scholarly journals Trajectory Azimuth Control Based on Equivalent Input Disturbance Approach for Directional Drilling Process

2021 ◽  
Vol 25 (1) ◽  
pp. 31-39
Author(s):  
Zhen Cai ◽  
Xuzhi Lai ◽  
Min Wu ◽  
Chengda Lu ◽  
Luefeng Chen ◽  
...  
Keyword(s):  
State Space Model ◽  
System Stability ◽  
Linear Matrix ◽  
Drilling Process ◽  
Drill Bit ◽  
Directional Drilling ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Input Disturbance ◽  
Equivalent Input Disturbance

This paper concerns with trajectory azimuth control in directional drilling. The motion process of the drill bit and a series of stabilizers are described, and a state-space model of the trajectory azimuth is constructed. The scheme of the trajectory azimuth control system is designed based on the equivalent input disturbance approach. An internal model is inserted to track the drill bit to improve the quality of the drilling trajectory. A state observer is combined with a low-pass filter to estimate the trajectory azimuth by measuring the azimuth of the bottom hole assembly (BHA). The control parameters can be obtained by the condition of system stability, which is derived in terms of linear matrix inequalities. A typical case is used to illustrate the validity and robustness of our approach.

scholarly journals Arm Angle Tracking Control with Pole Balancing Using Equivalent Input Disturbance Rejection for a Rotational Inverted Pendulum

Mathematics ◽  
2021 ◽  
Vol 9 (21) ◽  
pp. 2745
Author(s):  
Hojin Lee ◽  
Jeonghwan Gil ◽  
Sesun You ◽  
Yonghao Gui ◽  
Wonhee Kim
Keyword(s):  
Tracking Control ◽  
Inverted Pendulum ◽  
Lyapunov Theory ◽  
Parameter Uncertainties ◽  
Pass Filter ◽  
Pendulum System ◽  
Low Pass Filter ◽  
Input Disturbance ◽  
Inverted Pendulum System ◽  
Equivalent Input Disturbance

This paper proposes a robust tracking control method for swing-up and stabilization of a rotational inverted pendulum system by applying equivalent input disturbance (EID) rejection. The mathematical model of the system was developed by using a Lagrangian equation. Then, the EID, including external disturbances and parameter uncertainties, was defined; and the EID observer was designed to estimate EID using the state observer dynamics and a low-pass filter. For robustness, the linear-quadratic regulator method is used with EID rejection. The closed-loop stability is proven herein using the Lyapunov theory and input-to-state stability. The performance of the proposed method is validated and verified via experimental results.

Drilling Control System Using an Equivalent Input Disturbance-Based Control With a Neutral-Type Axial-Torsional Coupled Dynamics Model

2019 ◽  
Vol 141 (12) ◽  
Author(s):  
Chong Ke ◽  
Xingyong Song
Keyword(s):  
Coupling Effect ◽  
Neutral Type ◽  
Drill String ◽  
Hole Drilling ◽  
Type Model ◽  
Drilling Process ◽  
Rock Interaction ◽  
Input Disturbance ◽  
Torsional Coupling ◽  
Equivalent Input Disturbance

Abstract This paper proposed an equivalent input disturbance (EID)-based approach to control the vertical down-hole drilling process. To describe a drill string which is typically long with large axial-to-radius ratio, a neutral-type model is used to accurately capture dynamics of this type of slender string structure. The axial-torsional coupling effect due to drill bit/rock interaction is also included in the model. A new controller is then designed based on the coupled neutral model, and the coupling effect is specifically addressed in the design. To address the uncertainty of the bit/rock interaction, the EID method is used. A new Lyapunov–Krasovskii functional is proposed for the control design. To this end, a series of numerical simulation results are presented to demonstrate the effectiveness of the proposed control scheme.

scholarly journals An Improved Equivalent-Input-Disturbance Method for Uncertain Networked Control Systems with Packet Losses and Exogenous Disturbances

Actuators ◽  
2021 ◽  
Vol 10 (10) ◽  
pp. 263
Author(s):  
Meiliu Li ◽  
Jinhua She ◽  
Zhen-Tao Liu ◽  
Min Wu ◽  
Yasuhiro Ohyama
Keyword(s):  
Tracking Error ◽  
Networked Control System ◽  
Networked Control ◽  
Linear Matrix ◽  
Control Input ◽  
Observation Error ◽  
Packet Losses ◽  
Input Disturbance ◽  
Exogenous Disturbances ◽  
Equivalent Input Disturbance

In a networked control system (NCS), time delays, uncertainties, packet losses, and exogenous disturbances seriously affect the control performance. To solve these problems, a modified disturbance suppression configuration of NCS was built. In the configuration, a proportional–integral observer (PIO) reproduces the state of a plant and reduces the observation error; an equivalent input disturbance (EID) estimator estimates and compensates for the disturbance in the control input channel. The stability conditions of the NCS are given by using a linear matrix inequality, and the gains of the PIO and state feedback controller are obtained. Numerical simulation results and an application of a magnetic levitation ball system verifies the effectiveness of the presented method. Comparison with the conventional PIO and EID methods shows that the presented method reduced the tracking error to about one-fifth and two-thirds of their original values, respectively. This demonstrates the validity and superiority of the presented method.

scholarly journals Navigation Algorithm Applied to the Bit of Underwater Horizontal Directional Drilling in a Vibration Environment

2019 ◽  
Vol 36 (2) ◽  
pp. 249-256
Author(s):  
Ke Yang
Keyword(s):  
Angular Velocity ◽  
Spectral Characteristics ◽  
Sensor Data ◽  
Directional Drilling ◽  
Horizontal Directional Drilling ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Navigation Algorithm ◽  
Low Pass ◽  
Kalman Filter Algorithm

Abstract In its working state, the bit used in underwater horizontal directional drilling (UHDD) produces a high-frequency vibration that can affect accuracy of navigation. We designed a low-pass filter with linear phase on the basis of spectral characteristics of sensor data. To improve further the accuracy of navigation, we deduce the state error model on the basis of the random walk model of acceleration and angular velocity. We use an indirect Kalman filter algorithm to correct the attitude and position of the bit used with UHDD on the basis of observations coming from our working state analysis. Last, we derive a complete navigation algorithm function, including the acquisition method of steady-state component of acceleration and angular velocity. Experimental results show that the navigation algorithm proposed in this paper can obtain accurate attitude and location information of the bit in a vibration environment.

scholarly journals Dynamic Surface Control and Its Application to Lateral Vehicle Control

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Bongsob Song ◽  
J. Karl Hedrick ◽  
Yeonsik Kang
Keyword(s):  
Nonlinear Systems ◽  
Dynamic Surface Control ◽  
Vehicle Control ◽  
Linear Matrix ◽  
Automated Driving ◽  
Dynamic Surface ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Surface Control ◽  
Highly Nonlinear

This paper extends the design and analysis methodology of dynamic surface control (DSC) in Song and Hedrick, 2011, for a more general class of nonlinear systems. When rotational mechanical systems such as lateral vehicle control and robot control are considered for applications, sinusoidal functions are easily included in the equation of motions. If such a sinusoidal function is used as a forcing term for DSC, the stability analysis faces the difficulty due to highly nonlinear functions resulting from the low-pass filter dynamics. With modification of input variables to the filter dynamics, the burden of mathematical analysis can be reduced and stability conditions in linear matrix inequality form to guarantee the quadratic stability via DSC are derived for the given class of nonlinear systems. Finally, the proposed design and analysis approach are applied to lateral vehicle control for forward automated driving and backward parallel parking at a low speed as well as an illustrative example.

scholarly journals A Unified Method for Online Detection of Phase Variables and Symmetrical Components of Unbalanced Three-Phase Systems with Harmonic Distortion

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3243 ◽  
Author(s):  
Christoph M. Hackl ◽  
Markus Landerer
Keyword(s):  
Frequency Estimation ◽  
Harmonic Distortion ◽  
System Stability ◽  
Online Detection ◽  
Sequence Detection ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Symmetrical Components ◽  
Three Phase ◽  
Low Pass

This paper presents a method for online detection of symmetrical components of arbitrarily distorted and biased three-phase input signals. This method is based on Second-Order Generalized Integrators (SOGIs), for which a new tuning based on a gradient search is presented to achieve the fastest possible estimation. Frequency estimation is achieved by a Frequency Locked Loop (FLL) with Gain Normalization (GN) for which an Output Saturation (OS) is applied; this OS guarantees stability of the overall system. Offset detection is implemented by a combination of High-Pass Filter (HPF) and HPF-Amplitude Phase Correction (APC); the HPF filters out any offset, where the APC reconstructs the original offset-free signal. An identical method (APC) can be used for the implemented Low-Pass Filter (LPF) used for noise filtering. The resulting estimates are then used for Harmonic Sequence Detection (HSD) of each harmonic. For the overall system, stability is proven. The estimation performances of the proposed overall system are verified by simulation results. The improvements in tuning and offset detection are compared to standard approaches.

Design of Modified Repetitive Controller for T–S Fuzzy Systems

2019 ◽  
Vol 23 (3) ◽  
pp. 602-610 ◽  
Author(s):  
Manli Zhang ◽  
Min Wu ◽  
Luefeng Chen ◽  
Pan Yu ◽  
◽  
...  
Keyword(s):  
Stability Condition ◽  
Repetitive Control ◽  
Tracking Performance ◽  
Linear Matrix ◽  
Continuous Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Control Approach ◽  
The Stability ◽  
Repetitive Controller

A repetitive controller contains a pure-delay positive-feedback loop that makes it difficult to stabilize a strictly proper system. A low-pass filter is inserted in a repetitive controller to relax the stability condition of the modified repetitive-control system at the cost of degrading the tracking performance. In this study, a modified repetitive-control approach is developed, which reaches a balance between the stability and tracking performance for a class of affine nonlinear systems based on the Takagi–Sugeno fuzzy model. First, a 2D model is established to adjust continuous control and discrete learning actions preferentially induced by exploiting the 2D property in a repetitive-control process. Then, the Lyapunov stability theory and 2D system theory are used to derive a sufficient stability condition in the form of linear matrix inequalities to design parallel-distributed-compensation-based state-feedback controllers. Finally, an application-oriented example is used, and a comparison is performed to show that an extra variable is introduced such that the developed method has a better tracking performance.

Missile longitudinal autopilot design using a generalized extended state observer-based mixed H2/H∞ control method

2019 ◽  
Vol 233 (13) ◽  
pp. 4704-4720 ◽  
Author(s):  
Yi Dong ◽  
Jian Li ◽  
Tong Li ◽  
Jie Wu
Keyword(s):  
State Feedback ◽  
State Observer ◽  
The State ◽  
Feedback Controller ◽  
Extended State Observer ◽  
Linear Matrix ◽  
Extended State ◽  
State Feedback Controller ◽  
Input Disturbance ◽  
Equivalent Input Disturbance

This work presents a novel robust control design approach for missile longitudinal autopilot under multiple disturbances and uncertainties. The uncertainties and disturbances of the missile dynamics are treated as a lumped disturbance based on the concept of equivalent input disturbance. Then a generalized extended state observer is employed to estimate the system states and the equivalent input disturbance in an integrated manner. These estimates are used to construct the state-feedback controller as well as to attenuate the effect of the exogenous disturbances and endogenous uncertainties. The state-feedback controller is obtained by solving the linear matrix inequalities of mixed [Formula: see text]/[Formula: see text] control problem, which provides an impressive flexibility to tune the controller to compromise between [Formula: see text] performance and [Formula: see text] performance. Closed-loop stability of the system under the presented controller-observer structure is also established. The proposed design tactfully circumvents the engineering implementation problems encountered by mixed [Formula: see text]/[Formula: see text] control, achieves strong robustness against disturbances and uncertainties, and does not involve any complicated nonlinear control methodologies. Numerical simulation results of nominal and perturbed performance comparisons with classic methods sufficiently demonstrate the feasibility and robustness of the proposed method.

scholarly journals State Estimation of RC Filters using Unscented Kalman Filter

2020 ◽  
Vol 9 (9) ◽  
pp. 91-96
Keyword(s):  
Kalman Filter ◽  
Unscented Kalman Filter ◽  
Estimation Error ◽  
State Space Model ◽  
Taylor Series Expansion ◽  
System Model ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Low Pass ◽  
High Pass

This paper implements unscented Kalman filter (UKF) for output voltage estimation of RC low pass filter (LPF) and high pass filter (HPF). At first, the state space model has been obtained using Kirchhoff’s current law (KCL). The performance of UKF has been compared with extended Kalman filter (EKF). The simulation results validate the superiority of UKF over EKF as the estimation error is smaller using UKF as compared to the EKF method. As the UKF uses unscented transform (UT) and EKF uses Taylor series expansion for linearization purpose, linearization error is smaller in UKF as compared to EKF method. Also, UKF implementation has the advantage that it does not require Jacobian computation of nonlinear system model.

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