Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects
In many linear quadratic (LQ) optimal regulator problems, the tuning of design parameters such as weighting coefficients in the criterion function depends on trial-and-error simulations. In this note, an LQ optimal regulator is used to prevent tumbling from power-assisted carts. The cart has two act...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2013-11-01
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| Series: | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jamdsm/7/4/7_800/_pdf/-char/en |
| _version_ | 1811224896844333056 |
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| author | Susumu HARA Teppei SAIKI Kota YUCHI Takahito YOSHIURA |
| author_facet | Susumu HARA Teppei SAIKI Kota YUCHI Takahito YOSHIURA |
| author_sort | Susumu HARA |
| collection | DOAJ |
| description | In many linear quadratic (LQ) optimal regulator problems, the tuning of design parameters such as weighting coefficients in the criterion function depends on trial-and-error simulations. In this note, an LQ optimal regulator is used to prevent tumbling from power-assisted carts. The cart has two actuators: a DC servomotor that drives the cart, where power assistance is realized by impedance control of the motor; and a linear motor actuator to prevent the conveyed objects from tumbling. This note mainly discusses a systematic LQ optimal regulator design method for the latter actuator. The relationships between the feedback gain tuning of the tumble prevention actuator and controlled object responses were examined by simulation. Actual feedback gains were then determined by gain scheduling of the gains obtained a priori based on the relationships, control specifications and constraints. The effectiveness of the design method was verified by simulation examples. |
| first_indexed | 2024-04-12T08:56:34Z |
| format | Article |
| id | doaj.art-dcfef9a04f8147248c407c39ee63a47a |
| institution | Directory Open Access Journal |
| issn | 1881-3054 |
| language | English |
| last_indexed | 2024-04-12T08:56:34Z |
| publishDate | 2013-11-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Journal of Advanced Mechanical Design, Systems, and Manufacturing |
| spelling | doaj.art-dcfef9a04f8147248c407c39ee63a47a2022-12-22T03:39:23ZengThe Japan Society of Mechanical EngineersJournal of Advanced Mechanical Design, Systems, and Manufacturing1881-30542013-11-017480080710.1299/jamdsm.7.800jamdsmTuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed ObjectsSusumu HARA0Teppei SAIKI1Kota YUCHI2Takahito YOSHIURA3Graduate School of Engineering, Nagoya UniversitySchool of Engineering, Nagoya UniversityGraduate School of Engineering, Nagoya UniversityGraduate School of Engineering, Nagoya UniversityIn many linear quadratic (LQ) optimal regulator problems, the tuning of design parameters such as weighting coefficients in the criterion function depends on trial-and-error simulations. In this note, an LQ optimal regulator is used to prevent tumbling from power-assisted carts. The cart has two actuators: a DC servomotor that drives the cart, where power assistance is realized by impedance control of the motor; and a linear motor actuator to prevent the conveyed objects from tumbling. This note mainly discusses a systematic LQ optimal regulator design method for the latter actuator. The relationships between the feedback gain tuning of the tumble prevention actuator and controlled object responses were examined by simulation. Actual feedback gains were then determined by gain scheduling of the gains obtained a priori based on the relationships, control specifications and constraints. The effectiveness of the design method was verified by simulation examples.https://www.jstage.jst.go.jp/article/jamdsm/7/4/7_800/_pdf/-char/enmotion controloptimal controloptimal regulatorgain schedulingpower assistimpedance control |
| spellingShingle | Susumu HARA Teppei SAIKI Kota YUCHI Takahito YOSHIURA Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects Journal of Advanced Mechanical Design, Systems, and Manufacturing motion control optimal control optimal regulator gain scheduling power assist impedance control |
| title | Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects |
| title_full | Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects |
| title_fullStr | Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects |
| title_full_unstemmed | Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects |
| title_short | Tuning of LQ Feedback Gains for Power-Assisted Cart to Prevent Tumbling of Conveyed Objects |
| title_sort | tuning of lq feedback gains for power assisted cart to prevent tumbling of conveyed objects |
| topic | motion control optimal control optimal regulator gain scheduling power assist impedance control |
| url | https://www.jstage.jst.go.jp/article/jamdsm/7/4/7_800/_pdf/-char/en |
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