Dynamic Modeling and Anti-Disturbing Control of an Electromagnetic MEMS Torsional Micromirror Considering External Vibrations in Vehicular LiDAR

Micromirrors based on micro-electro-mechanical systems (MEMS) technology are widely employed in different areas, such as optical switching and medical scan imaging. As the key component of MEMS LiDAR, electromagnetic MEMS torsional micromirrors have the advantages of small size, a simple structure, and low energy consumption. However, MEMS micromirrors face severe disturbances due to vehicular vibrations in realistic use situations. The paper deals with the precise motion control of MEMS micromirrors, considering external vibration. A dynamic model of MEMS micromirrors, considering the coupling between vibration and torsion, is proposed. The coefficients in the dynamic model were identified using the experimental method. A feedforward sliding mode control method (FSMC) is proposed in this paper. By establishing the dynamic coupling model of electromagnetic MEMS torsional micromirrors, the proposed FSMC is evaluated considering external vibrations, and compared with conventional proportion-integral-derivative (PID) controls in terms of robustness and accuracy. The simulation experiment results indicate that the FSMC controller has certain advantages over a PID controller. This paper revealed the coupling dynamic of MEMS micromirrors, which could be used for a dynamic analysis and a control algorithm design for MEMS micromirrors.

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Theoretical and experimental investigation on controlled synchronization of four co-rotating coupled exciters driven by induction motors in a vibrating system

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406219830437 ◽

2019 ◽

Vol 233 (13) ◽

pp. 4556-4576 ◽

Cited By ~ 2

Author(s):

Dawei Gu ◽

Juqian Zhang ◽

Bangchun Wen ◽

Xueliang Zhang ◽

Yunshan Liu

Keyword(s):

Dynamic Model ◽

Electromechanical Coupling ◽

Induction Motors ◽

Control Method ◽

Sliding Mode ◽

Coupling Model ◽

Vibrating System ◽

Synchronization Method ◽

Novel Approach ◽

The Stability

This paper aims at theoretically and experimentally investigating the controlled synchronization of four co-rotating coupled exciters in a vibrating system driven by induction motors. Using the Lagrange's equations, the motion equations of the vibrating system are derived. Combining the dynamic model of an induction motor with the dynamic model of a vibrating system, an electromechanical coupling model is developed. By virtue of the average method of modified small parameters and the Routh–Hurwitz principle, the self-synchronization criterion for four exciters and the stability criterion of synchronous states are obtained. Based on the numerical results, the stable inphase motion of four exciters fails to be implemented by means of self-synchronization, and as a result, the desired motion type of the vibrating system cannot be realized. Hence, the controlled synchronization is introduced into the vibrating system. Owing to the coupling characteristics of the vibrating system, the control challenge can be turned into a synchronization control problem between four exciters driven by induction motors. To perform the synchronized motion of zero phase differences between four exciters, sliding mode control algorithm and field-oriented control method on four induction motors are applied to develop the controlled synchronization scheme by adopting the master–slave control strategy. The stability of the closed loop system is proved by Lyapunov theorem. Experiments on a corresponding controlled synchronization bedstand are performed to examine the effectiveness of the developed controllers, including a comparison with self-synchronization method. Additionally, experimental results show the robustness of the proposed control scheme against the influence of parameter perturbations and external disturbances. The controlled synchronization method provides a novel approach to the development of vibrating machines.

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A new effective nonlinear strategy for lateral stability increment of an articulated vehicle rigid cargo

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/09544070211009064 ◽

2021 ◽

pp. 095440702110090

Author(s):

Mohammad Amin Saeedi

Keyword(s):

Dynamic Model ◽

Feedback Linearization ◽

Control Method ◽

Sliding Mode ◽

Center Of Mass ◽

Front Axle ◽

System Stability ◽

State Variables ◽

Lateral Velocity ◽

Articulated Vehicle

In this paper, the effects of the most important parameters on directional dynamics of a tractor-semitrailer vehicle are examined. Initially, a three DOF dynamic model of a tractor-semitrailer vehicle is proposed. Then, the developed model is validated by means of TruckSim software during a standard maneuver. In order to analyze the system stability, the Lyapunov method has been used and the stability conditions have been extracted based on Routh criterion. The most important parameters are selected based on the articulation angle gain. Among the studied parameters, the semitrailer mass, the distance of the tractor unit center of mass and its front axle, and the tires cornering stiffness exhibited more effective behavior on the vehicle’s stability. The simulation results show that as the tractor center of mass moves toward its rear axle, the probability of the jackknifing increases. Moreover, an increment in the semitrailer mass leads to a turn of the semitrailer with respect to the tractor. Also, the understeer specification of the vehicle strengthens due to the tire cornering stiffness increment. Moreover, in order to increase the maneuverability of the articulated vehicle a new active steering controller is proposed using two different control methods. The controller is developed using the simplified dynamic model and the basis of feedback linearization method using dynamic sliding mode control method. In this system, the yaw rate and the lateral velocity of the tractor unit as well as articulation angle are studied as state variables which are targeted to track their desired references. Then, the vehicle dynamic performance is investigated during standard maneuvers. A more investigation shows that the track of the desired values of the vehicle state variables leads to eliminate off-tracking path.

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A new robust combined control system for improving manoeuvrability, lateral stability and rollover prevention of a vehicle

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1177/1464419319887818 ◽

2019 ◽

Vol 234 (1) ◽

pp. 198-213 ◽

Cited By ~ 2

Author(s):

Mohammad Amin Saeedi

Keyword(s):

Control System ◽

Dynamic Model ◽

Control Method ◽

Sliding Mode ◽

Lateral Stability ◽

Steering Control ◽

Nonlinear Dynamic Model ◽

Active Steering ◽

Combined Control ◽

Active Steering Control

This paper presents a new effective method in order to achieve an appropriate performance for a four-wheeled vehicle during different conditions. The main goal of the study is focused on the handling improvement and lateral stability increment of the vehicle using a robust combined control system. First, in order to increase the vehicle's manoeuvrability, an active steering control system is proposed based on the sliding mode control method and using the simplified dynamic model. The tracking of the desired values of the yaw rate and lateral velocity of the vehicle is the main purpose for using the controller. Also, in order for verifying the performance of the sliding mode controller, the linearization feedback control method is used to design the active steering control system. Moreover, to improve the directional stability of the vehicle, a new active roll control system is proposed. In this control system, the roll angle is considered as the state variable as well as the active anti-roll-bar is utilized as an actuator to generate the roll moment. Then, a 14-degrees-of-freedom nonlinear dynamic model of the vehicle validated using CarSim software is utilized. Afterward, the performance of the designed combined control system is investigated at various velocities. The simulation results confirm that the combined control system has an important effect on vehicle's manoeuvrability improvement and its lateral stability increment, especially during severe transient manoeuvre.

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Design of Control Strategy for a Novel Compliant Flexure-Based Microgripper With Two Jaws

Volume 5A: 39th Mechanisms and Robotics Conference ◽

10.1115/detc2015-46869 ◽

2015 ◽

Cited By ~ 2

Author(s):

Zhigang Wu ◽

Yangmin Li

Keyword(s):

Dynamic Model ◽

Control Strategy ◽

Control Method ◽

Sliding Mode ◽

Optimization Method ◽

Least Square ◽

Hysteresis Phenomenon ◽

Inverse Dynamic ◽

Model Control ◽

Backstepping Sliding Mode Control

This paper proposes a novel compliant flexure-based microgripper with a second order amplifier including Scott-Russell magnification mechanism (SRMM) and lever amplifier. Both the dynamic model of the system and the Bouc-Wen hysteresis model are established and identified through using least square optimization method. For eliminating the hysteresis phenomenon of the actuator, compensation control method based on inverse dynamic model is proposed. A novel control strategy based on adaptive backstepping sliding model control (ABSMC) with compensator is presented to control the nonlinear system. Simulation results demonstrate that the performance of proposed control strategy is superior to conventional backstepping sliding mode control (CBSMC).

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Velocity Control of Servo Systems Under Control Input Saturation and Disturbance Using Robust Discrete-Time Sliding Mode Control Method

2020 20th International Conference on Control, Automation and Systems (ICCAS) ◽

10.23919/iccas50221.2020.9268294 ◽

2020 ◽

Author(s):

Ji-Seok Han ◽

Tae-Ho Oh ◽

Young-Seok Kim ◽

Hyun-Taek Lim ◽

Dae-Young Yang ◽

...

Keyword(s):

Sliding Mode Control ◽

Discrete Time ◽

Control Method ◽

Sliding Mode ◽

Input Saturation ◽

Control Input ◽

Velocity Control ◽

Servo Systems ◽

Mode Control

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Comparison between Direct Control Method and Indirect Control Method of Non Linear Sliding Mode Controller for DC-DC Buck Converter

i-manager’s Journal on Electrical Engineering ◽

10.26634/jee.5.3.1733 ◽

2012 ◽

Vol 5 (3) ◽

pp. 9-15

Author(s):

G.S. Rajanna ◽

◽

H.N. Nagaraj ◽

Keyword(s):

Control Method ◽

Sliding Mode ◽

Buck Converter ◽

Sliding Mode Controller ◽

Direct Control ◽

Indirect Control ◽

Non Linear

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A New Discrete-time Sliding Mode Control Method Based on Restricted Variable Trending Law

ACTA AUTOMATICA SINICA ◽

10.3724/sp.j.1004.2013.01552 ◽

2014 ◽

Vol 39 (9) ◽

pp. 1552-1557 ◽

Cited By ~ 2

Author(s):

Xi LIU ◽

Xiu-Xia SUN ◽

Wen-Han DONG ◽

Peng-Song YANG

Keyword(s):

Sliding Mode Control ◽

Discrete Time ◽

Control Method ◽

Sliding Mode ◽

Mode Control

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Fractional Dynamic Sliding Mode Control for uncertain chaotic systems Applied to a Chaotic Robot arm under dynamic load.

International Journal of Sensors Wireless Communications and Control ◽

10.2174/2210327910999200818091512 ◽

2020 ◽

Vol 10 ◽

Author(s):

Sara Gholipour P ◽

Sara Minagar ◽

Javad Kazemitabar ◽

Mobin Alizadeh

Keyword(s):

Sliding Mode Control ◽

Chaotic Systems ◽

Control Method ◽

Sliding Mode ◽

Qualitative And Quantitative ◽

Mode Control ◽

Quantitative Characteristics ◽

Dynamic Sliding Mode Control ◽

Dynamic Sliding Mode ◽

Qualitative And Quantitative Characteristics

Background: A novel type of control strategy is presented for control of chaotic systems particularly a chaotic robot in joint and workspace which is the result of applying fractional calculus to dynamic sliding mode control. Objectives: To guarantee the sliding mode condition, control law is introduced based on the Lyapunov stability theory. Methods: A control scheme is proposed for reducing the chattering problem in finite time tracking and robust in presence of system matched disturbances. Conclusion: Also, all of chaotic robot's qualitative and quantitative characteristics have been investigated. Numerical simulations indicate viability of our control method. Results: Qualitative and quantitative characteristics of the chaotic robot are all proven to be viable thru simulations.

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Impedance Control Based Sliding Mode for Lower Limb Rehabilitation Robot

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.672-674.1770 ◽

2014 ◽

Vol 672-674 ◽

pp. 1770-1773 ◽

Cited By ~ 1

Author(s):

Fu Cheng Cao ◽

Li Min Du

Keyword(s):

Dynamic Response ◽

Sliding Mode Control ◽

Lower Limb ◽

Control Method ◽

Sliding Mode ◽

Impedance Control ◽

Rehabilitation Robot ◽

Active Rehabilitation ◽

Limb Rehabilitation ◽

Lower Limb Rehabilitation

Aimed at improving the dynamic response of the lower limb for patients, an impedance control method based on sliding mode was presented to implement an active rehabilitation. Impedance control can achieve a target-reaching training without the help of a therapist and sliding mode control has a robustness to system uncertainty and vary limb strength. Simulations demonstrate the efficacy of the proposed method for lower limb rehabilitation.

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