Pub Date : 2024-07-24DOI: 10.1177/10775463241257977
Maziar Fallahnejad, Ali Kazemy, Masoud Shafiee
In this paper, a [Formula: see text] controller with an event-triggered mechanism is designed for a singular networked cascade control system (SNCCS) under periodic denial-of-service (DoS) attacks. The SNCCS is treated as a system of differential-algebraic equations (DAEs) with an index of two and is modeled as a switched system. The paper first establishes sufficient stability conditions, which are formulated as linear matrix inequalities based on multiple Lyapunov functions. These conditions ensure that the system remains regular, free from impulse modes, and stable. Next, state feedback controllers are designed for both the inner loop and the outer loop. However, the outer loop is subjected to periodic DoS cyber-attacks. Finally, the proposed method’s effectiveness is demonstrated through simulation results on a practical thermal cascade control system.
本文针对周期性拒绝服务（DoS）攻击下的奇异网络级联控制系统（SNCCS），设计了一种具有事件触发机制的[公式：见正文]控制器。SNCCS 被视为一个指数为 2 的微分代数方程 (DAE) 系统，并被模拟为一个开关系统。本文首先建立了充分的稳定性条件，并将其表述为基于多重 Lyapunov 函数的线性矩阵不等式。这些条件确保系统保持规则、无脉冲模式和稳定。接下来，为内环和外环设计状态反馈控制器。但是，外环会受到周期性的 DoS 网络攻击。最后，通过对一个实际热级联控制系统的仿真结果，证明了所提出方法的有效性。
{"title":"H∞ stabilization of singular networked cascade control systems subject to periodic DoS attack","authors":"Maziar Fallahnejad, Ali Kazemy, Masoud Shafiee","doi":"10.1177/10775463241257977","DOIUrl":"https://doi.org/10.1177/10775463241257977","url":null,"abstract":"In this paper, a [Formula: see text] controller with an event-triggered mechanism is designed for a singular networked cascade control system (SNCCS) under periodic denial-of-service (DoS) attacks. The SNCCS is treated as a system of differential-algebraic equations (DAEs) with an index of two and is modeled as a switched system. The paper first establishes sufficient stability conditions, which are formulated as linear matrix inequalities based on multiple Lyapunov functions. These conditions ensure that the system remains regular, free from impulse modes, and stable. Next, state feedback controllers are designed for both the inner loop and the outer loop. However, the outer loop is subjected to periodic DoS cyber-attacks. Finally, the proposed method’s effectiveness is demonstrated through simulation results on a practical thermal cascade control system.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"1 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778616","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-24DOI: 10.1177/10775463241262138
Jun-Fang Wang, Jian-Fu Lin, Yan-Long Xie
In-service railway turnout, suffering from multi-factor coupling of operational and environmental loadings and special wheel–rail interaction, is prone to structural damage. The paper aims to develop a Bayesian damage identification method for crack-alike damage of the turnout rail under uncertainties. It consists of three core parts, including a damage index (DI) constructed by the transformation of time–frequency components of responses for generating damage-sensitive relationships, Bayesian models describing the crack-sensitive relationships hidden in the members of the damage index, and a mechanism synthesizing individual assessment results associated with the different reference models for providing one quantitative solution. The abnormal change in the stable relationships derived from the index can reflect damage occurrence and severity. The Bayesian approach is adopted to model the relationships under uncertainties of in-service railway turnout. The models trained by using monitoring data of the turnout rail before being damaged serve as a reference for healthy state, and deviations of actual observations from model predictions may indicate the existence of damage. The synthesizing process helps to offer a more rational assessment result through the weighted summation of individual quantitative assessment results. Rail monitoring data of a railway turnout are acquired to examine the damage detection performance of the proposed method. By exempting loadings measurement and physical model derivation, this data-driven methodology is potentially capable of supporting the damage identification and quantitative assessment of other structures in railway engineering.
{"title":"Rail crack identification of in-service turnout through Bayesian inference","authors":"Jun-Fang Wang, Jian-Fu Lin, Yan-Long Xie","doi":"10.1177/10775463241262138","DOIUrl":"https://doi.org/10.1177/10775463241262138","url":null,"abstract":"In-service railway turnout, suffering from multi-factor coupling of operational and environmental loadings and special wheel–rail interaction, is prone to structural damage. The paper aims to develop a Bayesian damage identification method for crack-alike damage of the turnout rail under uncertainties. It consists of three core parts, including a damage index (DI) constructed by the transformation of time–frequency components of responses for generating damage-sensitive relationships, Bayesian models describing the crack-sensitive relationships hidden in the members of the damage index, and a mechanism synthesizing individual assessment results associated with the different reference models for providing one quantitative solution. The abnormal change in the stable relationships derived from the index can reflect damage occurrence and severity. The Bayesian approach is adopted to model the relationships under uncertainties of in-service railway turnout. The models trained by using monitoring data of the turnout rail before being damaged serve as a reference for healthy state, and deviations of actual observations from model predictions may indicate the existence of damage. The synthesizing process helps to offer a more rational assessment result through the weighted summation of individual quantitative assessment results. Rail monitoring data of a railway turnout are acquired to examine the damage detection performance of the proposed method. By exempting loadings measurement and physical model derivation, this data-driven methodology is potentially capable of supporting the damage identification and quantitative assessment of other structures in railway engineering.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"94 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778615","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-23DOI: 10.1177/10775463241259326
Sicheng Yi, Wangjie Zhou, Xingyuan Li, Long Li, Quan Zhang
In this paper, we propose a novel dual-reference adaptive feedforward controller to realize synchronous micropositioning and microvibration isolation on a magnetostrictive device. The scheme of the proposed adaptive feedforward controller and its differences from the traditional single-reference controller are briefly introduced. The desired trajectory and available external disturbance as two input references are utilized to develop the proposed controller. The dynamics compensator is constructed based on the modified filtered-x normalized least mean square (MFxNLMS) algorithm with the discrete cosine transform (DCT) technique. The asymmetric hysteresis compensator is modeled via the arctangent-polynomial modified Prandtl–Ishlinskii (APMPI) model. The experimental setup is built, and the closed-loop control experiment is carried out according to the designed experimental process. Comparison of experimental results show that the proposed dual-reference DCT-MFxNLMS controller behaves better than the single-reference DCT-MFxNLMS and proportional-derivative-derivative (PID) integrated controller for the synchronous micropositioning and vibration isolation cases. Moreover, by the dual-reference DCT-MFxNLMS controller, the vibration isolation ratio enhances and the tracking bandwidth increases within the interest of frequency bandwidth, compared with those of open-loop system, respectively.
{"title":"Dual-reference adaptive feedforward control of a magnetostrictive device for synchronous micropositioning and microvibration isolation","authors":"Sicheng Yi, Wangjie Zhou, Xingyuan Li, Long Li, Quan Zhang","doi":"10.1177/10775463241259326","DOIUrl":"https://doi.org/10.1177/10775463241259326","url":null,"abstract":"In this paper, we propose a novel dual-reference adaptive feedforward controller to realize synchronous micropositioning and microvibration isolation on a magnetostrictive device. The scheme of the proposed adaptive feedforward controller and its differences from the traditional single-reference controller are briefly introduced. The desired trajectory and available external disturbance as two input references are utilized to develop the proposed controller. The dynamics compensator is constructed based on the modified filtered-x normalized least mean square (MFxNLMS) algorithm with the discrete cosine transform (DCT) technique. The asymmetric hysteresis compensator is modeled via the arctangent-polynomial modified Prandtl–Ishlinskii (APMPI) model. The experimental setup is built, and the closed-loop control experiment is carried out according to the designed experimental process. Comparison of experimental results show that the proposed dual-reference DCT-MFxNLMS controller behaves better than the single-reference DCT-MFxNLMS and proportional-derivative-derivative (PID) integrated controller for the synchronous micropositioning and vibration isolation cases. Moreover, by the dual-reference DCT-MFxNLMS controller, the vibration isolation ratio enhances and the tracking bandwidth increases within the interest of frequency bandwidth, compared with those of open-loop system, respectively.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"6 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778619","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A dynamic model of the bogie was established to investigate the influence of the elastic suspension of the motor and some nonlinear terms on the stability of vehicle hunting motion. Linear analysis was conducted based on the root locus method and other methods, and the influence of the elastic suspension of the motor on the linear critical speed was studied. Then, based on research on linear stability, the impact of the first Lyapunov coefficient of the model on the Hopf bifurcation type was analyzed. Subsequently, the influence of the stiffness and damping cubic terms in the motor suspension on the first Lyapunov coefficient was studied, and the possibility of controlling the Hopf bifurcation type by changing the stiffness and damping cubic terms in the motor suspension was analyzed, and relevant research was conducted. The results show that the increase of the cubic term of stiffness increased the corresponding speed when the amplitude of the limit cycle was 8 mm by about 3.4 km/h, and the increase of the cubic term of damping increased the corresponding speed when the amplitude of the limit cycle was 8 mm by about 8.9 km/h. Finally, a time-domain diagram corresponding to systems with different motor suspension stiffness and damping cubic terms was presented, further explaining the role of the motor suspension cubic terms and conducting relevant validation, providing reference opinions for the design of the motor elastic suspension of multiple units.
建立了转向架的动态模型，以研究电机的弹性悬挂和一些非线性项对车辆狩猎运动稳定性的影响。基于根定位法和其他方法进行了线性分析，研究了电机弹性悬架对线性临界速度的影响。然后，在线性稳定性研究的基础上，分析了模型的第一个 Lyapunov 系数对霍普夫分岔类型的影响。随后，研究了电机悬架中的刚度和阻尼立方项对第一个 Lyapunov 系数的影响，分析了通过改变电机悬架中的刚度和阻尼立方项来控制霍普夫分叉类型的可能性，并进行了相关研究。结果表明，当极限周期振幅为 8 mm 时，刚度立方项的增加会使相应速度提高约 3.4 km/h；当极限周期振幅为 8 mm 时，阻尼立方项的增加会使相应速度提高约 8.9 km/h。最后，给出了不同电机悬架刚度和阻尼立方项系统对应的时域图，进一步解释了电机悬架立方项的作用，并进行了相关验证，为多机组电机弹性悬架的设计提供了参考意见。
{"title":"Influence of nonlinear motor suspension parameters on Hopf bifurcation characteristics of high-speed bogie","authors":"Yu Huang, Huanyun Dai, Huailong Shi, Caihong Huang, Yayun Qi, Rancheng Mao, Wen Shi","doi":"10.1177/10775463241267035","DOIUrl":"https://doi.org/10.1177/10775463241267035","url":null,"abstract":"A dynamic model of the bogie was established to investigate the influence of the elastic suspension of the motor and some nonlinear terms on the stability of vehicle hunting motion. Linear analysis was conducted based on the root locus method and other methods, and the influence of the elastic suspension of the motor on the linear critical speed was studied. Then, based on research on linear stability, the impact of the first Lyapunov coefficient of the model on the Hopf bifurcation type was analyzed. Subsequently, the influence of the stiffness and damping cubic terms in the motor suspension on the first Lyapunov coefficient was studied, and the possibility of controlling the Hopf bifurcation type by changing the stiffness and damping cubic terms in the motor suspension was analyzed, and relevant research was conducted. The results show that the increase of the cubic term of stiffness increased the corresponding speed when the amplitude of the limit cycle was 8 mm by about 3.4 km/h, and the increase of the cubic term of damping increased the corresponding speed when the amplitude of the limit cycle was 8 mm by about 8.9 km/h. Finally, a time-domain diagram corresponding to systems with different motor suspension stiffness and damping cubic terms was presented, further explaining the role of the motor suspension cubic terms and conducting relevant validation, providing reference opinions for the design of the motor elastic suspension of multiple units.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"63 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778391","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-23DOI: 10.1177/10775463241248299
Xinyu Zhao, Limei Wang
This paper presents a novel fractional-order boundary layer fast terminal sliding mode (FBLFTSM) control method for high-precision tracking tasks of the permanent magnet linear synchronous motor (PMLSM). Specifically, a dynamic model of PMLSM with lumped uncertainty is established by considering the tracking task involving parameter variations, disturbance load, etc. Then, based on the dynamic model, a FBLFTSM control law is designed to guarantee higher tracking accuracy of the surface motion than the classical terminal sliding mode control even if the system suffers from unknown disturbance. Meanwhile, the fractional-order boundary layer control has the feature of “large error turns into large gain, small error turns into small gain,” which solves the contradiction between weak chattering and fast convergence in the integer-order boundary layer control and improves the dynamic performance of the system. Finally, the effectiveness of the control approach is verified by conducting tracking experiments on the cSPACE-based motor platform.
{"title":"A novel fractional-order boundary layer fast terminal sliding mode controller for permanent magnet linear synchronous motor","authors":"Xinyu Zhao, Limei Wang","doi":"10.1177/10775463241248299","DOIUrl":"https://doi.org/10.1177/10775463241248299","url":null,"abstract":"This paper presents a novel fractional-order boundary layer fast terminal sliding mode (FBLFTSM) control method for high-precision tracking tasks of the permanent magnet linear synchronous motor (PMLSM). Specifically, a dynamic model of PMLSM with lumped uncertainty is established by considering the tracking task involving parameter variations, disturbance load, etc. Then, based on the dynamic model, a FBLFTSM control law is designed to guarantee higher tracking accuracy of the surface motion than the classical terminal sliding mode control even if the system suffers from unknown disturbance. Meanwhile, the fractional-order boundary layer control has the feature of “large error turns into large gain, small error turns into small gain,” which solves the contradiction between weak chattering and fast convergence in the integer-order boundary layer control and improves the dynamic performance of the system. Finally, the effectiveness of the control approach is verified by conducting tracking experiments on the cSPACE-based motor platform.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"69 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778622","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-22DOI: 10.1177/10775463241256401
Xin Gao, Tieding Guo, Houjun Kang, Wanzhi Qiao
A nonlinear sagged cable, due to its initial curvature, leads to various challenges of empirical mode truncation used by routine Galerkin method when constructing reduced-order model. It is recently elucidated that ( Guo and Rega, 2023a ), the key for refined mode truncation (and thus for correct nonlinear dynamics prediction) is to first eliminate low-order nonlinear terms of spatial continuous structures. This paper focuses on refined truncation of nonlinear sagged cable by leveraging the recent low-order elimination perspective, which is realized by a normal form development. Further comparative studies for both primary resonant and two-to-one internally resonant dynamics of the sagged cable, including nonlinear frequency responses, backbone curves, and Poincaré mapping, demonstrate notable differences between the two different types of models built by either routine or refined truncation, which confirms necessity of the refined mode truncation used for geometrically nonlinear structures like sagged cables.
{"title":"Nonlinear oscillation of elastic sagged cable using refined mode truncation: A comparative study","authors":"Xin Gao, Tieding Guo, Houjun Kang, Wanzhi Qiao","doi":"10.1177/10775463241256401","DOIUrl":"https://doi.org/10.1177/10775463241256401","url":null,"abstract":"A nonlinear sagged cable, due to its initial curvature, leads to various challenges of empirical mode truncation used by routine Galerkin method when constructing reduced-order model. It is recently elucidated that ( Guo and Rega, 2023a ), the key for refined mode truncation (and thus for correct nonlinear dynamics prediction) is to first eliminate low-order nonlinear terms of spatial continuous structures. This paper focuses on refined truncation of nonlinear sagged cable by leveraging the recent low-order elimination perspective, which is realized by a normal form development. Further comparative studies for both primary resonant and two-to-one internally resonant dynamics of the sagged cable, including nonlinear frequency responses, backbone curves, and Poincaré mapping, demonstrate notable differences between the two different types of models built by either routine or refined truncation, which confirms necessity of the refined mode truncation used for geometrically nonlinear structures like sagged cables.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"32 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-22DOI: 10.1177/10775463241259345
Sara Mahmoudi Rashid, Amir Rikhtehgar Ghiasi, Sehraneh Ghaemi
In the realm of large-scale systems, the complexity of controller design has long been exacerbated by the proliferation of decision variables and inherent conservatism. This study introduces a novel approach to address these challenges, presenting a new distributed robust controller design methodology tailored for large-scale systems grappling with disturbances, uncertainties, and actuator saturations. The primary objectives include reducing conservatism, minimizing decision variables, and significantly curtailing computation time. To surmount these hurdles, the research leverages descriptive and reciprocally convex methods, formulating the design procedure using linear matrix inequalities. This enables the adjustment of uncertain parameters and robust disturbance rejection, thereby ensuring stability in large-scale systems. Additionally, a feedback control law is proposed to accommodate saturation constraints and ensure the closed-loop system’s stability. Notably, the effectiveness of the proposed control scheme is demonstrated through the evaluation of a full-car active suspension system, which is partitioned into interconnected subsystems to a large-scale system. Comparative analyses underscore the superior performance and technical advancements offered by the proposed methodology over existing approaches.
{"title":"A new distributed robust H∞ control strategy for a class of uncertain interconnected large-scale time-delay systems subject to actuator saturation and disturbance","authors":"Sara Mahmoudi Rashid, Amir Rikhtehgar Ghiasi, Sehraneh Ghaemi","doi":"10.1177/10775463241259345","DOIUrl":"https://doi.org/10.1177/10775463241259345","url":null,"abstract":"In the realm of large-scale systems, the complexity of controller design has long been exacerbated by the proliferation of decision variables and inherent conservatism. This study introduces a novel approach to address these challenges, presenting a new distributed robust controller design methodology tailored for large-scale systems grappling with disturbances, uncertainties, and actuator saturations. The primary objectives include reducing conservatism, minimizing decision variables, and significantly curtailing computation time. To surmount these hurdles, the research leverages descriptive and reciprocally convex methods, formulating the design procedure using linear matrix inequalities. This enables the adjustment of uncertain parameters and robust disturbance rejection, thereby ensuring stability in large-scale systems. Additionally, a feedback control law is proposed to accommodate saturation constraints and ensure the closed-loop system’s stability. Notably, the effectiveness of the proposed control scheme is demonstrated through the evaluation of a full-car active suspension system, which is partitioned into interconnected subsystems to a large-scale system. Comparative analyses underscore the superior performance and technical advancements offered by the proposed methodology over existing approaches.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"42 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778629","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-22DOI: 10.1177/10775463241263880
Ruizi Ma, Yijie Zhang, Xu Guo, Jun Wen
In this article, the adaptive sliding mode backstepping controller (ASMBC) using a novel dual-differentiator is proposed for multi-degree-of-freedom (MDOF) manipulator systems with uncertain states and multi-disturbances. The dual-differentiator comprises a tracking differentiator (TD) and a disturbance observer (DOB) based on the proposed TD. A novel tracking differentiator based on the inverse hyperbolic sine function and terminal attractor function (IHSTD) is introduced to reconstruct unknown states like velocity responses of the manipulator systems. Furthermore, the other differentiator, DOB based on aforementioned IHSTD (IHSTD-DOB), is involved in estimating the uncertain and stochastic multi-disturbances affecting the manipulator systems. Then, an ASMBC scheme, combining proposed dual-differentiator, is developed for achieving accurate tracking control of manipulator. Additionally, to handle the “explosion of term” issue in backstepping control, the designed IHSTD is also utilized to estimate the derivative of the virtual control law. The stability of the controller is rigorously analyzed using the Lyapunov method. Finally, numerical simulation results are presented to validate the effectiveness of the proposed scheme. Comparison experiments with the traditional DOB, the scheme except IHSTD, and the classical sliding mode control method are carried out by Simulink. The results illustrate that the present control method not only has an excellent tracking performance but also accurately estimates the unpredictable multi-disturbance and reconstructs the unknown states of the manipulator systems.
{"title":"Adaptive backstepping control using a novel dual-differentiator for multi-degree-of-freedom manipulator uncertain systems with unknown multi-disturbances","authors":"Ruizi Ma, Yijie Zhang, Xu Guo, Jun Wen","doi":"10.1177/10775463241263880","DOIUrl":"https://doi.org/10.1177/10775463241263880","url":null,"abstract":"In this article, the adaptive sliding mode backstepping controller (ASMBC) using a novel dual-differentiator is proposed for multi-degree-of-freedom (MDOF) manipulator systems with uncertain states and multi-disturbances. The dual-differentiator comprises a tracking differentiator (TD) and a disturbance observer (DOB) based on the proposed TD. A novel tracking differentiator based on the inverse hyperbolic sine function and terminal attractor function (IHSTD) is introduced to reconstruct unknown states like velocity responses of the manipulator systems. Furthermore, the other differentiator, DOB based on aforementioned IHSTD (IHSTD-DOB), is involved in estimating the uncertain and stochastic multi-disturbances affecting the manipulator systems. Then, an ASMBC scheme, combining proposed dual-differentiator, is developed for achieving accurate tracking control of manipulator. Additionally, to handle the “explosion of term” issue in backstepping control, the designed IHSTD is also utilized to estimate the derivative of the virtual control law. The stability of the controller is rigorously analyzed using the Lyapunov method. Finally, numerical simulation results are presented to validate the effectiveness of the proposed scheme. Comparison experiments with the traditional DOB, the scheme except IHSTD, and the classical sliding mode control method are carried out by Simulink. The results illustrate that the present control method not only has an excellent tracking performance but also accurately estimates the unpredictable multi-disturbance and reconstructs the unknown states of the manipulator systems.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"41 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778627","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-22DOI: 10.1177/10775463241266638
Kyle Glazier, Ke Yuan, David Thomas Will, Weidong Zhu, Yongfeng Xu
Fatigue failures at fastener holes in structures are undesirable as they can lead to catastrophic mechanical failures. Interference pins create interference fits with joined components to reduce stresses around fastener holes and extend the fatigue life of a structure. In this research, a novel method for finite element (FE) modeling of interference pin connections in a wind turbine lattice tower component was developed. The installation of interference pins was modeled using a two-stage process that causes local stiffness changes in joined members of the component. The local stiffness changes were accounted for in the FE model by using cylinders to represent the interference pins. An experimental setup, including a three-dimensional (3D) scanning laser Doppler vibrometer (SLDV) and a mirror, was used to measure out-of-plane and in-plane natural frequencies and mode shapes of the component. Ten out-of-plane modes and one in-plane mode from the FE model are compared with the experimental results to validate the accuracy of the FE modeling approach. The maximum percent difference between the theoretical and experimental natural frequencies of the component is 3.21%, and the modal assurance criterion (MAC) values between the theoretical and experimental mode shapes are 0.92 or greater, showing good agreement between the theoretical and experimental modal parameters of the component.
结构中紧固件孔的疲劳故障是不可取的，因为它们可能导致灾难性的机械故障。过盈销可与连接部件产生过盈配合，从而降低紧固件孔周围的应力，延长结构的疲劳寿命。在这项研究中，开发了一种新方法，用于对风力涡轮机格构塔架组件中的过盈销连接进行有限元（FE）建模。过盈销的安装采用两阶段过程建模，该过程会导致组件连接部件的局部刚度发生变化。FE 模型中使用圆柱体表示过盈插销，从而考虑到了局部刚度的变化。实验装置包括一个三维（3D）扫描激光多普勒测振仪（SLDV）和一个反射镜，用于测量组件的平面外和平面内固有频率和模态振型。将 FE 模型中的 10 个平面外模态和 1 个平面内模态与实验结果进行比较，以验证 FE 建模方法的准确性。该部件的理论固有频率与实验固有频率之间的最大百分比差异为 3.21%，理论模态振型与实验模态振型之间的模态保证准则 (MAC) 值均大于或等于 0.92，表明该部件的理论模态参数与实验模态参数之间具有良好的一致性。
{"title":"Finite element modeling and modal testing of a wind turbine lattice tower component with interference pin connections","authors":"Kyle Glazier, Ke Yuan, David Thomas Will, Weidong Zhu, Yongfeng Xu","doi":"10.1177/10775463241266638","DOIUrl":"https://doi.org/10.1177/10775463241266638","url":null,"abstract":"Fatigue failures at fastener holes in structures are undesirable as they can lead to catastrophic mechanical failures. Interference pins create interference fits with joined components to reduce stresses around fastener holes and extend the fatigue life of a structure. In this research, a novel method for finite element (FE) modeling of interference pin connections in a wind turbine lattice tower component was developed. The installation of interference pins was modeled using a two-stage process that causes local stiffness changes in joined members of the component. The local stiffness changes were accounted for in the FE model by using cylinders to represent the interference pins. An experimental setup, including a three-dimensional (3D) scanning laser Doppler vibrometer (SLDV) and a mirror, was used to measure out-of-plane and in-plane natural frequencies and mode shapes of the component. Ten out-of-plane modes and one in-plane mode from the FE model are compared with the experimental results to validate the accuracy of the FE modeling approach. The maximum percent difference between the theoretical and experimental natural frequencies of the component is 3.21%, and the modal assurance criterion (MAC) values between the theoretical and experimental mode shapes are 0.92 or greater, showing good agreement between the theoretical and experimental modal parameters of the component.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"245 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-07-22DOI: 10.1177/10775463241264864
Yaoyao Tuo, Yankui Song
This paper investigates the finite-time prescribed performance tracking control problem of permanent magnet synchronous motor (PMSM) considering stochastic disturbances and time-varying delays under event-triggered mechanism. A quintuple polynomial finite-time prescribed performance function (FPPF) is introduced to ensure the transient and steady-state performance of the system output, and a nonlinear transformation function is employed to convert the constrained error into an unconstrained one. The Lyapunov-Krasovskii function is constructed to address time delays. And the system uncertainties are approximated by the radial basis function neural networks (RBFNN). For the “explosion of complexity” caused by backstepping method, a tracking differentiator (TD) is employed. By combining finite time control, command filtering backstepping control, and event-triggered mechanism, the effect of the filter errors is decreased, and the update frequency of the control signals are reduced. It is shown that the proposed controller can guarantee finite time convergence bounded of all signals in the closed-loop system, and the tracking error can converge in finite time. Finally, simulation results are presented to illustrate the effectiveness of the proposed controller.
{"title":"Adaptive event-triggered finite-time prescribed performance control of PMSM stochastic system considering time-varying delays","authors":"Yaoyao Tuo, Yankui Song","doi":"10.1177/10775463241264864","DOIUrl":"https://doi.org/10.1177/10775463241264864","url":null,"abstract":"This paper investigates the finite-time prescribed performance tracking control problem of permanent magnet synchronous motor (PMSM) considering stochastic disturbances and time-varying delays under event-triggered mechanism. A quintuple polynomial finite-time prescribed performance function (FPPF) is introduced to ensure the transient and steady-state performance of the system output, and a nonlinear transformation function is employed to convert the constrained error into an unconstrained one. The Lyapunov-Krasovskii function is constructed to address time delays. And the system uncertainties are approximated by the radial basis function neural networks (RBFNN). For the “explosion of complexity” caused by backstepping method, a tracking differentiator (TD) is employed. By combining finite time control, command filtering backstepping control, and event-triggered mechanism, the effect of the filter errors is decreased, and the update frequency of the control signals are reduced. It is shown that the proposed controller can guarantee finite time convergence bounded of all signals in the closed-loop system, and the tracking error can converge in finite time. Finally, simulation results are presented to illustrate the effectiveness of the proposed controller.","PeriodicalId":17511,"journal":{"name":"Journal of Vibration and Control","volume":"413 1","pages":""},"PeriodicalIF":2.8,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141778623","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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