Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model

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1224 Prenosov
Izvoz citacije: ABNT
VIDAKOVIĆ, Jelena ;KVRGIĆ, Vladimir ;LAZAREVIĆ, Mihailo .
Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model. 
Strojniški vestnik - Journal of Mechanical Engineering, [S.l.], v. 64, n.7-8, p. 465-474, july 2018. 
ISSN 0039-2480.
Available at: <https://www.sv-jme.eu/sl/article/control-system-design-for-a-centrifuge-motion-simulator-based-on-a-dynamic-model/>. Date accessed: 29 oct. 2020. 
doi:http://dx.doi.org/10.5545/sv-jme.2018.5272.
Vidaković, J., Kvrgić, V., & Lazarević, M.
(2018).
Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model.
Strojniški vestnik - Journal of Mechanical Engineering, 64(7-8), 465-474.
doi:http://dx.doi.org/10.5545/sv-jme.2018.5272
@article{sv-jmesv-jme.2018.5272,
	author = {Jelena  Vidaković and Vladimir  Kvrgić and Mihailo  Lazarević},
	title = {Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {64},
	number = {7-8},
	year = {2018},
	keywords = {robot dynamics; robot control; computed torque method; centrifuge},
	abstract = {This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost. An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator’s mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers. To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account. The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator’s domain.},
	issn = {0039-2480},	pages = {465-474},	doi = {10.5545/sv-jme.2018.5272},
	url = {https://www.sv-jme.eu/sl/article/control-system-design-for-a-centrifuge-motion-simulator-based-on-a-dynamic-model/}
}
Vidaković, J.,Kvrgić, V.,Lazarević, M.
2018 July 64. Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model. Strojniški vestnik - Journal of Mechanical Engineering. [Online] 64:7-8
%A Vidaković, Jelena 
%A Kvrgić, Vladimir 
%A Lazarević, Mihailo 
%D 2018
%T Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model
%B 2018
%9 robot dynamics; robot control; computed torque method; centrifuge
%! Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model
%K robot dynamics; robot control; computed torque method; centrifuge
%X This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost. An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator’s mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers. To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account. The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator’s domain.
%U https://www.sv-jme.eu/sl/article/control-system-design-for-a-centrifuge-motion-simulator-based-on-a-dynamic-model/
%0 Journal Article
%R 10.5545/sv-jme.2018.5272
%& 465
%P 10
%J Strojniški vestnik - Journal of Mechanical Engineering
%V 64
%N 7-8
%@ 0039-2480
%8 2018-07-12
%7 2018-07-12
Vidaković, Jelena, Vladimir  Kvrgić, & Mihailo  Lazarević.
"Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model." Strojniški vestnik - Journal of Mechanical Engineering [Online], 64.7-8 (2018): 465-474. Web.  29 Oct. 2020
TY  - JOUR
AU  - Vidaković, Jelena 
AU  - Kvrgić, Vladimir 
AU  - Lazarević, Mihailo 
PY  - 2018
TI  - Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model
JF  - Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2018.5272
KW  - robot dynamics; robot control; computed torque method; centrifuge
N2  - This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost. An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator’s mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers. To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account. The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator’s domain.
UR  - https://www.sv-jme.eu/sl/article/control-system-design-for-a-centrifuge-motion-simulator-based-on-a-dynamic-model/
@article{{sv-jme}{sv-jme.2018.5272},
	author = {Vidaković, J., Kvrgić, V., Lazarević, M.},
	title = {Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model},
	journal = {Strojniški vestnik - Journal of Mechanical Engineering},
	volume = {64},
	number = {7-8},
	year = {2018},
	doi = {10.5545/sv-jme.2018.5272},
	url = {https://www.sv-jme.eu/sl/article/control-system-design-for-a-centrifuge-motion-simulator-based-on-a-dynamic-model/}
}
TY  - JOUR
AU  - Vidaković, Jelena 
AU  - Kvrgić, Vladimir 
AU  - Lazarević, Mihailo 
PY  - 2018/07/12
TI  - Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model
JF  - Strojniški vestnik - Journal of Mechanical Engineering; Vol 64, No 7-8 (2018): Strojniški vestnik - Journal of Mechanical Engineering
DO  - 10.5545/sv-jme.2018.5272
KW  - robot dynamics, robot control, computed torque method, centrifuge
N2  - This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost. An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator’s mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers. To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account. The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator’s domain.
UR  - https://www.sv-jme.eu/sl/article/control-system-design-for-a-centrifuge-motion-simulator-based-on-a-dynamic-model/
Vidaković, Jelena, Kvrgić, Vladimir, AND Lazarević, Mihailo.
"Control System Design for a Centrifuge Motion Simulator Based on a Dynamic Model" Strojniški vestnik - Journal of Mechanical Engineering [Online], Volume 64 Number 7-8 (12 July 2018)

Avtorji

Inštitucije

  • University of Belgrade, Lola Insitute, Serbia 1
  • University of Belgrade, Institute Mihajlo Pupin, Serbia 2
  • University of Belgrade, Faculty of Mechanical Engineering, Serbia 3

Informacije o papirju

Strojniški vestnik - Journal of Mechanical Engineering 64(2018)7-8, 465-474

https://doi.org/10.5545/sv-jme.2018.5272

This paper presents a dynamic model-based design of a control system and an approach toward a drive selection of a centrifuge motion simulator (CMS). The objective of the presented method is to achieve the desired performance while taking into account the complexity of the control system and the overall device cost. An estimation of a dynamic interaction of the interconnected CMS links motions is performed using the suitable inverse dynamics simulation. An algorithm based on the approximate inverse dynamics model is used within the drive selection method. The model of the actuator’s mechanical subsystem includes the effective inertia (inertia reflected on the rotor shaft) calculated from the inverse dynamics model. A centralized control strategy based on a computed torque method is considered and compared to traditional decentralized motion controllers. To obtain an accurate comparison of the suggested control methods through a realistic simulation, structural natural frequencies of the manipulator links are considered, and the actuator capabilities are taken into account. The control system design and simulation methods and the drive selection strategies, presented here for the CMS, are applicable within the general robot manipulator’s domain.

robot dynamics; robot control; computed torque method; centrifuge