In this paper, a new LPV control design approach is proposed for magnetic bearing (AMB) systems. The motivation of gain-scheduled control for AMB is based on the fact that rotor dynamics have strong dependency on its rotating speed. However, previous study has shown that standard LPV control design was conservative due to large variations of rotor speed. The improvement of gain scheduled controller can be achieved from two aspects: introduce the bound for rotor variation rate into the control synthesis stage; design multiple LPV controllers over different operating ranges and provide a switching scheme for stability guarantee. These features will be demonstrated through a detailed AMB controller design example. This design procedure can also be extended to high-performance control of turbo-machinery problems.
{"title":"Switching LPV control design for magnetic bearing systems","authors":"Fen Wu","doi":"10.1109/CCA.2001.973835","DOIUrl":"https://doi.org/10.1109/CCA.2001.973835","url":null,"abstract":"In this paper, a new LPV control design approach is proposed for magnetic bearing (AMB) systems. The motivation of gain-scheduled control for AMB is based on the fact that rotor dynamics have strong dependency on its rotating speed. However, previous study has shown that standard LPV control design was conservative due to large variations of rotor speed. The improvement of gain scheduled controller can be achieved from two aspects: introduce the bound for rotor variation rate into the control synthesis stage; design multiple LPV controllers over different operating ranges and provide a switching scheme for stability guarantee. These features will be demonstrated through a detailed AMB controller design example. This design procedure can also be extended to high-performance control of turbo-machinery problems.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117251612","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 the H/sub /spl infin// methodology is applied to control design for a stall regulated wind turbine drive system operating at variable speed operation. It is considered a wind energy conversion system (WECS) supplying an infinite bus through static power converters. The main objective is to maximize the wind energy capture providing a reduction of detrimental dynamic loads. The weighting functions are chosen using the loop shaping concepts. The performance of proposed control structure is analyzed through simulation results.
{"title":"Control of stall regulated wind turbine through H/sub /spl infin// loop shaping method","authors":"R. Rocha, P. Resende, J. L. Silvino, M. Bortolus","doi":"10.1109/CCA.2001.973988","DOIUrl":"https://doi.org/10.1109/CCA.2001.973988","url":null,"abstract":"In this paper the H/sub /spl infin// methodology is applied to control design for a stall regulated wind turbine drive system operating at variable speed operation. It is considered a wind energy conversion system (WECS) supplying an infinite bus through static power converters. The main objective is to maximize the wind energy capture providing a reduction of detrimental dynamic loads. The weighting functions are chosen using the loop shaping concepts. The performance of proposed control structure is analyzed through simulation results.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"190 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117333744","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, the technique of model reference robust control (MRRC) is applied to a passive line-of-sight (LOS) stabilization system. The system uses a flywheel as a spinning mass gyroscope to stabilize a two gimbal system against base motion. Due to the gimbal geometry, unwanted dynamic coupling exists in the LOS system. The system is treated as a two input - two output system, and it is then decoupled and controlled using only input/output measurements rather than state feedback. The technique used in this paper for decoupling and control of the LOS system is MRRC which is an extension of model reference control to nonlinear MIMO systems. The technique utilizes bounds of plant parameter uncertainties via controller parameter uncertainties and also input disturbances bounds. Specifically, dynamics of the passive line-of-sight stabilization system are described, followed by a perfect knowledge (MRC) control design and then a nonlinear robust control design.
{"title":"Nonlinear robust control for a passive line-of-sight stabilization system","authors":"H. Ambrose, Z. Qu, R. Johnson","doi":"10.1109/CCA.2001.973991","DOIUrl":"https://doi.org/10.1109/CCA.2001.973991","url":null,"abstract":"In this paper, the technique of model reference robust control (MRRC) is applied to a passive line-of-sight (LOS) stabilization system. The system uses a flywheel as a spinning mass gyroscope to stabilize a two gimbal system against base motion. Due to the gimbal geometry, unwanted dynamic coupling exists in the LOS system. The system is treated as a two input - two output system, and it is then decoupled and controlled using only input/output measurements rather than state feedback. The technique used in this paper for decoupling and control of the LOS system is MRRC which is an extension of model reference control to nonlinear MIMO systems. The technique utilizes bounds of plant parameter uncertainties via controller parameter uncertainties and also input disturbances bounds. Specifically, dynamics of the passive line-of-sight stabilization system are described, followed by a perfect knowledge (MRC) control design and then a nonlinear robust control design.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124006229","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}
Manufacturing robots present a class of embedded systems with hard real-time constraints. On the one hand controller software has to satisfy tight timing constraints and rigorous memory requirements. Especially nonlinear dynamics and kinematics models are vital to modern model-based controllers and trajectory planning algorithms. Often this is still realized by manually coding and optimizing the software, a labor intensive and error-prone repetitive process. On the other hand shorter design-cycles and a growing number of customer-specific robots demand more flexibility not just in modeling. This paper presents a model-integrated computing approach to automated code synthesis of dynamics models that satisfies the harsh demands by including domain and problem specific constraints prescribed by the robotics application. It is shown that the use of such tailored formalisms leads to very efficient embedded software, competitive with the hand optimized alternative. At the same time it combines flexibility in model specification and usage with the potential for dynamic adaptation and reconfiguration of the model.
{"title":"Model integrated computing in robot control to synthesize real-time embedded code","authors":"R. Höpler, Pieter J. Mosterman","doi":"10.1109/CCA.2001.973961","DOIUrl":"https://doi.org/10.1109/CCA.2001.973961","url":null,"abstract":"Manufacturing robots present a class of embedded systems with hard real-time constraints. On the one hand controller software has to satisfy tight timing constraints and rigorous memory requirements. Especially nonlinear dynamics and kinematics models are vital to modern model-based controllers and trajectory planning algorithms. Often this is still realized by manually coding and optimizing the software, a labor intensive and error-prone repetitive process. On the other hand shorter design-cycles and a growing number of customer-specific robots demand more flexibility not just in modeling. This paper presents a model-integrated computing approach to automated code synthesis of dynamics models that satisfies the harsh demands by including domain and problem specific constraints prescribed by the robotics application. It is shown that the use of such tailored formalisms leads to very efficient embedded software, competitive with the hand optimized alternative. At the same time it combines flexibility in model specification and usage with the potential for dynamic adaptation and reconfiguration of the model.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124397409","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 method for speed estimation of an induction motor is elaborated. First, the rotor speed is considered as a state variable of null dynamics. A nonlinear MIMO observation technique is applied for estimating the corresponding extended state. As a result, the scheme estimates machine variables and speed except in some singular points where the extended system is not observable; then it is necessary to implement a switching structure for the observer, letting, in the vicinity of the singular points, only the machine variables be evaluated. The Simulink simulations included demonstrate nice performance properties of the rotor flux and the speed estimates.
{"title":"Observer-identifier for an induction motor","authors":"J. Correa, A. Poznyak, A. Zaremba","doi":"10.1109/CCA.2001.973953","DOIUrl":"https://doi.org/10.1109/CCA.2001.973953","url":null,"abstract":"A method for speed estimation of an induction motor is elaborated. First, the rotor speed is considered as a state variable of null dynamics. A nonlinear MIMO observation technique is applied for estimating the corresponding extended state. As a result, the scheme estimates machine variables and speed except in some singular points where the extended system is not observable; then it is necessary to implement a switching structure for the observer, letting, in the vicinity of the singular points, only the machine variables be evaluated. The Simulink simulations included demonstrate nice performance properties of the rotor flux and the speed estimates.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126174667","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 method for detecting and classifying walking behaviors based on acceleration measurements of a pedestrian, and is employed in an indoor navigation system currently being developed. The prototype navigation system uses a set of inexpensive and wearable sensors: a bi-axial accelerometer, a digital compass, and an infrared light detector. Using the measured acceleration data, the proposed method can detect forward steps and classify the steps as: "level ground", "up", and "down". The objective of the detection is to count steps for estimating the current position by dead-reckoning using heading measurements. The capability in detecting "up/down" steps can be used to correct estimated position errors. The effectiveness of the proposed method is demonstrated by experiments on six persons.
{"title":"Recognition of walking behaviors for pedestrian navigation","authors":"Seon-Woo Lee, K. Mase","doi":"10.1109/CCA.2001.974027","DOIUrl":"https://doi.org/10.1109/CCA.2001.974027","url":null,"abstract":"This paper presents a method for detecting and classifying walking behaviors based on acceleration measurements of a pedestrian, and is employed in an indoor navigation system currently being developed. The prototype navigation system uses a set of inexpensive and wearable sensors: a bi-axial accelerometer, a digital compass, and an infrared light detector. Using the measured acceleration data, the proposed method can detect forward steps and classify the steps as: \"level ground\", \"up\", and \"down\". The objective of the detection is to count steps for estimating the current position by dead-reckoning using heading measurements. The capability in detecting \"up/down\" steps can be used to correct estimated position errors. The effectiveness of the proposed method is demonstrated by experiments on six persons.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124667472","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 work described herein is devoted to forming the scientific bases of designing ultrasonic flowmeters with high accuracy for process control. One of the most difficult and basic problems is to make sure that the flow profile is integrated fully over a wide dynamic range throughout the cross section of the pipe under conditions of pulsating, impulse or fast acting (transient) flows. Methods of solving this problem by using different shaped transducers and the mathematical dynamic models of these transducers and the measurement system are described. For the flowmeters with rectangular and ring shaped transducers measured inaccuracy was 0.5 %. The response time was 0.02 sec.
{"title":"Statics and dynamics of ultrasonic flowmeters as sensing elements for power control systems","authors":"V. Hamidullin, R. Malakhanov, E. Khamidoullina","doi":"10.1109/CCA.2001.973946","DOIUrl":"https://doi.org/10.1109/CCA.2001.973946","url":null,"abstract":"The work described herein is devoted to forming the scientific bases of designing ultrasonic flowmeters with high accuracy for process control. One of the most difficult and basic problems is to make sure that the flow profile is integrated fully over a wide dynamic range throughout the cross section of the pipe under conditions of pulsating, impulse or fast acting (transient) flows. Methods of solving this problem by using different shaped transducers and the mathematical dynamic models of these transducers and the measurement system are described. For the flowmeters with rectangular and ring shaped transducers measured inaccuracy was 0.5 %. The response time was 0.02 sec.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127530803","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}
Proposes and analyzes a direct adaptive proportional-integral-derivative (APID) control scheme for off-line and online tuning of PID parameters. The tuning algorithm determines a set of PID parameters by minimizing an error function. The theory of adaptive interaction is used to design the APID control law. Two versions of the tuning algorithm are presented: the Frechet and approximation methods. These algorithms are applied to linear and nonlinear plants. Lyapunov stability theory is used to proof the stability of the approximation method. The analysis of the convergence properties and system performance are conducted by using computer simulations and several known adaptation concepts. The approximation method does not require the knowledge of the plant to be controlled; therefore, the control scheme becomes robust to plant changes.
{"title":"Adaptive PID controller for stable/unstable linear and non-linear systems","authors":"B. Badreddine, Feng-Yi Lin","doi":"10.1109/CCA.2001.974006","DOIUrl":"https://doi.org/10.1109/CCA.2001.974006","url":null,"abstract":"Proposes and analyzes a direct adaptive proportional-integral-derivative (APID) control scheme for off-line and online tuning of PID parameters. The tuning algorithm determines a set of PID parameters by minimizing an error function. The theory of adaptive interaction is used to design the APID control law. Two versions of the tuning algorithm are presented: the Frechet and approximation methods. These algorithms are applied to linear and nonlinear plants. Lyapunov stability theory is used to proof the stability of the approximation method. The analysis of the convergence properties and system performance are conducted by using computer simulations and several known adaptation concepts. The approximation method does not require the knowledge of the plant to be controlled; therefore, the control scheme becomes robust to plant changes.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127022877","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 variable structure control (VSC) design procedure for robust stabilization and disturbance rejection of a magnetic suspension system. The procedure is based on a method called reaching law method complemented by a sliding mode equivalence technique. First, the basics of variable structure control system design are reviewed with emphasis on the reaching law method. Second, the dynamics of the magnetic suspension system are described in terms of airgap deviation, airgap flux and the electromagnet voltage. Third, in order to use the VSC to control the airgap deviation using the electromagnet voltage, new system dynamics are developed to make the electromagnet input voltage as the forced term of the dynamic equation of the airgap deviation. Then the new system is described in state variable form and a VS controller is designed for this system using the reaching law method. Finally several simulation results are presented. The results showed that robust stability against parameter variations and disturbance rejection (for any class of disturbance) are achieved using the proposed VS controller.
{"title":"Variable structure control of a magnetic suspension system","authors":"I.M.M. Hassan, A. Mohamed, A. Saleh","doi":"10.1109/CCA.2001.973887","DOIUrl":"https://doi.org/10.1109/CCA.2001.973887","url":null,"abstract":"This paper presents a variable structure control (VSC) design procedure for robust stabilization and disturbance rejection of a magnetic suspension system. The procedure is based on a method called reaching law method complemented by a sliding mode equivalence technique. First, the basics of variable structure control system design are reviewed with emphasis on the reaching law method. Second, the dynamics of the magnetic suspension system are described in terms of airgap deviation, airgap flux and the electromagnet voltage. Third, in order to use the VSC to control the airgap deviation using the electromagnet voltage, new system dynamics are developed to make the electromagnet input voltage as the forced term of the dynamic equation of the airgap deviation. Then the new system is described in state variable form and a VS controller is designed for this system using the reaching law method. Finally several simulation results are presented. The results showed that robust stability against parameter variations and disturbance rejection (for any class of disturbance) are achieved using the proposed VS controller.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127348446","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}
F. Rotella, Francisco Javier Agudelo Carrillo, M. Ayadi
By the use of flatness the problem of pole placement, which consists in imposing closed loop system dynamics can be related to tracking. Polynomial controllers for finite-dimensional linear systems can then be designed with very natural choices for high level parameters design. Effectiveness and robustness of this simple control methodology is illustrated on a thermal process.
{"title":"Digital flatness-based robust controller applied to a thermal process","authors":"F. Rotella, Francisco Javier Agudelo Carrillo, M. Ayadi","doi":"10.1109/CCA.2001.973990","DOIUrl":"https://doi.org/10.1109/CCA.2001.973990","url":null,"abstract":"By the use of flatness the problem of pole placement, which consists in imposing closed loop system dynamics can be related to tracking. Polynomial controllers for finite-dimensional linear systems can then be designed with very natural choices for high level parameters design. Effectiveness and robustness of this simple control methodology is illustrated on a thermal process.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2001-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123339593","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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