Internal model control for rocket launcher position servo system based on improved wavelet neural network

2021 ◽  
pp. 095440622110531
Author(s):  
Ronglin Wang ◽  
Baochun Lu ◽  
Qiang Gao ◽  
Runmin Hou
Keyword(s):  
Neural Network ◽  
Internal Model ◽  
Physical Simulation ◽  
Servo System ◽  
Wavelet Neural Network ◽  
Internal Model Control ◽  
External Disturbances ◽  
Model Control ◽  
Internal Model Controller ◽  
Position Servo

This paper proposes an improved wavelet neural network-internal model controller (WNN-IMC) for the rocket launcher position servo system. Due to complex nonlinearities and uncertainties of external disturbances in the rocket launcher position servo system, it is vitally challenging to establish its accurate model by the mechanical modeling technique. A wavelet neural network (WNN) identification method is proposed to determine the system mathematical model through test datum, which optimized by the hybrid algorithm of differential evolution (DE) and particle swarm optimization (PSO). Then, the proposed method is applied to identify the semi-physical simulation platform of the rocket launcher velocity servo system. The results demonstrate that the validity of the DEPSO-WNN method is better than that of the WNN and PSO-WNN methods. Finally, compared with the WNN-IMC controller and the ADRC controller, the effectiveness of the improved WNN-IMC controller is verified by the semi-physical simulation experiments.

Internal Model Control of PMSM Position Servo System: Theory and Experimental Results

2020 ◽  
Vol 16 (4) ◽  
pp. 2202-2211
Author(s):  
Zhaowu Ping ◽  
Tao Wang ◽  
Yunzhi Huang ◽  
Hai Wang ◽  
Jun-Guo Lu ◽  
...  
Keyword(s):  
System Theory ◽  
Internal Model ◽  
Servo System ◽  
Internal Model Control ◽  
Experimental Results ◽  
Model Control ◽  
Position Servo

A novel IMC-FOF design for four wheel steering systems of distributed drive electric vehicles

2021 ◽  
pp. 095440702110314
Author(s):  
Yan Ti ◽  
Kangcheng Zheng ◽  
Wanzhong Zhao ◽  
Tinglun Song
Keyword(s):  
Fractional Order ◽  
Electric Vehicles ◽  
Internal Model ◽  
Rear Wheel ◽  
Internal Model Control ◽  
Steering Angle ◽  
Comparison Results ◽  
Model Control ◽  
Tracking Ability ◽  
Internal Model Controller

To improve handling and stability for distributed drive electric vehicles (DDEV), the study on four wheel steering (4WS) systems can improve the vehicle driving performance through enhancing the tracking capability to desired vehicle state. Most previous controllers are either a large amount of calculation, or requires a lot of experimental data, these are relatively time-consuming and laborious. According to the front and rear wheel steering angle of DDEV can be distributed independently, a novel controller named internal model controller with fractional-order filter (IMC-FOF) for 4WS systems is proposed and studied in this paper. The IMC-FOF is designed using the internal model control theory and compared with IMC and PID controller. The influence of time constant and fractional-order parameters which is optimized using quantum genetic algorithms (QGA) on tracking ability of vehicle state are also analyzed. Using a production vehicle as an example, the simulation is performed combining Matlab/Simulink and CarSim. The comparison results indicated that the proposed controller presents performance to distribute the front and rear wheel steering angle for ensuring better tracking capability to desired vehicle state, meanwhile it possesses strong robustness.

A comparative study on existing and new methods to design internal model controllers for non-square systems

2019 ◽  
Vol 41 (13) ◽  
pp. 3637-3650 ◽  
Author(s):  
Imen Saidi ◽  
Nahla Touati ◽  
Ahmed Dhahri ◽  
Dhaou Soudani
Keyword(s):  
Internal Model ◽  
Internal Model Control ◽  
Model Inversion ◽  
Transfer Function Method ◽  
New Methods ◽  
Proposed Model ◽  
Model Control ◽  
Internal Model Controller ◽  
Square Systems ◽  
Pseudo Inverse

This paper focuses on a challenging problem in the internal model control (IMC) strategy: the model inversion to design the IMC controller for non-square systems. Several existing approaches for the synthesis of a specific inversion of the identified model will be presented in this paper to deal with the differences between the system’s inputs and outputs numbers. The non-square effective relative gain is firstly presented. It consists of the measurement of interactions between the loops of the system in order to square the system and make it invertible. The equivalent transfer function method is presented as well. It is based on tuning the pseudo-inverse of the process to design the internal model controller. These methods are then compared with a novel proposed model inversion approach based on virtual outputs method. Virtual adding is considered in order to obtain an invertible square transfer matrix to design the internal model controller. This simple yet effective method ensures robust control performance. Its efficiency and availability, as compared with other presented methods, is illustrated through simulations on an overactuated system with three inputs/two outputs.

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