Accession Number:

ADA453491

Title:

Control System Design for a Flexible Arm

Descriptive Note:

Master's thesis

Corporate Author:

MARYLAND UNIV COLLEGE PARK SYSTEMS RESEARCH CENTER

Personal Author(s):

Report Date:

1987-01-01

Pagination or Media Count:

91.0

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.

Subject Categories:

  • Computer Programming and Software
  • Computer Hardware
  • Cybernetics
  • Human Factors Engineering and Man Machine Systems

Distribution Statement:

APPROVED FOR PUBLIC RELEASE