H∞ Direct Output Feedback Control of High-Speed Elevator Systems

2011 ◽  
Author(s):  
Chang-Ching Chang ◽  
Chi-Chang Lin ◽  
Wu-Chung Su ◽  
Yuan-Po Huang
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Output Feedback ◽  
High Speed ◽  
Output Feedback Control ◽  
Control Force ◽  
Control Performance ◽  
Passenger Car ◽  
Horizontal Vibration ◽  
And Control

The more the development of super high-rise buildings, the faster the speed of elevator in order to shorten the riding time of elevator and the waiting time of passengers. With the increase of elevator speed, the horizontal vibration of passenger car becomes more significant resulting in the decrease of serviceability and safety of elevator, and the discomfort of passengers. The horizontal vibration is mainly generated from the elevator wheels running on rough and winding guide rails. In this paper, a four degree-of-freedom (DOF) elevator system was established to examine the characteristics of the excitations and to analyze the dynamic responses of the elevator. An active mass driver (AMD) was developed to reduce the horizontal acceleration of passenger car in the elevator based on H∞ direct output feedback control algorithm. The optimal control force is obtained from the multiplication of direct output measurements by a pre-calculated time-invariant gain matrix. To achieve optimal control performance, the strategy to select both control parameters γ and α was investigated extensively. Numerical verification results show that decrease in γ or increase in α yields better control performance with an acceptable magnitude of control force. The selective ranges of γ and α making a controlled system become overdamped or unstable were found. To assure system stability and control efficiency, the upper bound of α were derived and illustrated graphically. An optimum design flowchart was also proposed. Finally, a full-scaled high-speed elevator system was investigated to prove the applicability and control effectiveness of the proposed AMD system.

On Selection of Control Parameters for H∞ Output Feedback

2005 ◽  
Author(s):  
Chang-Ching Chang ◽  
Chi-Chang Lin
Keyword(s):  
Control System ◽  
Feedback Control ◽  
Output Feedback ◽  
Delay Time ◽  
Output Feedback Control ◽  
Feedback Gain ◽  
Control Force ◽  
Control Parameters ◽  
Structural Responses ◽  
Control Forces

In this paper, an H∞ direct output feedback control algorithm through minimizing the entropy, a performance index measuring the tradeoff between H∞ optimality and H2 optimality, is employed to design the control system in reducing structural responses due to dynamic loads such as earthquakes. The control forces are obtained from the multiplication of direct output measurements by a pre-calculated time-invariant feedback gain matrix. To achieve optimal control performance, the strategy to select both control parameters γ and α is extensively investigated. The decrease of γ or increase of α results in better control effectiveness, but larger control force requirement. For a single degree-of-freedom (SDOF) damped structure, exact solutions of output feedback gains and control parameters are derived. It can be proved analytically that the LQR control is a special case of the proposed H∞ control. Direct velocity feedback control is effective in reducing structural responses with very small number of sensors and controllers compared with the DOFs of the structure. In active control of a real structure, control force execution time delay cannot be avoided. Relatively small delay time not only can render the control ineffective, but also may cause system instability. In this study, explicit formulas to calculate maximum allowable delay time and critical control parameters are derived for the design of a stable control system. Some solutions are also proposed to increase the maximum allowable delay time.

scholarly journals Model Reference Tracking Control Solutions for a Visual Servo System Based on a Virtual State from Unknown Dynamics

Energies ◽  
2021 ◽  
Vol 15 (1) ◽  
pp. 267
Author(s):  
Timotei Lala ◽  
Darius-Pavel Chirla ◽  
Mircea-Bogdan Radac
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
State Feedback ◽  
Virtual State ◽  
System Model ◽  
Control Performance ◽  
Visual Servo ◽  
State Representation ◽  
Model Free ◽  
And Control

This paper focuses on validating a model-free Value Iteration Reinforcement Learning (MFVI-RL) control solution on a visual servo tracking system in a comprehensive manner starting from theoretical convergence analysis to detailed hardware and software implementation. Learning is based on a virtual state representation reconstructed from input-output (I/O) system samples under nonlinear observability and unknown dynamics assumptions, while the goal is to ensure linear output reference model (ORM) tracking. Secondary, a competitive model-free Virtual State-Feedback Reference Tuning (VSFRT) is learned from the same I/O data using the same virtual state representation, demonstrating the framework’s learning capability. A model-based two degrees-of-freedom (2DOF) output feedback controller serving as a comparisons baseline is designed and tuned using an identified system model. With similar complexity and linear controller structure, MFVI-RL is shown to be superior, confirming that the model-based design issue of poor identified system model and control performance degradation can be solved in a direct data-driven style. Apart from establishing a formal connection between output feedback control, state feedback control and also between classical control and artificial intelligence methods, the results also point out several practical trade-offs, such as I/O data exploration quality and control performance leverage with data volume, control goal and controller complexity.

Modified Sky-Hook Control of a Semi-Active Suspension System Using H∞ Robust Control Theory

2009 ◽  
Author(s):  
Mohammad Saber Fallah ◽  
Rama Bhat ◽  
Wen-Fang Xie
Keyword(s):  
Feedback Control ◽  
Output Feedback ◽  
Controller Design ◽  
Kinematic Model ◽  
Three Dimensional ◽  
Output Feedback Control ◽  
Suspension System ◽  
Linear Matrix ◽  
Control Force ◽  
The Stability

The main focus of the present paper is on the design of a modified sky-hook control of a semi-active Macpherson suspension system by means of H∞ Output Feedback Control (OFC) theory. To this end, a new dynamic model, incorporating the kinematics of the suspension system, is used for the controller design. The combination of a Linear Matrix Inequality (LMI) solver and Genetic Algorithm (GA) is adopted to regulate the static output feedback control gain so that the stability conditions are fulfilled and control objectives are achieved. Meanwhile, a three-dimensional kinematic model of the system is incorporated to investigate the influence of the control force variation on the steering, handling and stability of the vehicle. A geometric relation of the vehicle roll center is employed to study one more extra aspect of the comfort and stability of the vehicle. The results show that the proposed controller improves the kinematic and dynamic performances of the suspension well compared with those of the passive system. Moreover, it is concluded that a superior stability of the vehicle during the cornering can be achieved by adjusting the height of the vehicle roll center passively so that the stability of the vehicle is improved while the forward motion specifications can be modified by an appropriate suspension control design.

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