scholarly journals Control Design for an Emulator of Mechatronic Powertrain Dynamics: A Case Study

2020 ◽  
Author(s):  
Laurens Jacobs ◽  
Dennis Janssens ◽  
Jan Croes ◽  
Wim Desmet ◽  
Jan Swevers
Keyword(s):  
Controller Design ◽  
Design Procedure ◽  
Control Design ◽  
Tracking Performance ◽  
New Developments ◽  
Control Approach ◽  
Pi Controllers ◽  
Feedforward Controller ◽  
Set Up

Abstract This paper discusses a detailed design procedure of a linear torque controller for an in-house developed lab-scale powertrain emulator. This set-up was developed for the validation of new developments in virtual torque sensing, and thus requires decent torque tracking performance in order to simulate real drivetrain dynamics sufficiently accurate. Standard proportional-integral (PI) controllers are not able to effectively compensate for potential flexible modes of the set-up, and an H∞ control approach is proposed. The different design steps then comprise experiment design, identification, feedback controller design using H∞ loop shaping, and inverse-based feedforward controller design. Experimental results demonstrate the obtained torque tracking performance.

scholarly journals PID Controller Design for TITO Processes Based on IMC and Smith Predictor Configuration

2019 ◽  
Vol 8 (6S4) ◽  
pp. 1522-1526
Keyword(s):  
Time Delay ◽  
Disturbance Rejection ◽  
Pid Controller ◽  
Controller Design ◽  
Control Design ◽  
Smith Predictor ◽  
Point Tracking ◽  
Pid Controller Design ◽  
Reduced Time

This paper describes the design of ProportionalIntegral-Derivative (PID) controller for two variable processes where the two variables need to control. Design of controllers for such a process is too difficult than single variable processes because of interrelations between the two variables present in the system. Hence, the design approach should include the interrelations of the variables to achieve better performance of the processes. In addition to this, the time delay of the processes is also considered and Smith Predictor (SP) configuration is used to reduce the delay in the processes. For the resultant reduced time delay processes, an IMC approach is used to design PID controller. The proposed control system improves both the servo (set point tracking) and regulatory (disturbance rejection) performance of the system. The proposed configuration is also validated using a case study. The simulation results are presented and compared with the other similar approaches to show the efficacy of the proposed method

scholarly journals H∞Optimal Inversion Feedforward and Robust Feedback Based 2DOF Control Approach for High Speed-Precision Positioning Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-11
Author(s):  
Chao Peng ◽  
Chongwei Han ◽  
Jianxiao Zou ◽  
Guanghui Zhang
Keyword(s):  
High Speed ◽  
Controller Design ◽  
Feedback Controller ◽  
Linear Matrix ◽  
Positioning Error ◽  
Precision Positioning ◽  
Positioning Systems ◽  
Control Approach ◽  
Lmi Optimization ◽  
Feedforward Controller

This paper proposed a novelH∞optimal inversion feedforward and robust feedback based two-freedom-of-freedom (2DOF) control approach to address the positioning error caused by system uncertainties in high speed-precision positioning system. To minimize theH∞norm of the positioning error in the presence of model uncertainty, a linear matrix inequality (LMI) synthesis approach for optimal inversion feedforward controller design is presented. The specification of position resolution, control width, robustness, and output signal magnitude imposed on the entire 2DOF control system are taken as optimization objectives of feedback controller design. The robust feedback controller design approach integrates with feedforward controller systematically and is obtained via LMI optimization. The proposed approach was illustrated through a simulation example of nanopositioning control in atomic force microscope (AFM); the experiment results demonstrated that the proposed 2DOF control approach not only achieves the performance specification but also could improve the positioning control performance compared withH∞mixed sensitivity feedback control and inversion-based 2DOF control.

scholarly journals Global Asymptotic Stabilization Control for a Class of Nonlinear Systems with Dynamic Uncertainties

2015 ◽  
Vol 2015 ◽  
pp. 1-12
Author(s):  
Jiangbo Yu ◽  
Jizhong Wang ◽  
Zhongcai Zhang
Keyword(s):  
Nonlinear Systems ◽  
Controller Design ◽  
Initial Conditions ◽  
Design Procedure ◽  
Control Law ◽  
Asymptotic Stabilization ◽  
Control Approach ◽  
Global Asymptotic Stabilization ◽  
Stabilization Control ◽  
Dynamic Uncertainties

This paper is concerned with the global asymptotic stabilization control problem for a class of nonlinear systems with input-to-state stable (ISS) dynamic uncertainties and uncertain time-varying control coefficients. Unlike the existing works, the ISS dynamic uncertainty is characterized by the uncertain supply rates. By using the backstepping control approach, a systematic controller design procedure is developed. The designed control law can guarantee that the system states are asymptotically regulated to the origin from any initial conditions and the other signals are bounded in closed-loop systems. Moreover, it is shown that, under some additional conditions, a linear control law can be designed by the proposed methodology. The simulation example demonstrates its effectiveness.

scholarly journals Decentralised PI controller design based on dynamic interaction decoupling in the closed-loop behaviour of a flotation process

2021 ◽  
Vol 11 (6) ◽  
pp. 4865
Author(s):  
Nomzamo Tshemese-Mvandaba ◽  
R. Tzoneva ◽  
M. E. S. Mnguni
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Design Procedure ◽  
Loop System ◽  
Closed Loop System ◽  
Flotation Process ◽  
Loop Control ◽  
Decoupling Method ◽  
Pi Controllers ◽  
Interconnected Model

An enhanced method for design of decenralised proportional integral (PI) controllers to control various variables of flotation columns is proposed. These columns are multivariable processes characterised by multiple interacting manipulated and controlled variables. The control of more than one variable is not an easy problem to solve as a change in a specific manipulated variable affects more than one controlled variable. Paper proposes an improved method for design of decentralized PI controllers through the introduction of decoupling of the interconnected model of the process. Decoupling the system model has proven to be an effective strategy to reduce the influence of the interactions in the closed-loop control and consistently to keep the system stable. The mathematical derivations and the algorithm of the design procedure are described in detail. The behaviour and performance of the closed-loop systems without and with the application of the decoupling method was investigated and compared through simulations in MATLAB/Simulink. The results show that the decouplers - based closed-loop system has better performance than the closed-loop system without decouplers. The highest improvement (2 to 50 times) is in the steady-state error and 1.2 to 7 times in the settling and rising time. Controllers can easily be implemented.

scholarly journals Robust Fuzzy Path Tracking Control of a Platooning Vehicles

2017 ◽  
Vol 2 (4) ◽  
pp. 228-239
Author(s):  
Sami ALLOU ◽  
Youcef ZENNIR
Keyword(s):  
Tracking Control ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Kinematic Model ◽  
Orientation Angle ◽  
Control Design ◽  
Reference Trajectory ◽  
Control Approach ◽  
Safety Distance ◽  
Future Work

The paper present our control approach based in fuzzy controller for platooning vehicles. this approach based to control lateral and longitudinal movement of vehicles in different navigation trajectory. kinematic model of vehicles are described follows by describe of controller design. The communication is provided between vehicles with exchange information, speed and orientation angle with a fixed safety distance between vehicles. 3D simulation developed with matlab, Simulink and v-rep software were carried . Different reference trajectory are used to compared and approve our approach. The simulation results illustrate the efficiency of our control design and open the perspectives for future work.

scholarly journals Controller design of isolated power-electricity island using genetic algorithm

2019 ◽  
Vol 70 (1) ◽  
pp. 46-51
Author(s):  
Ivan Sekaj ◽  
Martin Ernek
Keyword(s):  
Genetic Algorithm ◽  
Cost Function ◽  
Controller Design ◽  
Control Design ◽  
Optimal Parameters ◽  
Control Error ◽  
Pi Controllers ◽  
The Cost

Abstract The contribution presents the use of Genetic Algorithm for searching of the optimal parameters of a set of speed controllers of an isolated power-electricity island. Nine PI-controllers are designed. The cost function which is minimised using the Genetic Algorithm represents the integral of the control error area. Robustness aspects of the control design are considered as well.

Hydro Thermodynamic Modeling of an Outfall System Discharging Into the Near Shore Area Considering the Environmental Conditions

2008 ◽  
Author(s):  
Said Mazaheri
Keyword(s):  
Water Depth ◽  
Environmental Conditions ◽  
Heat Dissipation ◽  
Cooling Water ◽  
Design Procedure ◽  
Sea Temperature ◽  
Near Shore ◽  
Set Up ◽  
The Persian Gulf

The outlet location of an outfall system usually depends on the location of the water intake chamber, discharge and temperature of the waste and cooling water, sea temperature, near shore hydrodynamics and environmental conditions. Sometime, when it is not possible to discharge the circulated water by an open channel to the shoreline due to environmental restrictions then finding the appropriate water depth where the water can be discharged will become more important. In this situation, the hydrodynamic conditions of worst scenarios should be simulated properly. Then, an advection-dissipation model should be set up in the region in order to find out the heat dissipation pattern of the discharged water for the defined scenarios. Having done the simulations, it is required to interpret the results considering the environmental restrictions. Finally, based on the interpretation of the results, decision about the proper water depth for jetting out the discharged water can be made. In this paper it is attempted to highlight the important issues which should be considered during the design procedure. In addition, as a case study the steps taken for the modeling of the outfall system of Phases 9 & 10 South Pars Refineries located in northern part of the Persian Gulf is explained. Finally, the results of the case study are discussed and consequently further recommendations are given.

Identification, uncertainty modeling and robust controller design for an electromechanical actuator

2016 ◽  
Vol 230 (20) ◽  
pp. 3631-3641 ◽  
Author(s):  
Rafik Salloum ◽  
Mohammad Reza Arvan ◽  
Bijan Moaveni
Keyword(s):  
Robust Control ◽  
Controller Design ◽  
Low Cost ◽  
Design Procedure ◽  
Control Design ◽  
Uncertainty Modeling ◽  
Feedback Compensation ◽  
Robust Control Design ◽  
High Dynamics ◽  
Low Sensitivity

Electromechanical actuators (EMAs) are of interest for applications which require easy control and high dynamics. This paper addresses the experimental identification, structured and unstructured uncertainties modeling, and robust control design for an EMA system with harmonic drive. Two robust controllers are designed by two proposed approaches: The first is based on Kharitonov theorem, which not only robustly stabilizes the uncertain EMA system but also maintains the pre-specified margins and bandwidth constraints. The second is feedback compensation design procedure based on H∞ control theory, verifying good tradeoff between the powerful H∞ controller and the unique features of feedback compensation, such as simplicity, effectiveness, low sensitivity to parameters variations, low cost, and easy implementation. Simulation and experiments prove the robustness and high tracking performance of the robust EMA systems which reveals the affectivity of the proposed robust control design methods.

scholarly journals A generalized PID controller for high-order dynamical systems

2021 ◽  
Vol 72 (2) ◽  
pp. 119-124
Author(s):  
Günyaz Ablay
Keyword(s):  
Dynamical Systems ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Output Feedback Control ◽  
Design Procedure ◽  
Control Design ◽  
Polynomial Equation ◽  
High Order ◽  
Mechatronic Systems

Abstract This paper introduces a generalized PID type controller for controlling high-order dynamical systems. An optimal generalized PID control design method is developed to provide a simplified high-order output feedback control design procedure and tunable response characteristics. The controller design procedure is reduced to the specification of the desired natural frequency and the solution of a polynomial equation. The control method is capable of providing a desired control performance under set-point and disturbance variations. The performance of the proposed control method is implemented on some unstable and nonlinear mechatronic systems to illustrate the robustness, e ectiveness and feasibility of the method.

scholarly journals A Linear Parameter Varying Control Approach for DC/DC Converters in All-Electric Boats

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Soroush Azizi ◽  
Mohammad Hassan Asemani ◽  
Navid Vafamand ◽  
Saleh Mobayen ◽  
Mohammad Hassan Khooban
Keyword(s):  
Smart Grids ◽  
Control Method ◽  
Controller Design ◽  
Design Procedure ◽  
Energy Resources ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Boost Converters ◽  
Control Approach ◽  
Parameter Varying

Utilization of renewable energies in association with energy storage is increased in different applications such as electrical vehicles (EVs), electric boats (EBs), and smart grids. A robust controller strategy plays a significant role to optimally utilize the energy resources available in a power system. In this paper, a suitable controller for the energy resources of an EB which consists of a 5 kW solar power plant, 5 kW fuel cell, and 2 kW battery package is designed based on the linear parameter varying (LPV) controller design approach. Initially, all component dynamics are augmented, and by exploiting the sector-nonlinearity approach, the LPV representation is derived. Then, the LPV control method determines the suitable gains of the states’ feedbacks to provide the required pulse commands of the boost converters of the energy resources to regulate the DC-link voltage and supply the power of EB loads. Comparing with the state-of-the-art nonlinear control methods, the developed control approach assures the stability of the overall system, as it considers all component dynamics in the design procedure. The real-time simulation results demonstrate the performance of the designed controller in the creation of a constant DC-link voltage.

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