Control System Design for a Flexible Arm

Abstract

In this thesis, the author studies the problem of real-time control of a flexible arm. He has investigated techniques for compensating the effects of friction and ripple torque. New software was written to use a Metrabyte Data Acquisition and Control board for the real-time implementation. A controller-observer scheme was used together with integral feedback. In the design of feedback gains, a newly developed package called CONSOLE was used. After translating the continuous-time design to the discrete-system and before implementation, a package called SIMNON was used to do the simulation of the whole system and to explore the effect of different sampling rates. The experiments done so far imply that the schemes used here are sound for real-time control of flexible structures.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 1987
Accession Number
ADA453491

Entities

People

  • Li-sheng Wang

Organizations

  • University of Maryland

Tags

DTIC Thesaurus Topics

  • Abstracts
  • Acquisition
  • Control Systems
  • Data Acquisition
  • Feedback
  • Flexible Structures
  • Information Operations
  • Universities

Readers

  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Control Systems Engineering.
  • Robotics and Automation.