Application of Dynamic Input Shaping for a Dual-Mirror System

2021 ◽  
Author(s):  
Alicia Dautt-Silva ◽  
Raymond de Callafon
Keyword(s):  
Input Signal ◽  
Inverse Kinematic ◽  
Open Loop ◽  
Mirror System ◽  
Image Motion ◽  
Step Response ◽  
Input Shaping ◽  
Input Signals ◽  
Compensation Device ◽  
Operating Constraints

Abstract The task of trajectory planning for a dual-mirror optical pointing system greatly benefits from carefully designed dynamic input signals. This paper summarizes the application of multivariable input shaping (IS) for a dual-mirror system, starting from initial open-loop step-response data. The optical pointing system presented consists of two Fast Steering Mirrors (FSM) for which dynamically coupled input signals are designed, while adhering to mechanical and input signal constraints. For the solution, the planned trajectories for the dual-mirrors are determined via (inverse) kinematic analysis. A linear program (LP) problem is used to compute the dynamic input signal for each of the FSMs, with one of the mirrors acting as an image motion compensation device that guarantees tracking of a planned trajectory within a specified accuracy and the operating constraints of the FSMs.

scholarly journals Carotid and aortic baroreflexes of the rat: II. Open-loop frequency response and the blood pressure spectrum

2000 ◽  
Vol 279 (5) ◽  
pp. R1922-R1933 ◽  
Author(s):  
Barry R. Dworkin ◽  
Xiaorui Tang ◽  
Alan J. Snyder ◽  
Susan Dworkin
Keyword(s):  
Blood Pressure ◽  
Venous Pressure ◽  
Low Frequency ◽  
Noise Spectrum ◽  
Open Loop ◽  
Step Response ◽  
Algebraic Solution ◽  
Noise Power ◽  
Vascular Conductance ◽  
Aortic Depressor Nerve

To determine the relationship between blood pressure (BP) variability and the open-loop frequency domain transfer function (TF) of the baroreflexes, we measured the pre- and postsinoaortic denervation (SAD) spectra and the effects of periodic and step inputs to the aortic depressor nerve and isolated carotid sinus of central nervous system-intact, neuromuscular-blocked (NMB) rats. Similar to previous results in freely moving rats, SAD greatly increased very low frequency (VLF) (0.01–0.2 Hz) systolic blood pressure (SBP) noise power. Step response-frequency measurements for SBP; interbeat interval (IBI); venous pressure; mesenteric, femoral, and skin blood flow; and direct modulation analyses of SBP showed that only VLF variability could be substantially attenuated by an intact baroreflex. The −3-dB frequency for SBP is 0.035–0.056 Hz; femoral vascular conductance is similar to SBP, but mesenteric vascular conductance has a reliably lower and IBI has a reliably higher −3-dB point. The overall open-loop transportation lag, of which ≤0.1 s is neural, is ≈1.07 s. Constrained algebraic solution, over a range of frequencies, of the pre- and postSAD endogenous noise spectra and the independently determined relative frequency and absolute lag measurements was used to calculate the absolute gain for the open-loop TF. The average gain at 0.02 Hz, the frequency of maximum sensitivity, was 1.47 (95% confidence interval = ±0.48), which agrees well with estimates for the dog reversible sinus. We found that, in the NMB rat, the effects of SAD on the BP noise spectrum were accounted for by the open-loop properties of the baroreflex.

scholarly journals Series pid pitch controller of large wind turbines generator

2015 ◽  
Vol 12 (2) ◽  
pp. 183-196
Author(s):  
Aleksandar Micic ◽  
Miroslav Matausek
Keyword(s):  
Damping Ratio ◽  
Stable Process ◽  
Control Variable ◽  
Open Loop ◽  
Step Response ◽  
Process Step ◽  
Transport Delay ◽  
Oscillatory Dynamics ◽  
Natural Mechanism ◽  
Order Butterworth Filter

For this stable process with oscillatory dynamics, characterized with small damping ratio and dominant transport delay, design of the series PID pitch controller is based on the model obtained from the open-loop process step response, filtered with the second-order Butterworth filter Fbw. Performance of the series PID pitch controller, with the filter Fbw, is analyzed by simulations of the set-point and input/output disturbance responses, including simulations with a colored noise added to the control variable. Excellent performance/robustness tradeoff is obtained, compared to the recently proposed PI pitch controllers and to the modified internal model pitch controller, developed here, which has a natural mechanism to compensate effect of dominant transport delay.

The Application of Grey Prediction on the Fast Control Power Supply in EAST

2013 ◽  
Vol 427-429 ◽  
pp. 1739-1742
Author(s):  
Hai Hong Huang ◽  
Jia Miao ◽  
Hai Xin Wang ◽  
Feng Feng Wang
Keyword(s):  
Input Signal ◽  
Power Supply ◽  
Grey Theory ◽  
Grey Prediction ◽  
Grey System ◽  
Control Power ◽  
Input Signals ◽  
Simulation And Experiment ◽  
One Step ◽  
Fast Control

Based on the grey theory, a novel model is built to predict the input signal of fast control power supply used in Experimental Advanced Superconducting Tokamak (EAST). The model can be used as online metabolic grey filtering and one-step prediction of different input signals. Results of simulation and experiment show that the predicting algorithm based on the grey system model can predict the input signal primarily.

On a Certain Class of Expanding Systems

2010 ◽  
Vol 17 (2) ◽  
pp. 299-306
Author(s):  
Adam Żuchowski
Keyword(s):  
Transfer Function ◽  
Input Signal ◽  
Initial Conditions ◽  
System Optimization ◽  
Gain Coefficient ◽  
Time Intervals ◽  
System Parameters ◽  
Linear Dynamic ◽  
Subsequent Time ◽  
Input Signals

On a Certain Class of Expanding Systems The interesting properties of a class of expanding systems are discussed. The operation of the considered systems can be described as follows: the input signal is processed by a linear dynamic converter in subsequent time intervals, each of them is equal to Ti. Processing starts at the moments n · Ti, always after zeroing of converter initial conditions. For smooth input signals and a given transfer function of the converter one can suitably choose Ti and the gain coefficient in order to realize the postulated linear operations on input signals, which is quite different comparing it to the operation realized by the converter. The errors of postulated operations are mainly caused by non-smooth components of the input signal. The principles for choice of system parameters and rules for system optimization are presented in the paper. The referring examples are attached too.

scholarly journals Control of a 3-RRR Planar Parallel Robot Using Fractional Order PID Controller

2020 ◽  
Vol 17 (6) ◽  
pp. 822-836
Author(s):  
Auday Al-Mayyahi ◽  
Ammar A. Aldair ◽  
Chris Chatwin
Keyword(s):  
Fractional Order ◽  
Material Handling ◽  
State Of The Art ◽  
Kinematic Model ◽  
Parallel Robot ◽  
Inverse Kinematic ◽  
Open Loop ◽  
Parallel Robots ◽  
The State ◽  
Revolute Joints

Abstract3-RRR planar parallel robots are utilized for solving precise material-handling problems in industrial automation applications. Thus, robust and stable control is required to deliver high accuracy in comparison to the state of the art. The operation of the mechanism is achieved based on three revolute (3-RRR) joints which are geometrically designed using an open-loop spatial robotic platform. The inverse kinematic model of the system is derived and analyzed by using the geometric structure with three revolute joints. The main variables in our design are the platform base positions, the geometry of the joint angles, and links of the 3-RRR planar parallel robot. These variables are calculated based on Cayley-Menger determinants and bilateration to determine the final position of the platform when moving and placing objects. Additionally, a proposed fractional order proportional integral derivative (FOPID) is optimized using the bat optimization algorithm to control the path tracking of the center of the 3-RRR planar parallel robot. The design is compared with the state of the art and simulated using the Matlab environment to validate the effectiveness of the proposed controller. Furthermore, real-time implementation has been tested to prove that the design performance is practical.

Modeling of a Dynamic Mirror With Antagonistic Piezoelectric Stack Actuation

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
James A. Mynderse ◽  
George T. C. Chiu
Keyword(s):  
Constitutive Models ◽  
Open Loop ◽  
Step Response ◽  
Experimental Frequency ◽  
Loop Control ◽  
Response Data ◽  
Input Control ◽  
Proposed Model ◽  
Single Input ◽  
Charging Dynamics

A dynamic mirror actuator utilizing antagonistic piezoelectric stack actuators is presented for use in laser printers. Exhibiting hysteresis and other nonlinearities in open-loop operation, the dynamic mirror actuator (DMA) requires a control structure to achieve accurate mirror positioning. A linear DMA model is developed for extending operational bandwidth under closed-loop control, employing explicit piezoelectric stack actuator (PESA) charging dynamics and incorporating two modes for single input control of opposing PESA drives. Compared to constitutive models from literature, the proposed model displays a comparable fit with experimental frequency response data while retaining a lower model order. As further validation, simulated step response data are shown to agree with experimental data.

Efficient Linear Approach for the Closed-Loop Control of a Ionic Polymer Bending Actuator

2016 ◽  
Vol 97 ◽  
pp. 75-80 ◽  
Author(s):  
Bertrand Tondu ◽  
Aiva Simaite ◽  
Ganesh Kumar Hari Shankar Lal Das ◽  
Philippe Soueres ◽  
Christian Bergaud
Keyword(s):  
Closed Loop ◽  
Open Loop ◽  
Step Response ◽  
Order System ◽  
Initial Slope ◽  
Vertical Position ◽  
Control Voltage ◽  
Closed Loop Control ◽  
Loop Control ◽  
Bending Actuator

Tri-layer electroactive bending polymeric artificial muscles generally exhibit no overshoot during open-loop step response with a non-zero initial slope when the output is the vertical position of the bending sample tip. We propose to identify such a bending step contraction by a nonlinear system derived from a linear first order system in the form: where the parameters k, T and r depend on the u-control voltage. We show the relevance of this approach for identifying the step-response of a PEDOT:PSS/PVDF/ionic liquid actuator developed at the laboratory. As a consequence, we try to show that a linear PI-controller, including voltage constraints, is a simple and an efficient approach for a closed-loop control of the bending actuator.

Comparison of Buck–Boost and Ćuk Converters Based on Time Domain Response

2018 ◽  
Vol 27 (14) ◽  
pp. 1850222
Author(s):  
J. Leema Rose ◽  
B. Sankaragomathi
Keyword(s):  
Pid Controller ◽  
Closed Loop ◽  
State Equation ◽  
Power Converter ◽  
Open Loop ◽  
Step Response ◽  
State Equations ◽  
Loop Control ◽  
Time Domain Response ◽  
Response Method

This paper presents the design and modeling of power electronic converters such as buck–boost and Ćuk operated under continuous conduction mode (CCM). The open-loop behavior of buck–boost and Ćuk converters needs modeling and simulation using modeled equations. The closed-loop control of these converters has a propositional–integral–derivative (PID) controller. PID controller parameters are obtained from Ziegler–Nichols step response method. These converters can be analyzed using the state equation. The MATLAB/SIMULINK tool is used for simulation of those state equations. Ćuk and buck–boost converters are designed and analyzed. The mathematical model of power Converter for simulation has been carried out using SIMULINK with/without any Sim Power System Elements. The open- and closed-loop results are compared.

scholarly journals Design of Identification Experiments for Step Response Models: Open Loop Case

2000 ◽  
Vol 33 (15) ◽  
pp. 1225-1230
Author(s):  
Dianne Smektala ◽  
William Cluett ◽  
Liuping Wang
Keyword(s):  
Open Loop ◽  
Step Response ◽  
Response Models
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