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Knowledge-based
Computed estimated disturbance Q'
Genetic Algorithm
Commanded Actual
trajectory + + trajectory
PD Dynamic
Actuator
controller system
- +
AFC
controller
Sensor
PD and AFC (cont…)
Disturbances
Q
Desired PD controller Actuator Dynamic system Actual
+
position + e + F + a 1 position
xd Gc(s) Ga(s) G(s) x
s2
- +
Force Measured
Accelerometer
sensor acceleration
Switch Ks a'
Estimated
M' mass
H(s)
Position sensor
.. .. .. + .. .
xbar x ref coordinate ref Ic It Tq +
IN/Kt Kt 1/H 1/s 1/s
+ + transformation +
+ + +
Ia
+
Td* - INk+1
1/Kt INk
Kd
Kp d/dt (t)
+ +
+
TEk (t)
. .
xbar + - x coordinate
transformation
xbar + - x coordinate
transformation
L2 link 2
L1
link 1
Dynamic model :
.. .
Tq = H() + h(, ) + G() + Td
AFC Applied to A Robot Arm (cont…)
t
Clock
Disturbance
Models
Trajectory RMAC-PD
Planner
Performance Evaluation
X Y Plot X Y Plot
0.5 0.01
0.4 0.008
0.3 0.006
Y Axis
Y Axis
0.2 0.004
0.1 0.002
0 0
0 0.1 0.2 0.3 0.4 0 5 10 15 20
X Axis X Axis
PD: h = 30 N, = 1 rad/s; k = 300 N/m
X Y Plot
X Y Plot
0.5 0.01
0.4 0.008
0.3 0.006
Y Axis
Y Axis
0.2 0.004
0.1 0.002
0 0
0 0.1 0.2 0.3 0.4 0 5 10 15 20
X Axis X Axis
AFC: h = 30 N, = 1 rad/s; k = 300 N/m
Performance Evaluation (cont…)
X Y Plot X Y Plot
0.5 0.01
0.4 0.008
0.3 0.006
Y Axis
Y Axis
0.2 0.004
0.1 0.002
0 0
0 0.1 0.2 0.3 0.4 0 5 10 15 20
X Axis X Axis
PD: h = 100 N, = 1 rad/s
X Y Plot X Y Plot
0.5 0.01
0.4 0.008
0.3 0.006
Y Axis
Y Axis
0.2 0.004
0.1 0.002
0 0
0 0.1 0.2 0.3 0.4 0 5 10 15 20
X Axis X Axis
AFC: h = 100 N, = 1 rad/s
Performance Evaluation (cont…)
Other Applications of AFC
Parallel cables
(8 16lines) 2 units
DAS1602
Mobile Manipulator system (inside)
PC Pentium III
(with ISA slot)
Manipulator system
Gripper
Disturbances Suspension
PC-based control
Test Rig
+ .. MATLAB/CST/
to
Zs des + + +
Suspension
Zs Zs Simulink/RTW pneumatic
actuator
PID Actuator (Ga) 1/s 1/s
system DAS1602
- + I/O card D/A
- Force Accelero-
sensor meter
NN2 Ga-1
+ - PID, PI, skyhook, AFC,
NN algorithms
NN1
Active Force Control
(AFC) Q' D/A
Estimated Mass
Programmable
from sensors
Logic
(LVDTs, pressure sensor
Skyhook Controller
& accelerometers)
(PLC)
Disturbances
Active Vibration Control
Pentium III PC
0.06
0.05
Track Error (m )
0.04
PD-AFC
0.03
PD
0.02
0.01
0
0 0.2 0.4 0.6 0.8 1 1.2
Time (s)
Conclusions
• AFC is very robust compared to PID control
• The algorithm is simple, not computationally
intensive and can be practically implemented in
real-time
• Simulation results are very promising
• Problems of selecting the appropriate actuators
(and drivers) and noises in sensors need to be
addressed and solved
• Micro and embedded AFC systems
Thank You
Q&A