Abstract Digital hydraulics is a novel alternative to proportional or servovalve-controlled systems in fluid power engineering, providing hydraulic systems with high-energy efficiency, good controllability, and insensitivity to contamination. Switched inertance hydraulic converters (SIHCs) are new digital hydraulic devices that can adjust flow and pressure by digital switching instead of throttling the flow. In this paper, an efficient closed-loop control system is proposed for SIHCs subject to time-varying loading conditions in which the load pressure and/or flow varies with time. The control system is designed to operate SIHCs at optimized switching frequencies and ratios that maximize system efficiency when the load varies. With the proposed controller, the SIHC can effectively adapt to the time-varying load and has achieved up to 10% efficiency improvement and up to 65% pressure ripple reduction without affecting the system's dynamic responses, compared with using a nonoptimized controller. The work shows the feasibility and advantages of simultaneously controlling the switching ratio and switching frequency of SIHCs with a time-varying load. As time-varying loading conditions are commonly found in hydraulic applications, the research outcomes constitute an important aspect in the design and development of highly efficient SIHCs and their practical use in hydraulic machinery.
{"title":"Efficient Control of a Switched Inertance Hydraulic Converter With a Time-Varying Load","authors":"Chenggang Yuan, Andrew Plummer, Min Pan","doi":"10.1115/1.4062706","DOIUrl":"https://doi.org/10.1115/1.4062706","url":null,"abstract":"Abstract Digital hydraulics is a novel alternative to proportional or servovalve-controlled systems in fluid power engineering, providing hydraulic systems with high-energy efficiency, good controllability, and insensitivity to contamination. Switched inertance hydraulic converters (SIHCs) are new digital hydraulic devices that can adjust flow and pressure by digital switching instead of throttling the flow. In this paper, an efficient closed-loop control system is proposed for SIHCs subject to time-varying loading conditions in which the load pressure and/or flow varies with time. The control system is designed to operate SIHCs at optimized switching frequencies and ratios that maximize system efficiency when the load varies. With the proposed controller, the SIHC can effectively adapt to the time-varying load and has achieved up to 10% efficiency improvement and up to 65% pressure ripple reduction without affecting the system's dynamic responses, compared with using a nonoptimized controller. The work shows the feasibility and advantages of simultaneously controlling the switching ratio and switching frequency of SIHCs with a time-varying load. As time-varying loading conditions are commonly found in hydraulic applications, the research outcomes constitute an important aspect in the design and development of highly efficient SIHCs and their practical use in hydraulic machinery.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"109 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135922737","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize with pendulum angle feedback. However, with cart position feedback it cannot be stabilized with stable and proper compensators. Here, we demonstrate that with an additional compensator in a parallel feedforward loop, stabilization is possible with such compensators. Sensitivity to noise seems to be about three times worse than for the situation with angle feedback. For completeness, discussion is presented of compensator parameter choices, robustness, fragility, and comparison with another control approach.
{"title":"Balancing a Stick With Eyes Shut: Inverted Pendulum on a Cart Without Angle Measurement","authors":"Bidhayak Goswami, Anindya Chatterjee","doi":"10.1115/1.4056702","DOIUrl":"https://doi.org/10.1115/1.4056702","url":null,"abstract":"Abstract We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize with pendulum angle feedback. However, with cart position feedback it cannot be stabilized with stable and proper compensators. Here, we demonstrate that with an additional compensator in a parallel feedforward loop, stabilization is possible with such compensators. Sensitivity to noise seems to be about three times worse than for the situation with angle feedback. For completeness, discussion is presented of compensator parameter choices, robustness, fragility, and comparison with another control approach.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"136175638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
H. Yanada, T. Uchino, Takahiro Takeno, Ryo Kojima, Hiroshi Yokoyama
{"title":"Rotor Behavior and Friction Torque Characteristics of a Gerotor Pump Used for Automatic Transmissions","authors":"H. Yanada, T. Uchino, Takahiro Takeno, Ryo Kojima, Hiroshi Yokoyama","doi":"10.1115/1.4051644","DOIUrl":"https://doi.org/10.1115/1.4051644","url":null,"abstract":"","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"11 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82295937","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Low-Speed Vehicle Path-Tracking Algorithm Based on Model Predictive Control Using QPKWIK Solver","authors":"Yi-Hua Zhang, Baijun Shi, Xizhi Hu, Wandong Ai","doi":"10.1115/1.4051645","DOIUrl":"https://doi.org/10.1115/1.4051645","url":null,"abstract":"","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"40 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85504526","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Adjusting the displacement path of a serial robot encountering the wrist singularity to pass either through the singularity or around it mitigates its adverse effects. Both such path adjustments are commonly called singularity avoidance and are applied here to either a spherical or an offset wrist. These adjustments avoid high joint rates that can occur at singularity encounter. A recent through-the singularity method limits joint rates and accelerations in the robot with either a spherical or offset wrist when conducting a constant rate of traversal of the tool manipulated by the robot. A kinematic model adding multiple virtual joints allows a modified high-order path-following algorithm to maintain accurate tool position while achieving an optimal level of tool deviation in orientation. Whereas a path reversal resulting from a turning-point type singularity had been revealed for an offset wrist over a finite range of close-approach, these conditions are met when connecting the isolated path segments. Procedures are developed here with this capability for an around-the-singularity path. Choosing between the through and around-singularity alternatives offers the overall optimum.
{"title":"Serial-robot Wrist-singularity Mitigation Along Alternative Optimally Adjusted Paths","authors":"P. Milenkovic","doi":"10.1115/1.4051253","DOIUrl":"https://doi.org/10.1115/1.4051253","url":null,"abstract":"\u0000 Adjusting the displacement path of a serial robot encountering the wrist singularity to pass either through the singularity or around it mitigates its adverse effects. Both such path adjustments are commonly called singularity avoidance and are applied here to either a spherical or an offset wrist. These adjustments avoid high joint rates that can occur at singularity encounter. A recent through-the singularity method limits joint rates and accelerations in the robot with either a spherical or offset wrist when conducting a constant rate of traversal of the tool manipulated by the robot. A kinematic model adding multiple virtual joints allows a modified high-order path-following algorithm to maintain accurate tool position while achieving an optimal level of tool deviation in orientation. Whereas a path reversal resulting from a turning-point type singularity had been revealed for an offset wrist over a finite range of close-approach, these conditions are met when connecting the isolated path segments. Procedures are developed here with this capability for an around-the-singularity path. Choosing between the through and around-singularity alternatives offers the overall optimum.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"72 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"82871167","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Heebum Chun, Jungsub Kim, Hyo-young Kim, Chabum Lee
This paper represents a novel approach capable of in-process damping parameter control for nanopositioning systems by implementing a fluidic pressure-fed mechanism (FPFM). The designed internal fluidic channels inside the nanopositioning stage fabricated by a metal additive manufacturing process can be filled with various fluids such as air, water, and oil and pneumatically or hydraulically pressurized. The damping was experimentally characterized with respect to fluids and corresponding pressure level (80 psi) through free-vibration tests, hammering test, and sine input sweeping test in open-loop and closed-loop positioning control conditions. As a result, the FPFM revealed the following characteristics: (1) damping may increase when the internal fluidic channels filled with fluids and pressure level at 80 psi, (2) the dynamic system showed the highest damping when the water exists in internal channels, (3) the existence of fluids and certain pressure in the fluidic channel does not have a significant influence on the motion quality and positioning control, but tracking error was reduced by FPFM. It is expected that the FPFM method will be utilized for vibration and noise control applications for high precision dynamic systems.
{"title":"Damping Characteristics of Fluidic Pressure-fed Mechanism for Positioning Applications","authors":"Heebum Chun, Jungsub Kim, Hyo-young Kim, Chabum Lee","doi":"10.1115/1.4051294","DOIUrl":"https://doi.org/10.1115/1.4051294","url":null,"abstract":"\u0000 This paper represents a novel approach capable of in-process damping parameter control for nanopositioning systems by implementing a fluidic pressure-fed mechanism (FPFM). The designed internal fluidic channels inside the nanopositioning stage fabricated by a metal additive manufacturing process can be filled with various fluids such as air, water, and oil and pneumatically or hydraulically pressurized. The damping was experimentally characterized with respect to fluids and corresponding pressure level (80 psi) through free-vibration tests, hammering test, and sine input sweeping test in open-loop and closed-loop positioning control conditions. As a result, the FPFM revealed the following characteristics: (1) damping may increase when the internal fluidic channels filled with fluids and pressure level at 80 psi, (2) the dynamic system showed the highest damping when the water exists in internal channels, (3) the existence of fluids and certain pressure in the fluidic channel does not have a significant influence on the motion quality and positioning control, but tracking error was reduced by FPFM. It is expected that the FPFM method will be utilized for vibration and noise control applications for high precision dynamic systems.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"147 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84733621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A surrogate assisted optimization approach is an attractive way to reduce the total computational budget for obtaining optimal solutions. This makes it special for its application to practical optimization problems requiring a large number of expensive evaluations. Unfortunately, all practical applications are affected by measurement noises, and not much work has been done to address the issue of handling stochastic problems with multiple objectives and constraints. This work tries to bridge the gap by demonstrating three different frameworks for performing surrogate assisted optimization on multiobjective constrained problems with stochastic measurements. To make the algorithms applicable to real-world problems, heteroscedastic (non-uniform) noise is considered for all frameworks. The proposed algorithms are first validated on several multiobjective numerical problems (unconstrained and constrained) to verify their effectiveness, and then applied to the diesel engine calibration problem, which is expensive to perform and has measurement noises. A GT-SUITE model is used to perform the engine calibration study. Three control parameters, namely variable geometry turbocharger vane position, exhaust-gas-recirculating valve position, and the start of injection, are calibrated to obtain the trade-off between engine fuel efficiency performance (brake specific fuel consumption) and NOx emissions within the constrained design space. The results show that all three proposed extensions can handle the problems well with different measurement noise levels at a reduced evaluation budget. For the engine calibration problem, a good approximation of the optimal region is observed with more than 80% reduction in evaluation budget for all the proposed methodologies.
{"title":"Multi-Objective Surrogate-Assisted Stochastic Optimization for Engine Calibration","authors":"Anuj Pal, Yan Wang, Ling Zhu, G. Zhu","doi":"10.1115/1.4050970","DOIUrl":"https://doi.org/10.1115/1.4050970","url":null,"abstract":"\u0000 A surrogate assisted optimization approach is an attractive way to reduce the total computational budget for obtaining optimal solutions. This makes it special for its application to practical optimization problems requiring a large number of expensive evaluations. Unfortunately, all practical applications are affected by measurement noises, and not much work has been done to address the issue of handling stochastic problems with multiple objectives and constraints. This work tries to bridge the gap by demonstrating three different frameworks for performing surrogate assisted optimization on multiobjective constrained problems with stochastic measurements. To make the algorithms applicable to real-world problems, heteroscedastic (non-uniform) noise is considered for all frameworks. The proposed algorithms are first validated on several multiobjective numerical problems (unconstrained and constrained) to verify their effectiveness, and then applied to the diesel engine calibration problem, which is expensive to perform and has measurement noises. A GT-SUITE model is used to perform the engine calibration study. Three control parameters, namely variable geometry turbocharger vane position, exhaust-gas-recirculating valve position, and the start of injection, are calibrated to obtain the trade-off between engine fuel efficiency performance (brake specific fuel consumption) and NOx emissions within the constrained design space. The results show that all three proposed extensions can handle the problems well with different measurement noise levels at a reduced evaluation budget. For the engine calibration problem, a good approximation of the optimal region is observed with more than 80% reduction in evaluation budget for all the proposed methodologies.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"82 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88467620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A systematic approach is developed for determining a control input for the point-to-point control of an overhead crane that exhibits temporal variation of rope length in addition to damping and nonlinearity, without inducing residual vibration. Complete suppression of the residual vibration is achieved by eliminating the natural frequency component of the cargo from the apparent external force, which is defined to include the effects of damping, nonlinearity, and parameter variation. Furthermore, an effective technique previously proposed by the authors for improving robustness to the modeling error of the natural frequency is extended. Numerical simulation results show that, even when cargo is hoisted up or down during operation, the proposed method realizes accurate positioning of the cargo without inducing residual vibration and sufficiently improves robustness. To the best of our knowledge, this is the first frequency-domain robust open-loop control strategy that ensures a theoretical zero amplitude for residual vibration in the absence of modeling error in nonlinear crane hoisting operation. The developed method is not only a contribution to the realization of low-cost and efficient crane hoisting operation, but is also applicable to the control of other nonlinear damped systems that include time-varying parameters.
{"title":"Suppression of Residual Vibration in Nonlinear Systems With Temporal Variation and Uncertainty in Parameters by Elimination of the Natural Frequency Component","authors":"H. Mori, Kai Kurihara, N. Sowa, T. Kondou","doi":"10.1115/1.4051138","DOIUrl":"https://doi.org/10.1115/1.4051138","url":null,"abstract":"\u0000 A systematic approach is developed for determining a control input for the point-to-point control of an overhead crane that exhibits temporal variation of rope length in addition to damping and nonlinearity, without inducing residual vibration. Complete suppression of the residual vibration is achieved by eliminating the natural frequency component of the cargo from the apparent external force, which is defined to include the effects of damping, nonlinearity, and parameter variation. Furthermore, an effective technique previously proposed by the authors for improving robustness to the modeling error of the natural frequency is extended. Numerical simulation results show that, even when cargo is hoisted up or down during operation, the proposed method realizes accurate positioning of the cargo without inducing residual vibration and sufficiently improves robustness. To the best of our knowledge, this is the first frequency-domain robust open-loop control strategy that ensures a theoretical zero amplitude for residual vibration in the absence of modeling error in nonlinear crane hoisting operation. The developed method is not only a contribution to the realization of low-cost and efficient crane hoisting operation, but is also applicable to the control of other nonlinear damped systems that include time-varying parameters.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"28 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91033015","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Fault diagnosis of a certain class of hybrid systems referred to as structurally reconfigurable (SR) systems is complicated. This is because SR systems tend to switch their configuration, which may or may not be faulty. It is important to identify the mode of the SR system along with the corresponding fault if any, in order to facilitate a fault tolerant action. This paper combines discrete fault diagnosis with mode identification for SR systems to achieve two main objectives: Sensor selection for fault detection, isolation and mode identification, and residual selection for mode identification. The framework is built using a structural analysis-based approach to meet these objectives. This framework is demonstrated for a 10-speed Automatic Transmission, which is an illustrative example of SR systems.
{"title":"Discrete Fault Diagnosis of Structurally Reconfigurable Systems","authors":"Eeshan Deosthale, Daniel E. Jung, Q. Ahmed","doi":"10.1115/1.4051252","DOIUrl":"https://doi.org/10.1115/1.4051252","url":null,"abstract":"\u0000 Fault diagnosis of a certain class of hybrid systems referred to as structurally reconfigurable (SR) systems is complicated. This is because SR systems tend to switch their configuration, which may or may not be faulty. It is important to identify the mode of the SR system along with the corresponding fault if any, in order to facilitate a fault tolerant action. This paper combines discrete fault diagnosis with mode identification for SR systems to achieve two main objectives: Sensor selection for fault detection, isolation and mode identification, and residual selection for mode identification. The framework is built using a structural analysis-based approach to meet these objectives. This framework is demonstrated for a 10-speed Automatic Transmission, which is an illustrative example of SR systems.","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"44 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89820806","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
{"title":"Optimal Selection of Basis Functions for Robust Tracking Control of Uncertain Linear Systems—With Application to Three-Dimensional Printing","authors":"Keval S. Ramani, C. Okwudire","doi":"10.1115/1.4051097","DOIUrl":"https://doi.org/10.1115/1.4051097","url":null,"abstract":"","PeriodicalId":54846,"journal":{"name":"Journal of Dynamic Systems Measurement and Control-Transactions of the Asme","volume":"44 1","pages":""},"PeriodicalIF":1.7,"publicationDate":"2021-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73476952","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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