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TECHNICAL PAPERS

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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References

Watton, J., 1988, Fluid Power Systems, Prentice Hall, NJ.
Lin,  S. J., and Akers,  A., 1989, “A Dynamic Model of the Flapper-Nozzle Component of an Electrohydraulic Servo Valve,” ASME J. Dyn. Syst., Meas., Control, 111, pp. 105–109.
Bullough,  W. A., 1991, “Liquid State Force and Displacement Devices,” Mechatronics, 1(1), pp. 1–10.
Petek, N. K., Rimstadt, D. J., Lizal, M. B., and Weyenberg, T. R., 1995, “Demonstration of an Automotive Semi-Active Suspension Using Electrorheological Fluid,” SAE Paper, No. 950586.
Morishita, S., and Mitsui, J., 1992, “An Electronically Controlled Engine Mount Using Electro-Rheological Fluid,” SAE Paper, No. 922290.
Choi,  S. B., Cheong,  C. C., and Kim,  G. W., 1997, “Feedback Control of Tension in a Moving Tape Using an ER Brake Actuator,” Mechatronics, 7(1), pp. 53–66.
Choi,  S. B., Cheong,  C. C., and Park,  Y. K., 1996, “Active Vibration Control of Intelligent Composite Laminate Structures Incorporating an Electro-Rheological Fluid,” J. Intell. Mater. Syst. Struct., 7, pp. 411–419.
Simmonds, A. J., 1991, “Electro-Rheological Valves in a Hydraulic Circuit,” IEE Proceeding-D, 138 (4), pp. 400–404.
Brooks,  D. A., 1992, “Design and Development of Flow Based Electro-Rheological Devices,” Int. J. Mod. Phys. B, 6, pp. 2705–2730.
Nakano, M., and Yonekawa, T., 1994, “Pressure Response of ER Fluid in a Piston Cylinder-ER Valve System,” Proceedings of the 4th International Conference on Electrorheological Fluids, pp. 477–489.
Whittle,  M., Firoozian,  R., and Bullough,  W. A., 1994, “Decomposition of the Pressure in an ER Valve Control System,” J. Intell. Mater. Syst. Struct., 5(1), pp. 105–111.
Lee, J. W., Choi, S. B., and Kim, K. S., 1999, “Automatic Cargo Handling System for Seaport,” Korea Patent, No. 0208916.
Adriani,  P. M., and Gast,  A. P., 1988, “A Microscopic Model of Electrorheology,” Phys. Fluids, 31(10), pp. 2757–2768.
Choi,  S. B., Choi,  Y. T., Chang,  E. G., Han,  S. J., and Kim,  C. S., 1998, “Control Characteristics of a Continuously Variable ER Damper,” Mechatronics, 8(2), pp. 143–161.
Lee,  H. S., and Tomizuka,  M., 1996, “Robust Motion Controller Design for High-Accuracy Positioning Systems,” IEEE Trans. Ind. Electron., 43(1), pp. 48–55.
Levine, W. S., 1996, The Control Handbook, CRC Press.
Miyamoto,  H., Kawato,  M., Setoyama,  T., and Suzuki,  R., 1988, “Feedback-Error-Learning Neural Network for Trajectory Control of a Robotic Manipulator,” Neural Networks, 11, pp. 251–265.

Figures

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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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