Dynamical Engine Test Stands are an important tool for the development and optimization of internal combustion (IC) engines. This paper deals with the automation concept for a new dynamical engine test stand consideri...
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Dynamical Engine Test Stands are an important tool for the development and optimization of internal combustion (IC) engines. This paper deals with the automation concept for a new dynamical engine test stand considering the graphical user interface, the hard- and software structure, the simulation models for vehicle and driver, and the modes of operation.
A flight controller is designed for a twin rotor helicopter model, and the property is examined by experiments. The model has a similar structure to that of VTOL aircraft. It is not linearizable by static state feedba...
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A flight controller is designed for a twin rotor helicopter model, and the property is examined by experiments. The model has a similar structure to that of VTOL aircraft. It is not linearizable by static state feedback but linearizable by dynamic state feedback. The design method accomplishes partial linearization by applying static feedback linearization to the main and the lower subsystems hierarchically. The controller has the same structure as the structure previously derived by back stepping. Experiments show the effectiveness.
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.
The need for innovative integrated methods in order to perform the comprehensive analysis and design of electric drives with induction motors has facilitated theoretical developments within the overall spectrum of con...
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The need for innovative integrated methods in order to perform the comprehensive analysis and design of electric drives with induction motors has facilitated theoretical developments within the overall spectrum of control theory. Nonlinear analysis and modeling, identification and diagnostics, control and optimization, as well as other problems have to be studied. The system performance depends upon the validity of induction machine models used in design and optimization, as well as upon control algorithms effectiveness, complexity and real-time implementation capabilities. In this paper, we develop complete mathematical models of three-phase induction machines in the machine (abc) and qd0 variables, synthesize control algorithms, and verify the theoretical developments.
In this paper a speed controller for an induction motor is developed in the framework of H∞ theory design criteria. The proposed control law achieves convergence to zero of both speed and flux norm tracking errors an...
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In this paper a speed controller for an induction motor is developed in the framework of H∞ theory design criteria. The proposed control law achieves convergence to zero of both speed and flux norm tracking errors and ensures robustness with respect to load torque disturbances and imperfect system modeling. Implementation of the controller requires full state measurement;this is exploited both to decouple the rotor speed and the flux norm dynamics via feedback linearization, and to close a static state-feedback loop at the new control inputs of the decoupled system. A simulation case study is finally reported to show the effectiveness of the proposed control scheme.
In this paper we compare linear and nonlinear controllers for an axial flow compressor. The control laws are designed for asymmetric interstage bleed valve actuation. We show that a nonlinear LgV controller achieves a...
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In this paper we compare linear and nonlinear controllers for an axial flow compressor. The control laws are designed for asymmetric interstage bleed valve actuation. We show that a nonlinear LgV controller achieves a larger region of attraction than that achieved by an LQR controller.
Fault detection, diagnosis, and accommodation play an important role in the operation of autonomous robotic systems. Incipient faults in the actuators, sensors or in the dynamics of a robotic manipulator can lead to d...
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Fault detection, diagnosis, and accommodation play an important role in the operation of autonomous robotic systems. Incipient faults in the actuators, sensors or in the dynamics of a robotic manipulator can lead to deterioration in performance and unsafe operating conditions. This paper presents a robust nonlinear fault diagnosis scheme for detecting and approximating faults occurring in a class of nonlinear multi-input multi-output systems. The proposed approach utilizes on-line approximators and adaptive nonlinear filtering techniques to obtain estimates of the fault functions. Performance of the nonlinear fault diagnosis scheme is analyzed by investigating its robustness and fault sensitivity properties in the presence of slowly developing or abrupt faults. A simulation example is presented to illustrate the ability of the fault diagnosis scheme to detect faults in a single link robotic manipulator with a revolute elastic joint.
This paper is concerned with properties of mechanical structures for which high robust control performance and quick time-response are achievable. We propose a method of integrated design using two indices of robust p...
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This paper is concerned with properties of mechanical structures for which high robust control performance and quick time-response are achievable. We propose a method of integrated design using two indices of robust performance and gain cross-over frequency (servo bandwidth) based on normalized left co-prime factorization. It is shown that the structure, in which all resonant modes are in phase and their mode gains are small values, leads to the better control performance than the current structure. We consider a head positioning control of a hard disk drive system in order to make a justification for the proposed method, and the validity is shown by both simulations and experiments.
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.
An experiment in practical implementation of simulated time-optimal control in a laboratory cart-pendulum system is described. The simulation results are compared with two types of measured trajectories of the real sy...
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An experiment in practical implementation of simulated time-optimal control in a laboratory cart-pendulum system is described. The simulation results are compared with two types of measured trajectories of the real system: generated by an implementation of the time-optimal control, and generated by a rule-based algorithm. The technologies of rapid prototyping, real-time simulation and hardware-in-the-loop simulation are used for direct synthesis of control algorithms. The feasibility of construction of time-optimal controller in the real system has been pointed out.
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