System identification and robust stabilization using structured controller for a novel ducted fan flying robot

2017 ◽  
Vol 233 (1) ◽  
pp. 197-214 ◽  
Author(s):  
Xiaoliang Wang ◽  
Changle Xiang ◽  
Bin Xu ◽  
Wei Fan
Keyword(s):  
System Identification ◽  
Robust Stabilization ◽  
Multiple Control ◽  
Reference Tracking ◽  
Loop Control ◽  
Mechanism Model ◽  
Ducted Fan ◽  
Smooth Optimization ◽  
And Control ◽  
Flying Robot

This paper proposes complete procedures for system identification and control of a novel ducted fan flying robot on near hover flight condition. A control-oriented model structure is derived from a comprehensive mechanism model and identified by ground tests and flight experiments. In order to achieve state decoupling and reference tracking, a two-loop control architecture is employed. Non-smooth optimization algorithm is applied to efficiently tune controller parameters against multiple control requirements. Experimental results show that designed structured controller can provide better performance than classical proportional -integral -derivative (PID) controller.

A Rapid Recursive Experimental Approach to Structure/Control Re-Design

1995 ◽  
Author(s):  
Anton Pil ◽  
Haruhiko Asada
Keyword(s):  
System Performance ◽  
Recursive Algorithm ◽  
Descent Method ◽  
Gradient Descent Method ◽  
Control Parameters ◽  
Multiple Control ◽  
Mechatronic Systems ◽  
Loop Control ◽  
Structural Reinforcement ◽  
And Control

Abstract This paper introduces an experimental recursive method for simultaneously changing both the mechanical structure and control design of mechatronic systems in order to improve the system’s overall performance. The method improves a system’s closed-loop control specifications through recursive concurrent structure reinforcement and control gain optimization. By using a process of structural reinforcement, a single prototype structure can be used repeatedly until the system performance goals are achieved. To determine the optimal incremental structure changes, a recursive algorithm based on a gradient descent method and a parameter estimation theory is employed. After the incremental structure reinforcements are applied, the control parameters are optimized with respect to multiple control specifications. Next, the resulting system incorporating the structure and control changes is tested and compared with the desired level of performance. The entire process consisting of experimental evaluation, data analysis, and structure reinforcement is repeated until the system performance achieves the desired level. Simulation experiments are successful in changing both the structural and control parameters of a simplified positioning system and show improvement in the system’s overall settling time.

Dynamics and Control of Clutchless Automated Manual Transmissions for Electric Vehicles

2017 ◽  
Vol 139 (6) ◽  
Author(s):  
Paul D. Walker ◽  
Yuhong Fang ◽  
Nong Zhang
Keyword(s):  
Transient Response ◽  
Transient Behavior ◽  
Equivalent Model ◽  
Motor Speed ◽  
Loop Control ◽  
Mechanism Model ◽  
Shift Control ◽  
Gear Change ◽  
Dynamics And Control ◽  
And Control

This paper presents a study of the dynamics and control of clutchless automated manual transmissions (CLAMT) for the purpose of investigating the system behavior during up and down shifts. To achieve this, a multibody dynamic model of the proposed powertrain is implemented to simulate the transient behavior of the system, including a direct current (DC) equivalent model of the electric machine (EM) and a synchronizer mechanism model. Closed-loop control of motor speed and torque is used in conjunction with synchronizer mechanism actuation to functionally achieve gear shifting without the need for a primary friction clutch. This includes nested torque–speed closed-loops to implement alternative motor control functionalities at different stages of gear change. To evaluate the performance of shift control, shift metrics including longitudinal jerk, vibration dose value (VDV), and shifting duration are evaluated from simulation results. These results demonstrate the most significant impact on the transient response of the powertrain results from the reduction and reinstatement of motor torque during shift control. Speed control of the motor during the shift transient directly impacts on the duration of shifting, but not the transient response of the powertrain.

Simultaneous Blade–Vortex Interaction Noise and Vibration Reduction in Rotorcraft Using Microflaps, Including the Effect of Actuator Saturation

2015 ◽  
Vol 60 (4) ◽  
pp. 1-16 ◽  
Author(s):  
Ashwani K. Padthe ◽  
Peretz P. Friedmann
Keyword(s):  
Control Algorithm ◽  
Actuator Saturation ◽  
Vibration Reduction ◽  
Multiple Control ◽  
Noise And Vibration ◽  
Loop Control ◽  
Vortex Interactions ◽  
Blade Vortex Interaction ◽  
Noise And Vibration Reduction ◽  
And Control

The effectiveness of a sliding microflap to simultaneously reduce rotorcraft vibrations and noise was examined at a descending flight condition of advance ratio 0.15 with significant blade–vortex interactions (BVI). two configurations, namely dual and a five-microflap configuration, were considered. Closed-loop control studies were conducted on a hingeless rotor configuration resembling MBB BO-105, using the adaptive higher harmonic control algorithm. The performance of the microflap was also compared to a conventional trailing-edge plain flap. The results demonstrate the effectiveness and control authority of the microflap for simultaneous BVI noise and vibration reduction in rotorcraft. Finally, a new saturation control algorithm is developed for limiting the microflap or flap deflections such that the best utilization of on-blade controllers implemented through multiple control surfaces is achieved. The performance of the new algorithm is compared to the existing ones on the dual and five-microflap configurations.

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

System Identification and Control of the Activated Sludge Process by Use of a Statistical Model

1989 ◽  
Vol 21 (10-11) ◽  
pp. 1161-1172 ◽  
Author(s):  
M. Hiraoka ◽  
K. Tsumura
Keyword(s):  
Control System ◽  
System Identification ◽  
Statistical Model ◽  
Activated Sludge ◽  
Sewage Treatment Plant ◽  
Treatment Plant ◽  
Ar Model ◽  
Diurnal Changes ◽  
Activated Sludge Process ◽  
And Control

The authors have been developing a hierarchical control system for the activated sludge process which consists of an upper level system controlling long-term seasonal variations, a control system of intermediate level aiming at optimization of the process and a control system of lower level controlling diurnal changes or hourly fluctuations. The control system using the multi-variable statistical model is one of the most appropriate control systems based on the modern control theory, for applying the lower level control of the activated sludge process. This paper introduces our efforts for developing the reliable data acquisition system, the control experiments applying the AR-model, one of the statistical models which were conducted at a pilot plant and present studies on the system identification and control at a field sewage treatment plant.

scholarly journals Method for designing multi-input system identification signals using a compact time-frequency representation

2021 ◽  
Author(s):  
Mathias Stefan Roeser ◽  
Nicolas Fezans
Keyword(s):  
System Identification ◽  
Design Method ◽  
Flight Test ◽  
Compact Representation ◽  
Time Frequency ◽  
Stability And Control ◽  
Frequency Representation ◽  
Aerodynamic Parameters ◽  
Definition Of ◽  
And Control

AbstractA flight test campaign for system identification is a costly and time-consuming task. Models derived from wind tunnel experiments and CFD calculations must be validated and/or updated with flight data to match the real aircraft stability and control characteristics. Classical maneuvers for system identification are mostly one-surface-at-a-time inputs and need to be performed several times at each flight condition. Various methods for defining very rich multi-axis maneuvers, for instance based on multisine/sum of sines signals, already exist. A new design method based on the wavelet transform allowing the definition of multi-axis inputs in the time-frequency domain has been developed. The compact representation chosen allows the user to define fairly complex maneuvers with very few parameters. This method is demonstrated using simulated flight test data from a high-quality Airbus A320 dynamic model. System identification is then performed with this data, and the results show that aerodynamic parameters can still be accurately estimated from these fairly simple multi-axis maneuvers.

scholarly journals Robust Stabilization of Interval Plants with Uncertain Time-Delay Using the Value Set Concept

Mathematics ◽  
2021 ◽  
Vol 9 (4) ◽  
pp. 429
Author(s):  
Pedro Zamora ◽  
Alejandro Arceo ◽  
Noé Martínez ◽  
Gerardo Romero ◽  
Luis E. Garza
Keyword(s):  
Time Delay ◽  
Robust Stabilization ◽  
Parametric Uncertainty ◽  
Exclusion Principle ◽  
Control Synthesis ◽  
Classical Orthogonal Polynomials ◽  
Loop Control ◽  
Value Set ◽  
Interval Plants ◽  
Uncertain Time

This paper considers the robust stabilization problem for interval plants with parametric uncertainty and uncertain time-delay based on the value set characterization of closed-loop control systems and the zero exclusion principle. Using Kharitonov’s polynomials, it is possible to establish a sufficient condition to guarantee the robust stability property. This condition allows us to solve the control synthesis problem using conditions similar to those established in the loopshaping technique and to parameterize the controllers using stable polynomials constructed from classical orthogonal polynomials.

Optimal Design and Control of a Slider-Crank Mechanism System

2012 ◽  
Vol 487 ◽  
pp. 608-612 ◽  
Author(s):  
Chih Cheng Kao
Keyword(s):  
Particle Swarm Optimization ◽  
System Identification ◽  
Optimal Design ◽  
Fitness Function ◽  
Local Optimum ◽  
Swarm Optimization ◽  
Modified Particle Swarm Optimization ◽  
Pm Synchronous Motor ◽  
And Control ◽  
Crank Mechanism

This paper mainly proposes an efficient modified particle swarm optimization (MPSO) method, to identify a slider-crank mechanism driven by a field-oriented PM synchronous motor. The parameters of many industrial machines are difficult to obtain if these machines cannot be taken apart. In system identification, we adopt the MPSO method to find parameters of the slider-crank mechanism. This new algorithm is added with “distance” term in the traditional PSO’s fitness function to avoid converging to a local optimum. Finally, the comparisons of numerical simulations and experimental results prove that the MPSO identification method for the slider-crank mechanism is feasible.

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