The problem of designing a controller for a magnetic bearing is considered in this paper using H/sub /spl infin// optimisation. Classical criteria being unable to insure a satisfying closed loop behaviour, the input and the output of the flexible modes are used as supplementary degrees of freedom. Continuous-time and discrete-time syntheses are considered. The proposed approach allows to conveniently tune the closed-loop behaviour while satisfying severe constraints on the control capability.<>
{"title":"H/sub /spl infin// control of a magnetic bearing","authors":"S. Font, G. Duc, F. Carrere","doi":"10.1109/CCA.1994.381402","DOIUrl":"https://doi.org/10.1109/CCA.1994.381402","url":null,"abstract":"The problem of designing a controller for a magnetic bearing is considered in this paper using H/sub /spl infin// optimisation. Classical criteria being unable to insure a satisfying closed loop behaviour, the input and the output of the flexible modes are used as supplementary degrees of freedom. Continuous-time and discrete-time syntheses are considered. The proposed approach allows to conveniently tune the closed-loop behaviour while satisfying severe constraints on the control capability.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134323368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The coordinative adaptive control problem of two space robots holding a common object is investigated in this paper based on virtual decomposition. The original system is virtually decomposed into the object, the links, the bases, the reaction wheels, and the joints. Only the dynamic models of the rigid body and the joint are needed for control purpose. The degrees of freedom of the systems are partitioned into two categories: one is designed for position/orientation control and another is used to treat the driven force/moment constraints at the bases, a special problem about the space robots arisen from the motivation of fuel reservation. The proposed control algorithm is essentially a Newton-Euler type algorithm. The stability and the convergence of the original system are ensured based on Lyapunov analysis.<>
{"title":"Coordinative control of two space robots based on virtual decomposition","authors":"Wen-Hong Zhu, Y. Xi, Zhongjun Zhang","doi":"10.1109/CCA.1994.381446","DOIUrl":"https://doi.org/10.1109/CCA.1994.381446","url":null,"abstract":"The coordinative adaptive control problem of two space robots holding a common object is investigated in this paper based on virtual decomposition. The original system is virtually decomposed into the object, the links, the bases, the reaction wheels, and the joints. Only the dynamic models of the rigid body and the joint are needed for control purpose. The degrees of freedom of the systems are partitioned into two categories: one is designed for position/orientation control and another is used to treat the driven force/moment constraints at the bases, a special problem about the space robots arisen from the motivation of fuel reservation. The proposed control algorithm is essentially a Newton-Euler type algorithm. The stability and the convergence of the original system are ensured based on Lyapunov analysis.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"145 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133045518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Active variable-speed control of wind turbines requires good knowledge of the dynamics to be controlled. This is particularly important when combined with the increasingly common soft concept, resulting in structural eigenfrequencies within the closed-loop bandwidth. The purpose of the authors' work is to model the drive system in order to make possible the future design of an effective control system. In this paper, a physical model of the fundamental drive-system dynamics of a 400 kW horizontal axis variable-speed wind turbine is derived. The numerical parameter values in this model are then estimated from an identification experiment in closed loop on the real turbine using additional excitation (PRBS). Various identification schemes are compared and are shown to give consistent results in good agreement with the assumed physical model structure.<>
{"title":"Modeling and identification of drive-system dynamics in a variable-speed wind turbine","authors":"P. Novak, I. Jovik, B. Schmidtbauer","doi":"10.1109/CCA.1994.381193","DOIUrl":"https://doi.org/10.1109/CCA.1994.381193","url":null,"abstract":"Active variable-speed control of wind turbines requires good knowledge of the dynamics to be controlled. This is particularly important when combined with the increasingly common soft concept, resulting in structural eigenfrequencies within the closed-loop bandwidth. The purpose of the authors' work is to model the drive system in order to make possible the future design of an effective control system. In this paper, a physical model of the fundamental drive-system dynamics of a 400 kW horizontal axis variable-speed wind turbine is derived. The numerical parameter values in this model are then estimated from an identification experiment in closed loop on the real turbine using additional excitation (PRBS). Various identification schemes are compared and are shown to give consistent results in good agreement with the assumed physical model structure.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"212 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133357187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The paper presents applications of sensitivity functions to electrical systems supplied by static converters. We give an application to the synthesis of a digital control network of the output voltage of a variable frequency converter. We use the nonlinear model of the converter and thus the computation of optimal gains for a classical control structure is valid for large variations of the entry. Simulation results illustrates the good performances of this method.<>
{"title":"Optimization of control parameters by Newton's algorithm using sensitivity functions: application to the variable frequency DC-DC converter","authors":"D. Flieller, A. Oukaour, P. Henry, B. Le Pioufle","doi":"10.1109/CCA.1994.381432","DOIUrl":"https://doi.org/10.1109/CCA.1994.381432","url":null,"abstract":"The paper presents applications of sensitivity functions to electrical systems supplied by static converters. We give an application to the synthesis of a digital control network of the output voltage of a variable frequency converter. We use the nonlinear model of the converter and thus the computation of optimal gains for a classical control structure is valid for large variations of the entry. Simulation results illustrates the good performances of this method.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"94 1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115667094","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Multi-axis test facilities are usually used in industry to perform vibration tests. This paper proposes a new field of application for such systems. Based on detailed model equations of a rigid body in space an identification strategy is derived, which experimentally identifies the ten rigid body inertia parameters of the loaded or unloaded test table in only one test run.<>
{"title":"Inertia parameter identification of rigid bodies using a multi-axis test facility","authors":"H. Hahn, Klaus-Dieter Leimbach, A. Piepenbrink","doi":"10.1109/CCA.1994.381294","DOIUrl":"https://doi.org/10.1109/CCA.1994.381294","url":null,"abstract":"Multi-axis test facilities are usually used in industry to perform vibration tests. This paper proposes a new field of application for such systems. Based on detailed model equations of a rigid body in space an identification strategy is derived, which experimentally identifies the ten rigid body inertia parameters of the loaded or unloaded test table in only one test run.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114317399","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A linear matrix inequality framework for robust state-feedback design is presented in this paper. In this framework, practical design constraints concerning (e.g. settling time or actuator effort) are directly taken into account. To illustrate the methodology, a coupled spring-mass benchmark problem is solved.<>
{"title":"State-feedback design via linear matrix inequalities: application to a benchmark problem","authors":"J. Folcher, L. El Ghaoui","doi":"10.1109/CCA.1994.381342","DOIUrl":"https://doi.org/10.1109/CCA.1994.381342","url":null,"abstract":"A linear matrix inequality framework for robust state-feedback design is presented in this paper. In this framework, practical design constraints concerning (e.g. settling time or actuator effort) are directly taken into account. To illustrate the methodology, a coupled spring-mass benchmark problem is solved.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114425009","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper presents a simple online approach for motion control of rover-mounted manipulators. An integrated kinematic model of the rover-plus-manipulator system is derived which incorporates the nonholonomic rover constraint with the holonomic end-effector constraint. The redundancy introduced by the rover mobility is exploited to perform a set of user-specified additional tasks during the end-effector motion. The configuration control approach is utilized to satisfy the nonholonomic rover constraint, while accomplishing the end-effector motion and the redundancy resolution goal simultaneously. This framework allows the user to assign weighting factors to the rover movement and manipulator motion, as well as to each task specification. The computational efficiency of the control scheme makes it particularly suitable for real-time implementation. The proposed method is applied to a planar two-jointed arm mounted on a rover, and computer simulation results are presented for illustration.<>
{"title":"Configuration control of rover-mounted manipulators","authors":"H. Seraji","doi":"10.1109/CCA.1994.381271","DOIUrl":"https://doi.org/10.1109/CCA.1994.381271","url":null,"abstract":"This paper presents a simple online approach for motion control of rover-mounted manipulators. An integrated kinematic model of the rover-plus-manipulator system is derived which incorporates the nonholonomic rover constraint with the holonomic end-effector constraint. The redundancy introduced by the rover mobility is exploited to perform a set of user-specified additional tasks during the end-effector motion. The configuration control approach is utilized to satisfy the nonholonomic rover constraint, while accomplishing the end-effector motion and the redundancy resolution goal simultaneously. This framework allows the user to assign weighting factors to the rover movement and manipulator motion, as well as to each task specification. The computational efficiency of the control scheme makes it particularly suitable for real-time implementation. The proposed method is applied to a planar two-jointed arm mounted on a rover, and computer simulation results are presented for illustration.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"358 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115877377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The rich variety of control schemes involving neural networks, works which are proposed in the literature, is organised into a consistent perspective that isolate the various distinct features of each scheme and classifies them in a multi-level structure. The presented structure affords coherent and unambiguous analysis of past and new control schemes, reveals relevant links and gaps as by-products, and serves to better focus future research.<>
{"title":"A systematic classification of neural-network-based control","authors":"M. Agarwal","doi":"10.1109/CCA.1994.381234","DOIUrl":"https://doi.org/10.1109/CCA.1994.381234","url":null,"abstract":"The rich variety of control schemes involving neural networks, works which are proposed in the literature, is organised into a consistent perspective that isolate the various distinct features of each scheme and classifies them in a multi-level structure. The presented structure affords coherent and unambiguous analysis of past and new control schemes, reveals relevant links and gaps as by-products, and serves to better focus future research.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115426188","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The analysis and the implementation of nonlinear feedback linearization control of electro-magnetic suspension (EMS) system using DSP are presented. We show that an EMS system is nonlinear feedback linearizable and that the proposed nonlinear feedback controller for an EMS system is robust against mass parameter perturbation and constant force disturbance. Some tests were conducted for experimental comparison of the feedback linearization control with the classical control approach. The experiments were performed using a TMS320C31 DSP. The experimental results demonstrate that the feedback linearization controller shows better performance than that of the classical state feedback controller using the linearization of small perturbation analysis method and it is robust with respect to parameter variations and constant load disturbance.<>
{"title":"Design and analysis of the nonlinear feedback linearizing controller for an EMS system","authors":"Sungjun Joo, J. Byun, H. Shim, J. Seo","doi":"10.1109/CCA.1994.381400","DOIUrl":"https://doi.org/10.1109/CCA.1994.381400","url":null,"abstract":"The analysis and the implementation of nonlinear feedback linearization control of electro-magnetic suspension (EMS) system using DSP are presented. We show that an EMS system is nonlinear feedback linearizable and that the proposed nonlinear feedback controller for an EMS system is robust against mass parameter perturbation and constant force disturbance. Some tests were conducted for experimental comparison of the feedback linearization control with the classical control approach. The experiments were performed using a TMS320C31 DSP. The experimental results demonstrate that the feedback linearization controller shows better performance than that of the classical state feedback controller using the linearization of small perturbation analysis method and it is robust with respect to parameter variations and constant load disturbance.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123430767","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This work presents an associative datafield structure that has been developed for automotive control applications by the Institute of Control Engineering, Department of Control Systems Theory and Robotics at the Technical University of Darmstadt and the Robert Bosch GmbH. In contrast to the state-of-the-art lattice-like datafields, the new system permits the modelling of multidimensional nonlinear process and/or controller characteristics with respect to computational performance and storage capacity provided by automotive control units. Furthermore, the associative datafield allows the compensation of wear and tear and manufacturing tolerances by learning, i.e. online adaptation of its contents. The paper describes the principles of the associative datafield and different update algorithms. Results of simulations using realistic data from car engines are discussed.<>
{"title":"Associative datafields in automotive control","authors":"M. Schmitt, T. Ullrich, H. Tolle","doi":"10.1109/CCA.1994.381339","DOIUrl":"https://doi.org/10.1109/CCA.1994.381339","url":null,"abstract":"This work presents an associative datafield structure that has been developed for automotive control applications by the Institute of Control Engineering, Department of Control Systems Theory and Robotics at the Technical University of Darmstadt and the Robert Bosch GmbH. In contrast to the state-of-the-art lattice-like datafields, the new system permits the modelling of multidimensional nonlinear process and/or controller characteristics with respect to computational performance and storage capacity provided by automotive control units. Furthermore, the associative datafield allows the compensation of wear and tear and manufacturing tolerances by learning, i.e. online adaptation of its contents. The paper describes the principles of the associative datafield and different update algorithms. Results of simulations using realistic data from car engines are discussed.<<ETX>>","PeriodicalId":173370,"journal":{"name":"1994 Proceedings of IEEE International Conference on Control and Applications","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1994-08-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125575948","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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