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Bin Yao - One of the best experts on this subject based on the ideXlab platform.

  • Integrated Direct/Indirect Adaptive Robust Control of Hydraulic Manipulators With Valve Deadband
    IEEE ASME Transactions on Mechatronics, 2011
    Co-Authors: Amit Mohanty, Bin Yao
    Abstract:

    In this paper, an integrated direct indirect adaptive robust control (DIARC) algorithm is proposed for an electro-hydraulic manipulator with unknown Valve deadband to improve the achievable output-tracking performance. The controller design for such a system is nontrivial due to various factors, such as nonsmooth static and Coulomb friction model uncertainties arising from the use of a simplified proportional-flow-Valve model, and other unknown disturbances present in the system. Furthermore, when an unknown Input-Valve deadband is present, the controller performance can deteriorate if it is not taken care of explicitly. This paper recognizes the fact that though unknown Valve deadband nonlinearity is not globally linearly parameterizable, it can still be linearly parameterized during most of the working ranges. Hence, by using an indirect estimation algorithm with online condition monitoring, accurate estimates of the unknown deadband parameters are obtained for an improved control performance. Comparative experimental results for motion control of an electro-hydraulic manipulator with two different Valves having deadband illustrate the effectiveness of the proposed algorithm.

  • Adaptive robust control of programmable Valves with manufacturer supplied flow mapping only
    2004 43rd IEEE Conference on Decision and Control (CDC) (IEEE Cat. No.04CH37601), 2004
    Co-Authors: Song Liu, Bin Yao
    Abstract:

    The energy-saving programmable Valves, a unique combination of five independently controlled poppet type cartridge Valves, have been shown to significantly reduce energy usage while maintaining excellent control performance. Due to the fact that the flow characteristics of poppet type cartridge Valves are very difficult to model, pressure compensated flow mapping via off-line system identification were used in all previous controller designs. However, individually calibrating each Valve in use would prohibit their widespread industrial applications. It is desirable to have a controller requiring only the manufacturer supplied Valve flow mappings, which may differ from the true individual Valve flow characteristics to certain degrees. This paper presents an adaptive robust controller to control the multi-Input Valve system with the manufacturer supplied flow mapping only. Robust stability is guaranteed under bounded modelling errors, and the effect of modelling errors is effectively attenuated by the use of nonlinear robust feedback structure that achieves a prescribed transient performance and final tracking accuracy. In addition, real-time adaptation is used to reduce the degree of modelling errors for an improved performance. Experimental results are obtained to validate the proposed scheme.

  • Coordinate Control of Energy-Saving Programmable Valves
    Fluid Power Systems and Technology, 2003
    Co-Authors: Song Liu, Bin Yao
    Abstract:

    The energy-saving programmable Valve, a unique combination of five independent cartridge Valves, not only decouples the control of meter-in and meter-out flows but also provides the ability of precisely controlling cross-port flows for energy-saving purpose. Our previous works have already shown that the tremendous control flexibility gained by the proposed hardware re-configuration enables one not only to achieve precision control of the cylinder motion but also to decrease the energy usage significantly through actively utilizing the potential and kinetic energy of the load in accomplishing certain tasks such as smooth stopping. However, the control of such an essentially multi-Input Valve system to achieve the above objectives is far from trivial. In our previous works, a constant off-side pressure was assumed in the controller design for simplicity. This assumption may not be realistic in certain circumstances where the off-side pressure may vary from the assumed constant pressure significantly, especially right after the change of working mode. As a result, though the controller design is simplified, larger tracking error results during the transients. This paper presents an improved way to coordinately control the five independent Valves by incorporating the off-side pressure dynamics into the controller design. The Adaptive Robust Control technique is applied to guarantee the stability and tracking performance in the presence of large system parameter variations and disturbances. Simulation and experimental results are shown to verify the much improved control performance of the presented coordinate control strategy.Copyright © 2003 by ASME

Dennis L. Polla - One of the best experts on this subject based on the ideXlab platform.

  • Surface-machined micromechanical membrane pump
    [1991] Proceedings. IEEE Micro Electro Mechanical Systems, 1991
    Co-Authors: Jack W. Judy, T. Tamagawa, Dennis L. Polla
    Abstract:

    An electrostatic micromechanical membrane pump for fluids and gases has been designed and fabricated with a process that is compatible with integrated circuits. The process consists of six photolithography steps and eight low-pressure chemical vapor depositions. No bulk silicon etchants or wafer bonding techniques are used. Each pump consists of an Input Valve, a pumping membrane, and an output Valve. All parts are encapsulated by silicon nitride and are actuated by electrostatic forces. Actuation voltages of approximately 50 V are required for observable Valve closure and membrane deflections. Typical gas pumping displacements are between 12 to 640 nL per cycle. >

  • Surface-machined micromechanical membrane pump
    [1991] Proceedings. IEEE Micro Electro Mechanical Systems, 1
    Co-Authors: Jack W. Judy, T. Tamagawa, Dennis L. Polla
    Abstract:

    An electrostatic micromechanical membrane pump for fluids and gases has been designed and fabricated with a process that is compatible with integrated circuits. The process consists of six photolithography steps and eight low-pressure chemical vapor depositions. No bulk silicon etchants or wafer bonding techniques are used. Each pump consists of an Input Valve, a pumping membrane, and an output Valve. All parts are encapsulated by silicon nitride and are actuated by electrostatic forces. Actuation voltages of approximately 50 V are required for observable Valve closure and membrane deflections. Typical gas pumping displacements are between 12 to 640 nL per cycle. >

Jack W. Judy - One of the best experts on this subject based on the ideXlab platform.

  • Surface-machined micromechanical membrane pump
    [1991] Proceedings. IEEE Micro Electro Mechanical Systems, 1991
    Co-Authors: Jack W. Judy, T. Tamagawa, Dennis L. Polla
    Abstract:

    An electrostatic micromechanical membrane pump for fluids and gases has been designed and fabricated with a process that is compatible with integrated circuits. The process consists of six photolithography steps and eight low-pressure chemical vapor depositions. No bulk silicon etchants or wafer bonding techniques are used. Each pump consists of an Input Valve, a pumping membrane, and an output Valve. All parts are encapsulated by silicon nitride and are actuated by electrostatic forces. Actuation voltages of approximately 50 V are required for observable Valve closure and membrane deflections. Typical gas pumping displacements are between 12 to 640 nL per cycle. >

  • Surface-machined micromechanical membrane pump
    [1991] Proceedings. IEEE Micro Electro Mechanical Systems, 1
    Co-Authors: Jack W. Judy, T. Tamagawa, Dennis L. Polla
    Abstract:

    An electrostatic micromechanical membrane pump for fluids and gases has been designed and fabricated with a process that is compatible with integrated circuits. The process consists of six photolithography steps and eight low-pressure chemical vapor depositions. No bulk silicon etchants or wafer bonding techniques are used. Each pump consists of an Input Valve, a pumping membrane, and an output Valve. All parts are encapsulated by silicon nitride and are actuated by electrostatic forces. Actuation voltages of approximately 50 V are required for observable Valve closure and membrane deflections. Typical gas pumping displacements are between 12 to 640 nL per cycle. >

R Amirkhanzadeh - One of the best experts on this subject based on the ideXlab platform.

  • fuzzy level control of a tank with optimum Valve movement
    Fuzzy Sets and Systems, 2005
    Co-Authors: Abdollah Khoei, Khayrollah Hadidi, M R Khorasani, R Amirkhanzadeh
    Abstract:

    Abstract This paper presents a fuzzy-based controller chip to control the level of a tank. A motor Valve controls the tank level. The significant aim of this paper is to present a controller for minimizing the movement of the motor Valve, at the same time, setting the level of the tank at defined points. The advantages of this type of control are to reduce both motor and Input Valve amortization and to increase their useful lifetime. On the other hand, simple and inexpensive elements are used in order to measure tank level and output flow. This is another advantage of the method. The controller is designed by fuzzy techniques in 0.35 μ m CMOS technology. The die size of the chip is 0.052 mm 2 .

T. Tamagawa - One of the best experts on this subject based on the ideXlab platform.

  • Surface-machined micromechanical membrane pump
    [1991] Proceedings. IEEE Micro Electro Mechanical Systems, 1991
    Co-Authors: Jack W. Judy, T. Tamagawa, Dennis L. Polla
    Abstract:

    An electrostatic micromechanical membrane pump for fluids and gases has been designed and fabricated with a process that is compatible with integrated circuits. The process consists of six photolithography steps and eight low-pressure chemical vapor depositions. No bulk silicon etchants or wafer bonding techniques are used. Each pump consists of an Input Valve, a pumping membrane, and an output Valve. All parts are encapsulated by silicon nitride and are actuated by electrostatic forces. Actuation voltages of approximately 50 V are required for observable Valve closure and membrane deflections. Typical gas pumping displacements are between 12 to 640 nL per cycle. >

  • Surface-machined micromechanical membrane pump
    [1991] Proceedings. IEEE Micro Electro Mechanical Systems, 1
    Co-Authors: Jack W. Judy, T. Tamagawa, Dennis L. Polla
    Abstract:

    An electrostatic micromechanical membrane pump for fluids and gases has been designed and fabricated with a process that is compatible with integrated circuits. The process consists of six photolithography steps and eight low-pressure chemical vapor depositions. No bulk silicon etchants or wafer bonding techniques are used. Each pump consists of an Input Valve, a pumping membrane, and an output Valve. All parts are encapsulated by silicon nitride and are actuated by electrostatic forces. Actuation voltages of approximately 50 V are required for observable Valve closure and membrane deflections. Typical gas pumping displacements are between 12 to 640 nL per cycle. >