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Intelligent Command Generation for Mechatronic Devices: Overcoming Vibration Challenges

This presentation by Kelvin Peng discusses innovative techniques for designing command generators in mechatronic devices. It covers the concept of control, the feedback loop, and strategies for eliminating errors and rejecting disturbances. Key focus areas include resolving bridge crane vibration issues, input shaping for optimal system performance, and the trade-offs involved in increasing robustness in command shaping. Methods like Zero-Vibration shaping and multi-mode input shaping are explored, offering insights into practical applications across various machinery and robots, including feedback control systems.

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Intelligent Command Generation for Mechatronic Devices: Overcoming Vibration Challenges

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  1. Motion Control: Generating Intelligent Comands for Mechatronic Devices Kelvin Peng Feburary 7th 2012

  2. Getting the System to do What you Want What is Control?

  3. How to Control? Add a Feedback Loop • Pros: • Eliminates errors • Disturbance rejection • Cons: • Stability? • Sensors

  4. Let’s go back to simple control • Pros: • Simple, no sensors • Stable (if plant is stable) • Accurate model not needed • Cons: • No disturbance rejection • Increase rise time Today’s topic: How to design the command generator

  5. Before we go on… A General Control System

  6. Bridge Crane Vibration Problem

  7. Bridge Crane Vibration Problem (and solution)

  8. Why is Vibration Cancelled?

  9. Normalization Positive Impulses Time Optimality Derivation for a Simple Case Constraints Vibration Amplitude (At the end of n impulses)

  10. Simple Derivation (V=0, 2 impulses) 3 equations, 3 unknowns

  11. Input Shaping Arbitrary Commands From previous example: Zero-Vibration (ZV) shaper • Slight increase in rise time • ΣAi = 1 so that shaped and initial commands have same steady state

  12. Bridge Crane Vibration Problem

  13. Typical Responses

  14. Implementing a Digital Input Shaper Unshaped Command Shaped Command

  15. Shaper Robustness Insensitivity – the width of a sensitivity curve where vibration remains under Vtol , the tolerable level of vibration

  16. Increasing Shaper Robustness Insensitivity – the width of a sensitivity curve where vibration remains under Vtol , the tolerable level of vibration

  17. Increasing Shaper Robustness Extra Insensitive (EI) Shaper Insensitivity – the width of a sensitivity curve where vibration remains under Vtol , the tolerable level of vibration

  18. Increasing Shaper Robustness Like a Boss Tradeoff: More impulses are needed, and therefore slower rise time.

  19. Multi-Mode Input Shaping Design a shaper for each mode, then convolve to get a shaper that eliminates both modes

  20. ZV Shaper for 1 Hz and 2 Hz ZV Shaper for 1 Hz X ZV Shaper for 2 Hz

  21. Multi-Mode Specified Insensitivity (SI) Shaper

  22. Shaping for Double-Pendulum Payloads

  23. Shapers with Negative Impulses • Negative shapers: • Faster • But less robust • May excite un-modeled higher modes Unity Magnitude UMZV shaper

  24. Special Case: Negative Shapers for On-Off Actuators UMZV Shaper: On-Off Not On/Off

  25. On-Off Thrusters: Flexible Satellites (Tokyo Institute of Technology)

  26. On-Off Thrusters: Flexible Satellites (Tokyo Institute of Technology)

  27. Input Shaping With Feedback Control Collapse the feedback loop Input Shaper * Cascaded set of 2nd order systems

  28. Disturbance During Motion Input Shaping and Feedback Control: Experimental Data Disturbance at End

  29. Input Shaping Inside the Feedback Loop: Hand-Motion Crane Control

  30. RF Hand-Motion Crane Control

  31. Human Operator Studies

  32. Human Operator Learning

  33. Human Operator Learning Unshaped Shaped

  34. Portable Tower Crane • 2mx2mx340o • Interfaces: Pendent, GUI, Internet GUI • Overhead Camera • Used by Researchers and Students in Atlanta, Japan, Korea

  35. Screen Interface Tower Crane: System Overview

  36. ME6404 Class Contest

  37. Other Applications • Many types of cranes • Milling machines • Coordinate measuring machines • Disk drives • Long reach robots • Spacecraft

  38. Application of Command Shaping to Micro Mills • Scale of Micro Meters (10-6m) • High Spindle Speeds (120 kRPM)

  39. Part Surface Experimental Results Stage Tracking Error

  40. Coordinate Measuring Machines

  41. Coordinate Measuring Machine (CMM) Deflection

  42. Disk Drive Head Tester

  43. Painting Robot

  44. GRYPHON Mine Detecting Robot

  45. GRYPHON Mine Detecting Robot

  46. Conclusions • Every control method has strengths and weaknesses (Feedback is not a magic cure-all) • The command issued to a system has a significant influence on its response • Input shaping • Can dramatically reduce system vibration • Is easy to implement

  47. Thank you

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