has already set up a simple structure, low cost and easy expandable system.

碩士<br>義守大學<br>電機工程學系<br>90<br>Due to the advanced progressivism, performance rising and cost down of Personal Computers (PC), the PC based control has become the hot research topic. At the same time, the PC based control has been the main trend in industrial control because it can achieve the fast data process, network, friendly human machine interface and etc. Many control theories have been developed for several years. From these methods, the PID control is one of the most extensively used methods in the industrial controls, since the calculation of PID control is very simple and easy to realize. After tuning the necessary parameters, one can get a good control performance. By integrating of PC and PID control rule, a DC servo motor position control is implemented through the printer port. The effects of controller parameters are also discussed in this thesis according to experimental results.

碩士<br>義守大學<br>電機工程學系碩士在職專班<br>99<br>The occurrence of the recent tsunami and earthquake tremors looks so alarmed. The government and the residents are concerned with the ability of the buildings constructed to withstand the vibrations resulted from the earthquakes. The challenge is to develop an Earthquake Simulator that can generate sine wave and real earthquake signal playback. Using National Instruments (NI) LabVIEW, and the PCI-6221 module, to create an easy-to-use software and hardware solution for controlling large public earthquake simulators. This system is named as the earthquake simulator system. The objective of the Earthquake Simulator System is to act as a test platform for the structural analysis of scaled down modeling of buildings under earthquake vibrations and also as a platform to train the public on the safety awareness to tackle the situation during an earthquake event. Small-scaled building models can be first built and fitted onto the earthquake simulator platform. Different types of motion profile can be selected to generate the earthquake motion. They are: sine wave and real earthquake signal. The frequency of shake can be configured from 1 to 30Hz.

博士<br>國立成功大學<br>電機工程學系研究所<br>85<br>A digital signal processor based robust servo controller design has been presented in this disseration. The design procedures are based on the ploe assignment and loop shaping. A PI structure controller with a torque observer is employed to reduce the effects of motor and mechaical parameter variations, and to provide a good performance even under large load torque disturbance. A singular H_infinity controller is applied to the design of a servo control system with multiplicative perturbation. By extending the utility of the H_infinity optimization procedure, a comparatively new approach of robust two degrees of freedom (2DOF) speed controller design is applied to a sensorless servo drive system. The feedback controller is designed to meet robust stability and disturbance rejection specifications by using the H_infinity loop shaping design procedure. The free contractive parameter resulting in H_infinity control is used to improve the robust model matching properties of the feedback system for the prefilter. A multi-variable design method is completed in a single-step approach, unlike the traditional ones. This method is developed to find a robust servo controller, which contains an inner-loop velocity controller and outer-loop position controller for a flexible servomechanism system. Finally, an alternative approach to traditional cam system is presented. The repetitive control theory and phase advance technique are applied to motion controller to reduce the tracking error. All the designed servo controllers are implemented using a TMS320C31 digital signal processor and the robustness of tracking performance is verified when subjected to internal uncertainties and external disturbance.

碩士<br>國立中央大學<br>機械工程研究所<br>96<br>The purpose of this thesis is to control the air motor by using the DSP controller. This thesis was presented the results of position control in a single axis of table by PID, PD-Modulation controller as well as Sliding-Mode controller (SMC). The nonlinear system is caused by friction force and compressibility of air in the mechanism. The gains of PID controller were decided by Ziegler Nichols method. The PD Modulation controller was evaluated from the gains of PID controller and the definitions of PD modulation method. At the end of this thesis, the SMC will be proved that it has better robustness for uncertain system, the ranges of uncertain parameters can be found by the system identification functions in MATLAB. Because of lower speed, the friction behavior, causes the steady state error, is complicated and difficult to predict. Therefore, the friction compensation was applied to eliminate the steady state error and the following experimental results were illustrated the comparisons of methods previously described.

碩士<br>逢甲大學<br>自動控制工程研究所<br>86<br>In this thesis, we consider the issue of applying the SCSI to set up the motio n servo control system. To review the controller used nowadays, it gets bogged on outside because of the high cost , poor expansion flexibility and the diff iculties in obtaining the controlling techniques. Beside that, the interface c ards used nowadays in computer peripheral device are short of standard to foll ow that it often generates some problems of incompatibility.Today, we have an idea that if we can make the controlling techniques of the controller known to the public and let people append to or modify them easily, learning to each o ther and easy development will lead to marked progress in controlling techniqu es. If we can frame the controllers on a interface system witch has the advant ages of low cost, fast transmit speed, powerful extension ability and intellig ence, we can manage the controllers efficiently and do additions to deletions to them easily. Not only the incompatible problems between interface can be av oided but the usage efficiency of the whole system wile be improved because of the intelligence of the interface. SCSI has these advantages simultaneously, so it is worth our while researching and developing to make it the standard in put/output interface in the controlling field. That is, install SCSI bus in th e controller.

碩士<br>國立成功大學<br>機械工程學系<br>103<br>Injection molding machines play important roles in modern manufacture. With the demand of high quantity and quality in production, injection molding machines are commonly used equipments for manufacturing a wide variety of commodity and high technology goods. Traditional injection molding machines with electric motors operating under constant rotating speed consume a large amount of energy. Therefore, energy-efficiency has become a big issue for future injection molding machines. To solve low energy efficiency problems, it is not satisfyied by only using constant rotating speed motor to drive fixed displacement pump as a power source in injection molding machines. To improve the energy-efficiency performance in injection molding machines, there are two ways for energy conservations. Using servo motor to drive pump is possible. Therefore, A hydraulic experiment hardware using a servo motor as the power source to drive was set up. However, the performance of the servo hydraulic system still needs to meet high quality control requirements, thus an adaptive fuzzy PID controller is tested to check the whether it can meet the performance.

碩士<br>國立中興大學<br>機械工程學系所<br>102<br>The virtual machine tool technology is the development trend in nowadays. Because this technology can reduce the development time and production cost effectively, it is becoming an important technique for Taiwan’s machine tool industry. In this thesis, we are focusing on the construction of the servo-control loop for the virtual machine tool. Through the system identification, the frequency response function of the system was acquired. The unknown parameters of the servo-control loop are obtained by using curve fitting method. The MATLAB/Simulink software is used to construct the system’s control model. The structure of the servo control loop is consisted of PI controller with inner current loop followed by velocity loop and position loop. After that the non-linear elements such as, feed-forward controller, model of friction and filters are added to complete the full model of servo controller. From the unit step experiment results, it is found that the error between the simulation model and actual values are less than 4% (except for test II 8.7% in rising time) for velocity loop; while, for position loop, it is less than 1%. In sine wave tracking experiment, the errors are less than 2% for both feed-forward controller & friction model.

碩士<br>國立交通大學<br>機械工程系<br>88<br>This thesis studies the high-speed servo control of linear pulse motors. To achieve this objective, a more accurate mathematical model of the motor with a damping term and up to fourth-order periodical cogging forces is identified and used in the design of the controller. As for the control algorithm, we have implemented both a two-loop control method and a reduced-order control method. The angle of the voltage vector is also increased corresponding to the speed of the motor to compensate the delay in the sampling and control process. Finally, the sample rate of the closed-loop control system is further increases up to 26KHz by changing the AD converter of the control interface board. With the above improvements in the control system, we have demonstrated in both simulation and experimentation of a trajectory tracking task that, the highest speed of the linear pulse motor can be increased to 1 m/s while the position error can be reduced to ±1 μm at zero speed.