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control and performance evaluation of a clutch servo system with hydraulic actuation

control ENGINEERING PRACTICE 2004年第11期12卷 1369-1379页

作者： Montanari, M Ronchi, F Rossi, C Tilli, A Tonielli, A Univ Bologna DEIS Ctr Res Complex Automated Syst G Evangelisti CASY I-40136 Bologna Italy

A hydraulic actuated clutch control system for commercial cars is analyzed. The design of closed-loop controller is presented, based on a simplified. system model. A physical full-order model is also described and used to assess through computer simulations the dependence of the closed-loop system performances on some plant and controller key parameters. Selected performance indexes are gear shift timing and position tracking error and it results that they are mostly affected by two key parameters: oil pipeline length and controller sampling time. The resulting dependencies can be used to set performances and cost specifications for both plant configuration and electronic control unit. Experimental tests performed with different plant and controller configurations are reported. They closely match the simulation results, showing the effectiveness of the proposed approach. (C) 2003 Elsevier Ltd. All rights reserved.

关键词： performance analysis system's design modelling automotive control hydraulic actuators

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Stabilization of sampled-data nonlinear systems by receding horizon control via discrete-time approximations

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AUTOMATICA 2004年第12期40卷 2017-2028页

作者： Gyurkovics, E Elaiw, AM Budapest Univ Technol & Econ Math Inst H-1521 Budapest Hungary

Results on stabilizing receding horizon control of sampled-data nonlinear systems via their approximate discrete-time models are presented. The proposed receding horizon control is based on the solution of Bolza-type optimal control problems for the parametrized family of approximate discrete-time models. This paper investigates both situations when the sampling period T is fixed and the integration parameter h used in obtaining approximate model can be chosen arbitrarily small, and when these two parameters coincide but they can be adjusted arbitrary. Sufficient conditions are established which guarantee that the controller that renders the origin to be asymptotically stable for the approximate model also stabilizes the exact discrete-time model for sufficiently small integration and/or sampling parameters. (C) 2004 Elsevier Ltd. All rights reserved.

关键词： controller design predictive control feedback stabilization sampled-data systems numerical methods

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Effects of the torque model on the control of a VR spherical motor

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control ENGINEERING PRACTICE 2004年第11期12卷 1437-1449页

作者： Lee, KM Sosseh, RA Wei, ZY Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30332 USA Seagate Technol Servo Engn Technol Oklahoma City OK 73134 USA

This paper presents the effects of the torque model on the control of a variable reluctance spherical motor (VRSM) that offers several attractive features by combining multi-DOF motions in a single joint. A general form of the torque model for a VRSM is derived using the principle of energy conversion. The torque models for two specific design configurations developed at Georgia Tech are compared. The first has been based on an existing design characterized by a torque model in quadratic form. For feedback control of the spherical motor, the quadratic form of the torque model requires the use of nonlinear optimization schemes for computing the stator coil current inputs. The second design incorporating high coercive permanent magnets has a linear torque-current relationship and thus allows a closed form solution for both forward and inverse torque models. The effects of the torque model on a PD-controlled-VRSM prototype has been studied both numerically and experimentally. Experimental results agree well with the computation derived analytically. (C) 2003 Elsevier Ltd. All rights reserved.

关键词： actuator motor torque control electromagnetic finite element

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Mechatronic semi-active and active vehicle suspensions

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control ENGINEERING PRACTICE 2004年第11期12卷 1353-1367页

作者： Fischer, D Isermann, R Tech Univ Darmstadt Inst Automat Control D-64283 Darmstadt Germany

After discussing various principles of suspensions with variable dampers and springs as well as active components, mathematical models of these systems are derived. It is shown how the unknown parameters can be obtained experimentally through parameter estimation by using body accelerometers, wheel accelerometers, and suspension deflection sensors in different combinations. Experimental results are described for suspensions on a test rig and in cars driving over road surfaces. Through recursive parameter estimation these parameters can be obtained on-line in real time. Then, feedback principles are derived for controlling the damping ratio of dampers with proportional magnetic valve actuators. The mathematical models are then used for fault detection and diagnosis of the damper by combining parameter estimation and parity equation methods. (C) 2003 Elsevier Ltd.

关键词： mechatronic semi-active suspension control parameter estimation fault detection

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Repetitive learning of backstepping-controlled nonlinear electrohydraulic material testing system

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control ENGINEERING PRACTICE 2004年第11期12卷 1393-1408页

作者： Lee, SJ Tsao, TC Univ Calif Los Angeles Dept Mech & Aerosp Engn Los Angeles CA 90095 USA

This paper develops repetitive control design and analysis for back stepping-controlled non-linear systems. To precisely track periodic trajectories for nonlinear systems, back stepping control is first designed to render closed-loop stability and, in theory, asymptotic tracking performance. However, due to the sensitivity to the unmodelled dynamics and plant variations, asymptotic tracking performance is usually not feasible. Thus, repetitive control is applied over the back stepping-controlled system to restore asymptotic tracking performance. This approach is applied to an electrohydraulic material testing system, in which the material specimen present substantial nonlinear force and displacement relationship. The back stepping control employs both feedback and feedforward actions to render linearized I/O plant and thus the outer loop repetitive control design can be based on the compensated linear system. Experimental results are presented to demonstrate the effectiveness of the proposed approach. (C) 2004 Elsevier Ltd. All rights reserved.

关键词： electrohydraulic systems learning control nonlinear control system

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Settling control with reference redesign for dual actuator hard disk drive systems

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ANNUAL REVIEWS IN control 2004年第2期28卷 219-227页

作者： Ding, JG Wu, SC Tomizuka, M Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

This paper considers settling control of a recording head for a dual actuator system for hard disk drives consisting of a coarse actuator (voice coil motor, VCM) and a fine actuator (peizoelectric transducer. PZT). The design method proposed in this paper is called the dual actuator reference trajectory re-design (RTRD). In this method, the design is divided into three steps. In the first step, the coarse actuator loop is designed to achieve stability and basic performance. In the second step, the fine actuator path is designed by loop shaping for superior performance of the overall system. Finally, the reference signals are generated for both the coarse and fine actuators by minimizing the square integral of jerk during the transition. The reference signals are updated or redesigned in real Lime as the recording head approaches the target track for smooth landing and minimal residual vibration. The "soft switching" technique is applied for gradually introducing the fine actuator (PZT actuator), which may shorten the settling time and achieve a smooth settling response. The effectiveness of the proposed approach is evaluated by simulations. (C) 2004 Elsevier Ltd. All rights reserved.

关键词： reference design HDD dual actuator settling control

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Active stability control strategies for a high speed bogie

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control ENGINEERING PRACTICE 2004年第11期12卷 1381-1391页

作者： Pearson, JT Goodall, RM Mei, TX Himmelstein, G Loughborough Univ Technol Dept Elect & Elect Engn Loughborough LE11 3TU Leics England Univ Leeds Sch Elect & Elect Engn Leeds LS2 9JT W Yorkshire England Bombardier Transportat Siegen Germany

This paper presents a comparison of control algorithms for actively stabilised wheelsets on high speed railway vehicles. Both intuitively derived classical strategies and modern optimal strategies are considered. Computer simulations are used to assess and compare the performance of the strategies in terms of their ability to provide stability across a range of operating conditions, for a range of parameter uncertainty and also in terms of their actuator requirements. Actuator models are also developed, not only to properly assess the impact of actuator dynamics on the active stability system performance, but also to further quantify and refine the actuator requirements needed to implement the system practically. The concept has been implemented practically on a full-size vehicle and some preliminary experimental results are included. Although the paper concentrates upon stability control, some observations are included regarding the integration of steering controllers. (C) 2003 Elsevier Ltd. All rights reserved.

关键词： active control railways Kalman filter controllers feedback stabilisation

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Physical damping in IDA-PBC controlled underactuated mechanical systems

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EUROPEAN JOURNAL OF control 2004年第5期10卷 451-468页

作者： Gómez-Estern, F Van der Schaft, AJ Escuela Super Ingn Dept Ingn Sistemas & Automat Seville 41092 Spain Univ Twente NL-7500 AE Enschede Netherlands

Energy shaping and passivity-based control designs have proven to be effective in solving control problems for underactuated mechanical systems. In recent works, interconnection and damping assignment passivity-based control (IDA-PBC) has been successfully applied to open-loop conservative models, that is, with no physical damping (e.g. friction) present. In a number of cases, in particular when IDA-PBC control only involves potential energy shaping, the actual presence of physical damping will not compromise the achieved closed-loop stability. However, when IDA-PBC control also includes the shaping of the kinetic energy, closed-loop stability or even passivity for the model without physical damping may be lost if physical damping is present. This raises two fundamental questions. First, in which cases is the IDA-PBC controlled system designed on the basis of the undamped model still stable and passive when physical damping is present? Second, if this is not the case, when is it possible to redesign the IDA-PBC control law for the undamped systems such that stability and passivity are regained? This paper provides necessary and sufficient conditions for the existence of such a control redesign for a particular choice of the closed-loop energy function. Furthermore, if these conditions are satisfied then two methods for redesign are presented, which can be chosen depending on the problem structure and the parameter uncertainties. Finally, even in the cases where the addition of physical damping does not hamper the stability properties of the IDA-PBC design based on the undamped model, we show that the aforementioned redesign is still useful in order to reduce the mathematical complexity in exponential and asymptotic stability analysis.

关键词： energy shaping passivity physical damping port-Hamiltonian systems mechanical systems

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Adaptive friction compensation for precision machine tool drive

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control ENGINEERING PRACTICE 2004年第11期12卷 1451-1464页

作者： Garagic, D Srinivasan, K Sci Syst Co Inc Woburn MA 01801 USA Ohio State Univ Dept Mech Engn Columbus OH 43210 USA

In this paper, two robust adaptive control algorithms are proposed for friction compensation in high performance machine tools. The first controller utilizes an adaptive friction compensation scheme based on a postulated linear-in-the-parameters friction model. The proposed friction compensation algorithm explicitly accounts for time varying normal forces as well as dependence of the friction coefficient on velocity. The Stribeck friction characteristic :and variations in, static friction are treated as bounded disturbances, and compensated for by adaptive bounding functions. In the second controller, a special form of the Takagi-Sulgeno fuzzy system is utilized to adaptively learn unknown friction behavior and compensate for it. This approach assumes that no a priori knowledge about frictional effects in the-strut joints is available. The proposed controllers are compared based on simulation and experimental results of tracking performance at low speeds, since frictional effects dominate strut dynamics at low speeds. The results indicate that the large tracking errors caused by friction at the velocity reversals when conventional control algorithms are used, are reduced greatly by the adaptive controllers. Instability of the igradient-type adaptive algorithms is observed when the adaptation rate is high. Inclusion of a dead-zone modification of the adaptive laws eliminates the instability. (C) 2003 Elsevier Ltd. All rights reserved.

关键词： model adaptive control adaptive fuzzy control friction compensation dynamic modeling

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Trajectory tracking control system for ship

Trajectory tracking control system for ship

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2004 ifac conference on Computer Applications in Marine systems, CAMS 2004

作者： Pomirski, Janusz Morawski, Leszek Rak, Andrzej Gdynia Maritime University Department of Ship Automation Morska Str. 83 Gdynia81-225 Poland

The conventional way-point guidance system has two main operation modes: the course-keeping mode at straight trajectory segments and the course changing mode in the way-points. This paper presents the design of a course and a turning controllers which have high steering performance and are robust due to ship dynamics' variations. The bases for the design are simple, linear ship dynamics models of the 1st and 2nd order (Nomoto models). The controllers have fixed structure and theirs coefficients are selected using the performance indices: the settling time and integral performance index ITAE (the integral of time multiplied by absolute error). Copyright © 2004 ifac.

关键词： controllers

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