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Transition velocity function for impulse control systems

Conference Paper


Abstract


  • This paper presents a modified impulse controller that is used to improve the velocity tracking of a servomechanism having characteristics of high nonlinear friction. A hybrid control scheme consisting of a conventional PID part and an impulsive part is used as a basis to the modified controller. This has previously been used to improve the position and velocity tracking of robot manipulators at very low velocities. Experiments show that at higher velocities the improved performance of the impulse part of the hybrid controller diminishes and can be counterproductive at these speeds when compared to conventional PID control alone. The modified hybrid impulse controller in this paper uses a mathematical function to transition the amount of torque from an impulse as a function of velocity to achieve more precise tracking across a range of velocities.

Publication Date


  • 2009

Citation


  • Van Duin, S., Ahlswede, M., & Cook, C. D. (2009). Transition velocity function for impulse control systems. In ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings Vol. 1 ICSO (pp. 213-221).

Scopus Eid


  • 2-s2.0-74749106347

Start Page


  • 213

End Page


  • 221

Volume


  • 1 ICSO

Abstract


  • This paper presents a modified impulse controller that is used to improve the velocity tracking of a servomechanism having characteristics of high nonlinear friction. A hybrid control scheme consisting of a conventional PID part and an impulsive part is used as a basis to the modified controller. This has previously been used to improve the position and velocity tracking of robot manipulators at very low velocities. Experiments show that at higher velocities the improved performance of the impulse part of the hybrid controller diminishes and can be counterproductive at these speeds when compared to conventional PID control alone. The modified hybrid impulse controller in this paper uses a mathematical function to transition the amount of torque from an impulse as a function of velocity to achieve more precise tracking across a range of velocities.

Publication Date


  • 2009

Citation


  • Van Duin, S., Ahlswede, M., & Cook, C. D. (2009). Transition velocity function for impulse control systems. In ICINCO 2009 - 6th International Conference on Informatics in Control, Automation and Robotics, Proceedings Vol. 1 ICSO (pp. 213-221).

Scopus Eid


  • 2-s2.0-74749106347

Start Page


  • 213

End Page


  • 221

Volume


  • 1 ICSO