• International Journal of Control, Automation, and Systems
• /
• 제6권5호
• /
• pp.677-688
• /
• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 춘계학술대회 논문집
• /
• pp.101-106
• /
• 1997

This paper proposes a stable adaptive neural network control(NNC) for fixable joint manipulators. For designing the stable adaptive NNC, the flexible system dynamics is separated into fast and slow subdynamics according to singular perturbation concept. For the slow subdynamics, an adaptive NNC is designed to warrant the system stability and NN learning by lyapunov stability criterion. And to stabilize the fast dynamics, derivative control loop is installed. Through numerical simulation, the performance of the proposed NNC was compared to that of an adaptive controller designed based on the knowledge of the system dynamics. The proposed NNC shows much improvement over the conventional adaptive controller.

• Smart Structures and Systems
• /
• 제18권1호
• /
• pp.183-196
• /
• 2016

In this paper a nonlinear, bistable, single degree of freedom system is considered. It consists of a Duffing oscillator externally excited by a non-resonant, harmonic force. A customized perturbation scheme is proposed to achieve an approximate expression for periodic solutions. It is based on the evaluation of the quasi-steady (slow) solution, and then on a variable change followed by two perturbation steps which aim to capture the fast, decaying contribution of the response. The reconstructed solution, given by the sum of the slow and fast contributions, is in a good agreement with the one obtained by numerical integration.

• 천문학회지
• /
• 제29권spc1호
• /
• pp.253-254
• /
• 1996

To understand the dynamical structures of stellar wind bubble, one and two-dimensional calculations has been performed. Using FCT Code with cooling effects and assuming constant mass loss rate and ambient medium density, we could divide stellar winds into the regime of slow and fast winds. The slow wind driven bubble shows initially radiative and becomes partially radiative bubble in which shocked stellar wind zone is still adiabatic. In contrast., the fast wind driven bubble shows initially fully adiabatic and becomes adiabatic bubbles with radiative outer shell. We also determine analytically the onset of thin-shell formation time in case of fast wind driven bubble with power-law energy injection and ambient density structure. We solve the line transfer problem with numerical results in order to calculate line profile of [OIII] forbidden line.

• Bulletin of the Korean Chemical Society
• /
• 제16권12호
• /
• pp.1184-1189
• /
• 1995

The rapid quenching dynamics of F center excitation by OH- defects in KCl crystals are investigated by monitoring ground state absorption bleach recovery, using a picosecond streak camera absorption spectrometer. F center absorption bleach in OH--doped crystals shows three distinguishable recovery components with the current temporal resolution, designated as slow, medium and fast components. The slow one is due to the normal relaxation process of F* centers as found in OH--free crystals. The others are consequent on energy transfer from electronically excited F centers to OH--vibrational levels. The fast component is a minor energy transfer process and resulting from the relaxation of somewhat distant, not the closest, associated pairs of F* and OH- defects. The energy transfer between widely separated F* and OH- defects opens up a recovery process via the medium component which is assisted by OH- librations, lattice vibrations and OH- dipole reorientations. The quenching behaviors of F* luminescence and photoionization by OH- are explained well by the relaxation process of the medium component.

• Smart Structures and Systems
• /
• 제7권2호
• /
• pp.103-116
• /
• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
• /
• pp.152-155
• /
• 1994

The presence of joint elasticity or the arm flexibility causes low damped oscillatory position error along a desired trajectory. We utilize a stochastic model for describing the fast dynamics and the approximation error. A second order shaping filter is synthesized such that its spectrum matches that of the fast dynamics. Augmenting the state vector of slow part with that of shaping filter, we obtain a nonlinear dynamics to which a Gaussian white noise is injected. This modeling approach leads us to the design of an extended Kalman filter(KEF) and a linear quadratic Gaussian(LQG) control scheme. We present the simulation results of this control method. The simulation results show us that our Kalman filtering approach is one of prospective methods in controlling the flexible arms.

• Nuclear Engineering and Technology
• /
• 제55권5호
• /
• pp.1665-1670
• /
• 2023

It is shown that in the IBR-2M reactor by the end of the reactor cycle, changes in dynamics are observed associated with a strong weakening of the fast power feedback (PF), as a result of which the reactor becomes oscillatorily unstable. After each week of zero-power operation the negative changes in reactor dynamics disappear and the stability of the reactor is restored. Thus, the reactor undergoes cyclic changes in the oscillatory instability. The correlation between of a fast PF and a slow PF is experimentally observed, which makes it possible to almost completely eliminate the cyclic component of instability by changing the control mode of rods of the control system.

• 대한기계학회논문집A
• /
• 제24권11호
• /
• pp.2804-2811
• /
• 2000

A Nordsick form opf the multirate integration scheme has been proposed for flexible multibody dynamic systems. It is assumed that vibrational modal coordinates in the equations of motion are treated as fast variables, whereas the relative joint coordinates are treated as slow variables. In the multirate integration, the fast variables are integrated with small step-size, and the slow variables are integrated with larger step-size. The proposed multirate integration method is based on the Adams-Bashforth-Moulton predictor-corrector method and implemented in the Nordsieck vector form. The Nordsieck form of multrate integration method provides effective step-size control and at the same time, inherits the efficiency from the Adams integration method. Simulations of a flexible gun and turret system of the military tank have been carried out to show the effectiveness and efficiency of the proposed method.

• 한국광학회:학술대회논문집
• /
• 한국광학회 1990년도 광학 및 양자전자학 워크샵
• /
• pp.94-100
• /
• 1990

The rapid quenching dynamics of the F-center excitation by CN- defects in CsCl crystals were investigated by monitoring the ground state bleach recovery kinetics of F-centers, using a picosecond streak camera absorption spectrometer. The F-centers in CN- doped quenched samples show two bleach recovery components. Optical aggregation converts the slow component to the fast component. The slow one is due to the normal relaxation of the F*-centers as found in CN_ free crystals. The fast one is due to the energy transfer of the F-center electronic excitation to the vibrational energy levels of CN_ molecualr defects. The energy transfer occurs only in the F-center-CN_ defect pairs, FH(CN_)-centers.