scholarly journals Comparing traditional and constrained disturbance-observer based positional control

2021 ◽  
pp. 002029402198975
Author(s):  
Igor Bélai ◽  
Mikulas Huba ◽  
Damir Vrancic
Keyword(s):  
Disturbance Observer ◽  
Closed Loop ◽  
Controller Design ◽  
Quantization Noise ◽  
Pi Control ◽  
Electrical Drives ◽  
Integral Action ◽  
Binomial Formula ◽  
Double Integrator ◽  
Positional Control

This paper compares three different position controllers of electrical drives equipped by binomial [Formula: see text] th order filters, which are offering filtering properties important in a quantization noise attenuation. To demonstrate their impact, a non-filtered P-PI control is considered, as a reference. The comparative framework includes a filtered P-PI control, a filtered linear pole assignment PD controllers with a disturbance observer (DO) based integral action and its constrained modification. In terms of a total variation, depending on noise and process properties, all filtered controllers are capable to bring down the undue controller activity at the plant input from 10 to more than 100 times. Furthermore, thanks to the applied disturbance observer, the constrained control derived for a double integrator is shown to fully exploit the closed loop capabilities without any trajectory generation, taking into account the control constraints. Thus, the simplified controller design may focus on other important aspects.

Mode-Based Controller Design for Hammerstein Models Using Closed-Loop Tranjent Response Data

2016 ◽  
Vol 136 (5) ◽  
pp. 625-632
Author(s):  
Yoshihiro Matsui ◽  
Hideki Ayano ◽  
Shiro Masuda ◽  
Kazushi Nakano
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Response Data ◽  
Hammerstein Models

scholarly journals Robust H∞ Loop Shaping Controller Synthesis for SISO Systems by Complex Modular Functions

2021 ◽  
Vol 26 (1) ◽  
pp. 21
Author(s):  
Ahmad Taher Azar ◽  
Fernando E. Serrano ◽  
Nashwa Ahmad Kamal
Keyword(s):  
Design Methodology ◽  
Closed Loop ◽  
Complex Analysis ◽  
Controller Design ◽  
Filter Design ◽  
Design Procedure ◽  
Elliptic Functions ◽  
Loop System ◽  
Closed Loop System ◽  
Loop Shaping

In this paper, a loop shaping controller design methodology for single input and a single output (SISO) system is proposed. The theoretical background for this approach is based on complex elliptic functions which allow a flexible design of a SISO controller considering that elliptic functions have a double periodicity. The gain and phase margins of the closed-loop system can be selected appropriately with this new loop shaping design procedure. The loop shaping design methodology consists of implementing suitable filters to obtain a desired frequency response of the closed-loop system by selecting appropriate poles and zeros by the Abel theorem that are fundamental in the theory of the elliptic functions. The elliptic function properties are implemented to facilitate the loop shaping controller design along with their fundamental background and contributions from the complex analysis that are very useful in the automatic control field. Finally, apart from the filter design, a PID controller loop shaping synthesis is proposed implementing a similar design procedure as the first part of this study.

scholarly journals Adaptive Multivariable Super-Twisting Sliding Mode Controller and Disturbance Observer Design for Hypersonic Vehicle

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Wenru Fan ◽  
Bailing Tian
Keyword(s):  
Disturbance Observer ◽  
Controller Design ◽  
Sliding Mode ◽  
Hypersonic Vehicle ◽  
Observer Design ◽  
Sliding Mode Controller ◽  
Finite Time Convergence ◽  
Gain Adaptation ◽  
Chattering Reduction ◽  
Sliding Manifold

A multivariable super-twisting sliding mode controller and disturbance observer with gain adaptation, chattering reduction, and finite time convergence are proposed for a generic hypersonic vehicle where the boundary of aerodynamic uncertainties exists but is unknown. Firstly, an input-output linearization model is constructed for the purpose of controller design. Then, the sliding manifold is designed based on the homogeneity theory. Furthermore, an integrated adaptive multivariable super-twisting sliding mode controller and disturbance observer are designed in order to achieve the tracking for step changes in velocity and altitude. Finally, some simulation results are provided to verify the effectiveness of the proposed method.

Impedance Reduction Controller Design for Mechanical Systems

2013 ◽  
Author(s):  
Hanseung Woo ◽  
Kyoungchul Kong
Keyword(s):  
Case Studies ◽  
Closed Loop ◽  
Controller Design ◽  
Mechanical Impedance ◽  
Open Loop ◽  
Mechatronic Systems ◽  
Closed Loop Systems ◽  
Guaranteed Stability ◽  
Reaction Forces ◽  
Definition Of

Safety is one of important factors in control of mechatronic systems interacting with humans. In order to evaluate the safety of such systems, mechanical impedance is often utilized as it indicates the magnitude of reaction forces when the systems are subjected to motions. Namely, the mechatronic systems should have low mechanical impedance for improved safety. In this paper, a methodology to design controllers for reduction of mechanical impedance is proposed. For the proposed controller design, the mathematical definition of the mechanical impedance for open-loop and closed-loop systems is introduced. Then the controllers are designed for stable and unstable systems such that they effectively lower the magnitude of mechanical impedance with guaranteed stability. The proposed method is verified through case studies including simulations.

PI Control of HSFDs for Active Control of Rotor-Bearing Systems

1997 ◽  
Vol 119 (3) ◽  
pp. 658-667 ◽  
Author(s):  
J. P. Hathout ◽  
A. El-Shafei
Keyword(s):  
Vibration Control ◽  
Active Control ◽  
Closed Loop ◽  
Rotating Machinery ◽  
Loop System ◽  
Pi Control ◽  
Closed Loop System ◽  
Transient Vibration ◽  
Critical Speeds ◽  
Rotor Bearing

This paper describes the proportional integral (PI) control of hybrid squeeze film dampers (HSFDS) for active control of rotor vibrations. Recently it was shown that the automatically controlled HSFD based on feedback of rotor speed can be a very efficient device for active control of rotor vibration when passing through critical speeds. Although considerable effort has been put into the study of steady-state vibration control, there are few methods in the literature applicable to transient vibration control of rotor-bearing systems. Rotating machinery may experience dangerously high dynamic loading due to the sudden mass unbalance that could be associated with blade loss. Transient run-up and coast down through critical speeds when starting up or shutting down rotating machinery induces excessive bearing loads at criticals. In this paper, PI control is proposed as a regulator for the HSFD system to attenuate transient vibration for both sudden unbalance and transient runup through critical speeds. A complete mathematical model of this closed-loop system is simulated on a digital computer. Results show an overall enhanced behavior for the closed-loop rotor system. Gain scheduling of both the integral gain and the reference input is incorporated into the closed-loop system with the PI regulator and results in an enhanced behavior of the controlled system.

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