scholarly journals Development of a Feedback System to Control Power in Cycling

Proceedings ◽  
2020 ◽  
Vol 49 (1) ◽  
pp. 22
Author(s):  
Patrick Mayerhofer ◽  
Matt Jensen ◽  
David C. Clarke ◽  
James Wakeling ◽  
Max Donelan
Keyword(s):  
Mathematical Model ◽  
Closed Loop ◽  
Feedback System ◽  
Absolute Error ◽  
Mechanical Power ◽  
Average Absolute Error ◽  
Control Power ◽  
Mechanical Power Output ◽  
Target Power ◽  
Integral Controller

Here we seek to control mechanical power output in outdoor cycling by adjusting commanded cadence of a cyclist. To understand cyclist’s dynamic behavior, we had one participant match their cadence to a range of commanded cadences. We then developed a mathematical model that predicts the actual mechanical power as a function of commanded cadence. The average absolute error between the predicted power of our model and the actual power was 15.9 ± 11.7%. We used this model to simulate our closed-loop controller and optimize for proportional and integral controller gains. With these gains in outdoor cycling experiments, the average absolute error between the target and the actual power was 3.2 ± 1.2% and the average variability in power was 2.9 ± 1.3%. The average responsiveness, defined as the required time for the actual power to reach 95% of the target power following changes in target power, was 7.4 ± 2.0 s.

Optimal PID controller design with Kalman filter for Qball-X4 quad-rotor unmanned aerial vehicle

2016 ◽  
Vol 39 (12) ◽  
pp. 1785-1797 ◽  
Author(s):  
Feng Pan ◽  
Lu Liu ◽  
Dingyu Xue
Keyword(s):  
Mathematical Model ◽  
Kalman Filter ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Closed Loop ◽  
Controller Design ◽  
Absolute Error ◽  
Pid Controller Design ◽  
Aerial Vehicle ◽  
Set Up

In this paper, we used a Qball-X4 quad-rotor unmanned aerial vehicle (UAV) which was developed by the Quanser Company as the experimental platform. First, a fundamental mathematical model of the Qball-X4 quad-rotor UAV was built and a simulation model was set up based on the proposed mathematical model; then, a double closed-loop optimal proportional–integral–derivative (PID) controller based on integral of time multiplied by absolute error (ITAE) indices was designed according to the model structure. In consideration of the possible system error and data delay, we designed a corresponding Kalman filter, which can estimate the target trajectory and be put before the proposed PID controller to ensure their validity. Finally, simulation results of the system with presented PID controller and Kalman filter were shown to verify their effectiveness.

Static and Dynamic Modeling of a Multi-Axis Thin-Film Piezoelectric Micro-Actuator

2013 ◽  
Author(s):  
Jongsoo Choi ◽  
Choong-Ho Rhee ◽  
Zhen Qiu ◽  
Thomas Wang ◽  
Kenn Oldham
Keyword(s):  
Thin Film ◽  
Lead Zirconate Titanate ◽  
Closed Loop ◽  
Dynamic Models ◽  
Absolute Error ◽  
Vertical Displacement ◽  
Lead Zirconate ◽  
Average Absolute Error ◽  
Micro Actuator ◽  
Four Corners

Multi-axis (z, θx, θy) micro-actuators based on thin-film lead-zirconate-titanate (PZT) for use in dual axes confocal microscopy are presented with their static and dynamic models. Prototype actuators have achieved as much as 430 μm of vertical displacement and ±10° of mechanical tilting angles in both θx and θy directions in a footprint of 3.2×3.2 mm. The experimental static displacements and transient response of the actuator were used to identify residual stresses in the thin films, dimensional variance due to fabrication limitation, and damping coefficients in the model. With the identified parameters, the model predicts the static displacements of the four corners of the stage with an average absolute error of 17.4 μm over five different voltage levels and shows a reasonable agreement with the experimentally measured transient dynamic data. These results will be used to develop closed-loop controller for the system.

scholarly journals A mathematical model for designing a reliable cellular hybrid manufacturing-remanufacturing system considering alternative and contingency process routings

2021 ◽  
Vol 3 (3) ◽  
Author(s):  
Amirreza Hooshyar Telegraphi ◽  
Akif Asil Bulgak
Keyword(s):  
Mathematical Model ◽  
Supply Chain ◽  
Manufacturing Systems ◽  
Closed Loop ◽  
Sustainable Manufacturing ◽  
Critical Issue ◽  
Economic Benefits ◽  
Mixed Integer ◽  
Hybrid Manufacturing ◽  
Closed Loop Supply Chain

AbstractDue to the stringent awareness toward the preservation and resuscitation of natural resources and the potential economic benefits, designing sustainable manufacturing enterprises has become a critical issue in recent years. This presents different challenges in coordinating the activities inside the manufacturing systems with the entire closed-loop supply chain. In this paper, a mixed-integer mathematical model for designing a hybrid-manufacturing-remanufacturing system in a closed-loop supply chain is presented. Noteworthy, the operational planning of a cellular hybrid manufacturing-remanufacturing system is coordinated with the tactical planning of a closed-loop supply chain. To improve the flexibility and reliability in the cellular hybrid manufacturing-remanufacturing system, alternative process routings and contingency process routings are considered. The mathematical model in this paper, to the best of our knowledge, is the first integrated model in the design of hybrid cellular manufacturing systems which considers main and contingency process routings as well as reliability of the manufacturing system.

The Control of Vibration Transmissibility Using an Electrodynamic Actuator –Close-Loop Solution

2013 ◽  
Vol 436 ◽  
pp. 166-173
Author(s):  
A. Mihaela Mîţiu ◽  
Daniel Constantin Comeagă ◽  
Octavian G. Donţu
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mechanical System ◽  
Closed Loop ◽  
Mechanical Systems ◽  
Vibration Transmissibility ◽  
Technical Solutions ◽  
The Mathematical Model

In this paper are presented some aspects of transmissibility control of mechanical systems with 1 DOF so that the effects of vibration on their action to be minimized. Some technical solutions that can be used for this purpose is analyzed. Starting from the mathematical model of an electro-mechanical system with 1 DOF, are identified the parameters which influence the effectiveness of the transmissibility control system using an electrodynamic actuator who work in "closed loop".

A multi-objective model for sustainable closed-loop supply chain of perishable products under two carbon emission regulations

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Saman Esmaeilian ◽  
Dariush Mohamadi ◽  
Majid Esmaelian ◽  
Mostafa Ebrahimpour
Keyword(s):  
Mathematical Model ◽  
Supply Chain ◽  
Life Cycle ◽  
Carbon Emission ◽  
Closed Loop ◽  
Perishable Products ◽  
Supply Chain Network ◽  
Closed Loop Supply Chain ◽  
Content Type ◽  
Trade Model

Purpose This paper aims to minimize the total carbon emissions and costs and also maximize the total social benefits. Design/methodology/approach The present study develops a mathematical model for a closed-loop supply chain network of perishable products so that considers the vital aspects of sustainability across the life cycle of the supply chain network. To evaluate carbon emissions, two different regulating policies are studied. Findings According to the obtained results, increasing the lifetime of the perishable products improves the incorporated objective function (IOF) in both the carbon cap-and-trade model and the model with a strict cap on carbon emission while the solving time increases in both models. Moreover, the computational efficiency of the carbon cap-and-trade model is higher than that of the model with a strict cap, but its value of the IOF is worse. Results indicate that efficient policies for carbon management will support planners to achieve sustainability in a cost-effectively manner. Originality/value This research proposes a mathematical model for the sustainable closed-loop supply chain of perishable products that applies the significant aspects of sustainability across the life cycle of the supply chain network. Regional economic value, regional development, unemployment rate and the number of job opportunities created in the regions are considered as the social dimension.

Torque Control of Electrorheological Fluidic Resistive Actuators for Haptic Vehicular Instrument Controls

2005 ◽  
Vol 128 (2) ◽  
pp. 216-226 ◽  
Author(s):  
M. A. Vitrani ◽  
J. Nikitczuk ◽  
G. Morel ◽  
C. Mavroidis ◽  
B. Weinberg
Keyword(s):  
Electric Fields ◽  
Closed Loop ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Control Device ◽  
Torque Control ◽  
Feedback Mechanisms ◽  
Feedforward Loop ◽  
Integral Controller ◽  
Proportional Integral Controller

Force-feedback mechanisms have been designed to simplify and enhance the human-vehicle interface. The increase in secondary controls within vehicle cockpits has created a desire for a simpler, more efficient human-vehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver’s visual attention. In this paper, the experimental closed loop torque control of electro-rheological fluids (ERF) based resistive actuators for haptic applications is performed. ERFs are liquids that respond mechanically to electric fields by changing their properties, such as viscosity and shear stress electroactively. Using the electrically controlled rheological properties of ERFs, we developed resistive-actuators for haptic devices that can resist human operator forces in a controlled and tunable fashion. In this study, the ERF resistive-actuator analytical model is derived and experimentally verified and accurate closed loop torque control is experimentally achieved using a non-linear proportional integral controller with a feedforward loop.

scholarly journals Effect of Accommodating Elastic Bands on Mechanical Power Output during Back Squats

Sports ◽  
2018 ◽  
Vol 6 (4) ◽  
pp. 151 ◽  
Author(s):  
Takafumi Kubo ◽  
Kuniaki Hirayama ◽  
Nobuhiro Nakamura ◽  
Mitsuru Higuchi
Keyword(s):  
Power Output ◽  
Random Order ◽  
Mechanical Power ◽  
Muscular Force ◽  
Force Output ◽  
Elastic Band ◽  
Free Weight ◽  
Mechanical Power Output ◽  
Elastic Bands ◽  
Acceleration And Deceleration

The aim of this study was to investigate whether accommodating elastic bands with barbell back squats (BSQ) increase muscular force during the deceleration subphase. Ten healthy men (mean ± standard deviation: Age: 23 ± 2 years; height: 170.5 ± 3.7 cm; mass: 66.7 ± 5.4 kg; and BSQ one repetition maximum (RM): 105 ± 23.1 kg; BSQ 1RM/body mass: 1.6 ± 0.3) were recruited for this study. The subjects performed band-resisted parallel BSQ (accommodating elastic bands each sides of barbell) with five band conditions in random order. The duration of the deceleration subphase, mean mechanical power, and the force and velocity during the acceleration and deceleration subphases were calculated. BSQ with elastic bands elicited greater mechanical power output, velocity, and force during the deceleration subphase, in contrast to that elicited with traditional free weight (p < 0.05). BSQ with elastic bands also elicited greater mechanical power output and velocity during the acceleration subphase. However, the force output during the acceleration subphase using an elastic band was lesser than that using a traditional free weight (p < 0.05). This study suggests that BSQ with elastic band elicit greater power output during the acceleration and deceleration subphases.

Limits of a simplified controller design based on integral plus dead time models

2018 ◽  
Vol 232 (6) ◽  
pp. 728-741 ◽  
Author(s):  
Mikuláš Huba ◽  
Igor Bélai
Keyword(s):  
Dead Time ◽  
Controller Design ◽  
Absolute Error ◽  
Higher Order ◽  
Smith Predictor ◽  
Proportional Integral ◽  
Overall Design ◽  
Error Measures ◽  
Integral Controller ◽  
Proportional Integral Controller

This article presents design and evaluation of filtered proportional–integral controllers and filtered Smith predictor–inspired constrained dead time compensators. Both are based on the integral plus dead time and on the first-order time delayed plant models. They are compared as for tuning simplicity, robustness and noise attenuation. Such a comparison, which presents a robustness test regarding the importance of the internal plant feedback approximation, may be carried out by performance measures built on deviations of the input and output transient responses from their ideal shapes. When combined with integral of absolute error measures of both solution types with the disturbance responses set as nearly equivalent, we can see that the filtered Smith predictor setpoint responses may be significantly faster than the filtered proportional–integral controller responses, more robust and, using higher-order filters, also sufficiently smooth. Furthermore, tuning of the possibly higher-order filters for filtered Smith predictor is simpler. Its overall design is more transparent and straightforward with respect to the control constraints, where the filtered Smith predictor requires some additional anti-windup measures.

scholarly journals Hidden Semi-Markov Models for Predictive Maintenance

2015 ◽  
Vol 2015 ◽  
pp. 1-23 ◽  
Author(s):  
Francesco Cartella ◽  
Jan Lemeire ◽  
Luca Dimiccoli ◽  
Hichem Sahli
Keyword(s):  
Markov Models ◽  
Real Data ◽  
Information Criterion ◽  
Absolute Error ◽  
Predictive Maintenance ◽  
Average Absolute Error ◽  
Current State ◽  
Automatic Model Selection ◽  
State Duration ◽  
Useful Lifetime

Realistic predictive maintenance approaches are essential for condition monitoring and predictive maintenance of industrial machines. In this work, we propose Hidden Semi-Markov Models (HSMMs) with (i) no constraints on the state duration density function and (ii) being applied to continuous or discrete observation. To deal with such a type of HSMM, we also propose modifications to the learning, inference, and prediction algorithms. Finally, automatic model selection has been made possible using the Akaike Information Criterion. This paper describes the theoretical formalization of the model as well as several experiments performed on simulated and real data with the aim of methodology validation. In all performed experiments, the model is able to correctly estimate the current state and to effectively predict the time to a predefined event with a low overall average absolute error. As a consequence, its applicability to real world settings can be beneficial, especially where in real time the Remaining Useful Lifetime (RUL) of the machine is calculated.

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