Asynchronous observer for a copier paper path

Krucinski, M.; Cloet, C.; Tomizuka, Masayoshi; Horowitz, Roberto

doi:10.1109/cdc.1998.757845

Cited by 8 publications

(6 citation statements)

References 1 publication

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“…It can be linearized around steady-state trajectories. The steady-state trajectory is chosen straightforwardly at a constant angular velocity ω e of the motor after start-up: We can now design a feedback PD controller that compensates for the first-order variations ∆u(θ) as defined in (7). The control value applied to the plant should be u = u e +∆u.…”

Section: Controller Designmentioning

confidence: 99%

“…Most applied and researched solutions that deal with low resolution sensor data use an observer-based approach to estimate the data at synchronous controller sample moments, based on asynchronous measurement moments [3,4,7,8,9]. In these solutions, the continuous-time plant is translated into a discrete-time model which is timevarying, as it depends on the time between successive measurement instants.…”

Section: Introductionmentioning

confidence: 99%

“…In these solutions, the continuous-time plant is translated into a discrete-time model which is timevarying, as it depends on the time between successive measurement instants. The approaches in [4,7] use Kalman filtering. In [8], a Luenberger-type observer is applied to use asynchronous measurement data in combination with a multi-rate controller scheme.…”

Section: Introductionmentioning

confidence: 99%

“…Graphical representation of linearizedFigure 5: Bode mag. plot of transfer from continuous dynamics(7) ∆d(θ) to ∆u d (θ) for ω e = 388 rad/s.…”

mentioning

confidence: 99%

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Analysis and experimental validation of a sensor-based event-driven controller

Sandee

Heemels

Hulsenboom³

et al. 2007

2007 American Control Conference

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A challenging problem in the design of high-tech systems is servo control at high accuracy and at low cost price for its implementation. Conventional solutions are often not feasible, as high resolution encoders are far too expensive and high sample frequencies are prohibitive as controllers have to run on low-cost processors with processing power that is shared with many other tasks. As a possible solution, we present an event-driven controller that is based on an (extremely) low resolution encoder. The control value is updated at each moment that an encoder pulse is detected, yielding zero measurement error. However, as the time between two control updates is varying now, conventional controller design methods do not apply as they normally assume a constant sample time. To deal with this problem, the controller design is performed by transforming the system equations from the time domain to the position (spatial) domain, in which the encoder pulses, and therefore the controller triggering, are equidistant. In this way, the control problem is rewritten as a synchronous problem for a nonlinear plant. A gain scheduled controller is designed and analyzed in the spatial domain. This event-driven controller is experimentally validated on a prototype printer in which a 1 pulse per revolution encoder is used to accurately control the motion of images through the printer. By means of analysis, simulation and experiments we show that the control performance is similar to the initially proposed industrial controller that has fixed (high) sample frequency and is based on a much higher encoder resolution. On top of this, the proposed eventdriven controller involves a significant lower processor load.

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Section: Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

“…Graphical representation of linearizedFigure 5: Bode mag. plot of transfer from continuous dynamics(7) ∆d(θ) to ∆u d (θ) for ω e = 388 rad/s.…”

mentioning

confidence: 99%

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Analysis and experimental validation of a sensor-based event-driven controller

Sandee

Heemels

Hulsenboom³

et al. 2007

2007 American Control Conference

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“…Early work at the University of California at Berkeley and Xerox Corporation started in 1996 and was published in several conference proceedings and dissertations, see [12], [10], [7], [11], [6], [14].…”

Section: Introductionmentioning

confidence: 99%

Printer media path closed loop control

Krucinski

2009

2009 American Control Conference

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IME IME IME IME 10 20 18 16 12 24 14 26 28 ON-RAMP HIGHWAY FINISHER FEEDER Fig. 1. Overview of a parallel printer architecture. Multiple print engines printing concurrently offer print speed scalability and redundancy. The required large and complex media path presents novel controls challenges.Abstract-The invention of parallel cut-sheet printing system architectures could potentially revolutionize the approach to building reliable, high-speed printers. Instead of speeding up an existing printer or designing a new, higher speed printer, a printing system is built utilizing multiple print engines printing in parallel, increasing speed and reliability.To connect the multiple printers with sheet feeders and finishers large and complex high-speed media paths are necessary to route and transport the sheets through the system. These media paths require precise sheet position and velocity control in order to precisely and reliably transport a large number of sheets concurrently through the media path during parallel printing operation.A closed loop control algorithm for large media paths with independently driven transport nips has been developed and successfully implemented. The performance has been verified both in simulations and experimentally.

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