scholarly journals Modeling and Control for a Multi-Rope Parallel Suspension Lifting System under Spatial Distributed Tensions and Multiple Constraints

Symmetry ◽  
2018 ◽  
Vol 10 (9) ◽  
pp. 412 ◽  
Author(s):  
Naige Wang ◽  
Guohua Cao ◽  
Lu Yan ◽  
Lei Wang
Keyword(s):  
Differential Equations ◽  
Direct Method ◽  
Input Saturation ◽  
System Stability ◽  
Unknown Boundary ◽  
Multiple Constraints ◽  
Modeling And Control ◽  
Position Regulation ◽  
Lifting System ◽  
And Control

The modeling and control of the multi-rope parallel suspension lifting system (MPSLS) are investigated in the presence of different and spatial distributed tensions; unknown boundary disturbances; and multiple constraints, including time varying geometric constraint, input saturation, and output constraint. To describe the system dynamics more accurately, the MPSLS is modelled by a set of partial differential equations and ordinary differential equations (PDEs-ODEs) with multiple constraints, which is a nonhomogeneous and coupled PDEs-ODEs, and makes its control more difficult. Adaptive boundary control is a recommended method for position regulation and vibration degradation of the MPSLS, where adaptation laws and a boundary disturbance observer are formulated to handle system uncertainties. The system stability is rigorously proved by using Lyapunov’s direct method, and the position and vibration eventually diminish to a bounded neighborhood of origin. The original PDEs-ODEs are solved by finite difference method, and the multiple constraints problem is processed simultaneously. Finally, the performance of the proposed control is demonstrated by both the results of ADAMS simulation and numerical calculation.

scholarly journals Modelling and control of flexible guided lifting system with output constraints and unknown input hysteresis

2019 ◽  
Vol 26 (1-2) ◽  
pp. 112-128
Author(s):  
Naige Wang ◽  
Guohua Cao ◽  
Lei Wang ◽  
Yan Lu ◽  
Zhencai Zhu
Keyword(s):  
Neural Network ◽  
Differential Equation ◽  
Differential Equations ◽  
Governing Equation ◽  
Control Input ◽  
Partial Differential ◽  
Adaptive Neural Network Control ◽  
Output Constraints ◽  
Lifting System ◽  
And Control

Modelling and control vibration is studied for the flexible guided lifting system in the presence of output constraints, input hysteresis, guided rope fault, etc. Flexible guided lifting system, subjected to external disturbances from the boundary disturbance or fluid interaction, is an inherent distributed parameter system with time-varying length and infinite dimensions. According to extended Hamilton’s principle, the governing equation in the form of hybrid partial differential equations and ordinary differential equations is derived to reflect the dynamic response of such multiple ropes under the boundary disturbances and multiple constraints. Adaptive neural network control combining with backstepping technique is subsequently designed to suppress undesirable vibration and stabilise the system, where the neural network is provided as a feedforward compensator for the unknown hysteresis nonlinearities in the control input. Asymptotic stability and uniform boundedness of the system are guaranteed through the Lyapunov theorem, which indicates that all states are uniformly convergent by LaSalle’s invariance principle. The original governing equation is solved numerically by using the finite difference method, where simulation results are illustrated to validate the efficiency of the hybrid partial differential equation and ordinary differential equation model and the adaptive stabilisation design.

Modeling and Control of a Thermoelastic Beam

2013 ◽  
Author(s):  
Ilhan Tuzcu ◽  
Javier Gonzalez-Rocha
Keyword(s):  
Partial Differential Equations ◽  
Differential Equations ◽  
Ordinary Differential Equations ◽  
Elastic Displacement ◽  
Linear Quadratic ◽  
Partial Differential ◽  
Numerical Application ◽  
Modeling And Control ◽  
Thermoelastic Beam ◽  
And Control

The objective of this paper is to model a thermoelastic beam and use thermoelectric heat actuators dispersed over the beam to control not only its vibration, but also its temperature. The model is represented by two coupled partial differential equations governing the elastic bending displacement and temperature variation over the length of the beam. The partial differential equations are replaced by a set of ordinary differential equations through discretization. The first-order ordinary differential equations are cast in the compact state-space form to be used in the thermoelastic analysis and control. The Linear Quadratic Gaussian (LQG) is used for control design. An numerical application to a uniform cantilever beam demonstrates the coupling between the temperature and the elastic displacement and feasibility of using thermoelectric actuators in controlling the vibration and temperature simultaneously.

Modeling and Control of Flexible Transporter System With Arbitrarily Time-Varying Cable Lengths

2003 ◽  
Author(s):  
Yuhong Zhang ◽  
Sunil K. Agrawal ◽  
Peter Hagedorn
Keyword(s):  
Partial Differential Equations ◽  
Differential Equations ◽  
Ritz Method ◽  
Nonlinear Partial Differential Equations ◽  
Time Varying ◽  
Governing Equations ◽  
Partial Differential ◽  
Modeling And Control ◽  
Lyapunov Controller ◽  
And Control

A systematic procedure for deriving the system model of a cable transporter system with arbitrarily time-varying lengths is presented. Two different approaches are used to develop the model, namely, Newton’s Law and Hamilton’s Principle. The derived governing equations are nonlinear partial differential equations. The same results are obtained using the two methods. The Rayleigh-Ritz method is used to obtain an approximate numerical solution of the governing equations by transforming the infinite order partial differential equations into a finite order discretized system. A Lyapunov controller which can both dissipate the vibratory energy and assure the attainment of the desired goal is derived. The validity of the proposed controller is verified by numerical simulation.

Vibration control of an axially moving accelerated/decelerated belt system with input saturation

2016 ◽  
Vol 40 (2) ◽  
pp. 685-697 ◽  
Author(s):  
Yu Liu ◽  
Zhijia Zhao ◽  
Fang Guo ◽  
Yun Fu
Keyword(s):  
Boundary Control ◽  
Closed Loop ◽  
Vibration Suppression ◽  
Direct Method ◽  
Input Saturation ◽  
Unknown Boundary ◽  
Disturbance Adaptation ◽  
Axially Moving ◽  
Adaptation Law ◽  
Belt System

This article describes an investigation of a boundary control for vibration suppression of an axially moving accelerated or decelerated belt system with input saturation. Firstly, after considering the effects of the high acceleration or deceleration and unknown distributed disturbance, an infinite-dimensional model of the belt system is described by a nonhomogeneous partial differential equation and a set of ordinary differential equations. Secondly, by synthesizing boundary control techniques and Lyapunov’s direct method, a boundary control is developed to suppress the belt’s vibration and to stabilize the belt system at its equilibrium position globally; an auxiliary system is proposed to compensate for the nonlinear input saturation characteristic; a disturbance adaptation law is employed to mitigate the effects of unknown boundary disturbance; and the S-curve acceleration/deceleration method is adopted to plan the belt’s axial speed. Thirdly, with the proposed boundary control, the wellposedness of the closed-loop belt system is mathematically demonstrated and uniformly bounded stability of the closed-loop system is achieved without any discretization of the system dynamic model. Finally, simulation results are presented to verify the validity and effectiveness of the proposed control scheme.

scholarly journals On modelling and control design for self-balanced two-wheel vehicle

2008 ◽  
Vol 30 (3) ◽  
Author(s):  
Nguyen Hoang Quang
Keyword(s):  
Numerical Simulation ◽  
Differential Equations ◽  
Mobile Robot ◽  
Equations Of Motion ◽  
Control Design ◽  
Modeling And Control ◽  
Linearized Equations ◽  
Stable Motion ◽  
Simulation Results ◽  
And Control

In this paper, the modeling and control design of a self-balancing mobile robot are presented. The method of sub-structures is employed to derive the differential equations of motion of the robot. Based on the linearized equations of motion, a controller is designed to maintain a stable motion of the robot. Some numerical simulation results are shown to clarify the designed controller.

Decentralised Control Design for Load Mitigation in Horizontal Axis Wind Turbines (HAWTS)

2011 ◽  
Author(s):  
Fredrik Sandquist ◽  
Geir Moe ◽  
Olimpo Anaya-Lara
Keyword(s):  
Wind Turbine ◽  
Wind Turbines ◽  
Direct Method ◽  
Modeling And Control ◽  
Energy Capture ◽  
Pitch Control ◽  
Operating Region ◽  
Horizontal Axis Wind Turbines ◽  
Decentralised Control ◽  
And Control

In modern MW-size machines it has become a common practice to introduce controllers that provide active damping of turbine components to reduce blade, tower and drive-train loads, whilst optimising energy capture. However, as wind turbines become larger and more flexible, these controllers have to be designed with great care as the coupling between flexible modes increases and so does the potential to destabilise the turbine. The most direct method to address the above issues has been to exploit the pitch control capabilities. Individual Pitch Control (IPC) has been proposed many times over the last few years for load mitigation. Bearing this in mind, this paper investigates two different approaches to design a controller to pitch each blade individually in the wind turbine operating region III. The first one is a decentralised control algorithm and the second one is an H∞ loop shaping design. A controllability analysis of the wind turbine is also included in the paper. The investigation is conducted based on the NREL 5MW benchmark wind turbine. Turbine modeling and control is conducted in FAST and Simulink.

scholarly journals Aerodynamic analysis and control for a novel coaxial ducted fan aerial robot in ground effect

2020 ◽  
Vol 17 (4) ◽  
pp. 172988142095302
Author(s):  
Tianfu Ai ◽  
Bin Xu ◽  
Changle Xiang ◽  
Wei Fan ◽  
Yibo Zhang
Keyword(s):  
Disturbance Observer ◽  
Ground Effect ◽  
System Stability ◽  
Bench Test ◽  
Nonlinear Disturbance Observer ◽  
Modeling And Control ◽  
Ducted Fan ◽  
Aerial Robot ◽  
Nonlinear Disturbance ◽  
And Control

Modeling and control for a novel coaxial ducted fan aerial robot in-ground-effect is presented in this article. Based on experiments using the ducted fan bench test, the fitting curve of the ground effect thrust of the ducted fan aerial robot at different heights is obtained. In addition, the flow field simulation results of the prototype with ground effect at different heights can be obtained using computational fluid dynamics software. A simplified model of the prototype for control can be designed based on several reasonable hypotheses that are established using blade element and momentum theory. To compensate for the disturbance associated with ground effect, a nonlinear disturbance observer is designed to estimate the disturbance, and control structure of the closed-loop system is composed of a nonlinear disturbance observer combined with a double-loop proportion–integration–differentiation controller. The results of several numerical simulations and experiments demonstrate the effectiveness of this controller structure. The performances of tracking trajectory and system stability are improved significantly, compared to the situation that the ground effect is not compensated for.

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