Real-time hybrid testing with equivalent force control method incorporating Kalman filter

AbstractA new fault-tolerant control method for aero engine is proposed, which can accurately diagnose the sensor fault by Kalman filter banks and reconstruct the signal by real-time on-board adaptive model combing with a simplified real-time model and an improved Kalman filter. In order to verify the feasibility of the method proposed, a semi-physical simulation experiment has been carried out. Besides the real I/O interfaces, controller hardware and the virtual plant model, semi-physical simulation system also contains real fuel system. Compared with the hardware-in-the-loop (HIL) simulation, semi-physical simulation system has a higher degree of confidence. In order to meet the needs of semi-physical simulation, a rapid prototyping controller with fault-tolerant control ability based on NI CompactRIO platform is designed and verified on the semi-physical simulation test platform. The result shows that the controller can realize the aero engine control safely and reliably with little influence on controller performance in the event of fault on sensor.

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Equivalent force control method for generalized real-time substructure testing with implicit integration

Earthquake Engineering & Structural Dynamics ◽

10.1002/eqe.674 ◽

2007 ◽

Vol 36 (9) ◽

pp. 1127-1149 ◽

Cited By ~ 52

Author(s):

Bin Wu ◽

Qianying Wang ◽

P. Benson Shing ◽

Jinping Ou

Keyword(s):

Real Time ◽

Force Control ◽

Control Method ◽

Implicit Integration

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Bilateral teleoperation with continuously variable scaling and PD force control

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331219895922 ◽

2020 ◽

pp. 014233121989592

Author(s):

Burak Oztoprak ◽

Eray A. Baran ◽

Asif Sabanovic

Keyword(s):

Real Time ◽

Force Control ◽

Control Method ◽

Continuous Functions ◽

Complete Analysis ◽

Bilateral Teleoperation ◽

Bilateral Control ◽

Time Operation ◽

Wide Range ◽

Real Time Operation

This paper investigates the bilateral teleoperation with the possibility of continuously variable scaling during real-time operation. The algorithm proposed for this purpose provides the operator with the ability to change the scaling gains of force and velocity loops during operation. The controllers are derived to enforce exponentially decaying error dynamics on systems which have inner loop disturbance compensation. The proposed architecture assumes the scale factors as continuous functions of time which have continuous derivatives that are also included in the mathematical derivation. Unlike the existing studies, the presented framework allows real-time adaptation of scaling gains, which provides the user with the ability to conduct coarse and fine motion in the same operation. The Lyapunov stability proof of the proposed method is made and the margins of the controller gains are identified for practical operation. Furthermore, the operational accuracy is enhanced by the application of a PD force control loop which is also new for scaled bilateral teleoperation. The realization of PD loop is made using an [Formula: see text]-[Formula: see text]-[Formula: see text] filter to differentiate the force signal. The algorithm is validated on a setup consisted of two single DOF motion control systems. In order to provide a complete analysis, a wide range of experiments are made, velocity and force scales having sinusoidal patterns with different amplitudes and frequencies. Moreover, comparison with a classical bilateral control architecture is made to highlight the flexibility of the proposed control method. The efficacy of the proposed approach is solidified by the successful tracking responses obtained from these experiments.

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