Hybrid Intelligent Machine systems: Design, Modeling and Control
This thesis describes a comprehensive study on three hybrid intelligent machine systems. In the case of the hybrid actuation system, the study has developed a control method for the true hybrid actuation configuration in which the constant velocity motor is not mimicked by the servomotor which is treated in literature. In the case of the hybrid motion system, the study has resulted in a novel mechanism structure based on the compliant mechanism which allows the micro- and macro-motions to be integrated within a common framework. It should be noted that the existing designs in literature all take a serial structure for micro- and macro-motions. In the case of hybrid control system, a novel family of control laws is developed, which is primarily based on the iterative learning of the previous driving torque (as a feedforward part) and various feedback control laws. This new family of control laws is rooted in the computer-torque-control (CTC) law with an off-line learned torque in replacement of an analytically formulated torque in the forward part of the CTC law. This thesis also presents the verification of these novel developments by both simulation and experiments. Simulation studies are presented for the hybrid actuation system and the hybrid motion system while experimental studies are carried out for the hybrid control system.
Advisor:Zhang, W. J. (Chris); Sumner, David; Saadat Mehr, Aryan; Nikravesh, Masoud; Gupta, Madan M.; Degenstein, Douglas A.; Chen, X. B. (Daniel); Burton, Richard T.
School:University of Saskatchewan
School Location:Canada - Saskatchewan
Source Type:Master's Thesis
Keywords:modeling control experiment design hybrid system motion actuation intelligent machine
Date of Publication:09/02/2005