On the implementation and control of a pneumatic power active lower-limb orthosis

This paper develops a pneumatic power active lower-limb orthosis (PPALO) to be a controlled plant. Due to the use of pneumatic actuators, the PPALO inherently possesses non-smooth nonlinearities, such as asymmetric dynamics, friction, and dead zone. In order to eliminate the influence of these nonlinearities on the pneumatic actuators and the dynamic coupling terms included in the dynamics of the lower-limb orthosis, an inner-loop PI controller with a differential pressure feedback and an outer-loop filter-based iterative learning control (FILC) scheme which consists of an outer PD feedback controller as well as a feedforward filter are used. Finally, a trajectory tracking control experiment is conducted to validate that the proposed method can effectively control the system to track the desired trajectory and reduce the vibration caused by nonlinearities of the pneumatic actuators.     

Kinematics control of a pneumatic system by hybrid fuzzy PID

In a pneumatic system, normally, the piston can stop at only two terminal endpoints. In order to extend the capabilities of the system, this research is conducted to develop a kinematics control-based pneumatic system. Both position and velocity of the pneumatic piston are controlled in such a way that the controlled piston is able to move with the specified velocity to the target position. A hybrid of fuzzy and proportional-plus-integral-plus-derivative (PID) control algorithm is proposed in this paper as the solution. The control algorithm is separated into two parts: fuzzy control and PID control. The fuzzy controller is used to control the piston when the piston locates far away from the target position whereas the PID controller is applied when the piston is near the desired position. The development starts with designing of a position sensor to detect position information of the piston. The sensor-manipulating circuit consisting of potentiometer, inverting amplifier, summing amplifier, low-pass filter and analog-to-digital converter is then designed and realized. Next, the proposed hybrid of fuzzy and PID control is implemented and programmed on the microprocessor. In order to test performance of the system, settling time and steady-state error of five control algorithms – proportional (P) control, proportional-plus-integral (PI) control, proportional-plus-derivative (PD) control, PID control, and hybrid of fuzzy and PID control – are investigated. The results from the experiments show that the proposed hybrid of fuzzy and PID control gives the most satisfied settling time and steady-state error.     

Preisach-model-based position control of a shape-memory alloy linear actuator in the presence of time-varying stress

Tensioned shape-memory alloy (SMA) wires can repeatedly contract and extend, according to hysteretic loops defined by the shape-memory effect (SME), when subject to cyclic heating and cooling. Empirical evidence shows that these periodic hysteretic deformations are also a function of the loading stress applied to the tested wire. Therefore, to achieve accurate position control of an SMA wire-actuator, the SME hysteretic phenomenon in the presence of time-varying loading stress must be explicitly modeled in order to be compensated. To this end, we use a Preisach-model-based forward mapping that relates the time-varying exciting temperature and stress signals as inputs with the produced strain signal as the output, and whose parameters are experimentally estimated a priori through a series of steps in a nonlinear system identification process. Then, the identified parameters are employed by a Preisach-model-based inversion algorithm that is integrated into a feedforward inverse control scheme designed to mitigate the effects of hysteresis affecting the tested SMA wire. In the proposed scheme, the inverse controller reads two time-varying inputs, a strain reference and the known stress signal exciting the controlled SMA wire-actuator, and then it computes the corresponding temperature reference that, once enforced on the SMA material of the wire, generates the desired strain output. This approach to position tracking control can be realized using lightweight sensors and, as demonstrated in this paper through experimental results, is computationally efficient, which are the two most essential features required for the implementation of controllers on centimeter-scale autonomous robots. Using data obtained through real-time experiments, we demonstrate that the introduced position control scheme is highly effective and suitable to be used in future microrobotic applications. Furthermore, we show that the proposed methods for the system identification of the nonlinear hysteretic dynamics of SMA wires and for the synthesis of inverse controllers can be easily modified to be applied to the tracking control of SMA actuators thermally excited by means other than Joule heating.     

电力电气控制阀的电压节能控制分析

本文就提出了一种基于神经网络电压调节的方法,把它在电力电气的控制阀中运用,依据电力电气的系统内电压控制的模型,对现阶段电力电气的控制阀内电压控制的能耗问题实现有效解决,从而达到了节能目的。     

Modeling and control of a piezoelectric microactuator with proprioceptive sensing capabilities

In this paper, modeling and control strategies for a new observability-optimized piezoelectric microactuator are presented. The targeted applications mainly concern the design of microgripper for micromanipulation tasks. The device has been designed using a topological optimization method, which takes into account the optimal full integration of piezoelectric actuating and sensing elements within the device. It is achieved in link with modal controllability and observability considerations. The vibrational modes that govern the tip deflection of the monolithic compliant structure are proved to be fully observable by the integrated sensing area of the device. The proposed control strategy permits to simply reconstruct the deflection using electric charges measurement and modal state observer. Finally, the vibrations that are naturally induced by the flexible structure are successfully damped using robust and low order controller.     

Modeling and control of a curved pneumatic muscle actuator for wearable elbow exoskeleton

A novel curved pneumatic muscle based rotary actuator for the wearable elbow exoskeleton with joint torque control is proposed. Compared to the general utilization of the pneumatic muscle actuator (PMA) in a rotary joint, this novel structure weakens coupling relationship between the output torque/force and contacting displacement of the PMA so that it can be easily utilized in the tele-robotics with torque/force-feedback or the exciting application in rehabilitation for a wide range. By referred to two physical models, namely beam model and membrane model, the mechanics properties of this mechanical structure is analyzed. In addition a hybrid fuzzy controller composed of bang–bang controller and fuzzy controller is employed for output torque control with high accuracy as well as fast response. In a series of experiments, the actuator exhibits both good static and dynamic performances that well validated the models and control strategy.     

Indirect sliding mode control based on gray-box identification method for pneumatic artificial muscle

We present an indirect robust nonlinear controller for position-tracking control of a pneumatic artificial muscle (PAMs) testing system. The system modeling is reviewed, for which the existence of uncertain, unknown, and nonlinear terms in the internal dynamics is presented. From the obtained results, an online identification method is proposed for estimation of the internal functions with learning rules designed via a Lyapunov derivative function. A robust nonlinear controller is then designed based on the approximated functions to satisfy the control objective under the sliding mode technique. Appropriate selection of the smooth robust gain and the sliding surface ensures convergence of the tracking error to a desired level of performance. Stability of the closed-loop system is proven through another Lyapunov function. The proposed approach is verified and compared with a conventional proportional–integral–differential (PID) controller, adaptive recurrent neural network (ARNN) controller, and robust nonlinear controller in a real-time system with three different kinds of trajectories and loading. From the comparative experimental results, the effectiveness of the proposed method is confirmed with respect to transient response, steady-state behavior, and loading effect.     

Evolutionary algorithm based feedforward control for contouring of a biaxial piezo-actuated stage

The main objective of this paper is to establish a precision contouring control of a biaxial piezoelectric-actuated stage. The positioning accuracy of the piezoelectric-actuated stage is limited due to the hysteretic nonlinearity of the piezoelectric actuators (PEA). To compensate this hysteresis problem, a feedforward controller based on an evolution algorithm is proposed. The dynamics of the hysteresis is formulated by the Bouc–Wen model and the evolutionary algorithms (EAs) are studied to identify the optimal parameters of the Bouc–Wen model. To verify the consistency, two micro-contouring tasks are implemented by the proposed feedforward controller with the feedback of linear optical scales in DSP based real-time control architecture.     

Position control of hybrid pneumatic–electric actuators using discrete-valued model-predictive control

The design, modeling and position control of a novel hybrid pneumatic–electric actuator for applications in robotics and automation is presented. The design incorporates a pneumatic cylinder and DC motor connected in parallel. By avoiding the need for a high ratio transmission, the design greatly reduces the mechanical impedance that can make collisions with conventionally actuated robot arms dangerous. A novel discrete-valued model-predictive control (DVMPC) algorithm is proposed for controlling the position of the pneumatic cylinder with inexpensive on/off solenoid valves. A variant of inverse dynamics control is proposed for the DC motor. A prototype was built for validating the actuator design and control algorithms. It is used to rotate a single-link robot arm. The actuator inertia and static friction torque values for the prototype were only 0.6% and 4%, respectively, of the values found for a comparable actuator from an industrial robot. Simulation results for position control of pneumatic actuators with different valve speeds and friction coefficients show that the DVMPC algorithm outperforms a sliding mode control algorithm in terms of position error and expected valve life. Experimental results are presented for vertical rotary cycloidal trajectories. Even with the poor quantization caused by the on/off valves, the pneumatic cylinder controlled by the proposed DVMPC algorithm achieved a 0.7% root mean square error (RMSE) and a 0.25% steady-state error (SSE). With the addition of the DC motor to form the hybrid actuator, the RMSE and SSE were reduced to 0.12% and 0.04%, respectively. By incorporating a novel estimation algorithm, the system was made robust to an unknown payload.     

Modeling of pneumatic artificial muscle using a hybrid artificial neural network approach

Pneumatic Artificial Muscle (PAM) actuator has been widely used in medical and rehabilitation robots, owing to its high power-to-weight ratio and inherent safety characteristics. However, the PAM exhibits highly non-linear and time variant behavior, due to compressibility of air, use of elastic-viscous material as core tube and pantographic motion of the PAM outer sheath. It is difficult to obtain a precise model using analytical modeling methods. This paper proposes a new Artificial Neural Network (ANN) based modeling approach for modeling PAM actuator. To obtain higher precision ANN model, three different approaches, namely, Back Propagation (BP) algorithm, Genetic Algorithm (GA) approach and hybrid approach combing BP algorithm with Modified Genetic Algorithm (MGA) are developed to optimize ANN parameters. Results show that the ANN model using the GA approach outperforms the BP algorithm, and the hybrid approach shows the best performance among the three approaches.     

High-bandwidth tracking control of piezo-actuated nanopositioning stages using closed-loop input shaper

An integrated control strategy for piezo-actuated nanopositioning stages is proposed in this paper. The aim is to achieve high-speed and high-precision tracking control of nanopositioning stages. For this purpose, a direct inverse compensation method is firstly applied to eliminate the hysteresis nonlinearity without involving inverse model calculation. Then, an inside-the-loop input shaper is designed to suppress the vibration of the compensated system. A Smith predictor is introduced to prevent the potential closed-loop instability caused by the time delay of the inside-the-loop input shaper. Finally, a high-gain feedback controller is employed to handle the disturbances and modeling errors. To demonstrate the effectiveness of the proposed control method, comparative experiments are carried out on a piezoelectric actuated stage. The results show that the proposed control approach increases the tracking bandwidth of the stage from 22.6 Hz to 510 Hz.     

一种用于印刷机的压力自动气动控制系统

介绍了印刷压力控制对印刷质量的重要性,运用气动原理图从原理上重点分析了印刷头气动压力控制系统,并对其中的关键组成部分精密减压阀和电气比例阀的选型进行详细分析和计算;通过在印刷机上使用,该系统可满足印刷及精密压力控制需要。     

基于RFID的控制阀系统设计

射频识别技术（RFID）是一项利用射频信号通过空间耦合（交变磁场或电磁场）实现无线方式对电子数据栽体进行识别的新兴自动识别技术.针对低功耗和高效性,设计了一种以Nuvoton Nano110低功耗MCU为核心的125KHz的RFID控制阀系统.该系统采用分立元件搭建了成本极低的ATA5567射频卡读写电路,构建了段码式LCD显示和控制阀门的电机驱动模块.通过实践检验了系统的稳定性,可将其用于成本敏感的预付费卡表（水表、燃气表和热量表等）.     

Active vibration control over the flexible structure of a kitchen hood

This paper presents the full analysis and the complete development of a system for mechanical vibration reduction in a kitchen hood by using piezoelectric actuators. The control system is based on a feedback controller whose action depends on a single acceleration sensor collocated with the actuator. A model of the collocated actuator-sensor pair mounted on the hood and a model of the disturbance are provided. A Minimum Variance (MV) controller is able to provide the theoretically best performance in terms of noise reduction. A single-tones Minimum Variance controller (resonant controller) provides quasi-optimal performance while maintaining the stability of the system. Two different resonant control laws have been designed: the first one operates without the information of the hood motor velocity; the second one is a more sophisticated controller, which also exploits the velocity information. Both controllers are effective in reducing the mechanical vibration with performances that well approximate those achievable with an MV controller. Overall, through the motor velocity’s information, the best performances are guaranteed with an 85% vibration reduction. The resonant control system without the motor velocity information provides the best compromise in terms of performances (75% of reduction) and complexity of the implemented system. Tests held in an anechoic chamber have shown the vibration reduction’s influence upon the acoustic noise.     

基于FPGA的电磁阀控制设计与研究

针对航空飞行器在飞行试验中需要精确控制滚控发动机电磁阀的难题,从电磁阀自身特点入手,设计了控制硬件电路并建立电磁阀门硬件电路灭弧电路响应时间模型,成功卸载60.5V反向大电压,详细分析影响电磁阀的时间因素,同时也提出了基于FPGA的电磁阀可配置脉冲的实现方式。目前,该电磁阀控制设计已成功应用于地面发动机测试设备,具有较好的实时性、安全性和时间响应性能。     

Modeling,observation, and control of hysteresis torsion in elastic robot joints

Hysteresis torsion in elastic robot joints occurs as a coupled nonlinearity due to internal friction, backlash, and nonlinear stiffness, which are coactive inside of mechanical transmission assemblies. The nonlinear joint torsion leads to hysteresis lost motion and can provoke control errors in relation to the joint output at both trajectories tracking and positioning. In this paper, a novel modeling approach for describing the nonlinear input–output behavior of elastic robot joints is proposed together with the observation and control method, which aim to compensate for the relative joint torsion without load sensing. The proposed modeling approach includes the recently developed 2SEP dynamic friction model and Bouc–Wen-like hysteresis model, which is originated from structural mechanics, both arranged according to the assumed torque transmitting structure. The proposed method is evaluated with experiments using the laboratory setup which emulates a single rotary joint under impact of nonlinear elasticities, friction, and gravity.     

Hysteresis modeling and compensation of a piezostage using least squares support vector machines

Hysteresis effect degrades the positioning accuracy of a piezostage, and hence the nonlinearity has to be suppressed for ultrahigh-precision positioning applications. This paper extends least squares support vector machines (LS-SVM) to the domain of hysteresis modeling and compensation for a piezostage driven by piezoelectric stack actuators. A LS-SVM model is proposed and trained by introducing the current input value and input variation rate as the input data set to formulate a one-to-one mapping. By adopting the radial basis function (RBF) as kernel function, the LS-SVM model only has two free hyperparameters, which are optimally tuned by resorting to Bayesian inference framework. The effectiveness of the presented model is verified as compared with two state-of-the-art approaches, namely, Bouc–Wen model and modified Prandtl–Ishlinskii (MPI) model. In addition, the LS-SVM inverse model based feedforward control combined with an incremental proportional–integral–derivative (PID) feedback control is designed to compensate the hysteresis nonlinearity. Experimental results show that the LS-SVM model based hybrid control scheme is superior to the Bouc–Wen model and MPI model based ones as well as either of the stand-alone controllers. The rate-dependent hysteresis is suppressed to a negligible level, which validates the effectiveness of the constructed controller. Owing to a simple procedure, the proposed LS-SVM based approach can be applied to modeling and control of other types of hysteretic systems as well.     

Control of an overlap-type proportional directional control valve using input shaping filter

In a hydraulic control system (herein, termed a major control loop), a proportional directional control (PDC) valve with spool position feedback may work in a minor (or inner) control loop. In this study the authors propose control designs to improve the performance of the PDC valve control loop (a minor control loop). At first, the mathematical model for the PDC valve is developed through an experimental identification process. Then, a dead-zone compensator that facilitates jumping of the overlap zone in spool/sleeve combination is devised and applied. A reference input following controller (including PI-D and feed-forward controller) that enables robust control of the PDC valve under disturbances is devised using the pole placement method and the zero placement method. Subsequently, an input shaping filter is incorporated into the devised control system to improve the reference following characteristic in high frequency range. Finally, the effectiveness of the proposed control design is verified experimentally.     

四旋翼无人机建模及其PID控制律设计

文中对四旋翼无人机进行建模与控制。在建模时采用机理建模和实验测试相结合的方法,尤其是对电机和螺旋桨进行了详细的建模。首先对所建的模型应用PID进行了姿态角的控制。在此基础上又对各个方向上的速度进行了PID控制。然后在四旋翼飞机重心进行偏移的情况下进行PID控制,仿真结果表明PID控制律能有效的控制四旋翼无人机在重心偏移情况下的姿态角和速度。最后为了方便控制加入了控制逻辑     

Modeling, control and experimental validation of a novel actuator based on shape memory alloys

The paper presents the development of a mechanical actuator using a shape memory alloy with a cooling system based on the thermoelectric effect (Seebeck–Peltier effect). Such a method has the advantage of reduced weight and requires a simpler control strategy as compared to other forced cooling systems. A complete mathematical model of the actuator was derived, and an experimental prototype was implemented. Several experiments are used to validate the model and to identify all parameters. A robust and nonlinear controller, based on sliding-mode theory, was derived and implemented. Experiments were used to evaluate the actuator closed-loop performance, stability, and robustness properties. The results showed that the proposed cooling system and controller are able to improve the dynamic response of the actuator.