A Disturbance Rejection Strategy for Asynchronous Motor of the Electric Vehicle in Speed-Open-Loop Operating Mode

2012 ◽  
Vol 479-481 ◽  
pp. 71-75 ◽  
Author(s):  
Gang Zheng ◽  
Jian Dong Wu ◽  
Ming Wei Kuang ◽  
Deng Zhang ◽  
Yang Yang
Keyword(s):  
Electric Vehicle ◽  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Asynchronous Motor ◽  
Operating Mode ◽  
Open Loop ◽  
Parameter Uncertainties ◽  
Current Variation ◽  
On The Road

For any electric vehicle on the road, it is inevitable to be influenced by parameter uncertainties and some kinds of disturbance torques, which present challenge for the controller design in the electric vehicle. Therefore, control of the electric vehicle to achieve the safety running requirement becomes important. In this paper, we investigate the control method for electric drive system of the electric vehicle from both theoretical and applied perspectives, then, speed loop inverse based disturbance rejection control strategy is proposed. The proposed approach is illustrated by implementing it into an experimental platform. The experimental results demonstrated that the proposed control method can achieve rapid response to current variation at operating frequency of electric vehicle, and substantially suppress the adverse effect of current variation at high frequency.

Automated steering controller design for vehicle lane keeping combining linear active disturbance rejection control and quantitative feedback theory

2018 ◽  
Vol 232 (7) ◽  
pp. 937-948 ◽  
Author(s):  
Zhengrong Chu ◽  
Christine Wu ◽  
Nariman Sepehri
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Active Disturbance Rejection Control ◽  
Quantitative Feedback Theory ◽  
Steering Control ◽  
Parameter Uncertainties ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Lane Keeping

In this article, a new automated steering control method is presented for vehicle lane keeping. This method is a combination between the linear active disturbance rejection control and the quantitative feedback theory. The structure of the steering controller is first determined based on the linear active disturbance rejection control, then the controller is tuned in the framework of the quantitative feedback theory to meet the prescribed design specifications on sensitivity and closed-loop stability. The parameter uncertainties of the vehicle system are considered at the tuning stage. The proposed steering controller is simulated and tested on a scale vehicle. Both the simulation and experimental results demonstrate that the scale vehicle controlled by the proposed controller is able to perform the lane keeping. In the experiments, the lateral offset between the scale vehicle and the road centerline is regulated within the acceptable ranges of ±0.03 m during straight lane keeping and ±0.15 m during curved lane keeping. The proposed controller is easy to be implemented and is simple without requiring complex calculations and measurements of vehicle states. Simulations also show that the control method can be implemented on a full-scale vehicle.

Trajectory Tracking Control for a Robotic Manipulator Using Nonlinear Active Disturbance Rejection Control

2017 ◽  
Author(s):  
Mohammed Ali ◽  
Charles K. Alexander
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Robot Manipulator ◽  
Tracking Performance ◽  
Active Disturbance Rejection Control ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

The tracking performance of a robot manipulator is controlled using nonlinear active disturbance rejection control (ADRC). The proposed method does not require the complete knowledge of the plant’s parameters, and external disturbances since it is based on the rejection and estimation of the unknown internal dynamics and external disturbances. The proposed method is simple and has minimal tuning parameters. The robustness of the proposed method is discussed against parameter uncertainties and disturbances. First, the mathematical model of the manipulator is developed. ADRC theory is explained. The manipulator is represented in ADRC form. ADRC’s tracking performance for the joints and end-effector is compared to the tracking performance of the robust passivity (RP) control. The simulations prove that the proposed control method achieves good tracking performance compared to RP control. It is shown that ADRC has a lower energy consumption compared to RP control by calculating the power in the input signals.

scholarly journals Model Decoupled Synchronization Control Design with Fractional Order Filter for H-Type Air Floating Motion Platform

Entropy ◽  
2021 ◽  
Vol 23 (5) ◽  
pp. 633
Author(s):  
Yixiu Sun ◽  
Lizhan Zeng ◽  
Ying Luo ◽  
Xiaoqing Li
Keyword(s):  
Fractional Order ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Controller Design ◽  
Open Loop ◽  
System Stability ◽  
Synchronization Control ◽  
Motion Platform ◽  
Oscillation System ◽  
Filtering Method

H-type motion platform with linear motors is widely used in two-degrees-of-freedom motion systems, and one-direction dual motors need to be precisely controlled with strict synchronization for high precision performance. In this paper, a synchronous control method based on model decoupling is proposed. The dynamic model of an H-type air floating motion platform is established and one direction control using two motors with position dependency coupling is decoupled and converted into independent position and rotation controls, separately. For the low damping second-order oscillation system of the rotation control loop, a new fractional order biquad filtering method is proposed to generate an antiresonance peak to improve the phase and control gain of the open loop system, which can ensure system stability and quick attenuation for external disturbances. In the multiple-degree-of-freedom decoupled control loops, a systematic feedback controller design methodology is proposed to satisfy the given frequency domain design specifications; a feed-forward control strategy is also applied to compensate the disturbance torque caused by the platform motion. The simulation and experimental results demonstrate that the proposed synchronization control method is effective, and achieves better disturbance rejection performance than the existing optimal cancellation filtering method and biquad filtering method.

Active Disturbance Rejection Controller Design for Electric Vehicle Traction System

2014 ◽  
Vol 953-954 ◽  
pp. 1406-1412
Author(s):  
Yu Min Wang ◽  
Qing Fan
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Disturbance Rejection ◽  
Controller Design ◽  
Current Loop ◽  
Low Velocity ◽  
Brushless Dc ◽  
Tracking Differentiator ◽  
Active Disturbance Rejection ◽  
Traction System

In some low velocity electric vehicle system, Brushless DC motor is used for the main traction motor. However, the low-velocity stability should be guaranteed, especially with the suddenly-changing load, the velocity response should be more quick and the overshoot should be small, all of above can make the vehicle more comfortable. The traction system is controlled by a current loop and a velocity loop, so a new method is proposed, that PI control strategy is in the current loop and the active disturbance rejection controller is in the velocity loop to restrain the bad effect results from suddenly-changing load. This active disturbance rejection controller is composed of a tracking differentiator, an extended state observer, a nonlinear state error feedback controller, and etc. The parameters of the controller are optimally designed, and the simulation results show that this control strategy can effectively restrain the suddenly-changing load and improve the vehicle’s low velocity performance.

scholarly journals Fuzzy Adaptive Controller Design for Double-pendulum Tower Crane with Distribute Mass Payload

2021 ◽  
Author(s):  
Zheng Sun ◽  
Huimin Ouyang
Keyword(s):  
High Efficiency ◽  
Control Method ◽  
Controller Design ◽  
Adaptive Controller ◽  
Working Environment ◽  
Double Pendulum ◽  
Parameter Uncertainties ◽  
Concentrated Mass ◽  
Tower Crane ◽  
Fuzzy Adaptive

Abstract As a kind of high-efficiency transportation tools, tower cranes are widely used in construction site. With the increasing volume and mass of payload being transported, the researches of distributed mass payload (DMP) problems have been paid more and more attentions. However, most of the existing control algorithms designed for the concentrated mass payload (CMP) are not enough to meet the needs of actual production. The difference between DMP and CMP is mainly manifested in that the remaining payload swing caused by inertial torque of DMP cannot be effectively suppressed, which leads to safety hazards. In addition, due to the different working environment, accurate system parameters (such as mechanical frictions, air frictions ) are hard to obtain, which leads to errors in their positioning. To solve the above issues, first, we establish mathematical model of a double-pendulum tower crane with distributed mass payload (DTCDMP) and carry out dynamic analysis. Then we propose a fuzzy adaptive control method, which has a good tracking effect against external disturbances and parameter uncertainties, and the method can achieve accurate positioning and effective anti-swing. Then, the Lyapunov technology and LaSalle's invariance principle are used to rigorously prove the stability of the system. Finally, on the basis of tracking the S-shaped trajectories, the effectiveness and robustness of the proposed controller are verified through multi-group comparative experiments.

Brushless Motor and Wireless Recharge System for Electric Vehicle Design Modeling and Control

2021 ◽  
pp. 338-362
Author(s):  
Mohamed Naoui ◽  
Flah Aymen ◽  
Ben Hamed Mouna ◽  
Lassaad Sbita
Keyword(s):  
Electric Vehicle ◽  
Control Method ◽  
Storage System ◽  
Modeling And Control ◽  
The Road ◽  
Brushless Motor ◽  
Received Power ◽  
On The Road ◽  
And Control ◽  
The Relationship

This chapter deals with the problem of energy storage inside an electric vehicle. The main source of energy is based on a wireless system. This recharge tool regroups inside several components as the storage system, which consists of an ensemble of batteries and serving as the main power source, a special electronic converter that is based on the buck-boost principle and a coil receiver placed undo the vehicle. From the other side, one or more than coil transmitters are placed on the road, where the vehicle is. Modeling all of these components and expressing their mathematical models seems interesting for defining the possible control method that can guarantee a high autonomy when the vehicle is moving. So, taking into account if the care is driving or stopped, this recharge system is studied for verifying the effectiveness of this recharge system and showing the relationship between the vehicle situation and the quantity of received power. Using the platform Matlab/Simulink the results were shown and discussed.

scholarly journals Toolface Control Method for a Dynamic Point-the-Bit Rotary Steerable Drilling System

Energies ◽  
2019 ◽  
Vol 12 (10) ◽  
pp. 1831 ◽  
Author(s):  
Weiliang Wang ◽  
Yanfeng Geng ◽  
Ning Wang ◽  
Xiaojiao Pu ◽  
Joice de Oliveira Fiaux
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Dynamic Stiffness ◽  
Parameter Uncertainties ◽  
External Disturbances ◽  
Disturbance Rejection Control ◽  
High Dynamic ◽  
Speed Estimator ◽  
Stabilized Platform ◽  
Drilling Conditions

In the dynamic point-the-bit rotary steerable system (DPRSS), a high dynamic stiffness toolface control method is desired to ensure the stabilized platform traces the directional command accurately and quickly. A three-loop compound toolface control method using the Model-based Active Disturbance Rejection Control (MADRC) algorithm is presented, and a load torque estimator and an outer housing speed estimator are designed based on system model to obtain the external disturbances. The proposed toolface control method was verified by numerical simulation and DPRSS prototype testing, and its speed loop frequency responses are analyzed. The results reveal that this method is effective in disturbance rejection and robust against parameter uncertainties, and the MADRC shows better performance compared with the conventional ADRC and the proportional-integral (PI) controller. The proposed method has the potential to be used in harsh drilling conditions.

Robust Adaptive Control of Antagonistic Tendon-Driven Joint in the Presence of Parameter Uncertainties and External Disturbances

2017 ◽  
Vol 139 (10) ◽  
Author(s):  
Hongqian Lu ◽  
Xu Zhang ◽  
Xianlin Huang
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Controller Design ◽  
Block Diagram ◽  
Viscous Friction ◽  
Robust Adaptive Control ◽  
Parameter Uncertainties ◽  
Closed Loop Systems ◽  
Nonlinear Tracking ◽  
Robust Adaptive

The design of nonlinear tracking controller for antagonistic tendon-driven joint has garnered considerable attention, whereas many existing control methodologies are impractical in the real-time applications due to complexity of computations. In this work, a robust adaptive control method for controlling antagonistic tendon-driven joint is mainly studied by combining adaptive control with mapping filtered forwarding technique. To enhance the robustness of the closed-loop systems, the true viscous friction coefficients are not needed to be known in our controller design. Typically, to tackle the problem of “explosion of complexity,” filters are introduced to bridge the virtual controls such that the controller is decomposed into several submodules. Mappings and their analytic derivatives are computed by these filters, and the mathematical operations of nonlinearities are greatly simplified. The block diagram of this controller of tendon-driven joint is provided, and controller performances are validated through simulations.

scholarly journals Adaptive Digital Disturbance Rejection Controller Design for Underwater Thermal Vehicles

2021 ◽  
Vol 9 (4) ◽  
pp. 406
Author(s):  
Guohui Wang ◽  
Yanan Yang ◽  
Shuxin Wang
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
Least Squares Method ◽  
Vertical Plane ◽  
Estimation Method ◽  
Plane Motion ◽  
External Disturbances ◽  
Control Approach ◽  
Waves And Currents

Underwater thermal vehicles, as ocean observation tools, are frequently affected by environment disturbances such as waves and currents, which may cause degradation of the observation accuracy of the vehicles. Consequently, it is important to design a controller for a vehicle that can resist ocean disturbance. In this study, an underwater thermal vehicle principle is introduced, and the mathematical model is established in the vertical plane motion. On this basis, an adaptive digital disturbance suppression control method is proposed. For known disturbance parameters, this controller could compensate for external disturbances by pre-setting control parameters using the internal model principle and parameterizations method. For the case where the disturbance parameters are unknown, disturbance parameter estimation method based on forgetting factor least-squares method is proposed to transform the unknown parameter disturbance into a disturbance with known parameters, which is then suppressed by the adaptive digital disturbance rejection control approach. This solution could effectively solve the challenges caused by parameter uncertainty and unknown time-varying ocean external disturbances. Finally, simulations are carried out for the Petrel underwater thermal glider as an example. The simulation results show the proposed control method’s superiority and inherent robustness.

Active disturbance rejection controller design for stable walking of a compass-like biped

2017 ◽  
Vol 40 (14) ◽  
pp. 4063-4077 ◽  
Author(s):  
Sumian Song ◽  
Chong Tang ◽  
Zidong Wang ◽  
Gangfeng Yan
Keyword(s):  
Control Strategy ◽  
Disturbance Rejection ◽  
Control Method ◽  
Controller Design ◽  
External Disturbance ◽  
Biped Robots ◽  
Walking Gait ◽  
Active Disturbance Rejection ◽  
Coordinate Control ◽  
High Efficient

This paper aims to develop an active disturbance rejection controller design scheme for compass-like biped robots. In the previous study, with a special designed mechanical structure on compass-like biped, we have generated a high-efficient walking gait. The original controller applied linearization approximation based on the method transverse coordinate control, with which the ability of disturbance rejection is insufficient. We introduce the active disturbance rejection controller method into the control scheme, which only requires the information of angular momentum and has the ability to compensate the model error and the external disturbance. With the new control strategy, the linearization approximation method is replaced by an active disturbance rejection controller and the robustness is improved. In order to further apply this control method, a switching control strategy has been proposed and a series of numerical simulations show that active disturbance rejection controller has a good disturbance rejection effect.

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