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Dynamic performance and stability analysis of an active inerter-based suspension with time-delayed acceleration feedback control

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BULLETIN OF THE POLISH ACADEMY OF SCIENCES-TECHNICAL SCIENCES 2022年第2期70卷

作者： Wang, Yong Jin, Xian-Yu Zhang, Yun-Shun Ding, Hu Chen, Li-Qun Jiangsu Univ Automot Engn Res Inst Zhenjiang 212013 Jiangsu Peoples R China Xihua Univ Vehicle Measurement Control & Safety Key Lab Sich Chengdu 610039 Peoples R China Xihua Univ Prov Engn Res Ctr New Energy Vehicle Intelligent Chengdu 610039 Peoples R China Shanghai Univ Sch Mech & Engn Sci Shanghai 200444 Peoples R China

An active inerter-based suspension with acceleration feedback control is proposed in this paper, the time delay generated in the controllers and actuators is considered, which constitutes the time-delayed active inerter-based (TDA-IB) suspension. The dynamic equation of the TDA-IB suspension is established and is a neutral type of delay differential equation (NDDE) in which the time delay exists in the highestorder derivative. The stability analysis is conducted by calculating the number of unstable characteristic roots based on the definite integral stability method, the stable and unstable regions are determined. The effect of time delay and feedback gain on the dynamic performance of the TDA-IB suspension under harmonic, random, and shock excitations is studied in detail and compared with the parallel-connected inerterbased (PC-IB) and traditional suspensions. The results show that the TDA-IB suspension is asymptotically stable for smaller feedback gain and time delay, through increasing the feedback gain, the stable regions shrink, and a smaller time delay could cause the system to become unstable. Furthermore, the time delay could regulate the resonance peak around the unsprung mass natural frequency and generate multiple high-frequency resonance peaks. If the time delay is chosen appropriately and falls into the stable range, the TDA-IB suspension could improve the dynamic performance for the suspension stroke and dynamic tire load while having a deterioration for the vehicle body acceleration compared with the PC-IB and traditional suspensions.

关键词： active inerter-based suspension acceleration feedback control dynamic performance stability analysis time delay

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Plug-in module acceleration feedback control for fast steering mirror-based beam stabilization systems

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OPTICAL ENGINEERING 2017年第8期56卷 084105-084105页

作者： Deng, Chao Ren, Wei Mao, Yao Ren, Ge Chinese Acad Sci Key Lab Opt Engn Chengdu Sichuan Peoples R China Chinese Acad Sci Inst Opt & Elect Chengdu Sichuan Peoples R China Univ Chinese Acad Sci Beijing Peoples R China

A plug-in module acceleration feedback control (Plug-In AFC) strategy based on the disturbance observer (DOB) principle is proposed for charge-coupled device (CCD)-based fast steering mirror (FSM) stabilization systems. In classical FSM tracking systems, dual-loop control (DLC), including velocity feedback and position feedback, is usually utilized to enhance the closed-loop performance. Due to the mechanical resonance of the system and CCD time delay, the closed-loop bandwidth is severely restricted. To solve this problem, cascade acceleration feedback control (AFC), which is a kind of high-precision robust control method, is introduced to strengthen the disturbance rejection property. However, in practical applications, it is difficult to realize an integral algorithm in an acceleration controller to compensate for the quadratic differential contained in the FSM acceleration model, resulting in a challenging controller design and a limited improvement. To optimize the acceleration feedback framework in the FSM system, different from the cascade AFC, the accelerometers are used to construct DOB to compensate for the platform vibrations directly. The acceleration nested loop can be plugged into the velocity loop without changing the system stability, and the controller design is quite simple. A series of comparative experimental results demonstrate that the disturbance rejection property of the CCDbased FSM can be effectively improved by the proposed approach. (C) 2017 Society of Photo-Optical Instrumentation Engineers (SPIE)

关键词： acceleration feedback control plug-in module disturbance observer charge-coupled device based time delay line-of-sight stabilization

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controlling mode-coupling instability in friction-induced vibration by acceleration feedback

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JOURNAL OF SOUND AND VIBRATION 2022年 539卷

作者： Kumar, Gautam Malas, Anindya Natl Inst Technol Patna Dept Mech Engn Patna 800005 India

Self-excited friction-induced oscillation, such as brake squeal, railway wheel squeal, chattering in machine tools, etc., is harmful in many mechanical systems. In the present study, the efficacy of acceleration feedback control with a second order filter is theoretically studied to mitigate friction-induced mode-coupling instability. Two different control strategies based on acceleration feedback are employed to control friction-induced mode-coupling instability of a two degrees-of -freedom linear system. Linear stability analysis near the equilibrium point of the system shows the efficacy of control laws to stabilize the system. The optimum filter parameters are determined by the pole crossover optimization method to attenuate the transient response as well as to achieve greater relative stability of the system. The Robustness study confirms the ability of the controller to stabilize the system in the presence of uncertainties in system parameters. Analytical results match closely with simulation results. Finally, nonlinearity in the form of stiffness is incorporated into the system for which the dynamics of the system show the presence of subcritical, supercritical Hopf bifurcation, and cyclic fold bifurcation. In the presence of nonlinearity, the feedback control is also able to reduce the range of instability of static equi-librium as well as the amplitude of the self-excited oscillation. The method of averaging is used to determine the stability and amplitude of the limit cycle. For the nonlinear system, the bifurcation diagram is constructed in AUTO and validated with results obtained from MATLAB SIMULINK and the method of averaging.

关键词： Friction-induced oscillation Mode-coupling instability Second order filter acceleration feedback control Limit cycle Hopf bifurcation

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Improved Simple Noise Filtering for Fixed Point Iteration-based Adaptive controllers 20

Improved Simple Noise Filtering for Fixed Point Iteration-ba...

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20th IEEE International Symposium on Computational Intelligence and Informatics (CINTI)

作者： Khan, Hamza Issa, Hazem Tar, Jozsef K. Obuda Univ Doctoral Sch Appl Informat & Appl Math Budapest Hungary Obuda Univ Res & Innovat Ctr Antal Bejczy Ctr Intelligent Robot Budapest Hungary

ISBN: (纸本)9781728183398

For controlling dynamical systems certain controllers directly observe the physical response of the controlled systems and feed back the observed response for stabilization purposes. For instance, in robotics, where the rules of Classical Mechanics govern the behavior of the controlled system, this is the acceleration that is measured and fed back by the acceleration feedback controllers. In quite different manner, the Fixed Point Iteration (FPI)-based adaptive controllers also feed back such observed information. If the driving forces act on a robot link through some deformable, elastic component, the relative order of the control task can be higher than two, and the system's response can be a higher order time-derivative of the observable coordinate. In this case the numerical derivatives of the noiseburdened measurement signals suffer from huge fluctuations due to which the need for the application of noise filtering techniques arises. Generally, any noise filtering corresponds to some "averaging" of the fresh, recent dynamic information with older, more or less "obsolete" one so it may corrupt the operation of the FPI-based control. The extent of this degradation depends on the "dynamics" of the nominal trajectory to be tracked, the nonlinearities in the dynamic model of the controlled system and cannot be tackled at high level generality. In the present paper a new, simple noise filtering technique is recommended for use in the FPIbased adaptive controller. Its corruption effect is investigated for a chirp signal independently of any dynamic control issue, then its application in the FPI-based adaptive control of a popular, nonlinear benchmarking system, the Duffing oscillator is studied via numerical simulations.

关键词： acceleration feedback control Fixed Point Iteration-based Adaptive control Fractional Order Derivatives Polynomial Noise Filtering

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Enhanced Disturbance Observer based on acceleration Measurement for Fast Steering Mirror Systems 30

Enhanced Disturbance Observer based on Acceleration Measurem...

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30th Annual Conference of the IEEE-Photonics-Society (IPC)

作者： Deng, Chao Tang, Tao Mao, Yao Ren, Ge Chinese Acad Sci Key Lab Opt Engn Chengdu 610209 Sichuan Peoples R China Chinese Acad Sci Inst Opt & Elect Chengdu 610209 Sichuan Peoples R China Univ Chinese Acad Sci Beijing 100039 Peoples R China

ISBN: (纸本)9781509065783

In this paper, a modified disturbance observer (DOB) for fast steering mirror (FSM) optical system based on a charge-coupled device (CCD) and inertial sensors is proposed. Combining a DOB with the classical cascaded multiloop feedback control, including position loop, velocity loop, and acceleration loop, that the disturbance suppression performance of line-of-sight in an FSM system can be significant improved. However, due to the quadratic differential in the FSM acceleration open-loop response, in fact, it is very difficult to realize an integral algorithm to compensate a quadratic differential in practical application. Thus, the conventional DOB controller has to be simplified further to make a concession, which eventuates in still insufficient disturbance compensation, particularly at low frequency. To solve this problem, an enhanced DOB control structure, which changes the compensation plant to be the acceleration open-loop and avoids the saturation of double integration skillfully, is proposed. The recommended method optimizes the controller design, which is conducive to controller fulfillment in practical systems. A series of comparative experimental results demonstrate that the disturbance suppression performance of the FSM control system can be effectively improved by the proposed approach.

关键词： Disturbance suppression disturbance observer fast steering mirror acceleration feedback control line-of-sight stabilization

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Inertial sensor-based multiloop control of fast steering mirror for line of sight stabilization

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OPTICAL ENGINEERING 2016年第11期55卷 111602-111602页

作者： Tian, Jing Yang, Wenshu Peng, Zhenming Tang, Tao Chinese Acad Sci Inst Opt & Elect 1 Guangdian Rd Chengdu 610209 Shuangliu Count Peoples R China Univ Elect Sci & Technol China Sch Optoelect Informat 4Sect 2Jianshe North Rd Chengdu 610054 Peoples R China Chinese Acad Sci Key Lab Opt Engn Chengdu 610209 Peoples R China Univ Chinese Acad Sci Beijing 100039 Peoples R China

In the charge-coupled device (CCD)-based tracking control system of fast steering mirrors (FSMs), high control bandwidth is the most effective method to enhance closed-loop performance, which, however, usually suffers a great deal from time delay induced by a low CCD sampling rate. Moreover, mechanical resonances also limit high control bandwidth. Therefore, a tentative approach to implementing a CCD-based tracking control system for an FSM with inertial sensor-based cascade feedback is proposed, which is made up of acceleration feedback, velocity feedback, and position feedback. Accelerometers and gyroscopes are all the inertial sensors, sensing vibrations induced by platforms, in turn, which can contribute to disturbance supersession. In theory, the acceleration open-loop frequency response of the FSM includes a quadratic differential, and it is very difficult to compensate a quadratic differential with a double-integral algorithm. A lag controller is used to solve this problem and accomplish acceleration closed-loop control. The disturbance suppression of the proposed method is the product of the error attenuation of the acceleration loop, the velocity loop, and the position loop. Extensive experimental results show that the improved control mode can effectively enhance the error attenuation performance of the line of sight (LOS) for the CCD-based tracking control system. (C) The Authors. Published by SPIE under a Creative Commons Attribution 3.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.

关键词： acceleration feedback control fast steering mirror multiloop control light of sight stabilization inertial sensor

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Application of MEMS Accelerometers and Gyroscopes in Fast Steering Mirror control Systems

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SENSORS 2016年第4期16卷 440-440页

作者： Tian, Jing Yang, Wenshu Peng, Zhenming Tang, Tao Li, Zhijun Chinese Acad Sci Inst Opt & Elect Chengdu 610209 Peoples R China Univ Elect Sci & Technol China Sch Optoelect Informat Chengdu 610054 Peoples R China Chinese Acad Sci Key Lab Opt Engn Chengdu 610209 Peoples R China Univ Chinese Acad Sci Beijing 100039 Peoples R China

In a charge-coupled device (CCD)-based fast steering mirror (FSM) tracking control system, high control bandwidth is the most effective way to enhance the closed-loop performance. However, the control system usually suffers a great deal from mechanical resonances and time delays induced by the low sampling rate of CCDs. To meet the requirements of high precision and load restriction, fiber-optic gyroscopes (FOGs) are usually used in traditional FSM tracking control systems. In recent years, the MEMS accelerometer and gyroscope are becoming smaller and lighter and their performance have improved gradually, so that they can be used in a fast steering mirror (FSM) to realize the stabilization of the line-of-sight (LOS) of the control system. Therefore, a tentative approach to implement a CCD-based FSM tracking control system, which uses MEMS accelerometers and gyroscopes as feedback components and contains an acceleration loop, a velocity loop and a position loop, is proposed. The disturbance suppression of the proposed method is the product of the error attenuation of the acceleration loop, the velocity loop and the position loop. Extensive experimental results show that the MEMS accelerometers and gyroscopes can act the similar role as the FOG with lower cost for stabilizing the LOS of the FSM tracking control system.

关键词： MEMS accelerometer MEMS gyroscope acceleration feedback control multi-loop control light of sight stabilization

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Dynamically dual vibration absorbers: a bond graph approach to vibration control

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SYSTEMS SCIENCE & control ENGINEERING 2015年第1期3卷 113-128页

作者： Gawthrop, Peter Neild, S. A. Wagg, D. J. Univ Melbourne Melbourne Sch Engn Syst Biol Lab Melbourne Vic 3010 Australia Univ Bristol Dept Mech Engn Bristol BS8 1TR Avon England Univ Sheffield Dept Mech Engn Sheffield S1 3JD S Yorkshire England

This paper investigates the use of an actuator and sensor pair coupled via a control system to damp out oscillations in resonant mechanical systems. Specifically the designs emulate passive control strategies, resulting in controller dynamics that resemble a physical system. Here, the use of the novel dynamically dual approach is proposed to design the vibration absorbers to be implemented as the controller dynamics;this gives rise to the dynamically dual vibration absorber (DDVA). It is shown that the method is a natural generalisation of the classical single-degree of freedom mass-spring-damper vibration absorber and also of the popular acceleration feedback controller. This generalisation is applicable to the vibration control of arbitrarily complex resonant dynamical systems. It is further shown that the DDVA approach is analogous to the hybrid numerical-experimental testing technique known as substructuring. This analogy enables methods and results, such as robustness to sensor/actuator dynamics, to be applied to dynamically dual vibration absorbers. Illustrative experiments using both a hinged rigid beam and a flexible cantilever beam are presented.

关键词： vibration absorber bond graph acceleration feedback control dynamic dual

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Angular acceleration estimation and feedback control: An experimental investigation

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MECHATRONICS 2007年第9期17卷 524-532页

作者： Han, J. D. He, Y. Q. Xu, W. L. Chinese Acad Sci Shenyang Inst Automat Shenyang 110016 Peoples R China Chinese Acad Sci Grad Sch Beijing 100039 Peoples R China Massey Univ Inst Technol Engn Auckland New Zealand

Angular acceleration estimation and its application in acceleration feedback control are investigated experimentally in the paper. In combination of Newton Predictor (NP) with Kalman Filter (KF), a new predictive estimator for angular acceleration, called Newton Predictor Enhanced Kalman Filter (NPEKF) is proposed. This estimator provides a wide bandwidth and a small phase lag of the estimated acceleration while attenuating noises. Based on the estimated acceleration an acceleration feedback control (AFC) is presented for multiple degree-of-freedom (DOF) mechatronic system. The design of AFC is specified in terms of its stability and ability in suppressing dynamic disturbances. Experiments are conducted on a 2-DOF direct-drive manipulator. The frequency responses of the acceleration estimated by NP, KF and NPEKF are compared with those of the measured acceleration via linear accelerometer. The performance of AFC using the estimated acceleration is assessed against that using the measured acceleration. This study has shown that the proposed NPEKF estimator is able to supply the AFC with reliable required acceleration. (C) 2007 Elsevier Ltd. All rights reserved.

关键词： acceleration estimation newton predictor kalman filter acceleration feedback control

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control of a benchmark structure using GA-optimized fuzzy logic control

Control of a benchmark structure using GA-optimized fuzzy lo...

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作者： Shook, David Adam Texas A&M University

Mitigation of displacement and acceleration responses of a three story benchmark structure excited by seismic motions is pursued in this study. Multiple 20-kN magnetorheological (MR) dampers are installed in the three-story benchmark structure and managed by a global fuzzy logic controller to provide smart damping forces to the benchmark structure. Two configurations of MR damper locations are considered to display multiple-input, single-output and multiple-input, multiple-output control capabilities. Characterization tests of each MR damper are performed in a laboratory to enable the formulation of fuzzy inference models. Prediction of MR damper forces by the fuzzy models shows sufficient agreement with experimental results. A controlled-elitist multi-objective genetic algorithm is utilized to optimize a set of fuzzy logic controllers with concurrent consideration to four structural response metrics. The genetic algorithm is able to identify optimal passive cases for MR damper operation, and then further improve their performance by intelligently modulating the command voltage for concurrent reductions of displacement and acceleration responses. An optimal controller is identified and validated through numerical simulation and fullscale experimentation. Numerical and experimental results show that performance of the controller algorithm is superior to optimal passive cases in 43% of investigated studies. Furthermore, the state-space model of the benchmark structure that is used in numerical simulations has been improved by a modified version of the same genetic algorithm used in development of fuzzy logic controllers. Experimental validation shows that the state-space model optimized by the genetic algorithm provides accurate prediction of response of the benchmark structure to base excitation.

关键词： structural control fuzzy logic control magnetorheological dampers experimental testing neuro-fuzzy modeling system identification acceleration feedback control multiobjective genetic algorithm Book Thesis

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