The Neural Network Position-Control of a Moving Platform Using Electrorheological Valves

[+] Author and Article Information
Seung-Bok Choi

Department of Mechanical Engineeringe-mail: seungbok@inha.ac.kr

Kum-Gil Sung

Department of Mechanical Engineering

Jae-Wook Lee

Department of Naval Architecture and Ocean Engineering   Inha University, Incheon 402–751, Korea

J. Dyn. Sys., Meas., Control 124(3), 435-442 (Jul 23, 2002) (8 pages) doi:10.1115/1.1485095 History: Received July 01, 2000; Online July 23, 2002
Copyright © 2002 by ASME
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The proposed cylindrical ER valve. (a) Geometry, (b) assembly drawing
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Pressure drop due to step input field. (a) Measured, (b) predicted
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The hydraulic bridge circuit with ER valves. (a) Schematic configuration, (b) circuit model
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Principle diagram of the cargo handling system
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Schematic configuration of the moving platform
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Frictional force of the lift column
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Block-diagram of the overall control scheme
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A neural network controller incorporating the PID controller. (a) Block-diagram, (b) network architecture
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Laboratory model of the cargo handling system
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Control responses for the sinusoidal trajectory tracking. (a) PID, (b) neural-network
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Three elements of control signal of the neural network
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Control responses for loading and unloading tasks. (a) Loading, (b) unloading
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Control responses for repeated tasks. (a) Loading (b) unloading




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