scholarly journals Decoupling Control of a Multiaxis Hydraulic Servo Shaking Table Based on Dynamic Model

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Qitao Huang ◽  
Peng Wang ◽  
Yuhao Wang ◽  
Qinjun Yang
Keyword(s):  
Dynamic Model ◽  
Strong Coupling ◽  
Control Strategy ◽  
Physical Space ◽  
Decoupling Control ◽  
Shaking Table ◽  
Control Performance ◽  
Single Input Single Output ◽  
Hydraulic Servo ◽  
Modal Space

Hydraulic servo shaking table is an essential testing facility to simulate the actual vibration situation in real time. As a parallel mechanism, multiaxis hydraulic servo shaking table shows strong coupling characteristic among different degrees of freedom. When the multiaxis hydraulic shaking table moves to one direction, some unnecessary related motions will appear in other directions, which seriously affect the control performance. An effective approach to decouple motions in command direction and in unnecessary related directions is an urgent need for a higher precision control performance. In this work, the coupling phenomena and reasons of the multiaxis hydraulic servo table are analyzed based on dynamic model of a multiaxis hydraulic servo shaking table. In this regard, multiaxis hydraulic servo shaking table with strong coupling within the physical space is transformed into a set of single-input single-output systems that are independent of each other in the modal space. A decoupling control strategy is proposed in modal space to restrain the coupling motions. Simulation and experimental results show that the proposed control strategy can effectively improve the control performance and the decoupling effect.

Electro-Hydraulic Servo Control Based on CMAC Neural Network for Excavating Robot

2010 ◽  
Vol 34-35 ◽  
pp. 825-830
Author(s):  
Qun Liang Dai ◽  
Hong Liang Dai ◽  
Xiao Hai Qu
Keyword(s):  
Neural Network ◽  
Dynamic Model ◽  
Strong Coupling ◽  
Intelligent Control ◽  
Control Strategy ◽  
Servo System ◽  
Servo Control ◽  
Cmac Neural Network ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

In this paper the electric-hydraulic servo system for excavating robot is analysed. The kinematic and the dynamic model of working equipment are established. Aim at the electric-hydraulic servo system of the feature with many variables, strong coupling and non-linear, the CMAC neural network was presented combined with popular PD algorithm, which could realize intelligent control for the working equipment of excavating robot. The result of simulation show that control strategy features higher precision and robustness.

Decoupling Control for Unwinding Tension Control Systems

2012 ◽  
Vol 262 ◽  
pp. 367-371
Author(s):  
Min Bian ◽  
Mei Yang
Keyword(s):  
Control Systems ◽  
Strong Coupling ◽  
Control Process ◽  
Tension Control ◽  
Decoupling Control ◽  
Driver Model ◽  
Control Performance ◽  
Printing Quality ◽  
Simulation Results ◽  
And Control

During the printing process, invariable tension is very important to make sure the high printing quality. It’s well known that the relation of tension and tape velocity is strong-coupling based on the model of tension control, the modeling of tension possesses varies a lot in the control process, and various disturbances are inevitable during printing. All of these make the tension control systems unstable and affect the printing quality. This paper purposes a method to decrease the strong-coupling relation between speed and tension and control the speed-tension accurately. Based on the shaft-less printing press, the unwinding tension model and servo driver model are given. Decoupling controller is designed in this paper, and simulation results show that this method can improve the coupling degree and control performance.

scholarly journals An Assessment of WEC Control Performance Uncertainty

2017 ◽  
Author(s):  
Ryan G. Coe ◽  
Giorgio Bacelli ◽  
Ossama Abdelkhalik ◽  
David G. Wilson
Keyword(s):  
Dynamic Model ◽  
Predictive Control ◽  
Control Strategy ◽  
Control Model ◽  
Control Performance ◽  
Energy Converter ◽  
Model Accuracy ◽  
Linear Dynamic ◽  
Low Sensitivity ◽  
Performance Uncertainty

A linear dynamic model for a wave energy converter (WEC) has been developed based on the results of experimental wave tank testing. Based on this model, a model predictive control (MPC) strategy has been designed and implemented. To assess the performance of this control strategy, a deployment environment off the coast of Newport, OR has been selected and the controller has been used to simulate the WEC response in a set of irregular sea states. To better understand the influence of model accuracy on control performance, an uncertainty analysis has been performed by varying the parameters of the model used for the design of the controller (i.e. the control model), while keeping the WEC dynamic model employed in these simulations (i.e. the plant model) unaltered. The results of this study indicate a relative low sensitivity of the MPC control strategy to uncertainties in the controller model for the specific case studied here.

Control Strategy for Space Manipulator Based on Genetic Algorithm Self-Tuning

2013 ◽  
Vol 706-708 ◽  
pp. 695-699
Author(s):  
Chao Wang ◽  
Zheng Hong Dong ◽  
Yong Ming Gao ◽  
Hang Yin
Keyword(s):  
Genetic Algorithm ◽  
Dynamic Model ◽  
Control Strategy ◽  
Pid Controller ◽  
Joint Angle ◽  
Control Performance ◽  
Space Manipulator ◽  
Self Tuning ◽  
Control Accuracy

For questions of joint angle control of space manipulator, a method based on genetic algorithm PID self-tuning is proposed, which can improve the control accuracy of joint angle. We establish the dynamic model of the space manipulator and design the PID controller, and then using the genetic algorithm to tuning the PID parameters, and simulate in MATLAB. The result shows that the control performance of the space manipulator is improved, and the difficulties of traditional PID parameter regulation can be avoided by this method.

Internal Force Decoupling Control of Hyper-Redundant Shaking Table Based on Stiffness Matrix

2014 ◽  
Vol 681 ◽  
pp. 115-120 ◽  
Author(s):  
Wei Wei ◽  
Zhi Dong Yang ◽  
Jun Wei Han ◽  
Ting Gao
Keyword(s):  
Stiffness Matrix ◽  
Linear Models ◽  
Pressure Sensors ◽  
Zero Point ◽  
Internal Force ◽  
Decoupling Control ◽  
Shaking Table ◽  
Small Range ◽  
Hydraulic Servo ◽  
Internal Forces

A novel internal force decoupling control strategy of hyper-redundant shaking table based on stiffness matrix is proposed in this paper. The linear models of electro-hydraulic servo system and mechanical system are built by considering the shaking table moving in a small range around the zero point. Internal forces are given through a transformation of cylinder forces which can be acquired from the pressure sensors. By meshing top platform of the shaking table in different directions, the stiffness matrix between the redundancy displacements and internal forces are given through dynamics equations including inertia and shear parts. The IFDC controller is designed to feedback the redundancy displacement caused by internal forces to the input current of the servovalve. Simulation results show that the proposed method is capable to reduce internal forces effectively.

scholarly journals Inverse System Analysis and Modeling of Bearingless Induction Motor and Its Combined Control Strategy

2014 ◽  
Vol 2014 ◽  
pp. 1-8 ◽  
Author(s):  
Wen-shao Bu ◽  
Cong-lin Zu ◽  
Chun-xiao Lu
Keyword(s):  
Induction Motor ◽  
Strong Coupling ◽  
Control Strategy ◽  
Inverse System ◽  
Decoupling Control ◽  
Flux Linkage ◽  
Inverse System Method ◽  
Stator Current ◽  
System Method ◽  
Stator Flux

Bearingless induction motor is a multi-variable, nonlinear and strong coupling object, the existing inverse control method ignores the stator current dynamics of torque system. Aiming at its nonlinear and strong coupling problems, a novel combinatorial decoupling control strategy based on stator flux orientation and inverse system method is proposed. Taking the stator current dynamics of four-pole torque system into account, the reversibility and inverse system model of torque system are analyzed and established. Adopting the inverse system method, the dynamic decoupling between motor speed and stator flux-linkage is achieved; by online identification and calculation, the airgap flux-linkage of torque system is got. Based on above, feedback and compensation control of two radial displacement components of two-pole suspension system is realized. Simulation results have shown the higher decoupling control performance and stronger anti-interference ability of the decoupling control system; the proposed decoupling strategy not only owns the characteristics of be simple and convenient, but also is effective and feasible.

scholarly journals An Intelligent Bio-Inspired Cooperative Decoupling Control Strategy for the Marine Boiler-Turbine System with a Novel Energy Dynamic Model

Energies ◽  
2019 ◽  
Vol 12 (24) ◽  
pp. 4659
Author(s):  
Sheng Liu ◽  
Baoling Zhao ◽  
Shiquan Zhao ◽  
Lanyong Zhang ◽  
Ling Wu
Keyword(s):  
Strong Coupling ◽  
Control Strategy ◽  
Rotational Speed ◽  
Steam Pressure ◽  
Decoupling Control ◽  
Regulation Mechanism ◽  
Control Loop ◽  
Operation Conditions ◽  
Marine Boiler ◽  
Main Steam

This paper presents an intelligent bio-inspired cooperative decoupling control strategy (IBICDC) for the problems of modeling difficulties and strong coupling in the marine boiler-turbine system (MBTS). First, the model of the main steam pressure control loop is successfully constructed by introducing the Martin-Hou equation, which solves the modeling difficulty caused by the complexity of structure, operation mechanism, and operation conditions, as well as the characteristics of nonlinearity, parameter time-varying, and time-delay in the marine boiler (MB). According to the mathematic method of homeomorphic mapping relationship between the rotational speed and the kinetic energy in the marine steam turbine with propeller (MSTP) and the feedback linearization method, the nonlinear degree of the MSTP rotational speed control loop model is reduced and the infinite point of discontinuity in the rotational acceleration when the rotational speed close to 0 is eliminated. Then, the IBICDC inspired by the internal environment regulation mechanism of human body is applied to the strong coupling problem between the two control loops, namely, to eliminate the large value sudden change of the main steam pressure caused by the change of operation conditions. The conventional decoupling methods are also presented. Finally, detailed numerical simulations are conducted to validate the effectiveness of the IBICDC strategy.

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