A Design and Experiment of Speed Controller with PI-Plus Bang-Bang Action for a DC Servomotor with Transistorized PWM Drives

A speed controller with proportional-integral (PI)-plus bang-bang action is proposed for dc servomotors with transistorized pulse width modulated (PWM) drives. The controller employs the PI-action when the magnitude of the error between the reference signal and the speed output signal is smaller than some precribed value. Otherwise, the controller produces the maximum allowable control signal with the integrator reset. Specifically, a mathematical analysis of the motor system with the proposed speed controller is presented and a rule of thumb for parameter design is provided.     

Reconstruction of signals with known instantaneous frequency usinglinear time-varying filter

An efficient method for reconstructing signals from an AM-FM noisy signal with known instantaneous frequency (IF) is derived and verified by simulation. Analysis shows that the proposed linear time-varying filter efficiently rejects noise from the received wideband signal in real-time     

Hierarchical Longitudinal Controller for Rear-End Collision Avoidance

Rear-end collision is a very serious problem in modern traffic situations, and there have been a great number of research reports on the longitudinal control method for road vehicles. In many cases, however, the control problem is formulated under platoon configuration and for some predictable noncollision situations. For predictable collision situations, regional and hierarchical approaches have been employed, but these approaches render difficulties due to ignorance for modeling error and logical error in a decision process. In this paper, the vehicle control for collision avoidance is studied with two control objectives, i.e., minimization of the safety distance error and regulation of the relative velocity between two vehicles. For this, a longitudinal controller using terminal sliding mode (TSM) with hierarchical structure is proposed for rear-end collision avoidance. The TSM is employed to achieve convergence in finite time, while the hierarchical approach is used for the system to accommodate the intelligence of the driver to handle various situations. The effectiveness of the proposed control scheme is verified by software simulations     

Real-time implementation and evaluation of dynamic controlalgorithms for industrial manipulators

The authors explore the real-time implementation of various dynamic control algorithms, which use different levels of information of the dynamics of a robot system, to show the feasibility and effectiveness of such algorithms. For this purpose, the dynamic equations of a robot manipulator based on Lagrange mechanisms are derived, converted to the equivalent dynamics with respect to the actuator, and added to the actuator dynamics. Hysteresis current controllers are used as the torque-type controller. Experimental results indicate that the computed torque and iterative learning control methods perform better than classical proportional-integral-derivative (PID) control and that these algorithms can be effectively applied to controlling industrial manipulators     

A vision system for an automatic assembly machine of electroniccomponents

A vision system for the automatic assembly of electronic components is developed. The vision system presents information about positions, orientations, and quality of rectangular-shaped electronic components in real time. The orientation is detected by the windowed Hough transform along with a simple edge-detection method, whereas the position of each component is determined by using the projection method with dynamic thresholding. In addition, real-time implementation of the vision system in which multiple central processors are used for parallel processing of the algorithms is described