This paper discusses the time-discrete switched variable structure field oriented current control of an IM (induction motor) drive. VSI (voltage source inverter) is directly controlled, exploiting boundary layers and quantized field rotation velocity for addressing the switching table. In current control design, the fact that the calculation of the stator voltage vectors from the d-q control components does not have a unique solution is exploited. This is considered as design freedom, which is further extended by introduction of preassigned-order switching according to the time scale separation of magnetization and the generation of torque currents. Boundary layers with different reaching dynamics introduce motor stator zero voltage, which is selected by finite automaton from nearest VSI state.
{"title":"Discrete boundary layer current control for VSI-IM drive","authors":"P. Cafuta, Z. Cucej, B. Grcar","doi":"10.1109/CCA.2001.973888","DOIUrl":"https://doi.org/10.1109/CCA.2001.973888","url":null,"abstract":"This paper discusses the time-discrete switched variable structure field oriented current control of an IM (induction motor) drive. VSI (voltage source inverter) is directly controlled, exploiting boundary layers and quantized field rotation velocity for addressing the switching table. In current control design, the fact that the calculation of the stator voltage vectors from the d-q control components does not have a unique solution is exploited. This is considered as design freedom, which is further extended by introduction of preassigned-order switching according to the time scale separation of magnetization and the generation of torque currents. Boundary layers with different reaching dynamics introduce motor stator zero voltage, which is selected by finite automaton from nearest VSI state.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"16 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":"117207565","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 example of a robust control design for a hard disk drive (HDD) that has resonant mode(s) around the Nyquist frequency. The design is based on a continuous-time /spl mu/-analysis and synthesis. Over-sampling discretization is introduced in order to have the discretized controller meet the continuous time domain specification. The design technique of a temperature-dependent filter derived from the original controller is also introduced in order to tighten the error rejection specification. We have conducted experiments using a 3.5" HDD with a sampling frequency of 11 kHz, and have confirmed that the open loop bandwidth as well as the positioning quality can be improved 10 to 20 percent compared to conventional controller performance.
{"title":"Robust following control design for hard disk drives","authors":"K. Ohno, Y. Abe, T. Maruyama","doi":"10.1109/CCA.2001.973989","DOIUrl":"https://doi.org/10.1109/CCA.2001.973989","url":null,"abstract":"This paper presents an example of a robust control design for a hard disk drive (HDD) that has resonant mode(s) around the Nyquist frequency. The design is based on a continuous-time /spl mu/-analysis and synthesis. Over-sampling discretization is introduced in order to have the discretized controller meet the continuous time domain specification. The design technique of a temperature-dependent filter derived from the original controller is also introduced in order to tighten the error rejection specification. We have conducted experiments using a 3.5\" HDD with a sampling frequency of 11 kHz, and have confirmed that the open loop bandwidth as well as the positioning quality can be improved 10 to 20 percent compared to conventional controller performance.","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":"115527425","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 control of chaotic systems based on the local stabilisation of a selected target, i.e. unstable equilibrium point or periodic orbit, usually requires the rapid steering of the system to a close neighbourhood of the target from an arbitrary initial point. This problem is referred to as a targeting problem in the literature. A previously proposed targeting method (1999), called an extended control regions (ECR) method, has been shown to provide a good performance allowing targeting action over a wider range of the phase space. The width of this range is directly related to the number of activation regions employed in the ECR method. The purpose of this paper is to demonstrate the relationship between the optimal number of activation regions to be employed in the ECR method and the prediction horizon of the chaotic system under investigation. This relationship provides a criterion for the selection of the number of activation regions in the ECR-based targeting.
{"title":"A relationship between the prediction horizon and targeting in the control of chaotic systems","authors":"S. Iplikci, Y. Denizhan","doi":"10.1109/CCA.2001.973943","DOIUrl":"https://doi.org/10.1109/CCA.2001.973943","url":null,"abstract":"The control of chaotic systems based on the local stabilisation of a selected target, i.e. unstable equilibrium point or periodic orbit, usually requires the rapid steering of the system to a close neighbourhood of the target from an arbitrary initial point. This problem is referred to as a targeting problem in the literature. A previously proposed targeting method (1999), called an extended control regions (ECR) method, has been shown to provide a good performance allowing targeting action over a wider range of the phase space. The width of this range is directly related to the number of activation regions employed in the ECR method. The purpose of this paper is to demonstrate the relationship between the optimal number of activation regions to be employed in the ECR method and the prediction horizon of the chaotic system under investigation. This relationship provides a criterion for the selection of the number of activation regions in the ECR-based targeting.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"88 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":"115618260","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}
Use of a multi-stage fuzzy logic controller (MSFLC) is explored for PID feedback control. This approach blends a proportional-plus-derivative fuzzy logic controller (PDFLC) with an integral fuzzy logic input. The multi-stage structure operates on fuzzy values by passing the consequence of a prior stage onto the next stage as fact. The resulting controller gives excellent results which are further improved by intelligently adjusting the rule matrix for the PDFLC.
{"title":"Multi-stage fuzzy PID controller with a fuzzy switch","authors":"J.M. Adams, K. Rattan","doi":"10.1109/CCA.2001.973885","DOIUrl":"https://doi.org/10.1109/CCA.2001.973885","url":null,"abstract":"Use of a multi-stage fuzzy logic controller (MSFLC) is explored for PID feedback control. This approach blends a proportional-plus-derivative fuzzy logic controller (PDFLC) with an integral fuzzy logic input. The multi-stage structure operates on fuzzy values by passing the consequence of a prior stage onto the next stage as fact. The resulting controller gives excellent results which are further improved by intelligently adjusting the rule matrix for the PDFLC.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"85 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":"114517592","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 characterization and control of a module for a therapy robot is discussed. The screw-driven module expands the workspace of an existing robot used for neuro-rehabilitation from two to three dimensions. The need for low endpoint impedance in such devices is emphasized, and the factors influencing endpoint impedance are considered and evaluated for the new device. We evaluate the actuator and control system bandwidths and discuss a series of experiments to characterize the friction, gravitational force, and effective endpoint inertia. Several methods of active control for reducing effective endpoint impedance are explored and compared. Proportional force feedback was found to reduce impedance more effectively than model-based methods.
{"title":"Characterization and control of a screw-driven robot for neurorehabilitation","authors":"S. Buerger, H. I. Krebs, N. Hogan","doi":"10.1109/CCA.2001.973896","DOIUrl":"https://doi.org/10.1109/CCA.2001.973896","url":null,"abstract":"The characterization and control of a module for a therapy robot is discussed. The screw-driven module expands the workspace of an existing robot used for neuro-rehabilitation from two to three dimensions. The need for low endpoint impedance in such devices is emphasized, and the factors influencing endpoint impedance are considered and evaluated for the new device. We evaluate the actuator and control system bandwidths and discuss a series of experiments to characterize the friction, gravitational force, and effective endpoint inertia. Several methods of active control for reducing effective endpoint impedance are explored and compared. Proportional force feedback was found to reduce impedance more effectively than model-based methods.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"34 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":"125559522","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 sensorless speed control method for induction motors in a fuel cell vehicle is presented. An artificial neural network (ANN) estimates the speed, and a neuro-fuzzy controller (NFC) is used in the speed control loop to overcome the nonlinearity of the plant. A PI controller controls the motor flux and the NFC determines the required torque. The tuning of the NFC is simple and this is one of the advantages of NFCs compared with the conventional PI controllers. In addition, the nonlinear behavior of the NFC increases its robustness against variation of parameters in the plant. The speed estimation is done by a two-layer online neural network in the rotating coordinate fixed with rotor flux. The ANN estimator has a simple structure, and its parameters are adjusted online. The simulation and experimental results are given to prove the effectiveness of this approach.
{"title":"Sensorless vector control of induction motors in fuel cell vehicle using a neuro-fuzzy speed controller and an online artificial neural network speed estimator","authors":"K. Jalili, S. Farhangi, E. Saievar-Iranizad","doi":"10.1109/CCA.2001.973874","DOIUrl":"https://doi.org/10.1109/CCA.2001.973874","url":null,"abstract":"A sensorless speed control method for induction motors in a fuel cell vehicle is presented. An artificial neural network (ANN) estimates the speed, and a neuro-fuzzy controller (NFC) is used in the speed control loop to overcome the nonlinearity of the plant. A PI controller controls the motor flux and the NFC determines the required torque. The tuning of the NFC is simple and this is one of the advantages of NFCs compared with the conventional PI controllers. In addition, the nonlinear behavior of the NFC increases its robustness against variation of parameters in the plant. The speed estimation is done by a two-layer online neural network in the rotating coordinate fixed with rotor flux. The ANN estimator has a simple structure, and its parameters are adjusted online. The simulation and experimental results are given to prove the effectiveness of this approach.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"11 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":"125862967","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 weighs up the pros and cons of three different tracking controllers for a pneumatic muscle actuator: robust backstepping, adaptive backstepping and sliding-mode. Robustness is assured for three controllers in the presence of model uncertainties and external perturbations. Ultimate boundedness is proved for the robust and adaptive backstepping tracking controller. Exponential stability is proved for the sliding-mode tracking controller. The tracking is well achieved by the sliding-mode and the adaptive controller. On the contrary, the robust backstepping shows a noticeable tracking error. The sliding-mode leads to a high-frequency switching control law.
{"title":"Nonlinear control of a pneumatic muscle actuator: backstepping vs. sliding-mode","authors":"Pablo Carbonell, Zhong-Ping Jiang, D. Repperger","doi":"10.1109/CCA.2001.973858","DOIUrl":"https://doi.org/10.1109/CCA.2001.973858","url":null,"abstract":"This paper weighs up the pros and cons of three different tracking controllers for a pneumatic muscle actuator: robust backstepping, adaptive backstepping and sliding-mode. Robustness is assured for three controllers in the presence of model uncertainties and external perturbations. Ultimate boundedness is proved for the robust and adaptive backstepping tracking controller. Exponential stability is proved for the sliding-mode tracking controller. The tracking is well achieved by the sliding-mode and the adaptive controller. On the contrary, the robust backstepping shows a noticeable tracking error. The sliding-mode leads to a high-frequency switching control law.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"13 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":"126049142","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}
We present a new optimal control approach to robust control of robot manipulators in the framework of state dependent Riccati equation (SDRE) technique. To treat this highly nonlinear control system, we formulate it as a nonlinear optimal regulator problem. SDRE technique was used to synthesize an optimal controller to this class of robot control problem. We also synthesize a neural network based extra controller to achieve the robustness in the presence of the parameter uncertainties. A typical two-link robot position control problem was studied to show the effectiveness of SDRE approach and robust extra control design to robotic application.
{"title":"Robust state dependent Riccati equation based robot manipulator control","authors":"M. Xin, S. Balakrishnan, Zhongwu Huang","doi":"10.1109/CCA.2001.973893","DOIUrl":"https://doi.org/10.1109/CCA.2001.973893","url":null,"abstract":"We present a new optimal control approach to robust control of robot manipulators in the framework of state dependent Riccati equation (SDRE) technique. To treat this highly nonlinear control system, we formulate it as a nonlinear optimal regulator problem. SDRE technique was used to synthesize an optimal controller to this class of robot control problem. We also synthesize a neural network based extra controller to achieve the robustness in the presence of the parameter uncertainties. A typical two-link robot position control problem was studied to show the effectiveness of SDRE approach and robust extra control design to robotic application.","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":"125084740","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}
An approach towards standardization of the general rules for synthesis and design of man machine interfaces that include dynamic adaptive behavior is presented. The link between the personality type (Myers-Briggs or Kersey Temperament sorter) and the personal preferences of the users (Kansei) for the purpose of building graphical user interface (GUI) was investigated. The rules for a personalized emotional GUI based on the subjective preferences of the users were defined The results were tested on a modified TETRIS game that displayed background characters capable of emotional response. When the system responded to a user in a manner that is customized to his or her preferences, the reaction time was smaller and the information transfer was faster. Usability testing methods were used and it was shown that development of pleasant cartoon face GUI based on the users inborn personality tendencies was feasible.
{"title":"Development of man-machine interfaces based on user preferences","authors":"V. Kostov, S. Fukuda","doi":"10.1109/CCA.2001.974022","DOIUrl":"https://doi.org/10.1109/CCA.2001.974022","url":null,"abstract":"An approach towards standardization of the general rules for synthesis and design of man machine interfaces that include dynamic adaptive behavior is presented. The link between the personality type (Myers-Briggs or Kersey Temperament sorter) and the personal preferences of the users (Kansei) for the purpose of building graphical user interface (GUI) was investigated. The rules for a personalized emotional GUI based on the subjective preferences of the users were defined The results were tested on a modified TETRIS game that displayed background characters capable of emotional response. When the system responded to a user in a manner that is customized to his or her preferences, the reaction time was smaller and the information transfer was faster. Usability testing methods were used and it was shown that development of pleasant cartoon face GUI based on the users inborn personality tendencies was feasible.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"37 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":"122710476","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 basis for control optimization is a nonlinear model for a high-pressure bypass and a drum-type boiler consisting of furnace, economizer, evaporator, superheaters, attemperator, and thick-walled components such as boiler drum and superheater header. After the mathematical formulation of the boiler start-up optimization problem and the cost function, including the related hard constraints (e.g. control bounds and thermal stress limits), the optimal reference and input control is calculated using successive quadratic programming techniques. Results of the optimization process are optimal reference values for the boiler firing rate, steam pressure and steam temperature, and the positioning of the control valves for attemperator and high-pressure bypass during the start-up phase. The control structure applied minimizes both the fuel consumption and start-up time of the boiler and is similar to a model-following control application.
{"title":"Optimal control for fast boiler start-up based on a nonlinear model and considering the thermal stress on thick-walled components","authors":"K. Kruger, M. Rode, R. Franke","doi":"10.1109/CCA.2001.973928","DOIUrl":"https://doi.org/10.1109/CCA.2001.973928","url":null,"abstract":"The basis for control optimization is a nonlinear model for a high-pressure bypass and a drum-type boiler consisting of furnace, economizer, evaporator, superheaters, attemperator, and thick-walled components such as boiler drum and superheater header. After the mathematical formulation of the boiler start-up optimization problem and the cost function, including the related hard constraints (e.g. control bounds and thermal stress limits), the optimal reference and input control is calculated using successive quadratic programming techniques. Results of the optimization process are optimal reference values for the boiler firing rate, steam pressure and steam temperature, and the positioning of the control valves for attemperator and high-pressure bypass during the start-up phase. The control structure applied minimizes both the fuel consumption and start-up time of the boiler and is similar to a model-following control application.","PeriodicalId":365390,"journal":{"name":"Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)","volume":"143 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":"123184015","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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