An optimally combined feedback/feedforward control architecture for minimizing the oscillations in the fast response of a gantry crane control system

2021 ◽  
Author(s):  
Leopoldo Jetto ◽  
Valentina Orsini
Keyword(s):  
Control System ◽  
Feedforward Control ◽  
Fast Response ◽  
Control Architecture ◽  
Gantry Crane ◽  
Crane Control

Acceleration Control of Powered Wheelchairs With Nil-Mode-Exciting Profiler Considering Vibration Characteristic of Human Body

2013 ◽  
Author(s):  
Masaki Takahashi ◽  
Kyohei Okugawa
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Feedforward Control ◽  
Human Head ◽  
Fast Response ◽  
Upper Body ◽  
Model Parameters ◽  
Control Input ◽  
Sampling Function

Recently, the number of people who need powered wheelchairs has been increasing due to aging society. Riding comfort is very important for people who use powered wheelchairs. In addition, wheelchairs must respond well to a velocity command signal with a joystick controller because collision must be avoided. The relation between ride comfort and fast response is a trade-off one. To solve these problems, a suitable reference torque signal should be designed. Thus, we propose a control system for powered wheelchairs that can reduce the vibration caused to the human head and upper body and achieve a fast response. Moreover, to guarantee robustness against parameter variations such as human weight and the friction of joints, a two-degrees-of-freedom control system that consists of feedforward and feedback controllers has been designed. We have designed a feedforward control input that uses the nil-mode-exciting (NME) profiler, which is called a “preshaping profiler”. This preshaping profiler has a low-pass-shaped frequency characteristic. Therefore, no residual vibrations are caused at a frequency higher than a certain frequency (the sampling function frequency). In this study, the sampling function frequency has been designed in consideration of both vibration and response. To improve robustness against the variation of model parameters such as weight and friction, we have designed a wheel velocity feedback control added to the feedforward control. To verify the effectiveness of the proposed method, several numerical simulations have been carried out.

Direct Current Deadbeat Predictive Controller for BLDC Motor Using Single DC-Link Current Sensor

2020 ◽  
Vol 38 (8A) ◽  
pp. 1187-1199
Author(s):  
Qaed M. Ali ◽  
Mohammed M. Ezzalden
Keyword(s):  
Control System ◽  
High Speed ◽  
Fast Response ◽  
Bldc Motor ◽  
Current Controller ◽  
Three Phase ◽  
Predictive Controller ◽  
Two Phases ◽  
Dc Current ◽  
Three Phase Inverter

BLDC motors are characterized by electronic commutation, which is performed by using an electric three-phase inverter. The direct control system of the BLDC motor consists of double loops; including the inner-loop for current regulating and outer-loop for speed control. The operation of the current controller requires feedback of motor currents; the conventional current controller uses two current sensors on the ac side of the inverter to measure the currents of two phases, while the third current would be accordingly calculated. These two sensors should have the same characteristics, to achieve balanced current measurements. It should be noted that the sensitivity of these sensors changes with time. In the case of one sensor fails, both of them must be replaced. To overcome this problem, it is preferable to use one sensor instead of two. The proposed control system is based on a deadbeat predictive controller, which is used to regulate the DC current of the BLDC motor. Such a controller can be considered as digital controller mode, which has fast response, high precision and can be easily implemented with microprocessor. The proposed control system has been simulated using Matlab software, and the system is tested at a different operating condition such as low speed and high speed.

Control of coagulation process by dual wavelength article analyzer

1997 ◽  
Vol 36 (4) ◽  
pp. 135-142 ◽  
Author(s):  
Norihito Tambo ◽  
Yoshihiko Matsui ◽  
Ken-ichi Kurotani ◽  
Masakazu Kubota ◽  
Hirohide Akiyama ◽  
...  
Keyword(s):  
Water Quality ◽  
Control System ◽  
Predictive Control ◽  
Control Method ◽  
Feedforward Control ◽  
Raw Water ◽  
Floc Size ◽  
Coagulation Process ◽  
Series Of Experiments ◽  
Size Data

A coagulation process for water purification plants mainly uses feedforward control based on raw water quality and empirical data and requires operator's help. We developed a new floc sensor for measuring floc size in a flush mixer to be used for floc control. A control system using model predictive control was developed on the floc size data. A series of experiments was performed to confirm controllability of settled water quality by controlling flush mixer floc size. An automatic control with feedback from the coagulation process was evaluated as practical and reliable. Finally this new control method was applied for actual plant and evaluated as practical.

Feasibility Study of the Novel Nitrification Control System with Feedback and Auto Calibration Feedforward Control

2015 ◽  
Vol 2015 (2) ◽  
pp. 1-5
Author(s):  
Ichiro Yamanoi ◽  
Yoshinori Nishida ◽  
Nobuyuki Nakamura ◽  
Takeshi Takemoto ◽  
Kenji Toyooka ◽  
...  
Keyword(s):  
Control System ◽  
Feasibility Study ◽  
Feedforward Control ◽  
The Novel

Non-Linear Control of Tilting-Quadcopter Using Feedback Linearization Based Motion Control

2014 ◽  
Author(s):  
Alireza Nemati ◽  
Manish Kumar
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Motion Control ◽  
Feedback Linearization ◽  
Linear Control ◽  
Control Architecture ◽  
Simulation Studies ◽  
Nonlinear Dynamic Model ◽  
Feedback Linearization Control ◽  
Arbitrary Trajectory

In this paper, a nonlinear control of a tilting rotor quadcopter is presented. The overall control architecture is divided into two sub-controllers. The first controller is based on the feedback linearization control derived from the dynamic model of the tilting quadcopter. This controls the pitch, roll, and yaw motions required for movement along an arbitrary trajectory in space. The second controller is based on two PD controllers which are used to control the tilting of the quadcopter independently along the pitch and the yaw directions respectively. The overall control enables the quadcopter to combine tilting and movement along a desired trajectory simultaneously. Simulation studies are presented based on the developed nonlinear dynamic model of the tilting rotor quadcopter to demonstrate the validity and effectiveness of the overall control system for an arbitrary trajectory tracking.

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