Volume 17, Issue 12 (2018)                   Modares Mechanical Engineering 2018, 17(12): 423-434 | Back to browse issues page

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Safehian J, AKBARI A A, Hosseini Sani S K. Trajectory design of harmonic loading machine input by central pattern generator. Modares Mechanical Engineering. 2018; 17 (12) :423-434
URL: http://mme.modares.ac.ir/article-15-2288-en.html
1- PhD. Candidate at Mechanical Engineering Department, Ferdowsi University of Mashhad, Mashhad, Iran
2- Associate professor in Mechanical Engineering Department, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran
3- Associate professor in control engineering, Engineering faculty, Ferdowsi university of Mashhad, Mashhad, Iran The head of electrical air and sun institute
Abstract:   (1671 Views)
A new method was provided to control linear time-varying systems in which the reference signal is a harmonic function with variable amplitude, mean or frequency, such as block loading. The results of practical tests on the voice coil actuator fatigue test machine indicate that this method is robust to noise and disturbance. Also proposed control method compensates unknown time-varying time-delay which leads to bandwidth increase in harmonic loading. On the other hand in this paper the central pattern generator (CPG) was used to design the trajectory of input signal to the main plant. Because of soft applying of changes by CPG, it prevents excitation of high frequency dynamics. To implement the proposed method main plant, which can be estimated with a fourth-order single-input single-output (SISO) model was considered as a two-input two-output (TITO) decoupled system that each relevant input-output is first-order. The level of control loop pairs to each other is investigated by calculation of dynamic relative gain array (DRGA) matrix. The test results also show that loading control was properly carried out in the presence of various uncertainties such as nonlinearities, unmodeled dynamics and time-varying parameters.
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Article Type: Research Article | Subject: Mechatronics
Received: 2017/10/14 | Accepted: 2017/11/28 | Published: 2018/02/20

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