scholarly journals Nonlinear Control Design of a Half-Car Model Using Feedback Linearization and an LQR Controller

2020 ◽  
Vol 10 (9) ◽  
pp. 3075
Author(s):  
Muhammad Aseer Khan ◽  
Muhammad Abid ◽  
Nisar Ahmed ◽  
Abdul Wadood ◽  
Herie Park
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
Control Technique ◽  
Effective Control ◽  
Ride Quality ◽  
Linear Quadratic ◽  
Suspension Systems ◽  
Car Model ◽  
Road Disturbance ◽  
Lqr Controller

Effective control of ride quality and handling performance are challenges for active vehicle suspension systems, particularly for off-road applications. The nonlinearities tend to degrade the performance of active suspension systems; these introduce harshness to the ride quality and reduce off-road mobility. Typical control strategies rely on linear models of the suspension dynamics. While these models are convenient, nominally accurate, and controllable due to the abundance of linear control techniques, they neglect the nonlinearities present in real suspension systems. The techniques already implemented and methods used to cope with problem of Half-Car model were studied. Every method and technique had some drawbacks in terms of complexity, cost-effectiveness, and ease of real time implementation. In this paper, an improved control method for Half-Car model was proposed. First, input/output feedback linearization was performed to convert the nonlinear system of Half-Car model into an equivalent linear system. This was followed by a Linear Quadratic Regulator (LQR) controller. This controller had minimized the effects of road disturbances by designing a gain matrix with optimal robustness properties. The proposed control technique was applied in the presence of the deterministic road disturbance. The results were verified using the Matlab/Simulink toolbox.

Intelligent Feedback Linearization for Active Vehicle Suspension Control

2000 ◽  
Vol 123 (4) ◽  
pp. 727-733 ◽  
Author(s):  
Gregory D. Buckner ◽  
Karl T. Schuetze ◽  
Joe H. Beno
Keyword(s):  
Feedback Linearization ◽  
Linear Time ◽  
Estimation Algorithm ◽  
Linear Control ◽  
Effective Control ◽  
Ride Quality ◽  
Vehicle Suspension ◽  
Control Techniques ◽  
Suspension Systems ◽  
Quarter Car

Effective control of ride quality and handling performance are challenges for active vehicle suspension systems, particularly for off-road applications. Off-road vehicles experience large suspension displacements, where the nonlinear kinematics and damping characteristics of suspension elements are significant. These nonlinearities tend to degrade the performance of active suspension systems, introducing harshness to the ride quality and reducing off-road mobility. Typical control strategies rely on linear, time-invariant models of the suspension dynamics. While these models are convenient, nominally accurate, and tractable due to the abundance of linear control techniques, they neglect the nonlinearities and time-varying dynamics present in real suspension systems. One approach to improving the effectiveness of active vehicle suspension systems, while preserving the benefits of linear control techniques, is to identify and cancel these nonlinearities using Feedback Linearization. In this paper the authors demonstrate an intelligent parameter estimation approach using structured artificial neural networks that continually “learns” the nonlinear parameter variations of a quarter-car suspension model. This estimation algorithm becomes the foundation for an Intelligent Feedback Linearization (IFL) controller for active vehicle suspensions. Results are presented for computer simulations, real-time experimental tests, and field evaluations using an off-road vehicle (a military HMMWV). Experimental results for a quarter-car test rig demonstrate 60% improvements in ride quality relative to baseline (non-adapting) control algorithms. Field trial results reveal 95% reductions in absorbed power and 65% reductions in peak sprung mass acceleration using this IFL approach versus conventional passive suspensions.

Robust Controller Design for Active Suspension Systems of Road Vehicles

2017 ◽  
Author(s):  
Shenjin Zhu ◽  
Yuping He
Keyword(s):  
Controller Design ◽  
Operating Conditions ◽  
Ride Quality ◽  
Vehicle Model ◽  
Linear Quadratic ◽  
Robust Controller ◽  
Baseline Design ◽  
Vehicle Suspensions ◽  
Suspension Systems ◽  
Active Suspension Systems

The Linear Quadratic Gaussian (LQG) technique has been applied to the design of active vehicle suspensions (AVSs) for improving ride quality and handling performance. LQG-based AVSs have achieved good performance if an accurate vehicle model is available. However, these AVSs exhibit poor robustness when the vehicle model is not accurate and vehicle operating conditions vary. The H∞ control theory, rooted in the LQG technique, specifically targets on robustness issues on models with parametric uncertainties and un-modelled dynamics. In this research, an AVS is designed using the H∞ loop-shaping control, design optimization, and parallel computing techniques. The resulting AVS is compared against the baseline design through numerical simulations.

scholarly journals System design for inverted pendulum using LQR control via IoT

2020 ◽  
Vol 11 ◽  
pp. 12
Author(s):  
Dechrit Maneetham ◽  
Petrus Sutyasadi
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Lqr Control ◽  
Lqr Controller ◽  
Model Tuning ◽  
And Performance ◽  
Performance Results ◽  
And Control

This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT communication developed will monitor to check the all conditions and performance results as well as help the inverted pendulum improved various operations of IoT control is discussed.

scholarly journals Research on Control Methods for the Pressure Continuous Regulation Electrohydraulic Proportional Axial Piston Pump of an Aircraft Hydraulic System

2019 ◽  
Vol 9 (7) ◽  
pp. 1376
Author(s):  
Peng Zhang ◽  
Yunhua Li
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Piston Pump ◽  
Control Methods ◽  
Hydraulic Systems ◽  
Axial Piston Pump ◽  
Linear Quadratic ◽  
Delivery Pressure ◽  
Axial Piston

The objective of this paper is to design a pump that can match its delivery pressure to the aircraft load. Axial piston pumps used in airborne hydraulic systems are required to work in a constant pressure mode setting based on the highest pressure required by the aircraft load. However, the time using the highest pressure working mode is very short, which leads to a lot of overflow lose. This study is motivated by this fact. Pressure continuous regulation electrohydraulic proportional axial piston pump is realized by combining a dual-pressure piston pump with electro-hydraulic proportional technology, realizing the match between the delivery pressure of the pump and the aircraft load. The mathematical model is established and its dynamic characteristics are analyzed. The control methods such as a proportional integral derivative (PID) control method, linear quadratic regulator (LQR) based on a feedback linearization method and a backstepping sliding control method are designed for this nonlinear system. It can be seen from the result of simulation experiments that the requirements of pressure control with a pump are reached and the capacity of resisting disturbance of the system is strong.

scholarly journals Research on Control Method of Keeping Flight Formation by Using SDRE on the Sun-Earth Libration Points

2017 ◽  
Vol 2017 ◽  
pp. 1-10 ◽  
Author(s):  
He Zhenqi ◽  
Zhang Ke ◽  
Lv Meibai
Keyword(s):  
Control Method ◽  
Libration Point ◽  
Linear Quadratic Regulator ◽  
Transition Process ◽  
Continuous Control ◽  
The Sun ◽  
Nonlinear Dynamic Model ◽  
Linear Quadratic ◽  
State Dependent ◽  
Lqr Controller

Keeping the flying formation of spacecraft is a key problem which needs to be solved in deep space exploration missions. In this paper, the nonlinear dynamic model of formation flying is established and a series of transformations are carried out on this model equation. By using SDRE (State-Dependent Riccati Equation) algorithm, the optimal control of flying formation is realized. Compared with the traditional control method based on the average orbit elements and LQR (Linear Quadratic Regulator) control method, the SDRE control method has higher control precision and is more suitable for the advantages of continuous control in practical engineering. Finally, the parameter values of the sun-earth libration point L2 are substituted in the equation and simulation is performed. The simulation curves of SDRE controller are compared with LQR controller. The results show that the SDRE controllers time cost is less than the LQR controllers and the former’s fuel consumption is less than the latter’s in the system transition process.

scholarly journals Pre-Work for the Birth of Driver-Less Scraper (LHD) in the Underground Mine: The Path Tracking Control Based on an LQR Controller and Algorithms Comparison

Sensors ◽  
2021 ◽  
Vol 21 (23) ◽  
pp. 7839
Author(s):  
Haoxuan Yu ◽  
Chenxi Zhao ◽  
Shuai Li ◽  
Zijian Wang ◽  
Yulin Zhang
Keyword(s):  
Tracking Control ◽  
Control Method ◽  
Clustering Algorithms ◽  
Development Trend ◽  
Path Tracking ◽  
Linear Quadratic ◽  
Trajectory Tracking Control ◽  
Linear Quadratic Optimal Control ◽  
The Future ◽  
Lqr Controller

With the depletion of surface resources, mining will develop toward the deep surface in the future, the objective conditions such as the mining environment will be more complex and dangerous than now, and the requirements for personnel and equipment will be higher and higher. The efficient mining of deep space is inseparable from movable and flexible production and transportation equipment such as scrapers. In the new era, intelligence is leading to the development trend of scraper (LHD), path tracking control is the key to the intelligent scraper (LHD), and it is also an urgent problem to be solved for unmanned driving. This paper describes the realization of the automatic operation of articulating the scraper (LHD) from two aspects, a mathematical model and trajectory tracking control method, and it focuses on the research of the path tracking control scheme in the field of unmanned driving, that is, an LQR controller. On this basis, combined with different intelligent clustering algorithms, the parameters of the LQR controller are optimized to find the optimal solution of the LQR controller. Then, the path tracking control of an intelligent LHD unmanned driving technology is studied, focusing on the optimization of linear quadratic optimal control (LQR) and the intelligent cluster algorithms AGA, QPSO, and ACA; this research has great significance for the development of the intelligent scraper (LHD). As mining engineers, we not only need to conduct research for practical engineering projects but also need to produce theoretical designs for advanced mining technology; therefore, the area of intelligent mining is the one we need to explore at present and in the future. Finally, this paper serves as a guide to starting a conversation, and it has implications for the development and the future of underground transportation.

An adaptive control approach for semi-active suspension systems under unknown road disturbance input using hardware-in-the-loop simulation

2020 ◽  
pp. 014233121989593 ◽  
Author(s):  
Gokhan Kararsiz ◽  
Mahmut Paksoy ◽  
Muzaffer Metin ◽  
Halil Ibrahim Basturk
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Active Suspension ◽  
Magnetorheological Damper ◽  
Hardware In The Loop ◽  
Control Approach ◽  
The Road ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
Road Disturbance

This article presents an application of the adaptive control method to semi-active suspension systems in the presence of unknown disturbance and parametric uncertainty. Due to the technical difficulties such as time delay and sensor noise, the road disturbance is assumed to be unmeasured. To overcome this problem, an observer is designed to estimate the disturbance. It is considered that the road profile consists of a finite number of the sum of sinusoidal signals with unknown amplitudes, phases and frequencies. After the parametrization of the observer, the adaptive control approach is employed to attenuate the effect of the road-induced vibrations using a magnetorheological damper. It is proved that the closed-loop system is stable, despite the adverse road conditions. Finally, the performance of the controller is illustrated with a hardware-in-the-loop simulation in which the system is subjected to sinusoidal and random profile road excitations. To demonstrate the benefits of the adaptive controller, the results are presented in comparison with a conventional proportional integral derivative (PID) controller.

scholarly journals On the Benefits of Semi-Active Suspensions with Inerters

2012 ◽  
Vol 19 (3) ◽  
pp. 257-272 ◽  
Author(s):  
Xin-Jie Zhang ◽  
Mehdi Ahmadian ◽  
Kong-Hui Guo
Keyword(s):  
High Performance ◽  
Control Method ◽  
Hybrid Control ◽  
Active Suspension ◽  
Vertical Acceleration ◽  
Active Suspensions ◽  
Quarter Car Model ◽  
Suspension Systems ◽  
Car Model ◽  
Quarter Car

Inerters have become a hot topic in recent years especially in vehicle, train, building suspension systems, etc. Eight different layouts of suspensions were analyzed with a quarter-car model in this paper. Dimensionless root mean square (RMS) responses of the sprung mass vertical acceleration, the suspension travel, and the tire deflection are derived which were used to evaluate the performance of the quarter-car model. The behaviour of semi-active suspensions with inerters using Groundhook, Skyhook, and Hybrid control has been evaluated and compared to the performance of passive suspensions with inerters. Sensitivity analysis was applied to the development of a high performance semi-active suspension with an inerter. Numerical simulations indicate that a semi-active suspension with an inerter has much better performance than the passive suspension with an inerter, especially with the Hybrid control method, which has the best compromise between comfort and road holding quality.

Design and Implementation of the Embedded Web Control System Based on ARM and Linux

2011 ◽  
Vol 130-134 ◽  
pp. 2961-2964
Author(s):  
Yun Liang Wang ◽  
Bo Wei Chen
Keyword(s):  
Remote Control ◽  
Embedded System ◽  
Control Method ◽  
Low Cost ◽  
Rapid Development ◽  
Remote Access ◽  
Control Technique ◽  
Effective Control ◽  
Remote Clients ◽  
Web Control

With the rapid development of networks and communications technology, the modern remote control technique has widely been used in many fields. By the Web technology, the local equipments can be connected with outside and enable monitoring the equipments in remote clients' space. At present many products adopt Embedded Chip to which an operating system is ported as a Web Server. This product has several advantages such as low power consumption, low cost, reduced size and better performance. This paper introduces a solution for embedded system access to Internet, through which we can remote access, monitor, and maintain conveniently. The solution which is based on Web and embedded technology adopts the way of human computer interface interaction to realize remote control to the equipment. The realization of this method for users provides a convenient, flexible and effective control method.

Coordination Control Strategy for Active and Reactive Power of DFIG Based on Exact Feedback Linearization under Grid Fault Condition

2011 ◽  
Vol 48-49 ◽  
pp. 335-344
Author(s):  
Meng Zeng Cheng ◽  
Zhen Lan Dou ◽  
Xu Cai
Keyword(s):  
Nonlinear Control ◽  
Power System ◽  
Control Strategy ◽  
Feedback Linearization ◽  
Transient Stability ◽  
Reactive Power ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Nonlinear Control Method

In this paper, a control strategy for operation of rotor side converter (RSC) of Doubly Fed Induction Generators (DFIG) is developed by injecting reactive power into the grid in order to support the grid voltage during and after grid fault events. The novel nonlinear control method is based on differential geometry theory, and exact feedback linearization is applied for control system design of DFIG. Then the optimal control for the linearized system is obtained through introducing the linear quadratic regulator (LQR) design method. Simulation results on a single machine infinite bus power system show that the proposed nonlinear control method can inject reactive power to fault grid rapidly, reduce the oscillation of active power and improve the transient stability of power system.

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