Vibration Control of Moving Flexible Structure by Repetitive Control

1995 ◽  
Author(s):  
Shinji Mitsuta ◽  
Hideki Tsuji ◽  
Hiroyuki Itoh ◽  
Yasushi Ogasawara ◽  
Kazuto Seto
Keyword(s):  
Feedback Control ◽  
Control Method ◽  
Repetitive Control ◽  
Model Identification ◽  
Step Response ◽  
Flexible Structure ◽  
Hydraulic Actuator ◽  
Residual Vibration ◽  
Vibration Displacement ◽  
Simulation And Experiment

Abstract The purpose of this study is to move a flexible structure, such as conveyance equipment that moves periodically, quickly and accurately by controlling its vibration. In order to reduce the vibration of a flexible structure actively, a hydraulic actuator is arranged on the motion transmission path between a drive system and a flexible structure. Generally, it is possible to obtain good effects for reducing a residual vibration by using feedback control. However, the vibration displacement in motion is mainly forced vibration which is caused by motion acceleration, so it is difficult to reduce the vibration displacement by using feedback control. Thus, by considering that the flexible structure is driven periodically, we use the repetitive control method to reduce the vibration displacement in motion. In this study, the repetitive control method with the step response, which does not need model identification, is shown. Furthermore, the validity of this method is examined by simulation and experiment.

scholarly journals Analysis and design of the plug-in type repetitive control system based on steady-state residual convergence ratio

2019 ◽  
Vol 16 (3) ◽  
pp. 172988141985097
Author(s):  
Xianliang Jiang ◽  
Huajie Hong
Keyword(s):  
Control System ◽  
Steady State ◽  
Feedback Control ◽  
Control Method ◽  
Time Lag ◽  
Repetitive Control ◽  
Stable Condition ◽  
Design Guidelines ◽  
Design Algorithm ◽  
Analysis And Design

In the feedback control robotic systems, the repetitive control method has a high control performance for the track or elimination of the periodic signals. The promotion of the plug-in type configuration of the controller broadens the application range and applicability of the control method. In this article, a novel design algorithm based on the steady-state residual convergence ratio of the repetitive control system is proposed to improve the performance of the stabilized platform to resist the periodic perturbation. The basic structure and stable condition of the plug-in type repetitive control method are first introduced by applying the small gain theorem and the stability theorem for time-lag systems. Then the analysis of the convergence rate is utilized in constructing the basic index of the design algorithm of a plug-in type repetitive control system based on a steady-state residual convergence ratio. The parameters of the designed controller are checked by the validity condition of the plug-in type repetitive control system, and a simulation example is given to verify the effectiveness of the design algorithm. The article provides basic design guidelines and schemes for the design of the periodic disturbance suppression performance of the feedback control system. In the final physical prototype experiment, the prospective steady-state residual convergence ratio is basically achieved within the allowable range of error.

Interaction Forces Identification Modeling and Tracking Control for Rehabilitative Training Walker

2019 ◽  
Vol 23 (2) ◽  
pp. 183-195
Author(s):  
Ping Sun ◽  
Wenjiao Zhang ◽  
Shuoyu Wang ◽  
Hongbin Chang ◽  
◽  
...  
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Tracking Error ◽  
Model Identification ◽  
Fuzzy Model ◽  
Adaptive Backstepping ◽  
Interaction Forces ◽  
Design Procedures ◽  
Tracking Motion ◽  
Simulation And Experiment

In this study, we propose a model and an adaptive backstepping tracking control method for omnidirectional rehabilitative training walker. The aim of the study is to design a stable tracking controller that can guarantee accurate tracking motion of the omnidirectional walker considering the interaction forces of the user and walker. A novel fuzzy model identification method was proposed to describe the interaction forces by using the reduced values of tracking performance. Further, an adaptive backstepping controller was developed to compensate the interaction forces on the basis of the identified model and adapt the change of user’s mass. The asymptotic stability of the trajectory tracking error and the velocity tracking error were guaranteed. As an application, simulation and experiment results were provided to illustrate the effectiveness of the proposed design procedures.

scholarly journals Feedforward-Double Feedback Control System of Dual-Switch Boost DC/DC Converters for Fuel Cell Vehicles

Energies ◽  
2019 ◽  
Vol 12 (15) ◽  
pp. 2886
Author(s):  
Wu ◽  
Yu ◽  
Du ◽  
Shi
Keyword(s):  
Control System ◽  
Fuel Cell ◽  
Feedback Control ◽  
High Efficiency ◽  
Control Method ◽  
Sliding Mode ◽  
Sudden Change ◽  
Step Response ◽  
Feedback Control System ◽  
Voltage Feedback

DC/DC converters for fuel cell electric vehicles need not only high boost ratio and high efficiency, but also strong anti-jamming capability. Therefore, it is especially important to devise a control method with strong robustness under the premise of an appropriate topology. In this paper, a simple dual-switch boost converter topology is adopted. We use the state space averaging method to build a small signal model, and based on this model, we propose a feedforward-double feedback control system for continuous conduction mode (CCM) mode. Simulation and experimental results show that the proposed feedforward-double feedback control system improves the robustness of the system while ensuring a high boost ratio and efficiency, and solves the problem of weak output characteristics of fuel cells. The control effect is similar to the sliding mode control, which is known for its robustness, while the rise time of step response is only 1/10 of that of the voltage feedback control system. When the output voltage of the DC/DC converter is 55 V, the DC/DC converter using feedforward-double feedback control system is more robust than the voltage feedback control system under sudden change of load.

scholarly journals Damping forced oscillations in power system via interline power flow controller with additional repetitive control

2021 ◽  
Vol 6 (1) ◽  
Author(s):  
Shirui Feng ◽  
Xi Wu ◽  
Zhenquan Wang ◽  
Tao Niu ◽  
Qiong Chen
Keyword(s):  
Power Flow ◽  
Forced Oscillation ◽  
Control Method ◽  
Damping Ratio ◽  
Repetitive Control ◽  
Oscillation Amplitude ◽  
Reference Value ◽  
Forced Oscillations ◽  
Flow Controller ◽  
Power Flow Controller

AbstractWith the continuous expansion of power systems and the application of power electronic equipment, forced oscillation has become one of the key problems in terms of system safety and stability. In this paper, an interline power flow controller (IPFC) is used as a power suppression carrier and its mechanism is analyzed using the linearized state-space method to improve the system damping ratio. It is shown that although the IPFC can suppress forced oscillation with well-designed parameters, its capability of improving the system damping ratio is limited. Thus, combined with the repetitive control method, an additional repetitive controller (ARC) is proposed to further dampen the forced power oscillation. The ARC control scheme is characterized by outstanding tracking performance to a system steady reference value, and the main IPFC controller with the ARC can provide higher damping, and further reduce the amplitude of oscillations to zero compared with a supplementary damping controller (SDC). Simulation results show that the IPFC with an ARC can not only greatly reduce the oscillation amplitude, but also actively output the compensation power according to the reference value of the ARC tracking system.

Decoupling Control for Bearingless Synchronous Reluctance Motor Based on Neural Networks Inverse

2012 ◽  
Vol 150 ◽  
pp. 30-35
Author(s):  
Ze Bin Yang ◽  
Huang Qiu Zhu ◽  
Xiao Dong Sun ◽  
Tao Zhang
Keyword(s):  
Neural Networks ◽  
Control Method ◽  
Decoupling Control ◽  
Performance Simulation ◽  
Inverse Control ◽  
Linear Control Theory ◽  
Synchronous Reluctance Motor ◽  
Reluctance Motor ◽  
Static Performance ◽  
Simulation And Experiment

A novel decoupling control method based on neural networks inverse system is presented in this paper for a bearingless synchronous reluctance motor (BSRM) possessing the characteristics of multi-input-multi-output, nonlinearity, and strong coupling. The dynamic mathematical models are built, which are verified to be invertible. A controller based on neural network inverse is designed, which decouples the original nonlinear system to two linear position subsystems and an angular velocity subsystem. Furthermore, the linear control theory is applied to closed-loop synthesis to meet the desired performance. Simulation and experiment results show that the presented neural networks inverse control strategy can realize the dynamic decoupling of BSRM, and that the control system has fine dynamic and static performance.

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