Adaptive Nonlinear Synchronization Control of Twin-Gyro Precession

2005 ◽  
Vol 128 (3) ◽  
pp. 592-599 ◽  
Author(s):  
Di Zhou ◽  
Tielong Shen ◽  
Katsutoshi Tamura
Keyword(s):  
Motion Control ◽  
Feedback Linearization ◽  
Controller Design ◽  
Open Loop ◽  
Feedback Controller ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
Control Moment ◽  
Command Signals ◽  
Control Moment Gyro

The slewing motion of a truss arm driven by a V-gimbaled control-moment gyro is studied. The V-gimbaled control-moment gyro consists of a pair of gyros that must precess synchronously. For open-loop slewing motion control, the controller design problem is simplified into finding a feedback controller to steer the two gyros to synchronously track a specific command. To improve the synchronization performance, the integral of synchronization error is introduced into the design as an additional state variable. Based on the second method of Lyapunov, an adaptive nonlinear feedback controller is designed. For more accurate but complicated closed-loop slewing motion control, the feedback linearization technique is utilized to partially linearize the nonlinear nominal model, where two specific output functions are chosen to satisfy the system tracking and synchronization requirements. The system tracking dynamics are bounded by properly determining system indices and command signals. For the partially linearized system, the backstepping tuning function design approach is employed to design an adaptive nonlinear controller. The dynamic order of the adaptive controller is reduced to its minimum. The performance of the proposed controllers is verified by simulation.

Nonlinear Attitude Control of Flexible Spacecraft With Scissored Pairs of Control Moment Gyros

2012 ◽  
Vol 134 (5) ◽  
Author(s):  
Jixiang Fan ◽  
Di Zhou
Keyword(s):  
Attitude Control ◽  
Vibration Suppression ◽  
Large Angle ◽  
Singularity Analysis ◽  
Flexible Spacecraft ◽  
Attitude Motion ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
Control Moment ◽  
Steering Law

Dynamic equations describing the attitude motion of flexible spacecraft with scissored pairs of control moment gyroscopes are established. A nonlinear controller is designed to drive the flexible spacecraft to implement three-axis large-angle attitude maneuvers with the vibration suppression. Singularity analysis for three orthogonally mounted scissored pairs of control moment gyros shows that there exists no internal singularity in this configuration. A new pseudo-inverse steering law is designed based on the synchronization of gimbal angles of the twin gyros in each pair. To improve the synchronization performance, an adaptive nonlinear feedback controller is designed for each pairs of control moment gyros by using the stability theory of Lyapunov. Simulation results are provided to show the validity of the controllers and the steering law.

An Electrohydraulic Pressure Compensation Control System for an Automotive Vane Pump Application

2020 ◽  
Author(s):  
Ryan Paul Jenkins ◽  
Monika Ivantysynova
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Automatic Transmission ◽  
Pi Control ◽  
Control Law ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
Vane Pump ◽  
Compensation Control ◽  
Pressure Compensation

Pressure compensated vane pumps are an excellent solution for supplying hydraulic power with minimal waste in many automotive applications. An electrohydraulic pressure compensation control system for an automatic transmission supply that promises improved pressure response times over the baseline architecture is discussed. Suggested valve specifications are determined through calculations based on available data and refined via a validated simulation model of the proposed system. Two controller designs are formulated and compared: a basic PI control law and a cascaded model following controller including a nonlinear feedback linearization component. Simulations of the proposed system for a given duty cycle reveal that the nonlinear controller provides only minor improvements over a basic PI control law and is thus not an economical solution.

Hydropower Plant Frequency Control Via Feedback Linearization and Sliding Mode Control

2016 ◽  
Vol 138 (7) ◽  
Author(s):  
Xibei Ding ◽  
Alok Sinha
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Frequency Control ◽  
Load Frequency Control ◽  
Hydropower Plant ◽  
Input State ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Nonlinear Controller Design

This paper presents a new nonlinear controller design approach for a hydraulic power plant focusing on load frequency control aspect. It is based on input state feedback linearization and sliding mode/H∞ control. Simulation results for a nonlinear dynamic model of entire hydropower plant are presented and compared to those from the classical linear proportional-integral (PI) controller. A novel two-stage scheme for the nonlinear controller design with integral feedback is presented for a fast transient response and zero steady-state error.

scholarly journals Nonlinear Feedback Linearization Control for Wind Generators in Hybrid Wind Energy Conversion Systems

2021 ◽  
Vol 16 ◽  
pp. 493-501
Author(s):  
Hoa Minh Nguyen
Keyword(s):  
Wind Energy ◽  
Energy Conversion ◽  
Feedback Linearization ◽  
Nonlinear Feedback ◽  
Nonlinear Controller ◽  
Wind Energy Conversion ◽  
Wind Generators ◽  
Wind Energy Conversion Systems ◽  
Feedback Linearization Control ◽  
Energy Conversion Systems

This paper deals with the optimal power extraction of wind generators in hybrid wind energy conversion systems. The proposed control technique is the nonlinear exact feedback linearization which is able to give satisfactory performances over a broad spectrum of operating points. The main contribution of the paper is the successful dealing with the most challenging task in the design of nonlinear feedback linearization controllers for wind energy conversion systems, which is the transform and manipulation of state-dependent high-order nonlinear power coefficients presented in wind turbines. In other words, this paper addresses the full-order highly nonlinear power coefficients functions instead of using approximated low-order functions as in previous works in literature. The obtained nonlinear controller is able to cope with the time-varying nature of wind turbines and maintain the optimal power conversion points. Moreover the nonlinear feedback linearization control performance is also compared to that of traditional perturbation and observation based maximum power point tracking and classical PI control. The numerical simulation outcomes show that the proposed nonlinear controller outperform those two traditional controllers in terms of maximum gained power and transient specifications.

Instantaneous Center of Rotation-Based Master-Slave Kinematic Modeling and Control

2019 ◽  
Author(s):  
Vikram Ramanathan ◽  
Andy Zelenak ◽  
Mitch Pryor
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Kinematic Model ◽  
Nonholonomic Constraints ◽  
Kinematic Modeling ◽  
Nonlinear Controller ◽  
Center Of Rotation ◽  
Modeling And Control ◽  
Instantaneous Center ◽  
And Control

Abstract This article presents a novel kinematic model and controller design for a mobile robot with four Centered Orientable Conventional (COC) wheels. When compared to non-conventional wheels, COC wheels perform better over rough terrain, are not subject to vertical chatter and offer better braking capability. However, COC wheels are pseudo-omnidirectional and subject to nonholonomic constraints. Several established modeling and control techniques define and control the Instantaneous Center of Rotation (ICR); however, this method involves singular configurations that are not trivial to eliminate. The proposed method uses a novel ICR-based kinematic model to avoid these singularities, and an ICR-based nonlinear controller for one ‘master’ wheel. The other ‘slave’ wheels simply track the resulting kinematic relationships between the ‘master’ wheel and the ICR. Thus, the nonlinear control problem is reduced from 12th to 3rd-order, becoming much more tractable. Simulations with a feedback linearization controller verify the approach.

Envelope oriented singularity robust steering law of control moment gyros for spacecraft attitude maneuver

2018 ◽  
Vol 41 (4) ◽  
pp. 954-962 ◽  
Author(s):  
Yanning Guo ◽  
Pengyu Wang ◽  
Guangfu Ma ◽  
Liangyue Wang
Keyword(s):  
Angular Momentum ◽  
Open Loop ◽  
Spacecraft Attitude ◽  
Momentum Exchange ◽  
Control Moment ◽  
Attitude Error ◽  
Attitude Maneuver ◽  
Steering Law ◽  
The Difference ◽  
Control Moment Gyro

The problem of steering pyramid control moment gyro (CMG) cluster for fast spacecraft attitude maneuver along eigenaxis is investigated. A novel steering law is proposed to continuously attempt to reduce the difference between the current gimbal angle and the desired one corresponding to the angular momentum envelop of the CMG cluster. The proposed steering law can be decomposed into two parts: the first one is a singularity robust term to keep maneuverability and produce control torque, and the other is a null motion term to rearrange the gimbal angles toward momentum envelope. By involving this steering law, it is expected to possess both rapid angular momentum exchange and singularity avoidance ability. In addition, by introducing a new limit vector on attitude error, classical cascade-saturation control algorithm is revised to guarantee spacecraft eigenaxis rotation. Both open-loop steering law test and closed-loop attitude maneuver simulations are performed to evaluate the efficacy of the proposed methods.

Hydropower Plant Frequency Control via Feedback Linearization and Sliding Mode Control

2011 ◽  
Author(s):  
Xibei Ding ◽  
Alok Sinha
Keyword(s):  
Feedback Linearization ◽  
Controller Design ◽  
Sliding Mode ◽  
Frequency Control ◽  
Load Frequency Control ◽  
Hydropower Plant ◽  
Input State ◽  
Nonlinear Controller ◽  
Nonlinear Dynamic Model ◽  
Nonlinear Controller Design

This paper presents a new nonlinear controller design approach for a hydraulic power plant focusing on Load Frequency Control aspect. It is based on input state feedback linearization and sliding mode/H∞ control. Simulation results for a nonlinear dynamic model of entire hydropower plant are presented and compared to those from the classical linear PI controller. A novel two-stage scheme for the nonlinear controller design with integral feedback is presented for a fast transient response and zero steady state error.

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