scholarly journals Vibration Control of Blade Section Based on Sliding Mode PI Tracking Method and OPC Technology

2019 ◽  
Vol 2019 ◽  
pp. 1-12 ◽  
Author(s):  
Tingrui Liu
Keyword(s):  
Vibration Control ◽  
Sliding Mode ◽  
Engineering Application ◽  
Control Input ◽  
Pi Method ◽  
Opc Technology ◽  
Practical Engineering ◽  
Blade Section ◽  
The Stability ◽  
And Control

Vibration control of the blade section of a wind turbine is investigated based on the sliding mode proportional-integral (SM-PI) method, i.e., sliding mode control (SMC) based on a PI controller. The structure is modeled as a 2D pretwisted blade section integrated with calculation of structural damping, which is subjected to flap/lead-lag vibrations of instability. To facilitate the hardware implementation of the control algorithm, the SM-PI method is applied to realize tracking for limited displacements and velocities. The SM-PI algorithm is a novel SMC algorithm based on the nominal model. It combines the effectiveness of the sliding mode algorithm for disturbance control and the stability of PID control for practical engineering application. The SM-PI design and stability analysis are discussed, with superiority and robustness and convergency control demonstrated. An experimental platform based on human-computer interaction using OPC technology is implemented, with position tracking for displacement and control input signal illustrated. The platform verifies the feasibility and effectiveness of the SM-PI algorithm in solving practical engineering problems, with online tuning of PI parameters realized by applying OPC technology.

Three-dimensional adaptive fixed-time guidance law against maneuvering targets with impact angle constraints and control input saturation

2021 ◽  
pp. 014233122110598
Author(s):  
Fei Ma ◽  
Yunjie Wu ◽  
Siqi Wang ◽  
Xiaofei Yang ◽  
Yueyang Hua
Keyword(s):  
Sliding Mode ◽  
Input Saturation ◽  
Three Dimensional ◽  
Fixed Time ◽  
Impact Angle ◽  
Guidance System ◽  
Control Input ◽  
Guidance Law ◽  
The Stability ◽  
And Control

This paper presents an adaptive fixed-time guidance law for the three-dimensional interception guidance problem with impact angle constraints and control input saturation against a maneuvering target. First, a coupled guidance model formulated by the relative motion equation is established. On this basis, a fixed-time disturbance observer is employed to estimate the lumped disturbances. With the help of this estimation technique, the adaptive fixed-time sliding mode guidance law is designed to accomplish accurate interception. The stability of the closed-loop guidance system is proven by the Lyapunov method. Simulation results of different scenarios are executed to validate the effectiveness and superiority of the proposed guidance law.

scholarly journals Autonomous Trajectory Tracking Control for a Large-Scale Unmanned Helicopter under Airflow Influence

2019 ◽  
Vol 2019 ◽  
pp. 1-15
Author(s):  
Zhi Chen ◽  
Xiaowei Tu ◽  
Qinghua Yang ◽  
Daobo Wang ◽  
Jian Fu
Keyword(s):  
Tracking Control ◽  
Large Scale ◽  
Sliding Mode ◽  
Hierarchical Control ◽  
Hardware In The Loop ◽  
Wind Disturbance ◽  
Unmanned Helicopter ◽  
Trajectory Tracking Control ◽  
Practical Engineering ◽  
The Stability

In this paper, a complete nonlinear dynamic unmanned helicopter model considering wind disturbance is proposed to achieve realistic simulations and teasing out the effect of wind on the control system. The wind velocity vector which is horizontal as seen in the inertial frame can be obtained by subtracting the airspeed measured by atmospheric data computer from the inertial speed measured by GPS. The design of the controller fully considers the existence of wind, and the wind disturbance is suppressed by the method of hierarchical control combined with the integral sliding mode control (SMC). The stability proof is given. Hardware in the loop (HIL) tool is employed as a practical engineering solution, and it is an essential step in validating the new algorithm before moving to real flight experiments.

Friction Identification Using Evolution Strategies and Robust Control of Positioning Tables

1999 ◽  
Vol 121 (4) ◽  
pp. 619-624 ◽  
Author(s):  
Seon-Woo Lee ◽  
Jong-Hwan Kim
Keyword(s):  
Static Friction ◽  
Velocity Model ◽  
Friction Model ◽  
Evolution Strategies ◽  
Linear Feedback ◽  
Control Input ◽  
Identification Technique ◽  
Friction Identification ◽  
The Stability ◽  
And Control

This paper presents an identification technique using evolution strategies (ES) for an integrated friction model of a positioning table. The friction model is based on Karnopp’s friction-velocity model with the rising static friction and spring-like property. Using the (μ + λ)-ES, the system parameters are identified with the experimental input and output data. The proposed control law consists of a conventional linear feedback control input, a friction compensation term and a sliding control input. The proposed control scheme can guarantee the stability of the overall system, even in the presence of the external disturbances and the modeling error between the real friction and the identified model. Experiments on an positioning table, called X-Y table, demonstrate the effectiveness of the proposed identification and control schemes.

Decentralized Robust Vibration Control of Smart Structures with Parameter Uncertainties

2011 ◽  
Vol 22 (2) ◽  
pp. 137-147 ◽  
Author(s):  
Jian-Ping Jiang ◽  
Dong-Xu Li
Keyword(s):  
Vibration Control ◽  
Controller Design ◽  
Damping Ratio ◽  
External Disturbance ◽  
Composite Panel ◽  
Linear Matrix ◽  
Control Input ◽  
Parameter Uncertainties ◽  
Modal Damping ◽  
And Control

This study deals with decentralized robust vibration control of a smart composite panel with parameter uncertainties. The composite panel with four collocated piezoelectric actuators and velocity sensors is modeled using finite element method, and then the size of the model is reduced in the state space using Modal Hankel Singular Value. The parameter uncertainties presented by natural frequencies and modal damping ratios are considered in controller design process. To suppress the vibration induced by external disturbance, a decentralized robust H∞ controller is developed using linear matrix inequality techniques. Numerical simulation for the smart panel is performed in order to investigate the effectiveness of decentralized vibration control (DVC). When the system is subjected to an initial displacement field or distributed white noise disturbance, numerical results show that the DVC system is very effective. Although there are 20% parameter uncertainties for modal frequencies, damping ratio, and control input, the decentralized controller can effectively suppress the vibration excited by the external disturbance. Furthermore, the decentralized controller composed of four three-order systems can be practically implemented well.

scholarly journals Sliding mode control of biogas production by anaerobic digestion with addition of acetate

2019 ◽  
Vol 93 ◽  
pp. 03002
Author(s):  
Plamena Zlateva
Keyword(s):  
Anaerobic Digestion ◽  
Sliding Mode Control ◽  
Expert Knowledge ◽  
Sliding Mode ◽  
Biogas Production ◽  
External Disturbance ◽  
Control Input ◽  
State Variables ◽  
Mode Control ◽  
And Control

Biogas production by anaerobic digestion with addition of acetate is considered. Sliding mode control for regulation of the biogas flow rate using the addition of acetate as a control action is proposed. The control design is carried out with direct use of nonlinear model and expert knowledge. Chattering phenomena are avoided by realizing the sliding mode with respect to the control input derivative. The state variables, external disturbance, process output and control input are varied in the known intervals. The performance of the designed sliding mode control is investigated by varying the process set point and the uncertain process parameter, which reflecting the influence of the external disturbance. The excellent performance of presented control is proved through simulation investigations in MATLAB using Simulink.

scholarly journals Application of Python language in UOE molding simulation of pipeline steel

2018 ◽  
Vol 242 ◽  
pp. 01018
Author(s):  
Lian Yeda ◽  
Zhang Bing ◽  
Wu Renqiang
Keyword(s):  
Pipeline Steel ◽  
Engineering Application ◽  
Gas Pipeline ◽  
Automatic Modeling ◽  
Modeling And Analysis ◽  
Python Language ◽  
Application Analysis ◽  
Practical Engineering ◽  
Solid Foundation ◽  
And Control

The ABAQUS plug-in interface based on Python language realizes geometrical design and automatic modeling of gas pipeline UOE molding, which solves the cumbersome problem of manually building complexgeometric models. In this study, the algorithm for different sizes of pipelines corresponding to different molds was designed. At the same time, as the ABAQUS kernel scripting program was written, a GUI interface was developed. The interface was used to realize automatic modeling and analysis and control of the calculation work, which laid a solid foundation for practical engineering application analysis.

scholarly journals PI/backstepping control of snake robot optimazed by genetic algorithm

2014 ◽  
Vol 3 (2) ◽  
pp. 99 ◽  
Author(s):  
Maryam Jafari ◽  
Aref Shahmansoorian
Keyword(s):  
Genetic Algorithm ◽  
Robust Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
Backstepping Control ◽  
Control Parameters ◽  
Motion Pattern ◽  
Snake Robot ◽  
The Stability ◽  
And Control

This paper describes the design of robust control of PI/Backstepping for the snake robot to control the joints motion. First, the stability of the method is proved and, by applying this controller to the robot, its motion pattern is controlled in a way that it can move and follow by mimicking the motion of real snakes on the predefined trajectories. Then, the control parameters are optimized using the Genetic Algorithm (GA). Comparing obtained results with sliding mode revealed that, the former has significantly reduced the tracking error and control energy; in addition there is no chattering phenomenon. Keywords: Snake Robot, PI/Backstepping Control, Genetic Algorithm, Control Energy.

Robust Impedance Control of a Teleoperation System With Friction Compensation Under Time Delay

2009 ◽  
Author(s):  
A. Monemian Esfahani ◽  
S. M. Rezaei ◽  
M. Zareinejad
Keyword(s):  
Time Delay ◽  
Sliding Mode ◽  
Impedance Control ◽  
Control Input ◽  
Friction Forces ◽  
Teleoperation System ◽  
Force Tracking ◽  
Friction Observer ◽  
The Stability ◽  
Perturbation Estimation

Friction forces in the robot joints insert nonlinearity in the dynamic and make errors in tracking. In this paper a new impedance control for the master is proposed to achieve force tracking. In addition, an impedance control for slave combined with sliding mode, which is based on perturbation estimation, is anticipated to reach position tracking. Friction compensators typically include a friction observer that provides a cancellation term in order to be added to the control input. Estimating and compensating the friction and other uncertainties will change the nonlinear equation to a linear one. The stability of entire system under time delay is guaranteed by Llewellyn’s absolute stability criterion. Performance of the proposed controllers is investigated through experiments.

scholarly journals Divergent instability control of aeroelastic system driven by aerodynamic forces under disturbance based on discrete sliding mode control algorithms

2019 ◽  
Vol 52 (7-8) ◽  
pp. 1072-1083 ◽  
Author(s):  
Ting-Rui Liu
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
Control Algorithms ◽  
Control Input ◽  
Aerodynamic Forces ◽  
Mode Control ◽  
Blade Section ◽  
Instability Control ◽  
Discrete Sliding Mode Control

Divergent instability control of 2D pretwisted blade section of wind turbine driven by aerodynamic forces under disturbance is investigated. Realization of divergent instability control is based on two types of discrete sliding mode control algorithms. The structure is modeled as 2D pretwisted blade section integrated with structural damping, which is driven by aerodynamic model with perturbed disturbance. Discrete sliding mode control algorithm suitable for disturbance control is investigated to control divergent flap/lead-lag vibrations of blade section. To increase convergence performance and reduce the chattering phenomenon, discrete sliding mode control based on disturbance observer is applied. Convergence of disturbance observer is analyzed, and stability of closed-loop system is discussed. The simulation results show that not only the convergence accuracy can be improved by sliding mode control based on disturbance observer controller, but also the displacement chattering and the control input chattering can be effectively eliminated. Compared with conventional discrete sliding mode control, it has more advantages in the control of divergent instability. To facilitate the real-time realization and automation and at the same time to ensure accuracy, a design of quadratic feedback to build the performance control matrix in sliding mode control based on disturbance observer is developed in present study.

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