Model-free vibration control based on a virtual controlled object considering actuator uncertainty

2020 ◽  
pp. 107754632094092
Author(s):  
Ansei Yonezawa ◽  
Itsuro Kajiwara ◽  
Heisei Yonezawa
Keyword(s):  
Parameter Uncertainty ◽  
Controller Design ◽  
Design Method ◽  
Order System ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Model Free ◽  
Simulation And Experiment ◽  
Model Free Controller ◽  
Controlled Object

The purpose of this research is to construct a simple and practical controller design method, considering the actuator’s parameter uncertainty, without using a model of controlled objects. In this method, a controller is designed with an actuator model including a single-degree-of-freedom virtual structure inserted between actuator and controlled object, resulting in a model-free controller design. Furthermore, an [Formula: see text] control problem is defined so that the actuator’s parameter uncertainty is compensated by satisfying a robust stability condition. Because the actuator model including the virtual controlled object is a simple low-order system, and the actuator’s parameter uncertainty is considered, a controller with high robustness to the actuator’s parameter uncertainty can be designed based on traditional model-based control theory. The effectiveness of the proposed method is verified by both simulation and experiment.

scholarly journals Experimental verification of model-free active vibration control approach using virtually controlled object

2020 ◽  
Vol 26 (19-20) ◽  
pp. 1656-1667 ◽  
Author(s):  
Heisei Yonezawa ◽  
Itsuro Kajiwara ◽  
Ansei Yonezawa
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Design Method ◽  
Active Vibration Control ◽  
Order System ◽  
Control Performance ◽  
Control Approach ◽  
Model Free ◽  
Active Vibration ◽  
Controlled Object

The purpose of this study is to develop a simple and practical controller design method without modeling controlled objects. In this technique, modeling of the controlled object is not necessary and a controller is designed with an actuator model, which includes a single-degree-of-freedom virtual structure inserted between the actuator and the controlled object. The parameters of the virtual structure are determined so that indirect active vibration suppression is effectively achieved by considering the frequency transfer function from the vibration response of the controlled object to that of the virtual structure. Since the actuator model, which includes a virtually controlled object, is a simple low-order system, a controller with high control performance can be designed by traditional model-based optimal control theory. In this research, a mixed [Formula: see text] controller is designed considering both control performance and robust stability. The effectiveness of the proposed method is validated experimentally. The robustness of the controller is demonstrated by applying the same controller to various structures.

Intelligent PD controller design for active suspension system based on robust model-free control strategy

2019 ◽  
Vol 233 (14) ◽  
pp. 4863-4880 ◽  
Author(s):  
Maroua Haddar ◽  
Riadh Chaari ◽  
S Caglar Baslamisli ◽  
Fakher Chaari ◽  
Mohamed Haddar
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Active Suspension ◽  
Vehicle Speed ◽  
Pd Controller ◽  
Suspension Systems ◽  
Model Free ◽  
Robust Model ◽  
Road Disturbance ◽  
Model Free Control

A novel active suspension control design method is proposed for attenuating vibrations caused by road disturbance inputs in vehicle suspension systems. For the control algorithm, we propose an intelligent PD controller structure that effectively rejects online estimated disturbances. The main theoretical techniques used in this paper consist of an ultra-local model which replaces the mathematical model of quarter car system and a new algebraic estimator of unknown information. The measurement of only input and output variables of the plant is required for achieving the reference tracking task and the cancellation of unmodeled exogenous and endogenous perturbations such as roughness road variation, unpredictable variation of vehicle speed and load variation. The performance and robustness of the proposed active suspension algorithm are compared with ADRC control and LQR control. Numerical results are provided for showing the improvement of passenger comfort criteria with model-free control.

scholarly journals Lead and lag controller design in fractional-order control systems

2019 ◽  
Vol 52 (7-8) ◽  
pp. 1017-1028
Author(s):  
Tufan Dogruer ◽  
Nusret Tan
Keyword(s):  
Control System ◽  
Control Systems ◽  
Fractional Order ◽  
Fourth Order ◽  
Controller Design ◽  
Design Method ◽  
Performance Criteria ◽  
Order System ◽  
Fractional Order Control ◽  
Minimum Error

This paper presents a controller design method using lead and lag controllers for fractional-order control systems. In the presented method, it is aimed to minimize the error in the control system and to obtain controller parameters parametrically. The error occurring in the system can be minimized by integral performance criteria. The lead and lag controllers have three parameters that need to be calculated. These parameters can be determined by the simulation model created in the Matlab environment. In this study, the fractional-order system in the model was performed using Matsuda’s fourth-order integer approximation. In the optimization model, the error is minimized by using the integral performance criteria, and the controller parameters are obtained for the minimum error values. The results show that the presented method gives good step responses for lead and lag controllers.

Robust Control Design of a Single Degree-of-Freedom Magnetic Levitation System by Quantitative Feedback Theory

2012 ◽  
Author(s):  
Feng Tian ◽  
Mark Nagurka
Keyword(s):  
Robust Control ◽  
Magnetic Levitation ◽  
Design Method ◽  
Control Design ◽  
Open Loop ◽  
Quantitative Feedback Theory ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Maglev System ◽  
Robust Control Design

A magnetic levitation (maglev) system is inherently nonlinear and open-loop unstable because of the nature of magnetic force. Most controllers for maglev systems are designed based on a nominal linearized model. System variations and uncertainties are not accommodated. The controllers are generally designed to satisfy gain and phase margin specifications, which may not guarantee a bound on the sensitivity. To address these issues, this paper proposes a robust control design method based on Quantitative Feedback Theory (QFT) applied to a single degree-of-freedom (DOF) maglev system. The controller is designed to successfully meet the stability requirement, robustness specifications, and bounds on the sensitivity. Experiments verify that the controller maintains stable levitation even with 100% load variation. Experiments prove that it guarantees the transient response design requirements even with 100% load change and 39% model uncertainties. The QFT control design method discussed in this paper can be applied to other open-loop unstable systems as well as systems with large uncertainties and variations to improve system robustness.

Deployable Prismatic Structures With Origami Patterns

2014 ◽  
Author(s):  
Sicong Liu ◽  
Weilin Lv ◽  
Yan Chen ◽  
Guoxing Lu
Keyword(s):  
Design Method ◽  
Kinematic Model ◽  
The Other ◽  
Dihedral Angles ◽  
Geometric Condition ◽  
Compatibility Conditions ◽  
Deployable Structures ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Geometric Compatibility

In order to find the general condition of the rigid origami pattern for the deployable prismatic structures, the kinematic model is proposed based on the mobile assemblies of spherical 4R linkages. The kinematic and geometric compatibility conditions of the mobile assemblies are derived. Two groups of 2n-side deployable prismatic structures are obtained. When n=2, one of them is with kite-shape intersection, while the other is with parallelgram. The variations of the unit are discussed. The straight and curvy multilayer prisms are built by changing the dihedral angles between the intersecting planes. The general design method for the 2n-side multilayer deployable prismatic structures is proposed with the geometric condition of the origami patterns. All the deployable structures constructed with this method can be deployed and folded along the central axis of the prisms with single degree of freedom, which makes the structures have wide engineering applications.

Research of Fuzzy PID Control Based on VHDL

2013 ◽  
Vol 416-417 ◽  
pp. 885-889
Author(s):  
Xue Song Wang
Keyword(s):  
Fuzzy Control ◽  
Pid Control ◽  
Control Algorithm ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Design Method ◽  
Operating Experience ◽  
Fuzzy Pid Control ◽  
Self Tuning ◽  
Controlled Object

This paper describes the use of VHDL and fuzzy controller design process.Compared with conventional PID control, fuzzy control is not dependent on the accurate mathematical model of the controlled object. The implementation of integrated practical operating experience and the operation is simple, fast response, anti-interference ability, strong robustness parameters of controlled object. In response to the limitations of the traditional PID control algorithm in the control field, the fuzzy control theory with the traditional PID control algorithm by combining the parameters self-tuning function, the proposed fuzzy self-tuning PID controller design method and algorithm-depth study analysis.

A concise funnel robust model-free control mechanism for hypersonic space vehicles based on error driving

2021 ◽  
pp. 095965182110229
Author(s):  
Xingge Li ◽  
Shufeng Zhang ◽  
Yashun Wang ◽  
Yao Liu ◽  
Zhengwei Fan ◽  
...  
Keyword(s):  
Control Mechanism ◽  
Controller Design ◽  
Parametric Uncertainty ◽  
Space Vehicles ◽  
Tracking Errors ◽  
Model Free ◽  
Robust Model ◽  
Model Free Control ◽  
Proportional Integral Controller ◽  
Model Free Controller

Based on non-affine models of hypersonic space vehicles, the tracking control problem of hypersonic vehicles is studied and analyzed in this article using funnel robust model-free control mechanism considering parametric uncertainty and external disturbances. First, the control system is decomposed into altitude subsystem and velocity subsystem. For altitude subsystem, we propose a concise funnel robust model-free control mechanism based on error driving, and a novel model transformation approach is applied to the controller design. The new model-free controller only contains a Hurwitz stable term and a filtering term, and does not need precise motion model and too much calculation, so it can improve the calculation speed of the system. For velocity subsystem, only a concise proportional-integral controller is needed to meet the tracking requirements. Moreover, the devised controller is capable of guaranteeing funnel performance on the altitude and velocity tracking errors. Finally, numerical simulation results are presented to verify the efficiency of the design.

Deployable Prismatic Structures With Rigid Origami Patterns

2016 ◽  
Vol 8 (3) ◽  
Author(s):  
Sicong Liu ◽  
Weilin Lv ◽  
Yan Chen ◽  
Guoxing Lu
Keyword(s):  
Closed Loop ◽  
Design Method ◽  
Kinematic Model ◽  
Deployable Structures ◽  
Engineering Applications ◽  
Single Degree Of Freedom ◽  
General Design ◽  
Plane Symmetric ◽  
Single Degree ◽  
Spherical Linkages

Rigid origami inspires new design technology in deployable structures with large deployable ratio due to the property of flat foldability. In this paper, we present a general kinematic model of rigid origami pattern and obtain a family of deployable prismatic structures. Basically, a four-crease vertex rigid origami pattern can be presented as a spherical 4R linkage, and the multivertex patterns are the assemblies of spherical linkages. Thus, this prismatic origami structure is modeled as a closed loop of spherical 4R linkages, which includes all the possible prismatic deployable structures consisting of quadrilateral facets and four-crease vertices. By solving the compatibility of the kinematic model, a new group of 2n-sided deployable prismatic structures with plane symmetric intersections is derived with multilayer, straight and curvy variations. The general design method for the 2n-sided multilayer deployable prismatic structures is proposed. All the deployable structures constructed with this method have single degree-of-freedom (DOF), can be deployed and folded without stretching or twisting the facets, and have the compactly flat-folded configuration, which makes it to have great potential in engineering applications.

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