0

Full Content is available to subscribers

Subscribe/Learn More  >

High Bandwidth Motion Control for Multi-Axis Servohydraulic Mechanisms

[+] Author Affiliations
A. R. Plummer

University of Bath, Bath, UK

Paper No. IMECE2007-41240, pp. 1-7; 7 pages
doi:10.1115/IMECE2007-41240
From:
  • ASME 2007 International Mechanical Engineering Congress and Exposition
  • Volume 4: Design, Analysis, Control and Diagnosis of Fluid Power Systems
  • Seattle, Washington, USA, November 11–15, 2007
  • Conference Sponsors: ASME
  • ISBN: 0-7918-4298-3 | eISBN: 0-7918-3812-9
  • Copyright © 2007 by ASME

abstract

A practical motion control method is presented for multiaxis parallel servohydraulic mechanisms in which the payload behaves as a rigid mass. The ability of this method to decouple the control axes is demonstrated. A modal control approach is used – i.e. the modes of vibration of the system are controlled individually. These modes are dependent on the inertial properties of the payload and the compliance of the actuators due to oil compressibility. For each mode, a partial non-linear dynamic inversion is performed in the control loop. To avoid the need to differentiate the position feedback signals, accelerometers are also used, and three-element motion state vectors are estimated using composite filtering. Command feedforward is used to increase the tracking bandwidth, and the closed-loop part of the controller can be conceived as a model-based disturbance observer. Simulation results are presented based on a detailed validated model of a large vibration table used for earthquake simulation. Just three of the six degrees-of-freedom of the table are considered, and the results for horizontal acceleration tracking response are presented, along with the ability of the controller to reject the ‘overturning moment’.

Copyright © 2007 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In