Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044418
Jian Zhang, Jian Wu, Yongpeng Zhang, F. Hopwood
This paper presents a scalar sign function based anti-windup control method for the sampled-data system with input saturation. It is found that input saturation can be effectively approximated by the smooth scalar sign function. When saturation encounters, an iteration procedure is executed in which the weighting matrices are systematically adjusted in the LQR performance index until the obtained control inputs do not violate the limits. The adjustments are based upon computations centered on the utilized scalar sign function. A general digital control scheme is described in which optimal linearization and Chebyshev quadrature digital redesign method are applied. A simulation example and a real time experiment are shown to demonstrate the effectiveness of the proposed digital controller.
{"title":"Design and applications of an optimal anti-windup digital controller using scalar sign function approach","authors":"Jian Zhang, Jian Wu, Yongpeng Zhang, F. Hopwood","doi":"10.1109/CCA.2011.6044418","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044418","url":null,"abstract":"This paper presents a scalar sign function based anti-windup control method for the sampled-data system with input saturation. It is found that input saturation can be effectively approximated by the smooth scalar sign function. When saturation encounters, an iteration procedure is executed in which the weighting matrices are systematically adjusted in the LQR performance index until the obtained control inputs do not violate the limits. The adjustments are based upon computations centered on the utilized scalar sign function. A general digital control scheme is described in which optimal linearization and Chebyshev quadrature digital redesign method are applied. A simulation example and a real time experiment are shown to demonstrate the effectiveness of the proposed digital controller.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"78 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128333753","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044385
Tatsuya Suzuki, K. Nonaka
Micro electro-mechanical systems (MEMS) are fabricated by applying semiconductor manufacturing technology. MEMS which integrate sensors and actuators are prospective in a wide field like automotives and medicines. The actuator integrated in MEMS often employs nonlinear forces like electromagnetic force and electrostatic force. For the gap closing actuators, it is known that pull-in instability due to nonlinear forces strictly limits mobility range. We have proposed the open loop oscillatory stabilization control as a solution for this problem, however, model error on nonlinear electromagnetic force causes steady state deviation. To resolve this problem, in this paper, we propose a closed loop feedback oscillatory control of the position of the cantilevered electromagnetic actuators. The actuator is oscillatory controlled but the amplitude and the bias current are adaptively tuned using the gradient of the electromagnetic force model. Thus we reduce the steady state deviation due to identification error of electromagnetic force. The advantage of the proposed method is shown through the experiments where inevitable modeling error exists.
{"title":"Experiments on semi-closed loop oscillatory control for cantilevered electromagnetic actuators using gradient force model","authors":"Tatsuya Suzuki, K. Nonaka","doi":"10.1109/CCA.2011.6044385","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044385","url":null,"abstract":"Micro electro-mechanical systems (MEMS) are fabricated by applying semiconductor manufacturing technology. MEMS which integrate sensors and actuators are prospective in a wide field like automotives and medicines. The actuator integrated in MEMS often employs nonlinear forces like electromagnetic force and electrostatic force. For the gap closing actuators, it is known that pull-in instability due to nonlinear forces strictly limits mobility range. We have proposed the open loop oscillatory stabilization control as a solution for this problem, however, model error on nonlinear electromagnetic force causes steady state deviation. To resolve this problem, in this paper, we propose a closed loop feedback oscillatory control of the position of the cantilevered electromagnetic actuators. The actuator is oscillatory controlled but the amplitude and the bias current are adaptively tuned using the gradient of the electromagnetic force model. Thus we reduce the steady state deviation due to identification error of electromagnetic force. The advantage of the proposed method is shown through the experiments where inevitable modeling error exists.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128432434","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044407
M. Soltani, R. Wisniewski, P. Brath, Stephen P. Boyd
Large scale wind turbines are lightly damped mechanical structures driven by wind that is constantly fluctuating. In this paper, we address the design of a model-based receding horizon control scheme to reduce the structural loads in the transmission system and the tower, as well as provide constant (or at least smooth) power generation. Our controller incorporates two optimization problems: one to predict or estimate mean wind speed, given LIDAR data, and the other to carry out receding horizon control to choose the control inputs. The method is verified against an existing wind turbine control system, and shows reductions in both extreme loads and power fluctuations by 80% and 90% respectively when compared to a conventional controller.
{"title":"Load reduction of wind turbines using receding horizon control","authors":"M. Soltani, R. Wisniewski, P. Brath, Stephen P. Boyd","doi":"10.1109/CCA.2011.6044407","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044407","url":null,"abstract":"Large scale wind turbines are lightly damped mechanical structures driven by wind that is constantly fluctuating. In this paper, we address the design of a model-based receding horizon control scheme to reduce the structural loads in the transmission system and the tower, as well as provide constant (or at least smooth) power generation. Our controller incorporates two optimization problems: one to predict or estimate mean wind speed, given LIDAR data, and the other to carry out receding horizon control to choose the control inputs. The method is verified against an existing wind turbine control system, and shows reductions in both extreme loads and power fluctuations by 80% and 90% respectively when compared to a conventional controller.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128683136","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044404
Fatemeh Tahersima, J. Stoustrup, H. Rasmussen
Thermostatic Radiator Valves (TRV) have proved their significant contribution in energy savings for several years. However, at low heat demands, an unstable oscillatory behavior is usually observed and well known for these devices. It happens due to the nonlinear dynamics of the radiator itself which results in a high gain and a large time constant for the radiator at low flows. If the TRV is tuned in order to dampen the oscillations at low heat loads, it will suffer from poor performance and lack of comfort, i.e. late settling, when full heating capacity is needed. Based on the newly designed TRVs, which are capable of accurate flow control, this paper investigates achievable control enhancements by incorporating a gain schedulling control scheme applied to TRVs. A suitable linear parameter varying model is derived for the radiator which governs the gain scheduler. The results are verified by computer simulations.
{"title":"Stability performance dilemma in hydronic radiators with TRV","authors":"Fatemeh Tahersima, J. Stoustrup, H. Rasmussen","doi":"10.1109/CCA.2011.6044404","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044404","url":null,"abstract":"Thermostatic Radiator Valves (TRV) have proved their significant contribution in energy savings for several years. However, at low heat demands, an unstable oscillatory behavior is usually observed and well known for these devices. It happens due to the nonlinear dynamics of the radiator itself which results in a high gain and a large time constant for the radiator at low flows. If the TRV is tuned in order to dampen the oscillations at low heat loads, it will suffer from poor performance and lack of comfort, i.e. late settling, when full heating capacity is needed. Based on the newly designed TRVs, which are capable of accurate flow control, this paper investigates achievable control enhancements by incorporating a gain schedulling control scheme applied to TRVs. A suitable linear parameter varying model is derived for the radiator which governs the gain scheduler. The results are verified by computer simulations.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127464134","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044466
Hao Wang, S. Duncan
Model Predictive Control (MPC) has been applied in a range of industrial applications, and part of its popularity is that it can cope with a constrained system, providing an optimal control for a certain performance index. Incremental Sheet Forming (ISF) is an emerging progressive sheet metal forming technology where the deformation occurs locally. It is best suited to customised and one-off or short-run production, because ISF does not require costly individual tools, dies or punches to be manufactured. The geometrical accuracy of the shape made by ISF, is however, lower than the conventional processes, such as stamping. We address this issue by using a constrained model predictive control scheme to optimise the tool trajectory of this process. A simplified linear forming process model is first derived, which is modified then to handle the “tool contact” issue and after that a full MPC formulation is established. Two types of shapes are produced on an experimental rig, and the experimental results show that the final geometrical errors can be reduced compared to a standard contour following approach.
{"title":"Constrained model predictive control of an incremental sheet forming process","authors":"Hao Wang, S. Duncan","doi":"10.1109/CCA.2011.6044466","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044466","url":null,"abstract":"Model Predictive Control (MPC) has been applied in a range of industrial applications, and part of its popularity is that it can cope with a constrained system, providing an optimal control for a certain performance index. Incremental Sheet Forming (ISF) is an emerging progressive sheet metal forming technology where the deformation occurs locally. It is best suited to customised and one-off or short-run production, because ISF does not require costly individual tools, dies or punches to be manufactured. The geometrical accuracy of the shape made by ISF, is however, lower than the conventional processes, such as stamping. We address this issue by using a constrained model predictive control scheme to optimise the tool trajectory of this process. A simplified linear forming process model is first derived, which is modified then to handle the “tool contact” issue and after that a full MPC formulation is established. Two types of shapes are produced on an experimental rig, and the experimental results show that the final geometrical errors can be reduced compared to a standard contour following approach.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130180132","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044408
M. Heath, G. Parker, D. Wilson, R. Robinett
Microgrids are envisioned to contain several interconnected sources supplying power to multiple loads. While many technologies may be used for generation, such as fossil fuels or renewables, there will likely be some amount of storage capacity. Efficient use of the stored energy is the motivation for this work. This paper focuses on developing closed loop control laws that define optimal load forms. Optimal will be defined as a combination of energy dissipation rate and power flow. In general, the control laws are nonlinear and thus the optimal load forms are nonlinear functions of the states of the network. A tutorial LC circuit is used to illustrate the method for developing the optimal load that efficiently uses the available stored energy.
{"title":"Closed loop optimal load control with application to microgrid load design","authors":"M. Heath, G. Parker, D. Wilson, R. Robinett","doi":"10.1109/CCA.2011.6044408","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044408","url":null,"abstract":"Microgrids are envisioned to contain several interconnected sources supplying power to multiple loads. While many technologies may be used for generation, such as fossil fuels or renewables, there will likely be some amount of storage capacity. Efficient use of the stored energy is the motivation for this work. This paper focuses on developing closed loop control laws that define optimal load forms. Optimal will be defined as a combination of energy dissipation rate and power flow. In general, the control laws are nonlinear and thus the optimal load forms are nonlinear functions of the states of the network. A tutorial LC circuit is used to illustrate the method for developing the optimal load that efficiently uses the available stored energy.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122370078","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044416
U. Angeringer, M. Horn
A sliding mode controller for the drive line of an electrically driven vehicle with unknown backlash is derived. The controller is based on a sliding mode observer which estimates the drive shaft and load torque where the load torque results from the unknown tire-road contact forces. The drive line control was evaluated with a multi body system simulation model of an electrically driven rear axle of a hybrid prototype vehicle. The stability of the observer is analyzed for a drive line with unknown backlash.
{"title":"Sliding mode drive line control for an electrically driven vehicle","authors":"U. Angeringer, M. Horn","doi":"10.1109/CCA.2011.6044416","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044416","url":null,"abstract":"A sliding mode controller for the drive line of an electrically driven vehicle with unknown backlash is derived. The controller is based on a sliding mode observer which estimates the drive shaft and load torque where the load torque results from the unknown tire-road contact forces. The drive line control was evaluated with a multi body system simulation model of an electrically driven rear axle of a hybrid prototype vehicle. The stability of the observer is analyzed for a drive line with unknown backlash.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132873321","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044494
P. Patre, S. Joshi
Typical adaptive controllers are restricted to using a specific update law to generate parameter estimates. This paper investigates the possibility of using any exponential parameter estimator with an adaptive controller such that the system tracks a desired trajectory. The goal is to provide flexibility in choosing any update law suitable for a given application. The development relies on a previously developed concept of controller/update law modularity in the adaptive control literature, and the use of a converse Lyapunov-like theorem. Stability analysis is presented to derive gain conditions under which this is possible, and inferences are made about the tracking error performance. The development is based on a class of Euler-Lagrange systems that are used to model various engineering systems including space robots and manipulators.
{"title":"On using exponential parameter estimators with an adaptive controller","authors":"P. Patre, S. Joshi","doi":"10.1109/CCA.2011.6044494","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044494","url":null,"abstract":"Typical adaptive controllers are restricted to using a specific update law to generate parameter estimates. This paper investigates the possibility of using any exponential parameter estimator with an adaptive controller such that the system tracks a desired trajectory. The goal is to provide flexibility in choosing any update law suitable for a given application. The development relies on a previously developed concept of controller/update law modularity in the adaptive control literature, and the use of a converse Lyapunov-like theorem. Stability analysis is presented to derive gain conditions under which this is possible, and inferences are made about the tracking error performance. The development is based on a class of Euler-Lagrange systems that are used to model various engineering systems including space robots and manipulators.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127995624","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044386
Marian P. Chaffe, L. Pao
Near-field scanning optical microscopes (NSOMs) construct images from optical properties recorded by a scanning probe as a sample is passed under a solid immersion lens (SIL) and a laser source. An air gap between the SIL and the sample must be maintained at a distance given in nanometers that is less than the wavelength of the laser source. Regulation of the air gap demands an accurate and fast controller. While lead-lag compensation has been successfully implemented as the feedback controller, the addition of feedforward or iterative learning control (ILC) can offer improved transient performance with significantly reduced overshoot. A serial ILC design is implemented upon a closed-loop system and the resulting performance is evaluated.
{"title":"Iterative learning control for near-field scanning optical microscope applications","authors":"Marian P. Chaffe, L. Pao","doi":"10.1109/CCA.2011.6044386","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044386","url":null,"abstract":"Near-field scanning optical microscopes (NSOMs) construct images from optical properties recorded by a scanning probe as a sample is passed under a solid immersion lens (SIL) and a laser source. An air gap between the SIL and the sample must be maintained at a distance given in nanometers that is less than the wavelength of the laser source. Regulation of the air gap demands an accurate and fast controller. While lead-lag compensation has been successfully implemented as the feedback controller, the addition of feedforward or iterative learning control (ILC) can offer improved transient performance with significantly reduced overshoot. A serial ILC design is implemented upon a closed-loop system and the resulting performance is evaluated.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126490601","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}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044352
S. Masuda
The disturbance attenuation FRIT method for regulator problems tunes the control parameters so that the disturbance response follows the disturbance reference model output. We have recently proposed such a disturbance attenuation FRIT method using input-output data generated by disturbances. This paper applies the disturbance attenuation FRIT method to a PID control gain tuning for a speed and position control for DC motor. The proposed method focuses on the step-type disturbance, e.g. load change or additive step signal at input signal, which generates an initial one-shot input and output data for PID gains tuning. The efficiency of the proposed method is shown through the experimental results of a speed and position regulation control for DC motor against the step-type disturbances.
{"title":"A direct PID gains tuning method for DC motor control using an input-output data generated by disturbance response","authors":"S. Masuda","doi":"10.1109/CCA.2011.6044352","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044352","url":null,"abstract":"The disturbance attenuation FRIT method for regulator problems tunes the control parameters so that the disturbance response follows the disturbance reference model output. We have recently proposed such a disturbance attenuation FRIT method using input-output data generated by disturbances. This paper applies the disturbance attenuation FRIT method to a PID control gain tuning for a speed and position control for DC motor. The proposed method focuses on the step-type disturbance, e.g. load change or additive step signal at input signal, which generates an initial one-shot input and output data for PID gains tuning. The efficiency of the proposed method is shown through the experimental results of a speed and position regulation control for DC motor against the step-type disturbances.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124925226","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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