A control performance benchmark subject to output variance/covariance upper bound and pole placement constraint

2009 ◽  
Author(s):  
Chunyu Liu ◽  
Biao Huang ◽  
Qinglin Wang
Keyword(s):  
Upper Bound ◽  
Pole Placement ◽  
Control Performance ◽  
Performance Benchmark ◽  
Output Variance

scholarly journals Improved Self-Sensing Speed Control of IPMSM Drive Based on Cascaded Nonlinear Control

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2205
Author(s):  
Muhammad Usama ◽  
Jaehong Kim
Keyword(s):  
Fuzzy Logic Controller ◽  
Control Design ◽  
Speed Control ◽  
Current Control ◽  
The Self ◽  
Pole Placement ◽  
Motor Drive ◽  
Control Performance ◽  
Control Loop ◽  
Maximum Torque

This paper presents a nonlinear cascaded control design that has been developed to (1) improve the self-sensing speed control performance of an interior permanent magnet synchronous motor (IPMSM) drive by reducing its speed and torque ripples and its phase current harmonic distortion and (2) attain the maximum torque while utilizing the minimum drive current. The nonlinear cascaded control system consists of two nonlinear controls for the speed and current control loop. A fuzzy logic controller (FLC) is employed for the outer speed control loop to regulate the rotor shaft speed. Model predictive current control (MPCC) is utilized for the inner current control loop to regulate the drive phase currents. The nonlinear equation for the dq reference current is derived to implement the maximum torque per armature (MTPA) control to achieve the maximum torque while using the minimum current values. The model reference adaptive system (MRAS) was employed for the speed self-sensing mechanism. The self-sensing speed control performance of the IPMSM motor drive was compared with that of the traditional cascaded control schemes. The stability of the sensorless mechanism was studied using the pole placement method. The proposed nonlinear cascaded control was verified based on the simulation results. The robustness of the control design was ensured under various loads and in a wide speed range. The dynamic performance of the motor drive is improved while circumventing the need to tune the proportional-integral (PI) controller. The self-sensing speed control performance of the IPMSM drive was enhanced significantly by the designed cascaded control model.

scholarly journals A Control Performance Index Based on Minimum and Open-Loop Output Variance

1999 ◽  
Vol 32 (2) ◽  
pp. 6704-6709
Author(s):  
Stella Bezergianni ◽  
Christos Georgakis
Keyword(s):  
Performance Index ◽  
Open Loop ◽  
Control Performance ◽  
Output Variance

Well-Conditioned Observer Design for Observer-Based Monitoring Systems

1995 ◽  
Vol 117 (4) ◽  
pp. 592-599 ◽  
Author(s):  
Kunsoo Huh ◽  
J. L. Stein
Keyword(s):  
Upper Bound ◽  
Performance Index ◽  
Block Design ◽  
Design Procedure ◽  
Poor Performance ◽  
Design Strategy ◽  
Observer Design ◽  
Pole Placement ◽  
Monitoring Systems ◽  
Remote Sensors

Observer-based monitoring systems for machine diagnostics and control are receiving increased attention. These observer techniques can estimate process and machine variables from inexpensive, easy to install remote sensors based on state-space models of the machine structure between the machine variables of interest and the location of the remote sensors. Unfortunately, these observers can be ill-conditioned and this leads to poor performance. The authors have previously shown that observer performance can be represented by a single performance index, the condition number of the eigensystem of the state observer matrix and that there exists an upper bound for the index in non-normal matrices and the bound can be determined by the structure and eigenvalues of the observer matrix. In this paper, a design methodology for synthesizing well-conditioned observers is proposed based on the upper bound of the performance index. The methodology is based on the fact that a small upper bound guarantees small values of the performance index. A well-conditioned matrix form is defined and a block-by block design strategy to produce a well-conditioned observer matrix is presented. A complete design procedure for well-conditioned deterministic state observers is given for the single-output case. The design strategy is illustrated with an example that shows that the proposed well-conditioned observer performs much better than an observer designed with traditional pole placement techniques.

scholarly journals Sliding mode control for systems with mismatched time-varying uncertainties via a self-learning disturbance observer

2018 ◽  
Vol 41 (7) ◽  
pp. 2039-2052 ◽  
Author(s):  
Erkan Kayacan
Keyword(s):  
Sliding Mode Control ◽  
Upper Bound ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
System Stability ◽  
Time Varying ◽  
Control Performance ◽  
Mode Control ◽  
Mismatched Uncertainties ◽  
Self Learning

This paper presents a novel sliding mode control (SMC) algorithm to handle mismatched uncertainties in systems via a novel self-learning disturbance observer (SLDO). A computationally efficient SLDO is developed within a framework of feedback-error learning scheme in which a conventional estimation law and a neuro-fuzzy structure (NFS) work in parallel. In this framework, the NFS estimates the mismatched disturbances and becomes the leading disturbance estimator while the former feeds the learning error to the NFS to learn system behaviour. The simulation results demonstrate that the proposed SMC based on SLDO (SMC-SLDO) ensures robust control performance in the presence of mismatched time-varying uncertainties when compared to SMC, integral SMC (ISMC) and SMC based on a basic nonlinear disturbance observer (SMC-BNDO), and also remains the nominal control performance in the absence of mismatched uncertainties. Additionally, the SMC-SLDO not only counteracts mismatched time-varying uncertainties, but also improve the transient response performance in the presence of mismatched time-invariant uncertainties. Moreover, the controller gain of the SMC-SLDO is required to be selected larger than the upper bound of the disturbance estimation error rather than the upper bound of the actual disturbance to guarantee system stability, which results in eliminating the chattering effects on the control signal.

scholarly journals Modelling And Control Of Automated Polishing/Deburring Process

2021 ◽  
Author(s):  
Liang Liao
Keyword(s):  
Feedback Linearization ◽  
Closed Loop ◽  
Control Method ◽  
Minimum Degree ◽  
Open Loop ◽  
Pole Placement ◽  
Control Performance ◽  
Nonlinear Controller ◽  
Loop Control ◽  
And Control

In this thesis, a new approach is presented for the modelling and control of an automated polishing/deburring process that utilizes a dual-purpose complaint toolhead mounted on a parallel tripod robot. This toolhead has a pneumatic spindle that can be extended and retracted by three pneumatic actuators to provide tool compliance. By integrating a pressure sensor and a linear encoder, this toolhead can be used for polishing and deburring. For the polishing open-loop control, the desired tool pressure is pre-planned based on the given part geometry. To improve control performance, a closed-loop controller is applied for pressure tracking through pressure sensing. For the deburring control, another closed-loop controller is applied to regulate the tool length through tool extension sensing. The two control methods have been tested and implemented on a polishing/deburring robot, and the experiment results demonstrate the effectiveness of the presented methods. To future improve the control performance, an adaptive controller is developed to deal with the uncertainties in the compliant tool. This control method combines the adaptive control theory with the constant stress theory of the contact model. A recursive last squares (RLS) estimator is developed to estimate the pneumatic plant model, and then a minimum-degree pole placement (MDPP) is applied to design a self-tuning controller. Afterwards, the simulation and experiment results of the proposed controller are presented and discussed. Finally, a nonlinear model of the pneumatic plant is developed. The nonlinear controller developed by using feedback linearization method is applied on the nonlinear pneumatic system of the compliant toolhead. The simulation is carried out to test the effectiveness of the pressure tracking for the polishing process.

Speed Control of Linear Feed System Based on Feedforward and Pole Placement

2013 ◽  
Vol 823 ◽  
pp. 280-284
Author(s):  
Ya Bin Shen ◽  
Jia Cai Huang ◽  
Jian Lin
Keyword(s):  
Disturbance Rejection ◽  
Dynamic Performance ◽  
Design Strategy ◽  
Pole Placement ◽  
Control Performance ◽  
Feed System ◽  
Synchronous Motors ◽  
Feedforward Controller ◽  
Linear Synchronous Motors ◽  
Speed Response

Permanent magnet linear synchronous motors (PMLSM) is a multi-variable, strong coupling, nonlinear complex system. As a result, the design of an appropriate controller on dynamic performance of PMLSM is very important. In this paper, a feedforward controller based on pole-placement design strategy is proposed to improve the dynamic performance by increasing the speed response while reducing steady state errors. The parameters which influence the dynamic characteristic of the system were discussed. The dynamic response and disturbance rejection ability for linear feed system were verified by the experiments. Finally the control performance of pole-placement and PID was compared.

scholarly journals Modelling And Control Of Automated Polishing/Deburring Process

2021 ◽  
Author(s):  
Liang Liao
Keyword(s):  
Feedback Linearization ◽  
Closed Loop ◽  
Control Method ◽  
Minimum Degree ◽  
Open Loop ◽  
Pole Placement ◽  
Control Performance ◽  
Nonlinear Controller ◽  
Loop Control ◽  
And Control

In this thesis, a new approach is presented for the modelling and control of an automated polishing/deburring process that utilizes a dual-purpose complaint toolhead mounted on a parallel tripod robot. This toolhead has a pneumatic spindle that can be extended and retracted by three pneumatic actuators to provide tool compliance. By integrating a pressure sensor and a linear encoder, this toolhead can be used for polishing and deburring. For the polishing open-loop control, the desired tool pressure is pre-planned based on the given part geometry. To improve control performance, a closed-loop controller is applied for pressure tracking through pressure sensing. For the deburring control, another closed-loop controller is applied to regulate the tool length through tool extension sensing. The two control methods have been tested and implemented on a polishing/deburring robot, and the experiment results demonstrate the effectiveness of the presented methods. To future improve the control performance, an adaptive controller is developed to deal with the uncertainties in the compliant tool. This control method combines the adaptive control theory with the constant stress theory of the contact model. A recursive last squares (RLS) estimator is developed to estimate the pneumatic plant model, and then a minimum-degree pole placement (MDPP) is applied to design a self-tuning controller. Afterwards, the simulation and experiment results of the proposed controller are presented and discussed. Finally, a nonlinear model of the pneumatic plant is developed. The nonlinear controller developed by using feedback linearization method is applied on the nonlinear pneumatic system of the compliant toolhead. The simulation is carried out to test the effectiveness of the pressure tracking for the polishing process.

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