Proportional control

About: Proportional control is a research topic. Over the lifetime, 3756 publications have been published within this topic receiving 49050 citations.

PD Fuzzy Logic with non-collocated PID approach for vibration control of flexible joint manipulator

Abstract: The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of PD type Fuzzy Logic Control (FLC) with non-collocated Proportional Integral Derivative (PID) for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, a PD type Fuzzy Logic Controller is developed for tip angular position control of a flexible joint manipulator. This is then extended to incorporate a non-collocated PID Controller for vibration reduction of the flexible joint system. Simulation results of the response of the flexible joint manipulator with the controllers are presented in time and frequency domains. The performances of the non-collocated PID control schemes are examined in terms of input tracking capability, level of vibration reduction and time response specifications. Finally, a comparative assessment of the control techniques is presented and discussed.

Control of linear full vehicle active suspension system using Sliding Mode techniques

Abstract: For the purpose of fault diagnosis and accommodation, a Sliding Mode Controller (SMC) is designed for a linear full vehicle active suspension system An investigation about the available sensors for the controller implementation is also presented Two levels are studied: the level of vehicle prototypes and the level of industrial vehicles Difficulties of vehicle instrumentation and possible solutions are discussed Simulation is made to illustrate the proposed controller where the active suspension system performances are compared with those of passive suspension

A comparison of proportional control methods for pattern recognition control

Abstract: Few studies have focused on proportional control with multi-channel electromyographic (EMG) pattern recognition systems. In a simple proportional control algorithm, movement speed is often calculated by averaging the mean absolute values of all EMG channels. The aim of our study was to compare the performance of two types of pattern recognition control (simple proportional and binary on/off) to direct proportional control. Six EMG channels were collected from non-targeted forearm muscles of four healthy subjects. Subjects were prompted to perform eight medium force isometric repetitions of the following contractions: wrist flexion/extension, wrist pronation/supination, hand open/close, and no movement (rest). Control performances were measured during a one-dimensional position-tracking task using a custom-made graphical user interface. The results show that a simple proportional control algorithm for the pattern recognition system outperformed binary on/off control and was comparable to the performance achieved with direct proportional control.

Postural Control of a Monoaxial Bicycle

Abstract: 本研究は, 一つの軸の両端に二輪をもち, その軸で上部構造体を支える形式の同軸二輪車の姿勢制御とその応用に関するものである. この二輪車を倒立振子と車輪によってモデル化し, フィードバック制御系を設計した. 倒立振子に対する制御モーメント, すなわち復元トルクは車輪を制御することによって発生する. 制御の遅れ時間を考慮し, Routh-Hurwitzの安定条件により比例ゲインを求めた. これらの結果を用いて実験を行い, 同軸二輪車の姿勢制御に成功した. さらに, 姿勢制御の結果を利用したゲイン変化法とサーボ指令法の二方法により, 二輪車のサーボ制御を実現した.

PI Control Plus Electric Current Loops for PM Synchronous Motors

Abstract: We present a solution for velocity control in permanent magnet synchronous motors. We formally prove that velocity converges to the constant desired value from any initial condition. Our controller is so simple that it only differs from the linear control strategy commonly implemented in commercial drives by two simple adaptive terms. Moreover, identical velocity responses are obtained with both controllers. Hence, our results explain how the linear control strategy implemented in most commercial drives works and also provide tuning guidelines for that control strategy. We remark that this has been a long standing unsolved problem.