This note presents a sliding mode controller for the robust stabilization of a magnetic bearing system. The approach avoids the need of pre magnetization currents frequently used to linearize the system model. It util...
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This note presents a sliding mode controller for the robust stabilization of a magnetic bearing system. The approach avoids the need of pre magnetization currents frequently used to linearize the system model. It utilizes two sliding manifolds achieving desired dynamics and complementarity of coil currents. Two differents controller has been designed. The second one takes account of discrete inputs as is the case in electronic power amplifiers. Simulations are presented to show the effectiveness and robustness of the designed feedback sliding mode controller.
In order to meet the control reconfiguration requirement within a limited frequency range for the fault tolerant controlsystems, a numerical frequency-domain control mixer module method is developed in this paper, an...
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In order to meet the control reconfiguration requirement within a limited frequency range for the fault tolerant controlsystems, a numerical frequency-domain control mixer module method is developed in this paper, and the sufficient condition for the existence of a real mixer matrix is obtained basing on the proper frequency samplings. Furthermore, the heterogeneous control approach is employed to deal with the non-smooth transition problem during the control mixer switches. Finally, a practical self-repairing flight controlsystem is utilized to test our method.
This paper presents experimental results of a force tracking controller for a quarter-car active suspension system. In a previous publication, an active suspension architecture was presented. The overall active suspen...
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This paper presents experimental results of a force tracking controller for a quarter-car active suspension system. In a previous publication, an active suspension architecture was presented. The overall active suspension system was decomposed into two loops. At the main loop, the desired force signal is calculated by using a standard LQ design process. The Adaptive Robust controldesign technique is then used to design the force controller such that the desired force signal is achieved in a robust manner when actuator or other plant uncertainties are present. Experimental results of the proposed ARC force-tracking algorithm are reported in this paper. It was found that force-tracking of up to 5 Hz can be reliably achieved.
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 ...
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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.
This paper presents backing up control for a vehicle with triple trailers. In particular, we consider constraints on input and output and disturbance rejection that are incorporated in the LMI conditions. In applicati...
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This paper presents backing up control for a vehicle with triple trailers. In particular, we consider constraints on input and output and disturbance rejection that are incorporated in the LMI conditions. In application to the truck with triple trailers setup, we utilize these LMI conditions to explicitly avoid the saturation of the steering angle and the jack-knife phenomenon in the controldesign. The simulation and experimental results demonstrate that the controller effectively achieves the backing up control of the vehicle with triple trailers while avoiding the saturation of the actuator and `jack-knife' phenomenon. Moreover, the feedback controller guarantees the stability and performance even for disturbance.
In this paper, a tuning formula is derived for PID control of a second-order plus dead time plant with under-damped response. For deriving the tuning rule, we first apply the dominant pole assignment method to a varie...
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In this paper, a tuning formula is derived for PID control of a second-order plus dead time plant with under-damped response. For deriving the tuning rule, we first apply the dominant pole assignment method to a variety of plants. Then we try to correlate the controller parameters obtained with the parameters that characterize the plant dynamics and obtain the tuning formulas. Several simulation examples are given to show the effectiveness of this formula.
In order to create a running and jumping quadruped robot composed of all articular joints, we have developed a mono-leg robot which simulates the landing and lift-off motions of kangaroos. From the photograph data of ...
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In order to create a running and jumping quadruped robot composed of all articular joints, we have developed a mono-leg robot which simulates the landing and lift-off motions of kangaroos. From the photograph data of the gait motion of a kangaroo, time responses of four fundamental variables are approximated by solutions of second or first order differential equations. Then we proposed a control strategy of the robot which realizes these differential equations is controlled constraints. Experimental results show that a running mono-leg robot is produced which has a smooth jumping gaits.
Nonlinear adaptive output feedback control of stepper motors is considered in this paper. Utilizing the phase currents as inputs, an adaptive controller is derived for permanent magnet (PM) and variable reluctance (VR...
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Nonlinear adaptive output feedback control of stepper motors is considered in this paper. Utilizing the phase currents as inputs, an adaptive controller is derived for permanent magnet (PM) and variable reluctance (VR) 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 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.
This paper considers tracking controldesign for uncertain linear SISO stable processes with input amplitude, rate, as well as acceleration constraints. A self-tuning adaptive control was developed. Its underlying con...
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This paper considers tracking controldesign for uncertain linear SISO stable processes with input amplitude, rate, as well as acceleration constraints. A self-tuning adaptive control was developed. Its underlying controldesign is carried out via one-step ahead optimal control while its parameter update is obtained through the least-square projection algorithm. It is shown that, under a sufficient condition, the proposed adaptive control is globally convergent in the sense that the adaptive control asymptotically matches the constrained one-step-ahead optimal control which assumed system parameters are available. computer simulation of the velocity tracking performance of a DC motor with input voltage amplitude, rate, and acceleration constraints are provided to illustrate the effectiveness of the proposed adaptive control.
This paper describes the methodology for usage of Bayesian Belief Networks (BBNs) in fault detection for aircraft gas turbine engines. First, the basic theory of BBNs is discussed, followed by a discussion on the appl...
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This paper describes the methodology for usage of Bayesian Belief Networks (BBNs) in fault detection for aircraft gas turbine engines. First, the basic theory of BBNs is discussed, followed by a discussion on the application of this theory to a specific engine. In particular, the selection of faults and the means by which operating regions for the BBN system are chosen are analyzed. This methodology is then illustrated using the GE CFM56-7 turbofan engine as an example.
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