An internal model control-cascade Proportion-Integration-Differentiation method for manipulation of nano-quad-rotors

2019 ◽  
Vol 233 (8) ◽  
pp. 2948-2955 ◽  
Author(s):  
Yuan Wang ◽  
Xiangming Zheng ◽  
Hongda Li ◽  
Xiaoran Li
Keyword(s):  
Trajectory Tracking ◽  
Internal Model ◽  
Control Method ◽  
Parameter Tuning ◽  
Internal Model Control ◽  
Model Uncertainties ◽  
Model Control ◽  
Tuning Process ◽  
The Stability ◽  
Significant Superiority

Nowadays, manipulation of quad-rotors faces complexity in controller parameter tuning process and system instability under uncertainties. Internal model control is featured with less controller parameters, simpler tuning process than conventional methods, good robustness and perfect capability in rejection of uncertainties. All its merits can be applied in the field of nano-quad-rotor control since its internal model is easy to be obtained and the suffered uncertainties, especially persistent ones such as model uncertainties and winds, can be rejected by the algorithm effectively. In this paper, an internal model control cascade Proportion-Integration-Differentiation (PID) method is developed to enhance the robustness and improve the capability of uncertainty rejection of nano-quad-rotors flying under persistent uncertainties. The system can be stabilized in a very easy way with all controller parameters tuned within 0 to 1. Comparison with internal model control method was carried out numerically; the results show that, in dealing with persistent uncertainties, the internal model control cascade PID-based method presents significant superiority in the maintenance of both the accuracy of trajectory tracking and the stability of attitude.

scholarly journals Quadrotor Trajectory Tracking Based on Quasi-LPV System and Internal Model Control

2015 ◽  
Vol 2015 ◽  
pp. 1-13 ◽  
Author(s):  
ZeFang He ◽  
Long Zhao
Keyword(s):  
Transfer Function ◽  
Trajectory Tracking ◽  
Internal Model ◽  
Control Method ◽  
Design Method ◽  
Internal Model Control ◽  
Transformation Model ◽  
Transfer Function Matrix ◽  
Model Control ◽  
Function Matrix

Internal model control (IMC) design method based on quasi-LPV (Linear Parameter Varying) system is proposed. In this method, the nonlinear model is firstly transformed to the linear model based on quasi-LPV method; then, the quadrotor nonlinear motion function is transformed to transfer function matrix based on the transformation model from the state space to the transfer function; further, IMC is designed to control the controlled object represented by transfer function matrix and realize quadrotor trajectory tracking. The performance of the controller proposed in this paper is tested by tracking for three reference trajectories with drastic changes. The simulation results indicate that the control method proposed in this paper has stronger robustness to parameters uncertainty and disturbance rejection performance.

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 Current Control Methods for an Asymmetric Six-Phase Permanent Magnet Synchronous Motor

Electronics ◽  
2020 ◽  
Vol 9 (1) ◽  
pp. 172 ◽  
Author(s):  
Zhihong Wu ◽  
Weisong Gu ◽  
Yuan Zhu ◽  
Ke Lu
Keyword(s):  
Permanent Magnet ◽  
Internal Model ◽  
Control Method ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Current Control ◽  
Internal Model Control ◽  
Lms Algorithm ◽  
Least Mean Square ◽  
Model Control

Via the vector space decomposition (VSD) transformation, the currents in an asymmetric six-phase permanent magnet synchronous motor (ASP_PMSM) can be decoupled into three orthogonal subspaces. Control of α–β currents in α–β subspace is important for torque regulation, while control of x-y currents in x-y subspace can suppress the harmonics due to the dead time of converters and other nonlinear factors. The zero-sequence components in O1-O2 subspace are 0 due to isolated neutral points. In α–β subspace, a state observer is constructed by introducing the error variable between the real current and the internal model current based on the internal model control method, which can improve the current control performance compared to the traditional internal model control method. In x–y subspace, in order to suppress the current harmonics, an adaptive-linear-neuron (ADALINE)-based control algorithm is employed to generate the compensation voltage, which is self-tuned by minimizing the estimated current distortion through the least mean square (LMS) algorithm. The modulation technique to implement the four-dimensional current control based on the three-phase SVPWM is given. The experimental results validate the robustness and effectiveness of the proposed control method.

scholarly journals New Smith Internal Model Control of Two-Motor Drive System Based on Neural Network Generalized Inverse

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
Guohai Liu ◽  
Jun Yuan ◽  
Wenxiang Zhao ◽  
Yaojie Mi
Keyword(s):  
Neural Network ◽  
Control Strategy ◽  
Internal Model ◽  
Generalized Inverse ◽  
Control Structure ◽  
Control Method ◽  
Internal Model Control ◽  
Drive System ◽  
Motor Drive ◽  
Model Control

Multimotor drive system is widely applied in industrial control system. Considering the characteristics of multi-input multioutput, nonlinear, strong-coupling, and time-varying delay in two-motor drive systems, this paper proposes a new Smith internal model (SIM) control method, which is based on neural network generalized inverse (NNGI). This control strategy adopts the NNGI system to settle the decoupling issue and utilizes the SIM control structure to solve the delay problem. The NNGI method can decouple the original system into several composite pseudolinear subsystems and also complete the pole-zero allocation of subsystems. Furthermore, based on the precise model of pseudolinear system, the proposed SIM control structure is used to compensate the network delay and enhance the interference resisting the ability of the whole system. Both simulation and experimental results are given, verifying that the proposed control strategy can effectively solve the decoupling problem and exhibits the strong robustness to load impact disturbance at various operations.

An Internal Model Control Based Static Anti-Windup Scheme With Improved Performance

2010 ◽  
Author(s):  
Wei Wu
Keyword(s):  
Internal Model ◽  
Input Saturation ◽  
Internal Model Control ◽  
Controller Synthesis ◽  
Linear Matrix ◽  
Constrained System ◽  
Stability Robustness ◽  
Model Control ◽  
Improved Performance ◽  
The Stability

This paper considers the synthesis of static anti-windup (AW) compensation within the internal model control (IMC) AW framework for stable plants subject to input saturation. Built on the conventional IMC AW scheme which preserves the stability and the stability robustness of the unconstrained system, the proposed static AW compensation improves the constrained system performance. L2 gain performance of the constrained system is considered for the static AW controller synthesis, resulting in a linear matrix inqualitiy. The effectiveness of this AW scheme is demonstrated by comparison with two AW methods from the literature through using two numerical examples.

scholarly journals Internal Model Control for Rank-Deficient System with Time Delays Based on Damped Pseudo-Inverse

Processes ◽  
2019 ◽  
Vol 7 (5) ◽  
pp. 264
Author(s):  
Meiying Jiang ◽  
Beiyan Jiang ◽  
Qi Wang
Keyword(s):  
Time Delay ◽  
Internal Model ◽  
Control Method ◽  
Dynamic Performance ◽  
Delay System ◽  
Internal Model Control ◽  
Damping Factor ◽  
Model Control ◽  
Value Decomposition ◽  
Pseudo Inverse

It is a challenge to design a satisfactory controller for a complex multivariable industrial system with minimal offsetting and a slow response. An internal model control method is proposed for rank-deficient systems with a time delay based on a damped pseudo-inverse. An internal model control was designed to obtain the desired dynamic characteristics of the system by transforming the time-delay system into a system without a time delay, following the Pade approximation approach. By introducing a damping factor, the internal model controller was designed based on a damped pseudo-inverse, since the inverse matrix of the rank-deficient system does not exist. Furthermore, a singular value decomposition was used to analyze the steady-state performance of the system. The selection of the damping factor was also presented, and a μ analysis was made to evaluate the stability of the system. To demonstrate the effectiveness of the proposed method, a crude distillation process with five inputs and four outputs was considered as an example. The simulation results illustrate that not only can the proposed strategy guarantee the system’s stability, but it also has a relatively good dynamic performance.

Sign in / Sign up

Export Citation Format

Share Document