Generating Intelligent Commands to Control Mechatronic Devices William Singhose
What is Control? Getting the System to do What you Want
Add a Feedback Loop Response
Simple Control Systems
General Control System
Landmine Detecting Robot
Bridge Crane
Bridge Crane Problem (and solution)
Why is Vibration Cancelled?
Simple Derivation Constraints Vibration Amplitude Normalization Positive Impulses Time Optimality
Simple Derivation (V=0, 2 impulses)
Input Shaping Arbitrary Commands
Typical Responses
10-Ton Industrial Bridge Crane 6mx5mx40m Interfaces: Pendent, Joystick, Touchscreen, Wireless Overhead Camera
Input Shaping and Feedback Control: Experimental Data Disturbance at EndDisturbance During Motion
Concurrent Design With Feedback Control
Current Design of PD Feedback And Command Shaping
Human Operator Studies
Human Operator Learning
UnshapedShaped
Portable Tower Crane 2mx2mx340 o Interfaces: Pendent, GUI, Internet GUI Overhead Camera Used by Researchers and Students in Atlanta, Japan, Korea
Tower Crane: System Overview Screen Interface
Other Applications Many types of cranes Disk drives Long reach robots Coordinate measuring machines Milling machines Spacecraft
Scale of Micro Meters (10 -6 m) High Spindle Speeds (120 kRPM) Application of Command Shaping to Micro Mills
Experimental Results Stage Tracking Error Part Surface
Coordinate Measuring Machines
Coordinate Measuring Machine (CMM) Deflection
Disk Drive Head Tester
Painting Robot
Space Robot
Spacecraft Control
MACE Space Shuttle Endeavor, 1995
MACE Space Shuttle Endeavor, 1995
Input Shaping with On-Off Actuators
How Can We Use Input Shaping on On/Off Actuators? Not On/Off
Flexible Satellites (Tokyo Institute of Technology)
Time Optimal Control (Special Input Shaper) Variables: 1) Impulse Times
Fuel-Efficient Input Shaping Time-Optimal Fuel-Efficient
Comparison of Maneuver Times
Comparison of Fuel Usage
Transient Deflection with On-Off Shaping Too Large?
Deflection Sampling
Simulation Results (Slew Distance = 5 units)
Slew Duration vs. Deflection Limit (Slew Distance = 5 units)
Endpoint Deflection
The Command Used to Drive a Machine is of Fundamental Importance Unwanted Motion can be Dangerous & Costly Oscillation Can Be Reduced Quickly and Easily by Command Shaping Command Shaping is the EASIEST Control Method Conclusions