Vibration Suppression Control Method for PMSMs Based on Learning Control Corresponding to Operating Point Changes

2017 ◽  
Vol 137 (1) ◽  
pp. 10-16
Author(s):  
Satomi Hattori
Keyword(s):  
Vibration Suppression ◽  
Control Method ◽  
Learning Control ◽  
Operating Point

Research of vibration and crack propagation controls on an asymmetrical cracked rotor

2021 ◽  
pp. 107754632199822
Author(s):  
Jun Liu ◽  
Zhu Han ◽  
Rong Hu
Keyword(s):  
Crack Propagation ◽  
Vibration Suppression ◽  
Control Method ◽  
Element Model ◽  
Electromagnetic Actuator ◽  
Contact Method ◽  
Cracked Rotor ◽  
Mapping Model ◽  
Differential Control ◽  
Opening And Closing

To investigate vibration characteristics and delay crack propagations of an asymmetric cracked rotor, the 3D finite element model of the rotor system with a nonlinear contact method is established. Resonance characteristics of the asymmetrical rotor without a crack and within different locations of a crack are investigated systematically. Numerical results show that a crack affects vibration frequencies and the unstable region of the rotor. Meanwhile, an improved proportional integral differential control method with the electromagnetic actuator is used to accomplish the delay crack propagation and the vibration suppression. Based on the mapping model of opening and closing states of a crack, the effects of rotational speeds, an unbalance, and asymmetries of the rotor are discussed in detail. Experimental results show that vibrations and the breathing behavior of cracks in the rotor with the electromagnetic actuator can be suppressed, and the effectiveness of the proposed mapping model of opening and closing states of a crack is verified.

scholarly journals The Study of Dynamic Modeling and Multivariable Feedback Control for Flexible Manipulators with Friction Effect and Terminal Load

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1522
Author(s):  
Fuli Zhang ◽  
Zhaohui Yuan
Keyword(s):  
Dynamic Model ◽  
Vibration Suppression ◽  
Control Method ◽  
Coupling Effect ◽  
Flexible Manipulator ◽  
Flexible Beam ◽  
Robot Dynamics ◽  
Joint Friction ◽  
Balance Principle ◽  
Multivariable Feedback

The flexible manipulato is widely used in the aerospace industry and various other special fields. Control accuracy is affected by the flexibility, joint friction, and terminal load. Therefore, this paper establishes a robot dynamics model under the coupling effect of flexibility, friction, and terminal load, and analyzes and studies its control. First of all, taking the structure of the central rigid body, the flexible beam, and load as the research object, the dynamic model of a flexible manipulator with terminal load is established by using the hypothesis mode and the Lagrange method. Based on the balance principle of the force and moment, the friction under the influence of flexibility and load is recalculated, and the dynamic model of the manipulator is further improved. Secondly, the coupled dynamic system is decomposed and the controller is designed by the multivariable feedback controller. Finally, using MATLAB as the simulation platform, the feasibility of dynamic simulation is verified through simulation comparison. The results show that the vibration amplitude can be reduced with the increase of friction coefficient. As the load increases, the vibration can increase further. The trajectory tracking and vibration suppression of the manipulator are effective under the control method of multi-feedback moment calculation. The research is of great significance to the control of flexible robots under the influence of multiple factors.

Continuous reinforcement learning based ramp jump control for single-track two-wheeled robots

2021 ◽  
pp. 014233122110378
Author(s):  
Qingyuan Zheng ◽  
Duo Wang ◽  
Zhang Chen ◽  
Yiyong Sun ◽  
Bin Liang
Keyword(s):  
Reinforcement Learning ◽  
Energy Savings ◽  
Control Method ◽  
Learning Control ◽  
Action Space ◽  
Gradient Algorithm ◽  
Single Track ◽  
Wheeled Robots ◽  
Reward Function ◽  
Wheeled Robot

Single-track two-wheeled robots have become an important research topic in recent years, owing to their simple structure, energy savings and ability to run on narrow roads. However, the ramp jump remains a challenging task. In this study, we propose to realize a single-track two-wheeled robot ramp jump. We present a control method that employs continuous action reinforcement learning techniques for single-track two-wheeled robot control. We design a novel reward function for reinforcement learning, optimize the dimensions of the action space, and enable training under the deep deterministic policy gradient algorithm. Finally, we validate the control method through simulation experiments and successfully realize the single-track two-wheeled robot ramp jump task. Simulation results validate that the control method is effective and has several advantages over high-dimension action space control, reinforcement learning control of sparse reward function and discrete action reinforcement learning control.

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.

scholarly journals Tandem control method of two axes with different reduction ratios (Comparison of three methods for the natural vibration suppression)

2020 ◽  
Vol 86 (889) ◽  
pp. 19-00456-19-00456
Author(s):  
Akihiro MAEKAWA ◽  
Toshihiro YASUE ◽  
Hikaru IIDA ◽  
Takumi YAMADA
Keyword(s):  
Natural Vibration ◽  
Vibration Suppression ◽  
Control Method

Reinforcement Learning for Active Noise Control in a Hydraulic System

2021 ◽  
Vol 143 (6) ◽  
Author(s):  
Eric R. Anderson ◽  
Brian L. Steward
Keyword(s):  
Reinforcement Learning ◽  
Hydraulic System ◽  
Noise Control ◽  
Control Method ◽  
Active Noise Control ◽  
Operating Point ◽  
Hydraulic Pressure ◽  
Hydraulic Systems ◽  
Active Noise ◽  
Pressure Ripple

Abstract Hydraulic pressure ripple in a pump, as a result of converting rotational power to fluid power, continues to be a problem faced when developing hydraulic systems due to the resulting noise generated. In this paper, we present simulation results from leveraging an actor-critic reinforcement learning method as the control method for active noise control in a hydraulic system. The results demonstrate greater than 96%, 81%, and 61% pressure ripple reduction for the first, second, and third harmonics, respectively, in a single operating point test, along with the advantage of feed forward like control for high bandwidth response during dynamic changes in the operating point. It also demonstrates the disadvantage of long convergence times while the controller is effectively learning the optimal control policy. Additionally, this work demonstrates the ancillary benefit of the elimination of the injection of white noise for the purpose of system identification in the current state of the art.

Vibration suppression for large-scale flexible structures based on cable-driven parallel robots

2020 ◽  
pp. 107754632096194
Author(s):  
Haining Sun ◽  
Xiaoqiang Tang ◽  
Senhao Hou ◽  
Xiaoyu Wang
Keyword(s):  
Large Scale ◽  
Vibration Suppression ◽  
Control Method ◽  
External Disturbance ◽  
Flexible Structures ◽  
Parallel Robot ◽  
Parallel Robots ◽  
Lyapunov Theory ◽  
Normal Operation ◽  
Control Methods

Specific satellites with ultralong wings play a crucial role in many fields. However, external disturbance and self-rotation could result in undesired vibrations of the flexible wings, which affect the normal operation of the satellites. In severe cases, the satellites would be damaged. Therefore, it is imperative to conduct vibration suppression for these flexible structures. Utilizing fuzzy-proportional integral derivative control and deep reinforcement learning (DRL), two active control methods are proposed in this article to rapidly suppress the vibration of flexible structures with quite small controllable force based on a cable-driven parallel robot. Inspired by the output law of DRL, a new control method named Tang and Sun control is innovatively presented based on the Lyapunov theory. To verify the effectiveness of these three control methods, three groups of simulations with different initial disturbances are implemented for each method. Besides, to enhance the contrast, a passive pretightening scheme is also tested. First, the dynamic model of the cable-driven parallel robot which comprises four cables and a flexible structure is established using the finite element method. Then, the dynamic behavior of the model under the controllable cable force is analyzed by the Newmark-ß method. Finally, these control methods are implemented by numerical simulations to evaluate their performance, and the results are satisfactory, which validates the controllers’ ability to suppress vibrations.

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