Control Design For Slow Speed Positioning
نویسنده
چکیده
The problem under study is a synthesis of position and heading control system for low frequency model of surface vessel described by 3 DOF mathematical model. The recursive vectorial backstepping control design was used to keep fixed position and heading in presence of wave disturbances. The controller has been simulated on computer model of scaled supply vessel. It has been assumed that the actuators produce generalized forces in all 3 degrees of freedom. The backstepping controller proposed in this paper in configuration with passive observer and wave filtering make a good quality to keep fixed position and heading at low forward speed in comparison with PD controller.
منابع مشابه
Control Issues in High-speed AFM for Biological Applications: Collagen Imaging Example.
This article considers the precision positioning problem associated with high-speed operation of the Atomic Force Microscope (AFM), and presents an inversion-based control approach to achieve precision positioning. Although AFMs have high (nanoscale) spatial resolution, a problem with current AFM systems is that they have low temporal resolution, i.e., AFM imaging is slow. In particular, curren...
متن کاملDesign Servo System Type and Positioning of Pole Observer Full Rank a Piezoelectric Servo Valve without Integrator
In this paper, the method of modern control approach for the design of controller and observer is used. Other functions such as neural controllers - or fuzzy sliding mode control can be found in this work and the results are compared. First, a dynamic model of the servo valve is intended for the governing equations in state-space form expression are obtained. Due to the system integrator is exp...
متن کاملResearch on Bottom Detection in Intelligent Empty Bottle Inspection System
Intelligent empty bottle inspection system is an important inspection equipment of empty bottle before filling beer, and it is a blend of machine vision, precision machine and real-time control. They need to cooperate perfectly to achieve the desired effect. In the design of the empty bottle inspection system, one of the key technologies is the bottle bottom detection which affects the speed an...
متن کاملPrototyping of a LQG Compensator for a Compliant Positioning System with Friction
With increasing demands on speed and accuracy of positioning systems, friction and compliance which are present in every mechanical system have to be actively influenced by control. This requires to abandon the wide-spread classical (PI, PID) control concepts and apply more advanced approaches. LQG (linear quadratic Gaussian) control is one of the candidates which is capable to do active vibrat...
متن کاملDesign and control of a novel piezoelectric drive module for application in a multi-DOF positioning stage
Recent advances in measurement systems and machine tools require positioning systems that combine high stiffness with a high positioning accuracy. Moreover, a high positioning speed is favourable. Current solutions of multi-DOF positioning systems are often based on a stacked construction of linear systems consisting of an electromechanical drive, a transmission and a linear guiding system. Due...
متن کامل