By Joze Ritonja, Bostjan Polajzer, Drago Dolinar
By Peter Korondi, Janos Gyeviki
By Honoriu Valean, Liviu Miclea, Szilard Enyedi
By Seiichiro Katsura, Kiyoshi Ohishi
| EPE-PEMC 2006 - Topic 10: MECHATRONIC SYSTEMS | ||
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| | Decentralized Control for Active Magnetic Bearings
By Joze Ritonja, Bostjan Polajzer, Drago Dolinar | |
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Abstract: In the paper a decentralized control for active
magnetic bearings is discussed. For the numerical evaluation
of different control algorithms a mathematical model of the
controlled plant is determined. For this reason basic characteristics
and fundamental operation principle of magnetic
levitation as well mathematical model of the rigid shaft are
presented. Modern control systems for magnetic levitations
are discussed. The majority of industrial applications of
active magnetic bearings were still based on conventional
PID control system. The control system design is presented
as rule based procedure. The sensitivity of control system
on supplementary dynamics, parameter variations and measurement
noise is analyzed. The active magnetic bearing
laboratory system is shown. The obtained simulation and
experimental results are compared.
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| | Robust Position Control for a Pneumatic Cylinder
By Peter Korondi, Janos Gyeviki | |
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Abstract: The main contribution of this paper is a robust
and precise position control method based on sliding mode
for a pneumatic cylinder. The controller is implemented on
a DSP system. The main challenge is the higher accuracy
than 10 µm, which can be ensured with wide range of
variation of the load (disturbance) and pressure in the entire
operation area. The paper describes the nonlinear model of
the pneumatic cylinder and the three main design steps of
the proposed control method, namely sliding surface design,
control law selection and chattering free implementation.
Finally, it presents experimental results.
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| | Software Agents Society for the Surveillance and Control of a Hydroelectric Power Plant Chain
By Honoriu Valean, Liviu Miclea, Szilard Enyedi | |
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Abstract: The paper presents a software agents society,
which implements a more efficient control and monitoring
system for a complex heterogeneous system – multiple
hydroelectric power plants connected in a chain on Some��
River. The agent society can be superimposed over the
existing SCADA control and monitoring network and aims
to increase performance, efficiency and stability in the
existing control and monitoring system.
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| | Task Preservation of Multi-Degree-of-Freedom Motion using Interaction Mode Control
By Seiichiro Katsura, Kiyoshi Ohishi | |
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Abstract: Recently, skill preservation of an expert and
skill training have been a serious problem of the medical or
production fields. This paper proposes a task preservation
and reproduction of multi-degree-of-freedom motion using
interaction mode control based on bilateral motion control.
The proposed task preservation system is composed of two
modes; acquisition mode and reproduction mode. In the
acquisition mode, the control system is based on bilateral
control. Since a touching motion is subject to the “law
of action and reaction”, it is possible to decompose force
information into action force and reaction force by using the
bilateral control. Furthermore, human motion is acquired in
decoupled modal space by using the mode quarry matrix.
The decoupled modes correspond to “moving”, “yawing”,
“grasping” tasks, and so on. Thus the multi-degree-offreedom
motion by a human is easily obtained and analyzed
in the modal space. In the reproduction mode, the acquired
human motion is reproduced in the modal space by using
the interaction mode control.
The proposed task preservation system is applied for
grasping motion by three fingers. The experimental results
show viability of the proposed method.
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