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ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference

作者： Gaul, Lothar Becker, Jens Univ Stuttgart Inst Appl & Expt Mech D-70550 Stuttgart Germany

ISBN: (纸本)9780791848982

Reduction of structural vibrations is of major interest in mechanical engineering for lowering sound emission of vibrating structures, improving accuracy of machines and increasing structure durability. Besides design optimization and passive damping treatments, active structural vibration control can be applied to reduce unwanted vibrations. In this contribution, two semi-active control laws for control of friction dampers are derived and investigated in simulations and experiments. Thereby, semi-active control concepts have the advantage over active control to yield intrinsically stable closed-loop systems and low energy consumption. In the experimental implementation, the control makes use of piezoelectric stack actuators to apply adjustable normal forces between structure and attached friction dampers. The control uses an observer based on reduced finite-element models to estimate the unknown relative displacement beneath the normal force actuator from acceleration measurements. Experimental results of the control algorithms for a structure with attached friction damper show the effectiveness of the proposed control algorithms.

关键词： Optimization Design Passive damping Closed loop systems Displacement Actuators Mechanical engineering Durability control algorithms Dampers Simulation Emissions Vibration Friction Machinery Finite element model Engineering simulation Vibration control Energy consumption

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POWERTRAIN control OF PARALLEL HYBRID ELECTRIC VEHICLES VIA EXTREMUM SEEKING ALGORITHM

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10th ASME Biennial Conference on Engineering Systems Design and Analysis

作者： Dincmen, Erkin Uygan, Ismail M. C. Guvenc, Bilin Aksun Acarman, Tankut Istanbul Tech Univ Dept Mech Engn TR-80626 Istanbul Turkey

ISBN: (纸本)9780791849170

A control algorithm for a parallel hybrid electric vehicle is proposed in this paper An upper level controller chooses vehicle operation mode such as regenerative braking, electric motor only, combustion engine only, engine+motor in battery discharge or engine+motor in battery charge modes. In engine+motor mode, optimum torque distribution between the engine and the motor is determined via extremum seeking algorithm that searches maximum drivetrain efficiency. Simulations are given to illustrate the effectiveness of the proposed control algorithm.

关键词： Engines Batteries control algorithms algorithms Regenerative braking Simulation Electric motors Vehicles Torque Engineering simulation Combustion Hybrid electric vehicles control equipment

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PD-PD TYPE LEARNING control FOR UNCERTAIN NONLINEAR SYSTEMS

PD-PD TYPE LEARNING CONTROL FOR UNCERTAIN NONLINEAR SYSTEMS

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ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference

作者： Ouyang, P. R. Ryerson Univ Dept Aerosp Engn Toronto ON Canada

ISBN: (纸本)9780791849019

In this paper, a new learning control, called PD-PD type learning control, is proposed for trajectory tracking of nonlinear systems with uncertainty and disturbance. In the developed control scheme, a PD feedback control with the current tracking errors and a PD type iterative learning control using the previous tracking errors are combined in the updating law. Explicit expressions have been developed for choosing the feedback control gains and the iterative learning gains, and an initial updating scheme is proposed to reduce and eliminate initial errors from iteration to iteration. It is proven that the final tracking error is guaranteed to converge toward the desired trajectory in the presence of varying uncertainty, disturbance, and initial errors. Comparing with the traditional iterative learning control, the new algorithm has potential benefits that include: fast convergence rate, more flexible choices of the learning gains, and monotonic convergence of the tracking error. The effectiveness of the proposed learning control method is demonstrated by simulation experiments. Due to the straightforward implementation and very good trajectory performance of the proposed control algorithm, it should be highly applicable to industrial systems.

关键词： Iterative learning control Trajectories (Physics) Uncertainty algorithms control algorithms Simulation experiments Nonlinear systems Feedback Errors

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control AND VALIDATION OF AUTOMATED LANE CENTERING AND LANE CHANGING MANEUVER

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2nd Annual Dynamic Systems and control Conference (DSCC 2009)/Bath/ASME Symposium on Fluid Power and Motion control

作者： Lee, Jin-Woo Litkouhi, Bakhtiar Gen Motors Res & Dev Elect & Controls Integrat Lab Warren MI 48090 USA

ISBN: (纸本)9780791848920

This paper describes an automated lane changing control system that has been developed at General Motors Research and Development. This system uses a single monochrome camera to recognize lane markings on the road ahead and uses multiple short range radars to detect surrounding traffic and objects. A sensing unit calculates the host vehicle's lateral displacement and the heading angle from the center of its lane as well as the relative distance and relative speed of each object. Since the smoothness and comfort of lane change maneuvering are important measures of the control performance, the vehicle dynamic model is integrated into the desired path generation and vehicle's controller design to reduce the vehicle lateral acceleration and the lateral offset overshoot during the lane change maneuvering. To avoid heavy computation, a simplified model predictive control algorithm is proposed. The control algorithm calculates a steering angle command at the current time step to drive the vehicle to the desired path. The control method and algorithms are implemented on a demonstration vehicle and validated at straight roads and various curve roads of up to 0.001 [l/m] curvature for different vehicle speeds up to 100 [km/hr]. The results show that lane change maneuvering is successfully completed with lateral offset error less than 20 cm.

关键词： control algorithms algorithms Motors Displacement Vehicles Computation control systems Design Predictive control control equipment Traffic Roads Industrial research Errors Dynamic models

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DYNAMICS AND control OF CRANE PAYLOADS THAT BOUNCE AND PITCH DURING HOISTING

DYNAMICS AND CONTROL OF CRANE PAYLOADS THAT BOUNCE AND PITCH...

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ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference

作者： Yoon, Jisup Singhose, William Vaughan, Joshua Ramirez, Gabriel Kim, Michael Tawde, Sujay Korea Atom Energy Res Inst Adv Fuel Cycle Syst Engn Div Taejon South Korea

ISBN: (纸本)9780791849019

The natural sway of crane payloads is detrimental to safe and efficient operation. Most crane control research has focused on oscillation induced by motion of the overhead trolley that is perpendicular to the vertical suspension cables. Little consideration has been given to bouncing oscillation in the hoist direction and pitching oscillation with respect to mass center of the payload. These dynamic effects arise in cases when the suspension cables are very long. These oscillations may interfere with the ability of the crane operators to accurately unload the payload at its desired position and orientation. This paper presents a method for generating shaped commands that suppress payload oscillations of bouncing and pitching. Theoretical models are initially used to develop and evaluate the input-shaping control algorithm. Then, experiments performed on a portable tower crane are used to demonstrate the improved response provided by the proposed approach.

关键词： control algorithms Cables Dynamics (Mechanics) Cranes Oscillations Hoists Tower cranes

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OBSERVER-BASED OUTPUT FEEDBACK control OF NONLINEAR SYSTEMS NON-AFFINE IN THE UNMEASURED STATES

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2nd Annual Dynamic Systems and control Conference (DSCC 2009)/Bath/ASME Symposium on Fluid Power and Motion control

作者： Morel, Yannick Leonessa, Alexander Virginia Polytech Inst & State Univ Dept Mech Engn Blacksburg VA 24061 USA

ISBN: (纸本)9780791848920

The presented work addresses the output feedback control problem for a large class of nonlinear systems. The control strategy shares similarities to separation-based algorithms commonly found in the literature, in the sense that the control problem is solved using an observer-predictor, in conjunction with a state feedback control law. The approach however distinguishes itself in significant ways. In particular;the control algorithm is not designed to control the actual system's output, as is usually the case in separation-based approaches, but it is rather designed to control the output of the observer-predictor The latter is designed to ensure that, for any admissible control signal, its output converges to a neighborhood of the corresponding output of the real system. The observer-predictor is thus used to indirectly control the real system. Results of numerical simulations are provided to illustrate performance of the obtained control algorithm.

关键词： control algorithms State feedback algorithms Signals Separation (Technology) Computer simulation Nonlinear systems Feedback

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ADAPTIVE ROBUST control OF HYDRAULIC ROBOTS WITH RECURSIVE LEAST SQUARES

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2nd Annual Dynamic Systems and control Conference (DSCC 2009)/Bath/ASME Symposium on Fluid Power and Motion control

作者： Wang, Longke Book, Wayne J. Huggins, James D. Georgia Inst Technol George W Woodruff Sch Mech Engn Atlanta GA 30332 USA

ISBN: (纸本)9780791848920

This paper proposes a robot control approach using a discrete recursive least square algorithm. The scheme shows robustness when the system suffers from measurement noise and has a fast parameter convergence rate. The control algorithm is computationally efficient and numerically stable. Guaranteed trajectory tracking can be achieved by simple parameter design if disturbances are bounded.

关键词： control algorithms Trajectories (Physics) algorithms Robust control Noise (Sound) Design Robots Robustness

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Passive position error correction in Internet-based teleoperation

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AUTOMATICA 2010年第11期46卷 1884-1890页

作者： Fernandez Villaverde, Alejandro Barreiro, Antonio Raimundez, Cesare IIM CSIC Bioproc Engn Grp Vigo 36208 Spain Univ Vigo ETSEI Dept Syst & Control Vigo 36310 Spain

During the last two decades, important advances have been made in the field of bilateral teleoperation. Different techniques for performing stable teleoperation in non-ideal conditions have been developed, especially in a passivity framework. Until recently, however, no robust solutions for addressing this problem with variable delays and other drawbacks of packet-switched networks have been developed. The requirement of maintaining passivity in these circumstances degrades performance, due to the loss of energy that it involves. In this paper an arrangement is proposed which is capable of eliminating position errors, while maintaining passivity of an Internet-like channel. The behaviour of this new controller is studied by Lyapunov analysis, compared to previous methods, and validated through numerical simulations. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： Teleoperation Passive compensation control algorithms Discrete time Telerobotics Time delay

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DESIGN OF SEMIACTIVE VEHICLE SUSPENSION controlS IN FREQUENCY DOMAIN

DESIGN OF SEMIACTIVE VEHICLE SUSPENSION CONTROLS IN FREQUENC...

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ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference

作者： Song, Xubin Cao, Dongpu Eaton Corp Southfield MI 48076 USA

ISBN: (纸本)9780791849033

Through the simulation study of a semiactive quarter car suspension, this paper is to expatiate on the control algorithm documented in the United States Patent 6.873.890 [1]. That patent presents a new method to design semiactive suspension controls in the frequency domain. As is well known. suspension related dynamics has two dominant modes in the working frequency range up to 25Hz. As such, the suspension dynamic system has three distinguishable frequency sections. In order to achieve better performance, different controls have to be applied to each frequency section. respectively. The significant core part of the patented algorithm is to provide an approach to identify the excited frequencies in real time that are transmitted through the vehicle suspension Then different controls of such as skyhook, groundhook and other damping strategies are combined accordingly to accomplish the best performance overall. Thus through the suspension control the vehicle dynamics (such as ride and handling) is expected to be improved in the broad frequency range in comparison to passive suspensions with a trade-off design.

关键词： Vehicle dynamics control algorithms algorithms Simulation Suspension systems Dynamics (Mechanics) Dynamic systems Design Tradeoffs Patents Damping

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ELECTROMAGNETIC VALVE ACTUATION SYSTEM WITH TWO CONFIGURATIONS

ELECTROMAGNETIC VALVE ACTUATION SYSTEM WITH TWO CONFIGURATIO...

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ASME International Design Engineering Technical Conferences/Computers and Information in Engineering Conference

作者： Seethaler, Rudolf Duerr, Konrad Univ British Columbia Okanagan Dept Mech Engn Kelowna BC V1V 1V7 Canada

ISBN: (纸本)9780791849040

Electromagnetic valve actuation systems for automotive combustion engines must provide extremely fast valve motion when the engine speed is high, but they also need to ensure low valve seating velocities during engine idle. These two constraints are difficult to combine in conventional spring assisted electromagnetic valve actuation devices that operate at a fixed resonance frequency. This paper focuses on a mechanism with two distinct configurations for low and high speed engine operations respectively. The mechanism is based on two pivoting cams. The synthesis of the cam profile ultimately determines the performance of the actuation system. An algorithm is presented that provides a time optimum cam profile for the high speed cam. The low speed cam is designed to allow for servo control of the valve system. A control scheme that aims to minimize electric losses in the drive system is also introduced. Both the cam synthesis algorithms and the control algorithm are applied to a typical automotive valve train and a digital simulation is used to validate the effectiveness of the mechanical cam design and control scheme.

关键词： Engines control algorithms Resonance algorithms Cams Valves Servomechanisms Combustion Design Computer simulation Springs Trains

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