scholarly journals Stability Control Method of Hybrid Impulsive System Based on M-Matrix

2022 ◽  
Vol 16 ◽  
pp. 70-77
Author(s):  
Yunxu Tong ◽  
Guihua Li
Keyword(s):  
Control Method ◽  
Adaptive Method ◽  
Impulsive System ◽  
Stability Control ◽  
Pulse System ◽  
Impulsive Systems ◽  
Control Effect ◽  
Pulse Delay ◽  
Synchronization Problem ◽  
Delay Differential

Aiming at the problems of poor control effect and poor stability of the mixed pulse system with the traditional method, this paper introduces the M-matrix to establish the pulse delay differential indefinite formula and realize stability control of the mixed pulse system. The synchronization problem of mixed-pulse systems in complex networks is analyzed using M matrix. The local coupling strength of the impulsive system is controlled according to the adaptive method. A class of Multi-Lyapunov functions is constructed for stability control of hybrid impulsive systems. The proposed method is proved to have better control effect through experiments.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

Composite Nonlinear Feedback for Vehicle Active Front Steering

2014 ◽  
Vol 663 ◽  
pp. 127-134 ◽  
Author(s):  
M.H. Che Hasan ◽  
Y.M. Sam ◽  
Ke Mao Peng ◽  
Muhamad Khairi Aripin ◽  
Muhamad Fahezal Ismail
Keyword(s):  
Control Method ◽  
Actuator Saturation ◽  
External Disturbance ◽  
Reference Signal ◽  
Stability Control ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Active Front Steering ◽  
Yaw Stability ◽  
Fast Settling

In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) system for vehicle yaw stability control in order to have an excellent transient response performance. The control method, which has linear and nonlinear parts that work concurrently capable to track reference signal very fast with minimum overshoot, fast settling time, and without exceed nature of actuator saturation limit. Beside, modelling of 7 degree of freedom for typical passenger car with magic formula to represent tyre nonlinearity behaviour is also presented to simulate controlled vehicle as close as possible with a real situation. An extensive computer simulation is performed with considering a various profile of cornering manoeuvres with external disturbance to evaluate its performance in different scenarios. The performance of the proposed controller is compared to conventional Proportional Integration and Derivative (PID) for effectiveness analysis.

Stability control for end effect of mobile manipulator in uneven terrain based on active disturbance rejection control

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Chuang Cheng ◽  
Hui Zhang ◽  
Hui Peng ◽  
Zhiqian Zhou ◽  
Bailiang Chen ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Control Method ◽  
External Disturbance ◽  
Stability Control ◽  
Mobile Manipulator ◽  
Active Disturbance Rejection Control ◽  
End Effector ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

Purpose When the mobile manipulator is traveling on an unconstructed terrain, the external disturbance is generated. The load on the end of the mobile manipulator will be affected strictly by the disturbance. The purpose of this paper is to reject the disturbance and keep the end effector in a stable pose all the time, a control method is proposed for the onboard manipulator. Design/methodology/approach In this paper, the kinematics and dynamics models of the end pose stability control system for the tracked robot are built. Through the guidance of this model information, the control framework based on active disturbance rejection control (ADRC) is designed, which keeps the attitude of the end of the manipulator stable in the pitch, roll and yaw direction. Meanwhile, the control algorithm is operated with cloud computing because the research object, the rescue robot, aims to be lightweight and execute work with remote manipulation. Findings The challenging simulation experiments demonstrate that the methodology can achieve valid stability control performance in the challenging terrain road in terms of robustness and real-time. Originality/value This research facilitates the stable posture control of the end-effector of the mobile manipulator and maintains it in a suitable stable operating environment. The entire system can normally work even in dynamic disturbance scenarios and uncertain nonlinear modeling. Furthermore, an example is given to guide the parameter tuning of ADRC by using model information and estimate the unknown internal modeling uncertainty, which is difficult to be modeled or identified.

scholarly journals Study of the Stability Control of the Rock Surrounding Double-Key Strata Recovery Roadways in Shallow Seams

2019 ◽  
Vol 2019 ◽  
pp. 1-21 ◽  
Author(s):  
Cheng Zhu ◽  
Yong Yuan ◽  
Zhongshun Chen ◽  
Zhiheng Liu ◽  
Chaofeng Yuan
Keyword(s):  
Engineering Application ◽  
Stability Control ◽  
Surrounding Rock ◽  
Control Effect ◽  
Pressure Relief ◽  
Support Design ◽  
Key Strata ◽  
Fracture Development ◽  
Surrounding Rock Control ◽  
The Stability

The stability control of the rock surrounding recovery roadways guarantees the safety of the extraction of equipment. Roof falling and support crushing are prone to occur in double-key strata (DKS) faces in shallow seams during the extraction of equipment. Therefore, this paper focuses on the stability control of the rock surrounding DKS recovery roadways by combining field observations, theoretical analysis, and numerical simulations. First, pressure relief technology, which can effectively release the accumulated rock pressure in the roof, is introduced according to the periodic weighting characteristics of DKS roofs. A reasonable application scope and the applicable conditions for pressure relief technology are given. Considering the influence of the eroded area on the roof structure, two roof mechanics models of DKS are established. The calculation results show that the yield load of the support in the eroded area is low. A scheme for strengthening the support with individual hydraulic props is proposed, and then, the support design of the recovery roadway is improved based on the time effects of fracture development. The width of the recovery roadway and supporting parameters is redesigned according to engineering experience. Finally, constitutive models of the support and compacted rock mass in the gob are developed with FLAC3D software to simulate the failure characteristics of the surrounding rock during pressure relief and equipment extraction. The surrounding rock control effects of two support designs and three extraction schemes are comprehensively evaluated. The results show that the surrounding rock control effect of Scheme 1, which combines improved support design and the bidirectional extraction of equipment, is the best. Engineering application results show that Scheme 1 realizes the safe extraction of equipment. The research results can provide a reference and experience for use in the stability control of rock surrounding recovery roadways in shallow seams.

Vehicle Lateral Motion Control Based on Estimated Stability Regions

2017 ◽  
Author(s):  
Yiwen Huang ◽  
Yan Chen
Keyword(s):  
Measurement Errors ◽  
Local Stability ◽  
Stability Region ◽  
Control Method ◽  
Linearization Method ◽  
Stability Control ◽  
Lateral Stability ◽  
Shortest Distance ◽  
The Stability ◽  
Yaw Moment

This paper presents a novel vehicle lateral stability control method based on an estimated lateral stability region on the phase plane of vehicle yaw rate and lateral speed, which is obtained through a local linearization method. Since the estimated stability region does not only describe vehicle local stability, but also define the oversteering and understeering characteristics, the proposed control method can achieve both local stability and vehicle handling stability. Considering the irregular geometric shape of the estimated stability region, a stability analysis algorithm is designed to determine the distance between vehicle states and stability region boundaries. State estimation or measurement errors are also incorporated in the distance calculation. Based on the calculated shortest distance between vehicle states and stability boundaries, a direct yaw moment controller is designed to maintain vehicle states stay within the stability region. CarSim® and Simulink® co-simulation is applied to verify the control design through a cornering maneuver. The simulation results show that the proposed control method can make the vehicle stay within the stability region successfully and thus always operate in a safe manner.

Multisensor information-based adaptive control method for cutting head speed of roadheader

2020 ◽  
pp. 095440622095249
Author(s):  
Pengjiang Wang ◽  
Yang Shen ◽  
Rui Li ◽  
Kai Zong ◽  
Shichen Fu ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Control Method ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Fuzzy Logic Controllers ◽  
Control Effect ◽  
Cutting Efficiency ◽  
Cutting Head ◽  
Pi Controllers ◽  
Particle Swarm Optimisation Algorithm

An adaptive control method to improve the cutting head speed of roadheaders using multisensor information is proposed, so as to solve the problems of low cutting efficiency and low intelligence of roadheaders during underground tunnelling. The operation of a roadheader is analysed, and a control strategy for its cutting head speed is proposed. In addition, the cutting head speed is categorised into five gears according to the multisensor information of different cutting states. The controller for speed estimation is designed using a back propagation neural network optimised using an improved particle swarm optimisation algorithm. A control system is established in MATLAB to analyse the effectiveness of the method. The simulation results show that an IPSO-BP controller has the best control effect and can attain the target speed. The response time was lower than those of fuzzy logic controllers and traditional PI controllers by 46% and 68%, respectively, and the overshoot decreased by 4.69% and 12.19%, respectively. Furthermore, experimental research verified the effectiveness of this method. This method can adaptively adjust the cutting head speed of a roadheader using multisensor information and is important (both theoretical and practically) for extending the service life of roadheaders and improving tunnelling efficiency.

scholarly journals Virtual DC Motor Stability Control Method Considering New Energy Generation Fluctuation

2021 ◽  
Vol 2113 (1) ◽  
pp. 012015
Author(s):  
Yilun Tan ◽  
Yucheng Wang
Keyword(s):  
Dynamic Response ◽  
Control Method ◽  
Rapid Development ◽  
Regional Distribution ◽  
Energy Generation ◽  
Dc Motor ◽  
Stability Control ◽  
Transient Dynamic ◽  
New Energy ◽  
Transient Dynamic Response

Abstract With the rapid development of new energy generation, the intermittence and randomicity of its power output will have a significant impact on the transmission capacity of DC motor. Therefore, a virtual DC motor stability control method considering the fluctuation of new energy generation is proposed. The natural frequencies and modes of the virtual DC motor shafting rotor are analyzed by means of a steady sinusoidal excitation at zero speed. Considering the transient dynamic response of the shafting rotor of virtual DC motor under the fluctuation of new energy generation, Taylor series and transfer acceleration matrix method are used to calculate the transient dynamic response of shafting rotor under the fluctuation of new energy generation, and the parameters of virtual DC motor are identified and estimated. Based on this, a proportional resonance controller is designed to realize the stability control of virtual DC motor. Experimental results show that the interactive power curve between virtual DC motor and regional distribution network is smoother after optimal control, and this method can effectively improve the power balance ability of virtual DC motor.

Hybrid-type stability control method based on combination of conventional PSS and fuzzy control

1994 ◽  
Vol 114 (6) ◽  
pp. 76-89
Author(s):  
Marzan Aziz Iskandar ◽  
Masashi Satoh ◽  
Yoshibumi Mizutani ◽  
Akio Suzuki ◽  
Mitsuo Ishizeki
Keyword(s):  
Fuzzy Control ◽  
Control Method ◽  
Stability Control ◽  
Hybrid Type

Multivariable predictive functional control of a compound power-split hybrid electric vehicle

2021 ◽  
pp. 095440702110466
Author(s):  
Ji Gao ◽  
Diming Lou ◽  
Tong Zhang ◽  
Liang Fang ◽  
Yunhua Zhang
Keyword(s):  
Hybrid System ◽  
Hybrid Electric Vehicle ◽  
Control Method ◽  
Multiple Input Multiple Output ◽  
Area Network ◽  
Control Effect ◽  
Decoupling Method ◽  
Input Multiple Output ◽  
Objective Control ◽  
Pure Delay

The Corun hybrid system (CHS) is a deeply coupled multiple-input–multiple-output (MIMO) hybrid system. The two inputs are the torques of the two motors. The two outputs are the carrier speed and transmission output torque. Using the traditional control method, the multi-objective control quality cannot be guaranteed because of the adopted static decoupling method and proportional–integral–derivative (PID) controllers. In this paper, the problems of the traditional control method are carefully analyzed, and a new control method is proposed. Instead of static decoupling, dynamic decoupling is adopted to improve the decoupling control effect. A predictive functional controller instead of a PID controller is adopted to deal with the pure delay caused by controller area network (CAN) communication. The tracking effect of the target value is further improved by predictive functional controllers. For the two decoupled subsystems, that is, the integral system and the second-order underdamped system, two predictive functional controllers are designed. The new control method was verified by simulations and tests. The results show that the new control method is superior to the traditional control method for CHS.

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