Active Control of Elastodynamic Vibrations of a Four-Bar Mechanism System With a Smart Coupler Link Using Optimal Multivariable Control: Experimental Implementation

1996 ◽  
Author(s):  
Muhammad Sannah ◽  
Ahmad Smaili
Keyword(s):  
Experimental Investigation ◽  
Active Control ◽  
Smart Materials ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Piezoelectric Sensor ◽  
High Mode ◽  
Multivariable Control ◽  
Linear Quadratic ◽  
Luenberger Observer

Abstract This paper presents an experimental investigation on active control of the elastodynamic response of a four-bar (4R) mechanism system using “smart” materials featuring piezoelectric sensor/actuator (S/A) pairs and muitivariable optimal control. The experimental (4R) mechanism is made such that its coupler link is flexible, its follower link is slightly less flexible and its crank is relatively rigid. Two thin plate-type piezoceramic S/A pairs are bonded to the flanks of the coupler link at the high strain locations corresponding to the first and second vibration modes. Based on the optimal multivariable control theory, a controller which consists of a linear quadratic regulator (LQR) and a Luenberger observer as a state estimator is designed and implemented. The results of the experimental investigation prove that in order to prevent high mode excitations, the controller design should be based on the modes representing vibrations of all components comprising the mechanism system rather than the modes corresponding to the link to which the S/A pairs are bonded. Response amplitude attenuation ratios up to 50 percent are achieved and high mode excitations are prevented.

Active Control of Elastodynamic Vibrations of a Four-Bar Mechanism System With a Smart Coupler Link Using Optimal Multivariable Control: Experimental Implementation

1998 ◽  
Vol 120 (2) ◽  
pp. 316-326 ◽  
Author(s):  
M. Sannah ◽  
A. Smaili
Keyword(s):  
Experimental Investigation ◽  
Active Control ◽  
Smart Materials ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Piezoelectric Sensor ◽  
High Mode ◽  
Multivariable Control ◽  
Linear Quadratic ◽  
Luenberger Observer

This paper presents an experimental investigation on active control of the elastodynamic response of a four-bar (4R) mechanism system using “smart” materials featuring piezoelectric sensor/actuator (S/A) pairs and multivariable optimal control. The experimental 4R mechanism is made such that its coupler link is flexible, its follower link is slightly less flexible and its crank is relatively rigid. Two thin plate-type piezoceramic S/A pairs are bonded to the flanks of the coupler link at the high strain locations corresponding to the first and second vibration modes. Based on the optimal multivariable control theory, a controller which consists of a linear quadratic regulator (LQR) and a Luenberger observer as a state estimator is designed and implemented. The results of the experimental investigation prove that in order to prevent high mode excitations, the controller design should be based on the modes representing vibrations of all components comprising the mechanism system rather than the modes corresponding to the link to which the S/A pairs are bonded. Response amplitude attenuation ratios up to 50 percent are achieved and high mode excitations are prevented.

Analytical Investigation on Elastodynamic Vibration Suppression of a Flexible Four-Bar Mechanism System Featuring a Smart Coupler Link and Multivariable Optimal Regulator

1997 ◽  
Author(s):  
Muhammad Sannah ◽  
Ahmad Smaili
Keyword(s):  
Active Control ◽  
Smart Materials ◽  
Vibration Suppression ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Piezoelectric Sensor ◽  
Analytical Investigation ◽  
Vibration Modes ◽  
Linear Quadratic ◽  
Luenberger Observer

Abstract This paper presents an analytical investigation on active control of the elastodynamic response of a four-bar (4R) mechanism system using “smart” materials featuring piezoelectric sensor/actuator (S/A) pairs and multivariable optimal control. The 4R mechanism consists of a flexible coupler link, relatively flexible follower link, and a relatively rigid crank. Two thin plate-type piezoceramic S/A pairs are bonded to the flanks of the coupler link at high strain locations corresponding to the first and second vibration modes. Based on the optimal multivariable control theory, a controller which consists of a linear quadratic regulator (LQR) and a Luenberger observer as a state estimator is designed and implemented. As the mechanism changes configuration, its modal characteristics are recalculated, and the controller is redesigned. The dynamic model used for the controller design includes the second and fourth vibration modes of the mechanism system. These modes are predominated by the first two bending modes of the mechanism’s coupler link. The results showed that while the proposed active control strategy is successful in reducing the amplitudes of vibrations about the quasistatic response, it has no effect on the quasistatic deflections due to steady state loading.

Digital Optimal Multivariable Control of a Smart Structure Featuring Piezoelectric Sensors and Actuators

1995 ◽  
Author(s):  
Muhammad Sannah ◽  
Ahmad Smaili ◽  
Tarek Lahdhiri
Keyword(s):  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Element Model ◽  
Smart Structure ◽  
Piezoelectric Sensors ◽  
Multivariable Control ◽  
Linear Quadratic ◽  
Sensors And Actuators ◽  
Luenberger Observer ◽  
Piezoelectric Sensors And Actuators

Abstract In this paper, a digital regulator is designed and experimentally implemented for a smart structure featuring piezoelectric sensors and actuators using optimal multivariable control techniques. The controller consists of a linear quadratic regulator with output weightings and a state estimator, Luenberger observer. The structure is a cantilever beam synthesized with two sets of sensor/actuator PZT ceramic piezoelectric plates bonded to the beam surface at the high strain locations corresponding to the first and second vibration modes. Equations of motion of the beam are developed using finite beam element model. The model includes the mass and rigidity of the PZT ceramics. Experimental results of two regulators differing in the number of modes considered are presented and discussed. The results proved the applicability of the concept and the stability and robustness of the control algorithm.

Digital Optimal Multivariable Control of a Smart Structure Featuring Piezoelectric Sensors and Actuators

1995 ◽  
Author(s):  
Muhammad Sannah ◽  
Ahmad Smaili ◽  
Tarek Lahdhiri
Keyword(s):  
Equations Of Motion ◽  
Linear Quadratic Regulator ◽  
Element Model ◽  
Smart Structure ◽  
Piezoelectric Sensors ◽  
Multivariable Control ◽  
Linear Quadratic ◽  
Sensors And Actuators ◽  
Luenberger Observer ◽  
Piezoelectric Sensors And Actuators

Abstract In this paper, a digital regulator is designed and experimentally implemented for a smart structure featuring piezoelectric sensors and actuators using optimal multivariable control techniques. The controller consists of a linear quadratic regulator with output weightings and a state estimator, Luenberger observer. The structure is a cantilever beam synthesized with two sets of sensor/actuator PZT ceramic piezoelectric plates bonded to the beam surface at the high strain locations corresponding to the first and second vibration modes. Equations of motion of the beam are developed using finite beam element model. The model includes the mass and rigidity of the PZT ceramics. Experimental results of two regulators differing in the number of modes considered are presented and discussed. The results proved the applicability of the concept and the stability and robustness of the control algorithm.

Autopilot design for an aircraft by using Luenberger observer design

2018 ◽  
Vol 90 (5) ◽  
pp. 858-868 ◽  
Author(s):  
Muhammad Taimoor ◽  
Li Aijun ◽  
Rooh ul Amin ◽  
Hongshi Lu
Keyword(s):  
Design Methodology ◽  
Research Work ◽  
Linear Quadratic Regulator ◽  
Observer Design ◽  
Linear Quadratic ◽  
Content Type ◽  
Luenberger Observer ◽  
Level Flight ◽  
Aerial Vehicle ◽  
The Cost

Purpose The purpose of this paper is to design linear quadratic regulator (LQR) based Luenberger observer for the estimation of unknown states of aircraft. Design/methodology/approach In this paper, the LQR-based Luenberger observer is deliberated for autonomous level flight of unmanned aerial vehicle (UAV) which has been attained productively. Various modes like phugoid and roll modes are exploited for controlling the rates of UAV. The Luenberger observer is exploited for estimation of the mysterious states of the system. The rates of roll, yaw and pitch are used as an input to the observer, while the remaining states such as velocities and angles have been anticipated. The main advantage of using Luenberger observer was to reduce the cost of the system which has been achieved lucratively. The Luenberger observer proposes sturdiness at the rate of completion to conquest over the turmoil and insecurities to overcome the privileged recital. The FlightGear simulator is exploited for the endorsement of the recital of the Luenberger observer-based autopilot. The level flight has been subjugated lucratively and has been legitimated by exploiting the FlightGear simulator. The authenticated and the validated results are offered in this paper. Microsoft Visual Studio has been engaged as a medium between the MATLAB and FlightGear Simulator. Findings The suggested observer based on LQR ensures the lucrative approximation of the unknown states of the system as well as the successful level flight of the system. The Luenberger observer is used for approximation of states while LQR is used as controller. Originality/value In this research work, not only the estimation of unknown states of both longitudinal and lateral model is made but also the level flight is achieved by using those estimated states and the autopilot is validated by using the FlightGear, while in most of the research work only the estimation is made of only longitudinal or lateral model.

scholarly journals Simulation of a Steam Injected Gas Turbine Plant Control System

1997 ◽  
Author(s):  
Shusheng Zang ◽  
Jaqiang Pan
Keyword(s):  
Gas Turbine ◽  
Flow Rate ◽  
Controller Design ◽  
Dynamic Performance ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Turbine Plant ◽  
Fuel Flow ◽  
Lqr Controller ◽  
Gas Turbine Plant

The design of a modern Linear Quadratic Regulator (LQR) is described for a test steam injected gas turbine (STIG) unit. The LQR controller is obtained by using the fuel flow rate and the injected steam flow rate as the output parameters. To meet the goal of the shaft speed control, a classical Proportional Differential (PD) controller is compared to the LQR controller design. The control performance of the dynamic response of the STIG plant in the case of rejection of load is evaluated. The results of the computer simulation show a remarkable improvement on the dynamic performance of the STIG unit.

scholarly journals Cross Regulation Reduced Optimal Multivariable Controller Design for Single Inductor DC-DC Converters

Energies ◽  
2019 ◽  
Vol 12 (3) ◽  
pp. 477 ◽  
Author(s):  
S. Augusti Lindiya ◽  
N. Subashini ◽  
K. Vijayarekha
Keyword(s):  
Pid Controller ◽  
Controller Design ◽  
Multiple Input Multiple Output ◽  
Linear Quadratic Regulator ◽  
Prototype Model ◽  
Linear Quadratic ◽  
Load Current ◽  
Practical Applications ◽  
Input Multiple Output ◽  
Single Input

Single Inductor (SI) converters with the advantage of using one inductor for any number of inputs/outputs find wide applications in portable electronic gadgets and electrical vehicles. SI converters can be used in Single Input Multiple Output (SIMO) and Multiple Input Multiple Output (MIMO) configurations but they need controllers to achieve good transient and steady state responses, to improve the stability against load and line disturbances and to reduce cross regulation. Cross regulation is the change in an output voltage due to change in the load current at another output and it is an added constraint in SI converters. In this paper, Single Input Dual Output (SIDO) and Dual Input Dual Output (DIDO) converters with applications capable of handling high load current working in Continuous Conduction Mode (CCM) of operation are taken under study. Conventional multivariable PID and optimal Linear Quadratic Regulator (LQR) controllers are developed and their performances are compared for the above configurations to meet the desired objectives. Generalized mathematical models for SIMO and MIMO are developed and a Genetic Algorithm (GA) is used to find the parameters of a multivariable PID controller and the weighting matrices of optimal LQR where the objective function includes cross regulation as a constraint. The simulated responses reveal that LQR controller performs well for both the systems over multivariable PID controller and they are validated by hardware prototype model with the help of DT9834® Data Acquisition Module (DAQ). The methodologies used here generate a fresh dimension for the case of such converters in practical applications.

Backstepping Controller Design for a 5 DOF Spherical Inverted Pendulum

2019 ◽  
Vol 41 ◽  
pp. 37-50 ◽  
Author(s):  
Soukaina Krafes ◽  
Zakaria Chalh ◽  
Abdelmjid Saka
Keyword(s):  
Degrees Of Freedom ◽  
Inverted Pendulum ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Performance Comparison ◽  
Virtual Reality Environment ◽  
Linear Quadratic ◽  
Control Scheme ◽  
Linearized System ◽  
Backstepping Controller

This paper presents a Backstepping controller for five degrees of freedom Spherical Inverted Pendulum. Since the system is nonlinear, unstable, underactuated and MIMO and has a nonsquare form, the classic control design cannot be applied to control it. In order to remedy this problem, we propose in this paper a new method based on hierarchical steps of the Backstepping controller taking into a count the nonlinearities that cannot be neglected. Furthermore, a Linear Quadratic Regulator controller and LQR + PID based on the linearized system model are also designed for performance comparison. Finally, a simulation study is carried out to prove the effectiveness of proposed control scheme and is validated using the virtual reality environment that proves the performance of the Backstepping controller over the linear ones where it brings the pendulum from any initial condition in the upper hemisphere while the base is brought to the origin of the coordinates.

Augmented-Stability Controller Design for a UAV’s Longitudinal Motion

2011 ◽  
Vol 63-64 ◽  
pp. 533-536
Author(s):  
Xiao Jun Xing ◽  
Jian Guo Yan
Keyword(s):  
Dynamic Characteristics ◽  
Controller Design ◽  
Damping Ratio ◽  
Linear Quadratic Regulator ◽  
Longitudinal Motion ◽  
Linear Quadratic ◽  
Short Period ◽  
Quality Specifications ◽  
Simulation Results ◽  
And Control

With the purpose of overcoming the defect that unmanned air vehicles (UAVs) are easily disturbed by air current and tend to be unstable, an augmented-stability controller was developed for a certain UAV’s longitudinal motion. According to requirements of short-period damping ratio and control anticipation parameter (CAP) in flight quality specifications of GJB185-86 and C*, linear quadratic regulator (LQR) theory was used in the augmented-stability controller’s design. The simulation results show that the augmented-stability controller not only improves the UAV’s stability and dynamic characteristics but also enhances the UAV’s robustness.

Novel Method on Using Evolutionary Algorithms for PD Optimal Tuning

2011 ◽  
Vol 110-116 ◽  
pp. 4977-4984 ◽  
Author(s):  
R.A. Khoshrooz ◽  
M.A.D. Vahid ◽  
M. Mirshams ◽  
M.R. Homaeinezhad ◽  
A.H. Ahadi
Keyword(s):  
Attitude Control ◽  
Controller Design ◽  
Linear Quadratic Regulator ◽  
Initial Guess ◽  
Pd Controller ◽  
Linear Quadratic ◽  
Optimal Tuning ◽  
Heavy Burden ◽  
Novel Method

This paper presents a method to solve the Evolutionary Algorithm (EA) problems for optimal tuning of the Proportional-Deferential (PD) controller parameters. The major efficiency of the proposed method is the Genetic Algorithm (GA) stuck avoidance as well an appropriate estimation for GA lower and upper bounds. Also by this method for the Particle Swarm Optimization (PSO) methodology the initial choice of the controller parameters can be fulfilled to achieve the acceptable performance accuracies. For both GA and PSO methods, the Linear Quadratic Regulator (LQR) obtained trend is used as the reference for the determination of the aforementioned bounds and initial guess. The presented algorithm was applied to regulate a PD controller for the attitude control of a virtual satellite and also with Hardware-in-the-loop (HIL) reaction wheels. Heavy burden trying and error was eliminated from the PD controller design which can be mentioned as the important merit of the presented study.

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