This paper considers the fundamental design and modeling of the Caltech ducted fan. The Caltech ducted fan is a scaled model of the longitudinal axis of a flight vehicle. The purpose of the ducted fan is the research and development of new nonlinear flight guidance and control techniques for uninhabited combat aerial vehicles. It is shown that critical design relations must be satisfied in order that the ducted fan's longitudinal dynamics behave similar to those of an flight vehicle. Preliminary flight test results illustrate the flying qualities of the ducted fan.
{"title":"A testbed for nonlinear flight control techniques: the Caltech ducted fan","authors":"Mark B. Milam, R. Murray","doi":"10.1109/CCA.1999.806656","DOIUrl":"https://doi.org/10.1109/CCA.1999.806656","url":null,"abstract":"This paper considers the fundamental design and modeling of the Caltech ducted fan. The Caltech ducted fan is a scaled model of the longitudinal axis of a flight vehicle. The purpose of the ducted fan is the research and development of new nonlinear flight guidance and control techniques for uninhabited combat aerial vehicles. It is shown that critical design relations must be satisfied in order that the ducted fan's longitudinal dynamics behave similar to those of an flight vehicle. Preliminary flight test results illustrate the flying qualities of the ducted fan.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115879410","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 utilizes robust modeling and control techniques to solve the problem of synthesizing a controller that ensures closed loop stability as well as maintaining the desired performance of large space structures under various predicted failure conditions. The approach is divided into two parts. First, we develop a family of MIMO models that includes various predicted failure states in the structures. Then a controller that guarantees robust stability and performance of the entire closed loop family is designed by using the /spl mu/-synthesis technique. The key ingredients of this approach are: 1) use of the interval transfer function to model the structures with predicted damage; and 2) utilization of the properties of interval transfer functions to simplify the /spl mu/-synthesis procedure. Steps to validate the proposed approach are carried out by simulation.
{"title":"Fault tolerant controller design for large space structures","authors":"S. Ahmad, J. Lew, L. Keel","doi":"10.1109/CCA.1999.806144","DOIUrl":"https://doi.org/10.1109/CCA.1999.806144","url":null,"abstract":"This paper utilizes robust modeling and control techniques to solve the problem of synthesizing a controller that ensures closed loop stability as well as maintaining the desired performance of large space structures under various predicted failure conditions. The approach is divided into two parts. First, we develop a family of MIMO models that includes various predicted failure states in the structures. Then a controller that guarantees robust stability and performance of the entire closed loop family is designed by using the /spl mu/-synthesis technique. The key ingredients of this approach are: 1) use of the interval transfer function to model the structures with predicted damage; and 2) utilization of the properties of interval transfer functions to simplify the /spl mu/-synthesis procedure. Steps to validate the proposed approach are carried out by simulation.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124178597","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}
So far, two-degree-of-freedom control systems have been used to realize desirable transient response in the tracking system of a hard disk drive (HDD). It is easy to realize a high speed seek, if the actuator of the HDD has a resonance mode at a much higher frequency domain than the desired control domain. However, it is generally difficult to design an actuator that has a resonance mode in a high frequency domain. So, in order to realize a high speed seek, it is important to design a digital control system in consideration of the resonance mode of the actuator. In this case, if the Nyquist frequency of the control system is higher than the resonance mode of the actuator, the control system can be designed by using a method such as a H/sub /spl infin// control theory in consideration of the resonance mode. However, if the Nyquist frequency isn't higher than the resonance mode of the actuator, it is very difficult to realize a high speed seek without mechanical vibration using a conventional method. In the paper the method of applying the n-delay control theory to the design of the feedforward controller in a two-degree-of-freedom control system, and searching for the optimum time allocation of the n-delay controller based on an evaluation function are proposed. Using these methods, the frequency component of the feedforward control signal can be diminished at the desired frequency point higher than the Nyquist frequency. The validity of the proposed method is confirmed by the numerical and experimental results with a miniature 2.5-inch hard disk drive.
{"title":"Design of a tracking system using n-delay two-degree-of-freedom control and its application to hard disk drives","authors":"S. Takakura","doi":"10.1109/CCA.1999.806171","DOIUrl":"https://doi.org/10.1109/CCA.1999.806171","url":null,"abstract":"So far, two-degree-of-freedom control systems have been used to realize desirable transient response in the tracking system of a hard disk drive (HDD). It is easy to realize a high speed seek, if the actuator of the HDD has a resonance mode at a much higher frequency domain than the desired control domain. However, it is generally difficult to design an actuator that has a resonance mode in a high frequency domain. So, in order to realize a high speed seek, it is important to design a digital control system in consideration of the resonance mode of the actuator. In this case, if the Nyquist frequency of the control system is higher than the resonance mode of the actuator, the control system can be designed by using a method such as a H/sub /spl infin// control theory in consideration of the resonance mode. However, if the Nyquist frequency isn't higher than the resonance mode of the actuator, it is very difficult to realize a high speed seek without mechanical vibration using a conventional method. In the paper the method of applying the n-delay control theory to the design of the feedforward controller in a two-degree-of-freedom control system, and searching for the optimum time allocation of the n-delay controller based on an evaluation function are proposed. Using these methods, the frequency component of the feedforward control signal can be diminished at the desired frequency point higher than the Nyquist frequency. The validity of the proposed method is confirmed by the numerical and experimental results with a miniature 2.5-inch hard disk drive.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124536061","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}
Nonlinear adaptive output feedback control of stepper motors is considered. Utilizing the phase currents as inputs, an adaptive controller is derived for permanent magnet and variable reluctance stepper motors that achieves robustness to parametric and dynamic uncertainties, such as friction, load torque or cogging torque in the motor dynamics. The controller utilizes only the rotor position for feedback and achieves global uniform boundedness of the tracking error. The design methodology is based on our earlier work (1997) on robust adaptive control of nonlinear systems. The stability of the system is proved through Lyapunov techniques. Simulation results are depicted to illustrate the performance of the controller.
{"title":"Nonlinear output feedback control for stepper motors: a robust adaptive approach","authors":"H. Melkote, F. Khorrami","doi":"10.1109/CCA.1999.807756","DOIUrl":"https://doi.org/10.1109/CCA.1999.807756","url":null,"abstract":"Nonlinear adaptive output feedback control of stepper motors is considered. Utilizing the phase currents as inputs, an adaptive controller is derived for permanent magnet and variable reluctance stepper motors that achieves robustness to parametric and dynamic uncertainties, such as friction, load torque or cogging torque in the motor dynamics. The controller utilizes only the rotor position for feedback and achieves global uniform boundedness of the tracking error. The design methodology is based on our earlier work (1997) on robust adaptive control of nonlinear systems. The stability of the system is proved through Lyapunov techniques. Simulation results are depicted to illustrate the performance of the controller.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114791003","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 describes a method for noise-proof detection of the fundamental frequency of the voice in a noisy environment. Noise reduction techniques have been required in the development of a hearing aid, because noise makes intelligibility of hearing awfully inferior. In various methods of noise reduction, the fundamental frequency is often a significant parameter, but it is difficult to extract the frequency from the noisy voice. In order to utilize a comb filter method for noise reduction, a new method of detecting the fundamental frequency is developed by using the property of continuity in the fundamental frequency and the power spectrum envelope (PSE) of the human voice. The continuity of the PSE is utilized for determining the most reliable frequency. The gross pitch error (GPE) is reduced by the determination. Besides the frequency used for the comb filter is obtained from a linear predicting frequency and the latest fundamental frequency from the noisy voice, so as to suppress fluctuation of the frequency that degrades filtered voice. The procedure improves a fine pitch error (FPE) within 5%. The results of the evaluation showed that the present method proved to be superior to the traditional cepstrum method in the GPE and the FPE. We conclude that the proposed frequency detection method is available for noise reduction in the comb filter method.
{"title":"Detection of the fundamental frequency in noisy environment for speech enhancement of a hearing aid","authors":"K. Yanagisawa, K. Tanaka, I. Yamaura","doi":"10.1109/CCA.1999.801165","DOIUrl":"https://doi.org/10.1109/CCA.1999.801165","url":null,"abstract":"This paper describes a method for noise-proof detection of the fundamental frequency of the voice in a noisy environment. Noise reduction techniques have been required in the development of a hearing aid, because noise makes intelligibility of hearing awfully inferior. In various methods of noise reduction, the fundamental frequency is often a significant parameter, but it is difficult to extract the frequency from the noisy voice. In order to utilize a comb filter method for noise reduction, a new method of detecting the fundamental frequency is developed by using the property of continuity in the fundamental frequency and the power spectrum envelope (PSE) of the human voice. The continuity of the PSE is utilized for determining the most reliable frequency. The gross pitch error (GPE) is reduced by the determination. Besides the frequency used for the comb filter is obtained from a linear predicting frequency and the latest fundamental frequency from the noisy voice, so as to suppress fluctuation of the frequency that degrades filtered voice. The procedure improves a fine pitch error (FPE) within 5%. The results of the evaluation showed that the present method proved to be superior to the traditional cepstrum method in the GPE and the FPE. We conclude that the proposed frequency detection method is available for noise reduction in the comb filter method.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117021866","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 an interactive tool for rapid system identification. It is based on analysis of step responses. The graphical user interface lets the user manipulate the step response for a given model structure directly, and perform a least squares fit to data. A few standard model structures as well as static input nonlinearities are handled.
{"title":"A tool for rapid system identification","authors":"A. Wallen","doi":"10.1109/CCA.1999.801203","DOIUrl":"https://doi.org/10.1109/CCA.1999.801203","url":null,"abstract":"This paper presents an interactive tool for rapid system identification. It is based on analysis of step responses. The graphical user interface lets the user manipulate the step response for a given model structure directly, and perform a least squares fit to data. A few standard model structures as well as static input nonlinearities are handled.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116277066","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}
While variable speed operation of wind turbines has several advantages, it poses difficult challenges in the design of control systems. The purpose of this work is to present a nonlinear variable speed control method for wind turbines. This method is based on the regulation of excitation winding voltage of the generator. Based on both mechanical and electrical dynamics, a nonlinear control algorithm is derived which is able to achieve smooth and asymptotic rotor speed tracking. The effectiveness of the method is verified via computer simulation with varying operating conditions.
{"title":"Nonlinear variable speed control of wind turbines","authors":"Y.D. Song, B. Dhinakaran","doi":"10.1109/CCA.1999.807771","DOIUrl":"https://doi.org/10.1109/CCA.1999.807771","url":null,"abstract":"While variable speed operation of wind turbines has several advantages, it poses difficult challenges in the design of control systems. The purpose of this work is to present a nonlinear variable speed control method for wind turbines. This method is based on the regulation of excitation winding voltage of the generator. Based on both mechanical and electrical dynamics, a nonlinear control algorithm is derived which is able to achieve smooth and asymptotic rotor speed tracking. The effectiveness of the method is verified via computer simulation with varying operating conditions.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116457387","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}
Integrated optimum design of structure and control system is expected to achieve the higher performance of various mechanical systems. Recently, much efforts have been given to develop the integrated optimization methods in order to improve the dynamic characteristics of the combined structure/control systems. The objective of this paper is to present some concepts of the integrated optimum design in vibration control problems. Some integrated optimization problems are introduced with applications.
{"title":"Integrated design of structure and control system considering performance and stability","authors":"I. Kajiwara, A. Nagamatsu","doi":"10.1109/CCA.1999.806148","DOIUrl":"https://doi.org/10.1109/CCA.1999.806148","url":null,"abstract":"Integrated optimum design of structure and control system is expected to achieve the higher performance of various mechanical systems. Recently, much efforts have been given to develop the integrated optimization methods in order to improve the dynamic characteristics of the combined structure/control systems. The objective of this paper is to present some concepts of the integrated optimum design in vibration control problems. Some integrated optimization problems are introduced with applications.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123580039","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}
Bifurcation control deals with the modification of the bifurcation characteristics of a parametrized nonlinear system by a judiciously designed control input. In this paper, we investigate the problem of active control of Rayleigh-Benard convection (RBC) via a bifurcation control approach. Active control of Rayleigh-Benard convection is a problem of importance to both theoretical research and industrial applications. Several forms of bifurcation control laws are designed based on the mathematical analysis of the governing partial differential equations for RBC. Simulations as well as experimental studies have been carried out to validate the control designs. A composite bifurcation control law combining a linear control law and a cubic control law is found to be most effective and flexible for this problem.
{"title":"Bifurcation control of Rayleigh-Benard convection","authors":"Dong S. Chen, H.O. Wang, L. Howle","doi":"10.1109/CCA.1999.806663","DOIUrl":"https://doi.org/10.1109/CCA.1999.806663","url":null,"abstract":"Bifurcation control deals with the modification of the bifurcation characteristics of a parametrized nonlinear system by a judiciously designed control input. In this paper, we investigate the problem of active control of Rayleigh-Benard convection (RBC) via a bifurcation control approach. Active control of Rayleigh-Benard convection is a problem of importance to both theoretical research and industrial applications. Several forms of bifurcation control laws are designed based on the mathematical analysis of the governing partial differential equations for RBC. Simulations as well as experimental studies have been carried out to validate the control designs. A composite bifurcation control law combining a linear control law and a cubic control law is found to be most effective and flexible for this problem.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123733478","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}
In this paper, we propose a minimum time motion planning algorithm considering jerk and acceleration constraints. The conventional planning methods are valid only for zero boundary conditions, thus they have limitations in real time applications. The proposed method is computationally efficient and can deal with a problem with non-zero boundary conditions so that it is adequate for real time motion planning. For the real time implementation, the planning algorithm is derived in the phase space. In order to determine the jerk, a landing surface is introduced through bang-bang principle. To show the validity of the proposed method, a series of simulations are conducted. The algorithm has merits of providing a consistent and unified numeric solution for motion control system requiring the real time motion planning with jerk constraint and suffering from strong disturbance.
{"title":"A minimum-time motion planning method based on phase space analysis","authors":"K. Koh, H. Aum, H.S. Cho","doi":"10.1109/CCA.1999.806214","DOIUrl":"https://doi.org/10.1109/CCA.1999.806214","url":null,"abstract":"In this paper, we propose a minimum time motion planning algorithm considering jerk and acceleration constraints. The conventional planning methods are valid only for zero boundary conditions, thus they have limitations in real time applications. The proposed method is computationally efficient and can deal with a problem with non-zero boundary conditions so that it is adequate for real time motion planning. For the real time implementation, the planning algorithm is derived in the phase space. In order to determine the jerk, a landing surface is introduced through bang-bang principle. To show the validity of the proposed method, a series of simulations are conducted. The algorithm has merits of providing a consistent and unified numeric solution for motion control system requiring the real time motion planning with jerk constraint and suffering from strong disturbance.","PeriodicalId":325193,"journal":{"name":"Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124098435","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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