Sensorless wave based control

Shoukry Mohammed Khalil, Islam (2009) Sensorless wave based control. [Thesis]

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Mechanical waves naturally propagate through dynamical systems that are subjected to initial excitation. These mechanical waves carry enough information about the dynamical system including its dynamics and parameters, in addition to the externally applied forces or torques due to the system's interaction with the environment. In other words, mechanical waves carry all the dynamical system's information in a coupled fashion. This thesis proposes an estimation algorithm that enables estimating flexible systems' dynamics, parameters, externally applied forces and disturbances. The proposed algorithm is implemented on a lumped system with an actuator located at one of its boundaries, that is used as a single platform for measurements where actuator's current and velocity are measured and used to estimate the reflected mechanical waves. Only these two measurements from the actuator are required to accomplish the motion and vibration control, keeping the dynamical system free from any attached sensors by considering the reflected mechanical waves as a natural feedback from the system. In this thesis the notion of position estimation is proposed including both rigid and flexible motion estimation, where the position of each lumped mass is estimated and experimentally compared with the actual measurements. This in turn implies the possibility of using these position estimates as a virtual feedback to the controllers instead of using the actual sensor's feedback. System's global behavior can be investigated by monitoring lumped system dynamics, to guarantee the accomplishment of motion control task and the minimization of system's residual vibrations. Since the dynamics of the system can be obtained, the externally applied forces or torques can be estimated. The experimental results show the validity of the proposed algorithm and the possibility of using two actuator parameters in order to estimate the uniform system parameters, rigid system's position, flexible system's lumped mass positions and external disturbances due to system's interaction with the environment.
Item Type: Thesis
Uncontrolled Keywords: Mechanical waves. -- Sensorless motion and vibration control. -- Position estimation. -- Force estimation. -- Estimation based controllers. -- Sensorless motion control. -- Parameter estimation. -- Estimation based control. -- Elastic structure. --Mekanik dalga. -- Elastik sistemler. -- Algılayıcısız hareket kontrolü. -- Konum gözlemcisi. -- Parametre kestirimi. -- Kuvvet gözlemcisi. -- Kestirim tabanlı denetim. -- Konum kestirimi. -- Kuvvet kestirimi. -- Elastik yapı.
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences
Depositing User: IC-Cataloging
Date Deposited: 21 Sep 2011 15:27
Last Modified: 26 Apr 2022 09:55

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