Position control of a DC servo motor using various controllers: A comparative study

Debnath, Debika; Malla, Piyali; Roy, Sohini

doi:10.1016/j.matpr.2022.03.008

Cited by 6 publications

(2 citation statements)

References 8 publications

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“…There are two traditional docking methods of four-way shuttles: direct docking and crawling docking. Under the position mode [5] of a servo motor in the deceleration stage, direct docking means that the four-way shuttle directly decelerates from a high speed to 0 and just reaches the target position, so it is also called zero speed docking. Crawling docking indicates that the four-way shuttle first slows down to the crawling speed, runs at the crawling speed, and slows down to zero immediately upon finding the sensor stop signal in the deceleration stage.…”

Section: Introductionmentioning

confidence: 99%

An Accurate and Rapid Docking Algorithm for Four-Way Shuttle in High-Density 3D Warehousing Environment

Liu,

Song

et al. 2024

Machines

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High-density 3D warehousing is the future cornerstone of modern logistics storage. It aims to efficiently manage and store various types of goods by utilizing 3D space and automation technology. The accurate and fast docking algorithm of the four-way shuttles, as a core method of carrying the goods in high-density 3D warehousing, has become an increasingly important technical challenge. Inaccurate docking will result in a failure to change direction, while long docking time will affect the operation efficiency of the four-way shuttle. To overcome these obstacles, this paper presents an accurate and rapid docking algorithm for four-way shuttles. Firstly, the deceleration and jerk of a four-way shuttle in the braking stage are initialized according to the motion parameter set calculated by the docking motion model. Then, the four-way shuttle starts to move until the stop signal has been detected. If the system fails to detect the stop signal, the distance compensation is needed to ensure that the four-way shuttle can arrive at the stop point. Finally, the four-way shuttle stops immediately by way of amplifying the deceleration when reaching the stop point. The result shows that the accuracy of rapid docking is superior to that of direct docking. Compared with crawling docking, rapid docking reduces the braking time by 3.99s and stops at a speed lower than the crawling speed. The rapid docking algorithm not only enhances the throughput of high-density 3D warehousing but also improves the service life of four-way shuttles.

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Section: Introductionmentioning

confidence: 99%

An Accurate and Rapid Docking Algorithm for Four-Way Shuttle in High-Density 3D Warehousing Environment

Liu,

Song

et al. 2024

Machines

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“…Servomotors use a feedback controller to control the speed or position of the motor, or both. With the exception of constructional highlights, a DC servo motor (DSM) is basically a normal DC motor [2]. However, the increasing demand for more complex and precise movements in robotic systems has highlighted the need for improvements in servo motor technology.…”

Section: Introductionmentioning

confidence: 99%

Research of Robotic System Positioning Accuracy

Sakalys,

Savulioniene,

Savulionis

et al. 2024

ETR

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Robotics is one of the technologies of the fourth industrial revolution, which has a wide range of applications, from household chores to manufacturing and healthcare to entertainment and space exploration. The purpose of the study is to determine and evaluate the repeatability and positioning accuracy indicators of the robotic system when reproducing the movements of the hand repeating a human hand. The article conducts a comparative analysis of the methods and software control algorithms for creating feedback of robotic system electromechanical control gears displacement, and provides the rationale for the choice of physical equipment for the technical experiment. This article describes the plan of stages of the experimental research, the research bench, presents the systematized results of the research, conclusions and suggestions for practical application.

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Design and Experimental Validation of an Adaptive Landing Gear for Safe Landing on Uneven Grounds of VTOL UAVs in the Context of Lightweight and Fast Adaptations

Çabuk

2023

Arab J Sci Eng

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Position control of a DC servo motor using various controllers: A comparative study

Cited by 6 publications

References 8 publications

An Accurate and Rapid Docking Algorithm for Four-Way Shuttle in High-Density 3D Warehousing Environment

An Accurate and Rapid Docking Algorithm for Four-Way Shuttle in High-Density 3D Warehousing Environment

Research of Robotic System Positioning Accuracy

Design and Experimental Validation of an Adaptive Landing Gear for Safe Landing on Uneven Grounds of VTOL UAVs in the Context of Lightweight and Fast Adaptations

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