Modeling and Control for GMA Based on Hammerstein Model Structure

2013 ◽  
Vol 668 ◽  
pp. 406-409
Author(s):  
Qing Song Liu ◽  
Zhen Zhang ◽  
J.Q. Mao
Keyword(s):  
Tracking Control ◽  
Hammerstein Model ◽  
Model Structure ◽  
Hysteresis Model ◽  
Modeling And Control ◽  
Feedforward Loop ◽  
Rate Dependent ◽  
Proposed Model ◽  
Magnetostrictive Actuator ◽  
And Control

A rate-dependent hysteresis model for Giant Magnetostrictive Actuator (GMA) is proposed based on Hammerstein model structure. The Generalized Prandtl-Ishlinskii (GPI) model is used to represent nonlinear block in Hammerstein model. The validity of model is examined by comparsion between simulation results and experimental data. Based on the proposed model, a PID feedback controller combined with an inverse compensation in the feedforward loop is used for tracking control. Experimental results show that the control strategy is effective.

scholarly journals Modeling and Control for Giant Magnetostrictive Actuators with Rate-Dependent Hysteresis

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Ping Liu ◽  
Zhen Zhang ◽  
Jianqin Mao
Keyword(s):  
Relevance Vector Machine ◽  
Modeling And Control ◽  
Rate Dependent ◽  
Hysteresis Nonlinearity ◽  
Control Scheme ◽  
Giant Magnetostrictive Materials ◽  
Magnetostrictive Actuators ◽  
Magnetostrictive Actuator ◽  
And Control ◽  
Major Impediment

The rate-dependent hysteresis in giant magnetostrictive materials is a major impediment to the application of such material in actuators. In this paper, a relevance vector machine (RVM) model is proposed for describing the hysteresis nonlinearity under varying input current. It is possible to construct a unique dynamic model in a given rate range for a rate-dependent hysteresis system using the sinusoidal scanning signals as the training set input signal. Subsequently, a proportional integral derivative (PID) control scheme combined with a feedforward compensation is implemented on a giant magnetostrictive actuator (GMA) for real-time precise trajectory tracking. Simulations and experiments both verify the effectiveness and the practicality of the proposed modeling and control methods.

scholarly journals Analysis of Hysteresis-Free Creep of the Stack Piezoelectric Actuator

2013 ◽  
Vol 2013 ◽  
pp. 1-10 ◽  
Author(s):  
Xueliang Zhao ◽  
Chengjin Zhang ◽  
Hongbo Liu ◽  
Guilin Zhang ◽  
Kang Li
Keyword(s):  
Fixed Point ◽  
Piezoelectric Actuator ◽  
High Speed ◽  
Creep Model ◽  
Modeling And Control ◽  
Creep Effect ◽  
Proposed Model ◽  
Series Of Experiments ◽  
Creep Models ◽  
And Control

A modified log-type creep model without hysteresis of the stack piezoelectric actuator is presented. For high-speed micro-/nanopositioning system, the time scale should be less than one second for creep modeling and control in the stack piezoelectric actuator. But creep effect was studied in the frame of minutes in previous works. Meanwhile, parameters of the classical creep models are hard to be determined. By the proposed model, the hysteresis and the creep effect can be separated. A series of experiments have been performed, where different staircase voltages have been applied to the actuator. There are two clear rules to follow in small duration and different heights to determine parameters. Firstly,L0starts from fixed point either in ascending stage or in descending stage and rotates clockwise. Secondly,γconverges to a small vicinity of a constant when the duration is small enough.

The Spherical Rolling-Flying Vehicle: Dynamic Modeling and Control System Design

2021 ◽  
pp. 1-23
Author(s):  
Stefan Atay ◽  
Matthew Bryant ◽  
Gregory D. Buckner
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Dynamic Modeling ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
High Mobility ◽  
Theoretical Development ◽  
Trajectory Tracking Control ◽  
Modeling And Control ◽  
And Control

Abstract This paper presents the dynamic modeling and control of a bi-modal, multirotor vehicle that is capable of omnidirectional terrestrial rolling and multirotor flight. It focuses on the theoretical development of a terrestrial dynamic model and control systems, with experimental validation. The vehicle under consideration may roll along the ground to conserve power and extend endurance but may also fly to provide high mobility and maneuverability when necessary. The vehicle employs a three-axis gimbal system that decouples the rotor orientation from the vehicle's terrestrial rolling motion. A dynamic model of the vehicle's terrestrial motion is derived from first principles. The dynamic model becomes the basis for a nonlinear trajectory tracking control system suited to the architecture of the vehicle. The vehicle is over-actuated while rolling, and the additional degrees of actuation can be used to accomplish auxiliary objectives, such as power optimization and gimbal lock avoidance. Experiments with a hardware vehicle demonstrate the efficacy of the trajectory tracking control system.

scholarly journals Fuzzy Modeling and Control of HIV Infection

2012 ◽  
Vol 2012 ◽  
pp. 1-17 ◽  
Author(s):  
Hassan Zarei ◽  
Ali Vahidian Kamyad ◽  
Ali Akbar Heydari
Keyword(s):  
Viral Load ◽  
Fuzzy Control ◽  
Hiv Infection ◽  
Immune Cells ◽  
Control Function ◽  
Drug Dosage ◽  
Modeling And Control ◽  
Proposed Model ◽  
Linear Fuzzy Differential Equations ◽  
And Control

The present study proposes a fuzzy mathematical model of HIV infection consisting of a linear fuzzy differential equations (FDEs) system describing the ambiguous immune cells level and the viral load which are due to the intrinsic fuzziness of the immune system's strength in HIV-infected patients. The immune cells in question are considered CD4+ T-cells and cytotoxic T-lymphocytes (CTLs). The dynamic behavior of the immune cells level and the viral load within the three groups of patients with weak, moderate, and strong immune systems are analyzed and compared. Moreover, the approximate explicit solutions of the proposed model are derived using a fitting-based method. In particular, a fuzzy control function indicating the drug dosage is incorporated into the proposed model and a fuzzy optimal control problem (FOCP) minimizing both the viral load and the drug costs is constructed. An optimality condition is achieved as a fuzzy boundary value problem (FBVP). In addition, the optimal fuzzy control function is completely characterized and a numerical solution for the optimality system is computed.

Modeling Rate-Dependent Hysteresis for Magnetostrictive Actuator

2007 ◽  
Vol 546-549 ◽  
pp. 2251-2256 ◽  
Author(s):  
Zhang Zhen ◽  
Jian Qin Mao
Keyword(s):  
Differential Equation ◽  
Eddy Current Loss ◽  
Dynamics Simulation ◽  
Hysteresis Model ◽  
Order Ordinary Differential Equation ◽  
Rate Dependent ◽  
Magnetostrictive Actuator ◽  
Simulation Results ◽  
Mechanical Dynamics ◽  
Good Agreement

The rate-dependent hysteresis exhibited by magnetostrictive actuator (MA) presents a challenge in modeling of these actuators. In this paper, a novel rate-dependent hysteresis model was proposed for magnetostrictive actuator. In the model, the modified Prandtl-Ishlinskii operator (PI) is combined with a second order ordinary differential equation in a cascaded structure. The modified PI operator is used to account for the static hysteresis, the connection between ODE and the rate-dependent energy loss was established, including the classical eddy current loss and the mechanical dynamics. Simulation results show a good agreement with the experiment ones.

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