Modal decoupling control for a double gimbal magnetically suspended control moment gyroscope based on modal controller and feedback linearization method

2014 ◽  
Vol 228 (13) ◽  
pp. 2303-2313 ◽  
Author(s):  
Xiaocen Chen ◽  
Yuan Ren
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
Linearization Method ◽  
System Stability ◽  
Control Effort ◽  
Decoupling Method ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Gyroscopic Effects ◽  
Modal Controller

To effectively reject the gyroscopic effects and moving-gimbal effects of the double gimbal magnetically suspended control moment gyroscope (DGMSCMG) and to avoid high control effort, this paper proposes a novel control method based on modal decoupling strategy. Modal controller is employed to realize the modal separation of the translation and rotation modes of the magnetically suspended rotor (MSR). Then the dynamic coupling among the two rotation modes of the MSR system and the two rotational motions of the gimbal servo systems have been decoupled by using differential geometry theory. Dynamic compensation filters have been designed to improve the decoupling performance and the system stability without large control resource. Compared with the existing channel decoupling method, the presented one can not only realize the separate control of stiffness and damping of the MSR but also simplify the control system design significantly. The simulation results verify the effectiveness and superiority of the proposed method.

Stable control of the high-speeding magnetically suspended rotor based on extended state observer and two-degree freedom internal model control for control moment gyros with serious moving-gimbal effects

2020 ◽  
Vol 42 (14) ◽  
pp. 2733-2743
Author(s):  
Jiqiang Tang ◽  
Tongkun Wei ◽  
Qichao Lv ◽  
Xu Cui
Keyword(s):  
Internal Model ◽  
Feedback Linearization ◽  
Control Method ◽  
Fast Response ◽  
State Observer ◽  
Internal Model Control ◽  
Extended State Observer ◽  
Extended State ◽  
Control Moment ◽  
Model Control

For a magnetically suspended control moment gyro (MSCMG), which is an ideal attitude actuator for its large outputting control moment and fast response, the moving-gimbal effects due to the coupling between the moving gimbal and high-speeding rotor will make the magnetically suspended rotor (MSR) unstable. To improve control precision, both the dynamic model of MSR and the feedback linearization control are done to decouple tilting motion, and poles of the system are reconfigured to reduce control error. To suppress the varying disturbance moments caused by moving-gimbal effects, an extended state observer (ESO) is originally designed to estimate and compensate them timely and accurately. To improve system robustness, a two-degree freedom internal model control (2-DOF IMC) is researched to suppress model error. Compared with existing proportional integral derivative (PID) control method, simulations done on a single gimbal MSCMG with 200 N.m.s angular momentum indicated that this presented control method with ESO and 2-DOF IMC can suppress the moving-gimbal effects more effectively and make the rotor suspension more stable.

scholarly journals MR Damper-Based Vibration Suppression Method for Control Moment Gyroscope

2018 ◽  
Vol 36 (5) ◽  
pp. 884-889
Author(s):  
Wendong Wang ◽  
Xing Ming ◽  
Yang Chu ◽  
Minghui Liu ◽  
Yikai Shi
Keyword(s):  
Active Control ◽  
Control Algorithm ◽  
Vibration Suppression ◽  
Control Method ◽  
Magnetorheological Damper ◽  
Magnetic Flux Density ◽  
Damping Force ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Suppression Method

To restrain the interference of micro-vibration caused by Control Moment Gyroscope, a new control method based on Magnetorheological damper was proposed in this paper. A mechanical model based on the structure of the presented design was built, and the semi-active control algorithm of damping force was proposed for the designed Magnetorheological damper. The magnetic flux density and other magnetic field parameters were considered and analyzed in Maxwell, and also the related hardware circuit which implements the control algorithm was prepared to test the presented design and algorithm. The results of simulation and experiments show that the presented Magnetorheological damper model and semi-active control algorithm can complete the requirements, and the vibration suppression method is efficient for Control Moment Gyroscope.

Optimal Control of a Wheeled Mobile Cable-Driven Parallel Robot ICaSbot with Viscoelastic Cables

Robotica ◽  
2019 ◽  
Vol 38 (8) ◽  
pp. 1513-1537 ◽  
Author(s):  
Moharam Habibnejad Korayem ◽  
Mahdi Yousefzadeh ◽  
Hami Tourajizadeh
Keyword(s):  
Feedback Linearization ◽  
Parallel Robot ◽  
System Stability ◽  
Control Input ◽  
Linear Quadratic ◽  
Combined System ◽  
Viscoelastic System ◽  
Control Effort ◽  
Cable Robot ◽  
Data Feedback

SUMMARYIn this paper, a new mobile cable-driven parallel robot is proposed by mounting a spatial cable robot on a wheeled mobile robot. This system includes all the advantages of cable robots such as high ratio of payload to weight and good stiffness and accuracy while its deficiency of limited workspace is eliminated by the aid of its mobile chassis. The combined system covers a vast workspace area whereas it has negligible vibrations and cable sag due to using shorter cables. The dynamic equations are derived using Gibbs–Appell formulation considering viscoelasticity of the cables. Therefore, the more realistic viscoelastic cable model of the robot reveals the system flexibility effect and shows the requirements needed to control the end-effector in the conditions with cable elasticity. The viscoelastic system stability is investigated based on the input–output feedback linearization and using only the actuators feedback data. Feedback linearization controller is equipped by two additional controllers, that is, the optimal controller based on Linear Quadratic Regulator (LQR) method and finite horizon model predictive approach. They are used to control the system compromising between the control effort and error signals of the feedback linearized system. The applied control input to the robot plant is the voltage signal limited to a specified band. The validity of modeling and the designed controller efficiency are investigated using MATLAB simulation and its verification is accomplished by experimental tests conducted on the manufactured cable robot, ICaSbot.

scholarly journals Control of the COVID-19 System by Vaccination Using a New Control Engineering Technique

2022 ◽  
Author(s):  
Hazem Ibrahim Ali ◽  
Ali Hassan Mhmood
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
Control Law ◽  
Control Effort ◽  
Control Engineering ◽  
H Infinity ◽  
Lombardy Region ◽  
Model Reference Control ◽  
H Infinity Control ◽  
Asymptotic Tracking

Abstract In this work, a novel control engineering method is proposed to achieve a control strategy by vaccination for the COVID-19 epidemic. A proper mathematical model with vaccination control is developed for the COVID-19 system based on the Susceptible-Exposed-Infectious-Recovered (SEIR) epidemiological model after conducting some analyses and assumptions that reflect the COVID-19 features. Then, the proposed control law is designed using the feedback linearization approach and the H-infinity control framework. In addition, a model reference control is incorporated to ensure that satisfactory time responses are obtained. The Black Hole Optimization (BHO) technique is used to attain the optimality of the proposed control method. Following that, the reported statistics and vaccination plan of the Lombardy region of Italy are utilized to assess the effectiveness of the proposed control law. Ultimately, the simulation results illustrate that the proposed control law can effectively control the COVID-19 system and correctly perform the vaccination plan by tackling the system’s nonlinearity and uncertainty and realizing elegant asymptotic tracking characteristics with reasonable control effort.

Design of Variable Pump Displacement Controller based on FLSMC Method

2021 ◽  
pp. 2158008
Author(s):  
Dabing xue ◽  
Zhiqiang Chao ◽  
Xixia Liu ◽  
Huaying Li ◽  
Shousong Han ◽  
...  
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Sliding Mode ◽  
Linearization Method ◽  
Load Parameter ◽  
Tracking Accuracy ◽  
Control Moment ◽  
Comparison Results ◽  
Displacement Pump ◽  
The Impact

To reduce the effect of nonlinear factors and improve the tracking accuracy of the control system, a controller based on feedback linearization sliding mode control (FLSMC) method is proposed. This paper takes a variable displacement pump driven by a constant speed motor as the research object to verify the effectiveness of the designed controller. First, a high-order nonlinear model of the variable pump displacement control mechanism is established. Meanwhile, the load characteristic of the control cylinder is obtained by analyzing the swashplate control moment. Then the author uses the feedback linearization method to linearize the system model and designs a sliding mode controller to eliminate the impact of load parameter changes. Finally, the proposed FLSMC controller is used in simulation and experiment, and the PID controller is used as a comparison. Results show that the FLSMC controller can effectively improve the robustness of the pump control system.

Research on method for adaptive imbalance vibration control for rotor of variable-speed mscmg with active-passive magnetic bearings

2016 ◽  
Vol 23 (2) ◽  
pp. 167-180 ◽  
Author(s):  
Peiling Cui ◽  
Jingxian He ◽  
Jiancheng Fang ◽  
Xiangbo Xu ◽  
Jian Cui ◽  
...  
Keyword(s):  
Vibration Control ◽  
Attitude Control ◽  
Control Method ◽  
Magnetic Bearing ◽  
Magnetic Bearings ◽  
System Stability ◽  
Variable Speed ◽  
Control Moment ◽  
Vibration Compensation ◽  
Main Factor

Imbalance vibration control for rotor is the main factor affecting attitude control performance for satellite using magnetically suspended control moment gyro (MSCMG). The method for adaptive imbalance vibration control for the rotor of variable-speed MSCMG with active-passive magnetic bearings is investigated in this paper. Firstly, on the basis of feedforward compensation, a rotor model for the imbalance vibration of variable-speed MSCMG with active-passive magnetic bearings is built, and the main factor affecting imbalance vibration compensation is also analyzed. Then, power amplifier parameter modifier with control switches is designed to eliminate the effects of time-varying parameters on the imbalance vibration compensation precision. The adaptive imbalance vibration control based on this modifier not only has high compensation precision, but also can control the frequency of parameter adjustment according to the compensation precision. Besides, since the passive magnetic bearing displacement stiffness of the rotor of variable-speed MSCMG with active-passive magnetic bearings cannot be obtained accurately, displacement stiffness modifier is employed. Finally, stability analysis is made on the imbalance vibration control system, and the range of rotation speed to ensure system stability is derived. Simulation results show that, imbalance vibration control method proposed in this paper can suppress the imbalance vibration of the rotor of variable-speed MSCMG with active-passive magnetic bearings effectively and has high precision.

A new effective nonlinear strategy for lateral stability increment of an articulated vehicle rigid cargo

2021 ◽  
pp. 095440702110090
Author(s):  
Mohammad Amin Saeedi
Keyword(s):  
Dynamic Model ◽  
Feedback Linearization ◽  
Control Method ◽  
Sliding Mode ◽  
Center Of Mass ◽  
Front Axle ◽  
System Stability ◽  
State Variables ◽  
Lateral Velocity ◽  
Articulated Vehicle

In this paper, the effects of the most important parameters on directional dynamics of a tractor-semitrailer vehicle are examined. Initially, a three DOF dynamic model of a tractor-semitrailer vehicle is proposed. Then, the developed model is validated by means of TruckSim software during a standard maneuver. In order to analyze the system stability, the Lyapunov method has been used and the stability conditions have been extracted based on Routh criterion. The most important parameters are selected based on the articulation angle gain. Among the studied parameters, the semitrailer mass, the distance of the tractor unit center of mass and its front axle, and the tires cornering stiffness exhibited more effective behavior on the vehicle’s stability. The simulation results show that as the tractor center of mass moves toward its rear axle, the probability of the jackknifing increases. Moreover, an increment in the semitrailer mass leads to a turn of the semitrailer with respect to the tractor. Also, the understeer specification of the vehicle strengthens due to the tire cornering stiffness increment. Moreover, in order to increase the maneuverability of the articulated vehicle a new active steering controller is proposed using two different control methods. The controller is developed using the simplified dynamic model and the basis of feedback linearization method using dynamic sliding mode control method. In this system, the yaw rate and the lateral velocity of the tractor unit as well as articulation angle are studied as state variables which are targeted to track their desired references. Then, the vehicle dynamic performance is investigated during standard maneuvers. A more investigation shows that the track of the desired values of the vehicle state variables leads to eliminate off-tracking path.

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