Control Optimization and Dynamic Programming-Informed Sizing for Novel Energy-Recovering Hydraulic Actuation

2016 ◽  
Author(s):  
Oscar Pena ◽  
Michael Leamy
Keyword(s):  
Optimal Control ◽  
Dynamic Programming ◽  
Control Strategies ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Hydraulic Cylinder ◽  
Control Input ◽  
Efficient Operation ◽  
Single Input Single Output ◽  
Single Output

This study explores optimal control and sizing of a recently introduced efficient architecture for hydraulic actuation. Previous work established a physical model of the architecture posed as a single-input single-output (SISO) system in which the ratio of two hydraulic pump/motor swash plate angles served as the control input for regulating actuation speed. The architecture was heuristically sized and controlled within the context of a hydraulic elevator. High-fidelity simulations of the system demonstrated an upwards of 75% decrease in energy consumption compared to a throttling architecture. Monte Carlo simulations are now used to achieve optimal sizing of the system. Several uniformly random points in the design space are chosen and evaluated using Dynamic Programming, which provides both a deterministic and optimal value for energy efficiency of the system. Aggregation of evaluated points reveals a region within the three-dimensional space wherein the architecture is optimally sized for efficiency. Dynamic Programming is then used to inform efficient rule-based control strategies. Control techniques learned from Dynamic Programming suggest efficient operation of the system results through the maximization of pump/motor 1 displacement and the use of the auxiliary electric motor during retraction of the hydraulic cylinder. Dynamic Programming informed system achieved a 61% level of optimality. Additionaly, it exhibited a 21% improvement over a heuristically sized and controlled version. It is anticipated that optimal control and sizing guidelines presented are applicable within the context of other hydraulic actuation technologies for which the studied architecture may be used.

A Mixed Sideslip Yaw Rate Stability Controller for Over-Actuated Vehicles

2021 ◽  
Author(s):  
Alex Gimondi ◽  
Matteo Corno ◽  
Sergio M. Savaresi
Keyword(s):  
Control Strategies ◽  
Reference Signal ◽  
Stability Control ◽  
Critical Conditions ◽  
Passenger Cars ◽  
Single Input Single Output ◽  
Yaw Rate ◽  
Single Output ◽  
Precise Knowledge ◽  
Mixed Approach

Abstract Electronic stability control (ESC) has become a fundamental safety feature for passenger cars. Commonly employed ESCs are based on differential braking. Nevertheless, electric vehicles’ growth, particularly those featuring an over-actuated configuration with individual wheel motors, allows for maintaining driveability without slowing down the vehicle. Standard control strategies are based on yaw rate tracking. The reference signal is model-based and needs precise knowledge of the friction coefficient. To increase the system robustness, more sophisticated approaches that include vehicle sideslip are introduced. Still, it is unclear how the two signals have to be weighted, and rarely proposed controllers have been experimentally validated. In this paper, we present a mixed sideslip and yaw rate stability controller. The mixed approach allows to address the control design as a single-input single-output problem simplifying the tuning process. Furthermore, we explain the rationale behind the choice of the weighting parameter. Eventually, the proposed ESC is validated following EU regulation in simulation and with an experimental vehicle on dry asphalt and snow. The results obtained in all the performed tests demonstrate that the proposed control strategy is robust and effective. The mixed approach is able to halve the sideslip in critical conditions with respect to a pure yaw rate approach.

scholarly journals Optimal Control Strategy Design Based on Dynamic Programming for a Dual-Motor Coupling-Propulsion System

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Shuo Zhang ◽  
Chengning Zhang ◽  
Guangwei Han ◽  
Qinghui Wang
Keyword(s):  
Optimal Control ◽  
Dynamic Programming ◽  
Energy Loss ◽  
Control Strategy ◽  
Control Strategies ◽  
Propulsion System ◽  
Dynamic Features ◽  
Optimal Control Strategy ◽  
Control Rules ◽  
Electric Bus

A dual-motor coupling-propulsion electric bus (DMCPEB) is modeled, and its optimal control strategy is studied in this paper. The necessary dynamic features of energy loss for subsystems is modeled. Dynamic programming (DP) technique is applied to find the optimal control strategy including upshift threshold, downshift threshold, and power split ratio between the main motor and auxiliary motor. Improved control rules are extracted from the DP-based control solution, forming near-optimal control strategies. Simulation results demonstrate that a significant improvement in reducing energy loss due to the dual-motor coupling-propulsion system (DMCPS) running is realized without increasing the frequency of the mode switch.

Design and Realtime Implementation of an Adaptive Variation Absorber for Uncertain Mechanical Systems Subjected to Unknown Disturbances

2004 ◽  
Vol 10 (1) ◽  
pp. 55-84
Author(s):  
Raffi Derkhorenian ◽  
Nader Jalili ◽  
D M Dawson
Keyword(s):  
Degrees Of Freedom ◽  
Controller Design ◽  
Linear Time ◽  
Vibration Absorber ◽  
Primary System ◽  
Control Input ◽  
Adaptation Algorithm ◽  
Single Input Single Output ◽  
Linear Time Invariant ◽  
Single Output

In this paper we describe the design and implementation of a nonlinear adaptive disturbance rejection approach for single-input-single-output linear-time-invariant uncertain systems subject to sinusoidal disturbances with unknown amplitude and frequency. This is an extension of our earlier study to a more complicated plant, a two-degrees-of-freedom (2DOF) system representing a vibration absorber setting. The controller design is based on a single Lyapunov function incorporating both the error states and the update laws and, hence, global stability and improved transient performance are readily achieved. Utilizing only the system output, a virtual control input is used in place of non-measurable and unknown signals. The performance of the adaptation algorithm is demonstrated through real-time simulations, both for regulation and tracking, on a 2DOF system representing an active vibration absorber setup. It is shown that when the primary system is subjected to an unknown sinusoidal disturbance, the proposed controller in the absorber subsection completely suppresses the primary system vibration in the presence of unknown disturbance.

Model Reference Adaptive Control of Feed Force in Turning

1986 ◽  
Vol 108 (3) ◽  
pp. 215-222 ◽  
Author(s):  
L. K. Daneshmend ◽  
H. A. Pak
Keyword(s):  
Adaptive Control ◽  
Model Reference Adaptive Control ◽  
Numerical Control ◽  
Control Input ◽  
Design Technique ◽  
Model Reference ◽  
Single Input Single Output ◽  
Single Output ◽  
Feed Force ◽  
Model Reference Adaptive

This paper applies the discrete-time single-input/single-output Model Reference Adaptive Control (MRAC) design technique of Landau and Lozano to the problem of regulating feed force on a lathe under varying cutting conditions. A first-order model is used to represent the relationship between feed force and the control input (feedrate). The MRAC scheme is implemented on a multi-microprocessor based computer-numerical-control system. Results of applying various algorithms derived from the MRAC design technique are presented.

scholarly journals Boundary Control of A Flexible Rotatable Manipulator in Three-Dimensional Space With Input Constraints and Actuator Faults

2021 ◽  
Author(s):  
Jiacheng Wang ◽  
Jinkun Liu ◽  
Fangfei Cao
Keyword(s):  
Boundary Control ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Flexible Manipulator ◽  
Control Input ◽  
Input Constraints ◽  
Actuator Faults ◽  
Flexible System ◽  
Actuator Failures ◽  
Three Dimensional Space

Abstract In this paper, the boundary control problem of a flexible rotatable manipulator in Three-Dimensional space with input constraints and actuator faults is taken into account. The Hamilton principle is introduced to derive the dynamic model represented by partial differential equations (PDEs), which can accurately reflect the characteristics of the distributed parameters of the flexible system. The hyperbolic tangent function is adopted to ensure that the control input is within a bounded range, and the projection-based adaptive laws are designed to estimate the degree of unknown actuator failures. Satisfying the input constraints, the system can still remain stable when the actuator failures ensue. The flexible manipulator can track the required angle, and both the elastic deformation and the deformation rate are effectively suppressed simultaneously. The numerical simulation results further illustrate the effectiveness of the proposed controller.

Adaptive Tracking Control of Linear Uncertain Mechanical Systems Subjected to Unknown Sinusoidal Disturbances

2003 ◽  
Vol 125 (1) ◽  
pp. 129-134 ◽  
Author(s):  
B. Xian ◽  
N. Jalili ◽  
D. M. Dawson and ◽  
Y. Fang
Keyword(s):  
Disturbance Rejection ◽  
Linear Time ◽  
Mechanical Systems ◽  
Control Input ◽  
Unknown Parameters ◽  
Adaptation Algorithm ◽  
Single Input Single Output ◽  
Adaptive Tracking Control ◽  
Linear Time Invariant ◽  
Single Output

The design and implementation of an adaptive disturbance rejection approach is presented for single-input-single-output linear-time-invariant uncertain mechanical systems subject to sinusoidal disturbances with unknown amplitudes and frequencies. The proposed technique suggests construction of a set of stabilizing tuning functions via a state estimate observer in a backstepping fashion to achieve asymptotic disturbance rejection. The tuning functions design is based on a single Lyapunov function incorporating both the error states and update law, and hence, global stability and improved transient performance are readily achieved. Utilizing only the system output, a virtual control input is used in place of non-measurable and unknown signals. The performance of the adaptation algorithm is demonstrated through both simulations and experiments for a single-degree-of-freedom system with unknown parameters and subject to an unknown sinusoidal disturbance. Significant matching between the simulation and experimental results is observed.

Dynamic Modeling and Self-Tuning Control of a Gas Turbine

2004 ◽  
Author(s):  
Mohamed S. Zawia ◽  
Mohamed S. B. Al-Khodari
Keyword(s):  
Gas Turbine ◽  
Dynamic Simulation ◽  
Control Strategies ◽  
Mechanical Energy ◽  
Design Tool ◽  
Efficient Operation ◽  
Single Input Single Output ◽  
Physical Description ◽  
Non Linear ◽  
Self Tuning

Dynamic simulation is a great design tool in selecting control strategies and studying of the dynamic response of the engine. A model based on physical description of the plant components has been derived for control purposes, it is complex and highly non-linear but able to provide a more detailed description of the power plant. The non-linear dynamic model is developed in order to simulate the dynamic behavior of the gas turbine, to provide a fast and reliable model for the syntheses of the controller. The complete model comprise of seven differential equations obtained by applying mass and energy balance to each of three components of the plant, including one equation for mechanical energy for the rotor shaft. The non-linear model is linearised in order to design a Single-Input, Single-Output (SISO) controller for the turbine, and an adaptive self-tuning pole assignment controller is considered and designed for the turbine. The models are simulated using the MATLAB and SIMULINK software. The results of the dynamic simulation appear reasonable and confirm that the plant and the selected control will result a safe and efficient operation of the plant under steady state and transient conditions. The output of the theoretical model under a step input was compared to experimentally collected data from the gas turbine. The results of the comparison show that the theoretically derived model can satisfactorily represent the system.

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