Control Design for Harmonic Disturbance Rejection for Robot Manipulators with Bounded Inputs

Currently most of control methods are of one degree of freedom（1-DOF） control structure for the robot systems which are affected by unmeasurable harmonic disturbances,at the same time in order to obtain perfect disturbance attenuation level,the controller gain must be increased.In practice,however,for robotic actuators,there are physical constraints that limit the amplitude of the available torques.This paper considers the problem of tracking control under input constraints for robot manipulators which are affected by unmeasurable harmonic disturbances.A new control scheme is proposed for the problem,which is composed of a parameter-dependent nonlinear observer and a tracking controller.The parameter-dependent nonlinear observer,designed based on the internal model principle,can achieve an estimation and compensation of a class of harmonic disturbances with unknown frequencies.The tracking controller,designed via adaptive control techniques,can make the systems asymptotically track the desired trajectories.In the control design,the continuous piecewise differentiable increasing function is used to limit control input amplitude,such that the control input saturation is avoided.The Lyapunov stability of closed loop systems is analyzed.To validate proposed control scheme,simulation results are provided for a two link horizontal robot manipulator.The simulation results show that the proposed control scheme ensures asymptotic tracking in presence of an uncertain external disturbance acting on the system.An important feature of the methodology consists of the fact that the designed controller is of 2-DOF control structure,namely,it has the ability to overcome the conflict between controller gain and robustness against external disturbances in the traditional 1 -DOF control structure framework.

New trajectory linearization control for nonlinear systems undergoing harmonic disturbance

This paper presents a new trajectory linearization control scheme for a class of nonlinear systems subject to harmonic disturbance. It is supposed that the frequency of the disturbance is known, but the amplitude and the phase are unknown. A disturbance observer dynamics is constructed to estimate the harmonic disturbance, and then the estimation is used to implement a compensation control law to cancel the disturbance. By Lyapunov＇s direct method, a rigorous poof shows that the composite error of the closed-loop system can approach zero exponentially. Finally, the proposed method is illustrated by the application to control of an inverted pendulum. Compared with two existing methods, the proposed method demonstrates better performance in tracking error and response time.

High-gain adaptive regulator for a string equation with uncertain harmonic disturbance under boundary output feedback control

This paper considers the boundary stabilization and parameter estimation of a one-dimensional wave equation in the case when one end is fixed and control and harmonic disturbance with uncertain amplitude are input at another end. A high-gain adaptive regulator is designed in terms of measured collocated end velocity. The existence and uniqueness of the classical solution of the closed-loop system is proven. It is shown that the state of the system approaches the standstill as time goes to infinity and meanwhile , the estimated parameter converges to the unknown parameter.

Global Harmonic Rate Assessment in the Electricity Distribution Network in Niamey City:Case Studies of Domestic,Industrial and Hospital Substations

Like others countries of the world, in Niger also, we are witnessing an increasing use of non-linear electric loads in the domestic, hospital and industrial sectors. However, these loads degrade the shape of the electrical signal and cause disastrous effects to the equipment of the distribution system and the devices which are connected to the network. This article highlights the presence of electric harmonics in the distribution network in Niamey city. In order to do this, measurements were taken at the secondary level of the substations using an energy quality analyze r (FLUKE 1735). By using this measuring instrument, we quantified the voltage and current Total Harmonic Distortion (THD) in the three substations. The results obtained show that, although the statutable rates set by the standards are not exceeded for phase conductors, the neutral contains a very critical percentage of distortion on the residential and hospital substations. Moreover, this assessment made it possible to observe the variation of harmonics in the presence of voltage drops.

STUDY ON SENSOR-BASED CONTROL METHOD FOR HARMONIC DRIVE SYSTEM

A new type of robust traje ctory tracking control for harmonic using joint torque sensor and joint acceleration sensor information is concerned with.Joint torque sensor information is used to compensate the uncertainty of link and load parameters. Joint acceleration feedback control will enhace the robustness of the driving system, resist the dynamic uncertainties and disturbing torque acted on the joint axis within definite bandwidth, improve the joint tracking performance, and resist the vibration of the load side of the harmonic drive system. Experimental studies are carried out and comparison of several controllers , such as PD and sensor- based control, the experimental results clearly illustrate the effectiveness of the proposed methods.

Electrical Energy Quality Analysis in Hospital Centres

Today, energy is a vital component in the functioning of a hospital. Hospital technical facilities have several types of technologies, these include appliances for use;examination apparatus. So, for Quality Health Care in a hospital, there is a need to ensure the proper functioning of hospital equipment. In addition to the required maintenance as specified by the device manufacturer, the quality of the electrical energy across the device must be ensured. This article is an analysis of the quality of electric energy at the substation of National Hospital of Niamey. Thereby, the data collection, followed by the data processing and analysis revealed the parameters characterizing the quality of electrical energy across the substation. Our studies have shown that the substation is underutilized as the maximum inrush current is less than half the available current. The current was consumed by the three phases has resulted in a strong current unbalance (230 A). However, the current unbalance and the voltage amplitude, are admissible accordingly base on EN50160 standard. Furthermore, the harmonics voltages present in this medium are in the accepted range (1.8%) according to IEEE 519 standard. However, the fundamental frequency does not meet the standard, but the difference obtained has no adverse effect.

Vibration Control for Two Air Compressor Units Used in Tandem

The paper presents the vibration control for two air compressors used in tandem to an oxygen generating station. The compressors are identical in terms of constructive and functional properties, and are both located on similar foundations. Each compressor is supported on a foundation made from one massive block of concrete, provided with some elastic and damping parts. This anti vibrating structure insulates the machines compared to other station equipment. During operation, were observed dangerous levels of vibration at one of the machines, which forced some unwanted stoppages for the station. Two hypotheses have been promoted. One of them referred to a pronounced wear of one compressor, although this was relatively new. The second hypothesis has taken in consideration the appearance of some cracks in the foundation massive concrete block. Experimental research conducted on the spot led to the identification of some errors done at foundation fabrication. The experimental results and some theoretical investigations are presented in this paper.