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Trimning av lead och lag filter
KTH, School of Electrical Engineering (EES), Automatic Control.
2004 (Swedish)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The work describes the development of an adjustment algorithm that will replace today’s manual adjustment of Lead- and Lag-filters at ABB Robotics industrial robots. The adjustment is mainly for the filter parameters in the control system.

Three different algorithms have been created to replace the manual adjustment. One of them is based on the criterion from the manual adjustment and another one on optimization of the sensitivity function. The last one is a combination of the two.

The report describe the development of the algorithms and how they behave during simulations and tests on real robots. All three algorithms are several times faster then todays adjustment and present equivalent results at the same time.

Abstract [sv]

Arbetet beskriver framtagandet av trimningsalgoritmer som ska överta dagens manuella trimning av Lead- och Lag-filter på ABB Robotics industrirobotar. Trimningen riktar sig framförallt till filterparametrarna i styrsystemet.

Tre olika algoritmer har tagits fram som arvtagare till dagens manuella trimning. En av algoritmerna utgår från kriterier i dagens trimning medan en annan använder sig av optimering av känslighetsfunktionen. Den sista kan ses som en blandning av de två algoritmerna.

I rapporten kan du följa algoritmernas tillkomst, hur dess resultat beter sig vid simuleringstester samt verkliga robottester. Alla tre algoritmerna är mångfaldigt snabbare än dagens trimning och presenterar samtidigt likvärdiga resultat.

Place, publisher, year, edition, pages
2004. , 48 p.
Keyword [en]
Filter, Adjustment, Optimization, Criteria, Sensitivity function
Keyword [sv]
Filter, Trimning, Optimering, Kriterier, Känslighetsfunktion
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-109476OAI: diva2:582537
Subject / course
Automatic Control
Educational program
Master of Science in Engineering
Available from: 2013-01-28 Created: 2013-01-04 Last updated: 2013-01-28Bibliographically approved

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