scholarly journals Fuzzy Adaptive Controller Design for Double-pendulum Tower Crane with Distribute Mass Payload

2021 ◽  
Author(s):  
Zheng Sun ◽  
Huimin Ouyang
Keyword(s):  
High Efficiency ◽  
Control Method ◽  
Controller Design ◽  
Adaptive Controller ◽  
Working Environment ◽  
Double Pendulum ◽  
Parameter Uncertainties ◽  
Concentrated Mass ◽  
Tower Crane ◽  
Fuzzy Adaptive

Abstract As a kind of high-efficiency transportation tools, tower cranes are widely used in construction site. With the increasing volume and mass of payload being transported, the researches of distributed mass payload (DMP) problems have been paid more and more attentions. However, most of the existing control algorithms designed for the concentrated mass payload (CMP) are not enough to meet the needs of actual production. The difference between DMP and CMP is mainly manifested in that the remaining payload swing caused by inertial torque of DMP cannot be effectively suppressed, which leads to safety hazards. In addition, due to the different working environment, accurate system parameters (such as mechanical frictions, air frictions ) are hard to obtain, which leads to errors in their positioning. To solve the above issues, first, we establish mathematical model of a double-pendulum tower crane with distributed mass payload (DTCDMP) and carry out dynamic analysis. Then we propose a fuzzy adaptive control method, which has a good tracking effect against external disturbances and parameter uncertainties, and the method can achieve accurate positioning and effective anti-swing. Then, the Lyapunov technology and LaSalle's invariance principle are used to rigorously prove the stability of the system. Finally, on the basis of tracking the S-shaped trajectories, the effectiveness and robustness of the proposed controller are verified through multi-group comparative experiments.

scholarly journals Fuzzy Adaptive Prescribed Performance Control for Uncertain Horizontal Platform System with Unknown Control Gain

2015 ◽  
Vol 2015 ◽  
pp. 1-8
Author(s):  
Wei Xiang ◽  
Yeguo Sun ◽  
Chunzhi Yang
Keyword(s):  
Control Method ◽  
Adaptive Controller ◽  
Performance Bounds ◽  
Constrained System ◽  
Prescribed Performance ◽  
Performance Technique ◽  
Control Gain ◽  
Unknown Control ◽  
Platform System ◽  
Fuzzy Adaptive

This paper proposes a fuzzy adaptive control method for uncertain horizontal platform system with unknown control gain, which is capable of guaranteeing the prescribed performance bounds. An error transformation is introduced to transform the original constrained system into an equivalent unconstrained one. Then, based on the error transformation technique and the predefined performance technique, a fuzzy adaptive controller is designed for the unconstrained system. It is shown that all the variables of the resulting closed-loop system are bounded. Finally, an illustrative example is given to demonstrate the effectiveness and usefulness of the proposed method.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

A Fuzzy Adaptive Force Controller Design of Robotic Manipulators for Pick-and-Placing Thin Brittle Materials

2013 ◽  
Vol 303-306 ◽  
pp. 1666-1673
Author(s):  
Chong Dong He ◽  
Hai Chen Qin ◽  
Jian Kui Chen
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Control Strategies ◽  
Pid Algorithm ◽  
Feed Forward Control ◽  
Pick And Place ◽  
Position Controller ◽  
Motion Characteristics ◽  
Control System Model ◽  
Fuzzy Adaptive

For the pick-and-place operations of GDL, this paper presents and obtains the control system model using system identification method, and analyzes three distinct stages for the motion characteristics in pick-and-place operations. To satisfy the stick requirements for contact force control, a force controller based on fuzzy adaptive PID algorithm and a position controller based on feed-forward control are presented and designed. Simulations are carried out to verify the feasibility and effectiveness of the proposed control method. The above control strategies and methods are applied to pick up and place GDL. They can also be extended to the pick-and-place operations of the chips and other filed, which has broad application prospects.

scholarly journals Simulation analysis of cooperative motion fuzzy control of distributed lifting units

2021 ◽  
Vol 2087 (1) ◽  
pp. 012050
Author(s):  
Yu Yang ◽  
Xing Jin
Keyword(s):  
Pid Control ◽  
Load Balance ◽  
Hydraulic System ◽  
Control Method ◽  
Simulation Analysis ◽  
Adaptive Controller ◽  
Operation Speed ◽  
Fuzzy Adaptive Controller ◽  
Lifting System ◽  
Fuzzy Adaptive

Abstract In the technology of hydraulic lifting system, it is not only necessary to ensure that the displacement and velocity accuracy of each hoist reach a certain value, but also to ensure that under the control of load balance to make each hoist smooth lift. In the conventional method, the PID control method can realize the synchronization of the function. However, the system cannot be controlled and adjusted in real time during the control parameter period, resulting in instability and uncertainty of the system. Aiming at this problem, this paper adds the fuzzy adaptive controller to carry out the master-slave control of the system. AMESim and MATLAB co-simulation were used to model the overall model of the hydraulic system. At the same time, the pressure compensator and variable throttle port model in the hydraulic reservoir were selected to build. The pressure compensator is used to keep the pressure difference of the throttle orifice constant, so as to complete the control and design of the hydraulic lifting system. Finally, the simulation results obtained not only can effectively improve the instability of the hydraulic lifting process, but also greatly improve the operation speed of the system.

The Model-free Adaptive Composite Control Method for Permanent Magnet Linear Motor

2015 ◽  
Vol 7 (2) ◽  
pp. 30-44
Author(s):  
Rongmin Cao ◽  
Su Zhong ◽  
Shizhen Liu
Keyword(s):  
Permanent Magnet ◽  
Control Method ◽  
Controller Design ◽  
Adaptive Controller ◽  
Linear Motor ◽  
Modeling And Control ◽  
Composite Control ◽  
Model Free ◽  
Permanent Magnet Linear Motor ◽  
Force Ripple

A composite control method based on the model-free adaptive control is applied to the position or speed control of the linear motor. The model-free adaptive controller (MFAC) broke through the classical PID controller design of linear framework, is a kind of new controller, it' structure is adaptive and a kind of integration of modeling and control method. The composite control method includes an adaptive feedforward compensator which is designed to eliminate or suppress the effects of inherent force ripple for a permanent magnet linear motor (PMLM). Simulation results show that compared with PID control, the proposed composite control algorithm is more effective for the strong coupling of nonlinear system and difficult to realize stable control. And the response performance of the system is realized.

A Disturbance Rejection Strategy for Asynchronous Motor of the Electric Vehicle in Speed-Open-Loop Operating Mode

2012 ◽  
Vol 479-481 ◽  
pp. 71-75 ◽  
Author(s):  
Gang Zheng ◽  
Jian Dong Wu ◽  
Ming Wei Kuang ◽  
Deng Zhang ◽  
Yang Yang
Keyword(s):  
Electric Vehicle ◽  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Asynchronous Motor ◽  
Operating Mode ◽  
Open Loop ◽  
Parameter Uncertainties ◽  
Current Variation ◽  
On The Road

For any electric vehicle on the road, it is inevitable to be influenced by parameter uncertainties and some kinds of disturbance torques, which present challenge for the controller design in the electric vehicle. Therefore, control of the electric vehicle to achieve the safety running requirement becomes important. In this paper, we investigate the control method for electric drive system of the electric vehicle from both theoretical and applied perspectives, then, speed loop inverse based disturbance rejection control strategy is proposed. The proposed approach is illustrated by implementing it into an experimental platform. The experimental results demonstrated that the proposed control method can achieve rapid response to current variation at operating frequency of electric vehicle, and substantially suppress the adverse effect of current variation at high frequency.

A new control method of flexible-joint manipulator with harmonic drive

2020 ◽  
Vol 234 (9) ◽  
pp. 1868-1883
Author(s):  
Guocai Yang ◽  
Yechao Liu ◽  
Minghe Jin
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Joint Stiffness ◽  
Adaptive Controller ◽  
Harmonic Drive ◽  
Flexible Joint ◽  
Assignment Method ◽  
Uncertain Dynamics ◽  
Tracking Controller ◽  
Flexible Joint Manipulator

Considerable elasticity and nonlinear friction caused by harmonic transmission challenge the performance of flexible-joint manipulators. The uncertain dynamics of manipulator and the inadequate measurable states also limit the controller design. A new control method is proposed to address these problems, achieving the precise motion control of the flexible-joint manipulator. The method consists of three cascaded controllers: an adaptive controller, a torque-tracking controller, and a motor controller. The adaptive controller was adopted to generate the desired torque ensuring the robustness for uncertain dynamics. The torque-tracking controller derived the position compensation for motor control according to the torque error. As the elastic torque is under control, the vibration caused by harmonic drive can be eliminated. The motor was controlled based on poles-assignment method and friction compensation. The Kalman observer based on the Brownian motion model observed both velocity and the high-order derivatives of torque sensing. The stability of the control method was strictly proved. Calibration was performed on each joint to obtain the required joint stiffness and motor friction parameters. The control method was verified on a single joint and the frequency response of the system was obtained. The results show that the controller has good performance. The controller was realized on the self-developed seven-degree-of-freedom manipulator. The results reveal that the controller has high-precision tracking performance.

Chaos control in six-dimensional power system via adaptive synergetic approach

2020 ◽  
Vol 26 (9-10) ◽  
pp. 790-800
Author(s):  
Jiangbin Wang ◽  
Ling Liu ◽  
Chongxin Liu ◽  
Ziwei Zhu ◽  
Yan Wang
Keyword(s):  
Power System ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Chaotic Oscillation ◽  
Adaptive Controller ◽  
Storage Device ◽  
Control Scheme ◽  
Synergetic Control ◽  
Complex Derivative

In view that researchers only control some low-dimensional chaotic power system models, this paper aims at controlling chaos in a complex six-dimensional power system model. By introducing the dynamic model of an energy storage device and static synchronous compensator, an adaptive synergetic control scheme is proposed for the model to suppress its chaotic oscillation. Since the designed controller will inevitably contain complex derivative terms of a controlled power system according to the conventional controller design process, a novel adaptive synergetic control scheme is proposed. The presented adaptive controller for the chaotic power system can completely suppress its chaotic oscillation. The prominent advantages of the proposed control scheme are that it can avoid complex derivative terms of the controlled system and can avoid chattering as in the sliding mode control method. Simulations validate the effectiveness and robustness of the proposed scheme.

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