Papers by Keyword: Periodic Input

Abstract: This template explains and demonstrates how to prepare your camera-ready paper for Trans Tech Publications. The best is to read these instructions and follow the outline of this text. In this paper, the motion of the ball and beam system based on periodic input is studied, the chaos of the system is discussed , and the relationship of the chaos and the input parameters is analyzed . on the premise of avoiding chaos, the trajectory motion law of points with suitable oscillation parameters is studied in the poincare cross-sectional view. And the swing-up control law of ball and beam system is submitted, it consists of such three parts: increasing the range of swing , adjustment and maintain constant swing .Finally, the simulations result is given to verify the efficiency of control law.

Abstract: While tracking the periodic input signal, the position-dependent periodic thrust ripple caused by ending effect, load disturbance and the friction of the permanent magnet linear synchronous motor (PMLSM) will reduce the servo performance of the system. Especially when the periods of the reference input signal and thrust fluctuation interference signal are not synchronous, the precision of periodic signal tracked by the servo system is reduced, which lead to the reduction of the servo system’s periodic signal tracking precision. Therefore, a multi-period discrete repetitive controller using two improved prototype repetitive controllers which are incomplete parallel to restrain\track the multi-period input signal was designed. Theoretical analysis and simulation results show that the proposed scheme can improve the precision of the system tracking periodic signals and restrain the periodic thrust fluctuations effectively.

Abstract: This study is aimed at stabilizing a three dimensional biped passive walker in various environments and achieving climbing and turning control. The novel control method synchronizes a period of the changing motion of the stance leg in frontal plane (frontal motion) with a period of the swing leg by periodic input in order to stabilize the three dimensional passive walker. A mechanical oscillator is utilized to change the period of the frontal motion. The target path of the oscillator is automatically generated based on frequency entrainment in order to adjust the period of the frontal motion. In the climbing and turning control of the passive walker, the amplitude and the phase generating algorithm of the target path of the oscillator are improved. It is analytically demonstrated that the biped passive walker can be stabilized even in climbing and turning.