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Design of Reflex Actions for Compensating High Amplitude Disturbances to Digital Controllers

[+] Author Affiliations
Won Young Kim, Kishore Pochiraju

Stevens Institute of Technology, Hoboken, NJ

Paper No. DETC2012-70464, pp. 1405-1412; 8 pages
doi:10.1115/DETC2012-70464
From:
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME

abstract

When a system controlled by a low-frequency digital feedback controller experiences a sudden large disturbance such as an impact, its dynamic performance and stability may deteriorate. Inspired by various reflex actions in human body, analog reflex actions are designed to compensate the effects of large disturbances to digital controllers. The human reflexes are triggered by motor neurons as soon as sensory neurons detect stimuli above a threshold without any decision process involving the brain. In this approach, large disturbances are attenuated more rapidly by external sensor-actuator modules connected with only analog components. A series of simulations is performed to design the reflex actions and its findings are articulated in this paper. The system performance is evaluated by measuring the peak error and the settling time. The paper presents a discussion on various techniques to determine appropriate reflex actions with only minimal information about the disturbance profiles.

Copyright © 2012 by ASME

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