On Aero Control Law Joined Compensatory PID for Glide down to Fixed Low Altitude System and Simulation Researches

2012 ◽  
Vol 198-199 ◽  
pp. 1021-1024
Author(s):  
De Hai Yu ◽  
Dong Cai Qu ◽  
Jian Hua Lu ◽  
Bin Wen Lu
Keyword(s):  
Control Law ◽  
Simple Analysis ◽  
Control Laws ◽  
Control Scheme ◽  
Improve Accuracy ◽  
Working Principle ◽  
Simulation Results ◽  
Low Altitude ◽  
Constant Altitude ◽  
And Control

In order to improve accuracy of constant altitude fly at low altitude and fly track of glide down to fixed altitude, aeroplane’s control scheme of glide down to fixed low altitude with PID compensatory link were designed. At the same time, the corresponding control laws had been designed. After simple analysis about working principle of the aeroplane’s control system, simulation researches were done to optimize designed control laws, so that achieving expectant requirement. Simulation results show that designed control scheme and control law were accurate and effective.

Model development and control of an auto-refrigerated polystyrene polymerization reactor

2021 ◽  
pp. 014233122110251
Author(s):  
Reyhane Mokhtarname ◽  
Ali Akbar Safavi ◽  
Leonhard Urbas ◽  
Fabienne Salimi ◽  
Mohammad M Zerafat ◽  
...  
Keyword(s):  
Temperature Control ◽  
Model Development ◽  
Heat Removal ◽  
Superior Performance ◽  
Polymerization Process ◽  
Vacuum System ◽  
Control Scheme ◽  
Simulation Results ◽  
And Control ◽  
Operating Plant

Dynamic model development and control of an existing operating industrial continuous bulk free radical styrene polymerization process are carried out to evaluate the performance of auto-refrigerated CSTRs (continuous stirred tank reactors). One of the most difficult tasks in polymerization processes is to control the high viscosity reactor contents and heat removal. In this study, temperature control of an auto-refrigerated CSTR is carried out using an alternative control scheme which makes use of a vacuum system connected to the condenser and has not been addressed in the literature (i.e. to the best of our knowledge). The developed model is then verified using some experimental data of the real operating plant. To show the heat removal potential of this control scheme, a common control strategy used in some previous studies is also simulated. Simulation results show a faster dynamics and superior performance of the first control scheme which is already implemented in our operating plant. Besides, a nonlinear model predictive control (NMPC) is developed for the polymerization process under study to provide a better temperature control while satisfying the input/output and the heat exchanger capacity constraints on the heat removal. Then, a comparison has been also made with the conventional proportional-integral (PI) controller utilizing some common tuning rules. Some robustness and stability analyses of the control schemes investigated are also provided through some simulations. Simulation results clearly show the superiority of the NMPC strategy from all aspects.

The Study on Starting Control of ER Clutch for Vehicle

2012 ◽  
Vol 490-495 ◽  
pp. 1759-1762 ◽  
Author(s):  
Jian Hua Wang ◽  
Hao Xu ◽  
Fei Xie
Keyword(s):  
Control Strategy ◽  
Control Voltage ◽  
Start Time ◽  
Evaluation Indexes ◽  
Working Principle ◽  
Simulation Results ◽  
And Control ◽  
Start Process ◽  
Er Fluid ◽  
Starting Control

This paper proposed a new design scheme for automatic clutch of AMT which is based on electrorheological (ER) fluid. Through analyzing the working principle and its transfer characteristics of ER fluid, it discussed the start process of vehicle and control strategy of ER Clutch. By changing the control voltage, ER clutch satisfied the requirements of evaluation indexes such as start time and impact degree. The simulation results showed that the control strategy can realize starting rapidly and steadily which would meet the start requirements of economical automobiles

OUTPUT FEEDBACK CONTROL OF UNIFIED CHAOTIC SYSTEMS BASED ON FEEDBACK PASSIVITY

2010 ◽  
Vol 20 (05) ◽  
pp. 1519-1525 ◽  
Author(s):  
TEERAWAT SANGPET ◽  
SUWAT KUNTANAPREEDA
Keyword(s):  
Chaos Control ◽  
Chaotic Systems ◽  
Output Feedback Control ◽  
Control Law ◽  
Control Laws ◽  
Unified Chaotic Systems ◽  
System Output ◽  
Simulation Results ◽  
Passivity Based Control ◽  
System States

Recently, the concept of feedback passivity-based control has drawn attention to chaos control. In all existing papers, the implementations of passivity-based control laws require the system states for feedback. In this paper, a passivity-based control law which only requires the knowledge of the system output is proposed. Simulation results are provided to show the effectiveness of the proposed solution.

scholarly journals MIMO Active Vibration Control of Magnetically Suspended Flywheels for Satellite IPAC Service

2008 ◽  
Vol 130 (4) ◽  
Author(s):  
Junyoung Park ◽  
Alan Palazzolo ◽  
Raymond Beach
Keyword(s):  
Vibration Control ◽  
Attitude Control ◽  
High Frequency ◽  
Active Vibration Control ◽  
Control Algorithms ◽  
Control Law ◽  
Frequency Noise ◽  
Active Vibration ◽  
Simulation Results ◽  
And Control

Theory and simulation results have demonstrated that four, variable speed flywheels could potentially provide the energy storage and attitude control functions of existing batteries and control moment gyros on a satellite. Past modeling and control algorithms were based on the assumption of rigidity in the flywheel’s bearings and the satellite structure. This paper provides simulation results and theory, which eliminates this assumption utilizing control algorithms for active vibration control (AVC), flywheel shaft levitation, and integrated power transfer and attitude control (IPAC), that are effective even with low stiffness active magnetic bearings (AMBs) and flexible satellite appendages. The flywheel AVC and levitation tasks are provided by a multiple input–multiple output control law that enhances stability by reducing the dependence of the forward and backward gyroscopic poles with changes in flywheel speed. The control law is shown to be effective even for (1) large polar to transverse inertia ratios, which increases the stored energy density while causing the poles to become more speed dependent, and for (2) low bandwidth controllers shaped to suppress high frequency noise. Passive vibration dampers are designed to reduce the vibrations of flexible appendages of the satellite. Notch, low-pass, and bandpass filters are implemented in the AMB system to reduce and cancel high frequency, dynamic bearing forces and motor torques due to flywheel mass imbalance. Successful IPAC simulation results are presented with a 12% initial attitude error, large polar to transverse inertia ratio (IP∕IT), structural flexibility, and unbalance mass disturbance.

Modeling and Trajectory Control of a Forklift-Like Wheeled Robot

2014 ◽  
Author(s):  
Ho-Hoon Lee
Keyword(s):  
Asymptotic Stability ◽  
Real Time ◽  
Dynamic Model ◽  
Dynamic Models ◽  
Trajectory Control ◽  
Control Law ◽  
Steering Control ◽  
Control Laws ◽  
Control Scheme ◽  
Trajectory Generator

In this paper, kinematic and dynamic models are derived for a forklift-like four-wheeled mobile robot, and then, based on the models, a new trajectory control scheme is designed and evaluated for the robot. The dynamic model, exhibiting non-minimum-phase characteristics, is derived by applying Lagrange’s equations and then the control law is design by using Lyapunov stability theorem and the loop shaping method. The proposed control scheme consists of a trajectory generator, a motion control law, and a steering control law. First, a real-time trajectory generator is designed based on the nonholonomic kinematic constraints of the robot, in which the reference driving speed and time rate of heading angle are computed in real time for a given desired trajectory of the robot. The proposed trajectory generator guarantees a local asymptotic stability. Next, motion and steering control laws are designed based on the dynamic model of the robot. The motion and steering control laws are used to control the robot speed and steering angle. The proposed control guarantees asymptotic stability of the trajectory control while keeping all internal signals bounded. Finally, the validity of the proposed control scheme is shown by realistic computer simulations with one sampling-time delay in the control loop.

Dynamic logarithmic state and control quantization for continuous-time linear systems

Robotica ◽  
2022 ◽  
pp. 1-16
Author(s):  
Jiashuo Wang ◽  
Shuo Pan ◽  
Zhiyu Xi
Keyword(s):  
Feedback Control ◽  
Linear System ◽  
Linear Systems ◽  
Continuous Time ◽  
Control Law ◽  
Quantized Feedback ◽  
Single Input ◽  
Simulation Results ◽  
And Control ◽  
Time Linear

Abstract This paper addresses logarithmic quantizers with dynamic sensitivity design for continuous-time linear systems with a quantized feedback control law. The dynamics of state quantization and control quantization sensitivities during “zoom-in”/“zoom-out” stages are proposed. Dwell times of the dynamic sensitivities are co-designed. It is shown that with the proposed algorithm, a single-input continuous-time linear system can be stabilized by quantized feedback control via adopting sensitivity varying algorithm under certain assumptions. Also, the advantage of logarithmic quantization is sustained while achieving stability. Simulation results are provided to verify the theoretical analysis.

Design and Control of a Mini Quad-Rotor UAV Based on Embedded System

2012 ◽  
Vol 442 ◽  
pp. 477-481
Author(s):  
Man Man Du ◽  
Feng Jin
Keyword(s):  
Embedded System ◽  
Inertial Sensor ◽  
Nonlinear Dynamic Model ◽  
Practical Applications ◽  
Control Scheme ◽  
Embedded Model ◽  
Aerial Vehicle ◽  
Working Principle ◽  
And Function ◽  
And Control

In this paper, one kind of quad-rotor UAV (unmanned aerial vehicle) controller is designed according to analyze its structure and function. The hardware platform is established based on DSP MC56F8037, inertial sensor unit, as well as facilities that make it suitable for the dynamic system. According to the analysis of the working principle of the quad-rotor, the nonlinear dynamic model is established. This is a hierarchical embedded model based control scheme that is built upon the concept of backstepping, the simulation result shows the controllers are valid. This realization makes a great progress in the development process of a more advanced realization of an UAV suitable for practical applications.

Robust Trajectory Following Control of Robotic Systems

1985 ◽  
Vol 107 (4) ◽  
pp. 308-315 ◽  
Author(s):  
S. N. Singh ◽  
A. A. Schy
Keyword(s):  
Degrees Of Freedom ◽  
Digital Simulation ◽  
Robotic Systems ◽  
Control Law ◽  
Robot Arm ◽  
Control Laws ◽  
Payload Uncertainty ◽  
Trajectory Following ◽  
And Control ◽  
Three Degrees Of Freedom

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

Control Strategy Research on Controllable Pendulum in Step Perturbation

2014 ◽  
Vol 602-605 ◽  
pp. 1387-1390
Author(s):  
Geng Biao Shen ◽  
Fan Li ◽  
Zi Chao Zhang ◽  
Jian Hui Zhao
Keyword(s):  
Autonomous Navigation ◽  
State Feedback ◽  
Decoupling Control ◽  
Control Law ◽  
Strategy Research ◽  
Existing Problems ◽  
Indirect Control ◽  
Control Scheme ◽  
Preliminary Study ◽  
And Control

Applying controllable pendulum to indicating vertical is a new method which can be used for autonomous navigation. There are some studies on the method and it puts forward the existing problems. In this paper, it carries on the preliminary study on drawbacks that it exists steady-state error in controllable pendulum, and designs a new control scheme combined direct control with indirect control while there is step perturbation. Then it designs the corresponding control law by using observer with state feedback and decoupling control. It makes software simulation by Matlab and the results show that the controllable pendulum can be controlled well to indicate vertical by using the designed control scheme and control law when it exists step perturbation.

Continuum of Motion Equations and Control Laws for the Inverted Pendulum Cart and Rotary Pendulum

2020 ◽  
Author(s):  
Constance Lare ◽  
Warren N. White
Keyword(s):  
Inverted Pendulum ◽  
Equations Of Motion ◽  
Control Law ◽  
Control Laws ◽  
Motion Equations ◽  
Base Radius ◽  
Limiting Condition ◽  
And Control ◽  
The Given ◽  
Insight Into

Abstract This paper questions whether the controller properties for a given rigid body mechanical system still apply as the given system is changed. As a first attempt in this investigation, the controller for the underactuated rotary pendulum is investigated as the system morphs into an underactuated inverted pendulum cart. As the limiting condition of the inverted pendulum cart is approached, the investigation allows the controller to also morph. The authors show that, as the pendulum base radius grows, the rotary pendulum equations of motion morph into the inverted pendulum cart dynamics. The paper presents necessary conditions for the successful morphing of the dynamic equations. The morphing process for the controller tests the idea whether the control law also satisfies the same continuum basis as the motion equations. The paper presents a framework for the class of controllers investigated for providing insight into when the controller morphing may be successful. This paper presents dimensionless quantities that render the equations of motion and controller for the inverted pendulum cart and rotary pendulum into dimensionless form. These dimensionless quantities allow comparison of controllers and systems that are not possible through simple inspection. This comparison ability is especially useful for quantifying the nonlinearities of a given system and controller compared to another system and controller having different parameter sizes, a comparison rarely seen in the control literature.

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