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feedback-feedforward control for high-speed trajectory tracking of an amplified piezoelectric actuator

SMART MATERIALS AND STRUCTURES 2021年第2期30卷

作者： Saleem, Ashraf Mesbah, Mostefa Shafiq, Muhammad Sultan Qaboos Univ Coll Engn Elect & Comp Engn Dept Muscat Oman

Piezoelectric actuators (PAs) are increasingly used in industrial and research applications requiring high speed and accurate positioning at the micro and nano scales such as atomic force microscopy. This is due to their high positioning resolution, compactness, and fast response. There are, however, two main factors that significantly limit their performance, namely hysteresis and the structural resonance. To overcome these limitations, while avoiding using inversion-based feedforward compensators, we propose, a new learning controller for high speed amplified PA (APA) trajectory tracking. To further enhance the robustness of the APA against sensor noise and other disturbances, a simple proportional and integral (PI) controller is added in the feedback loop. The proposed feedback-feedforward controller compensates for the above-mentioned phenomena without requiring access to the 'complex' mathematical model of the APA. Using the notions of system passivity and finite gain stability, we show that the closed-loop system is stable, and the tracking error is bounded for continuous reference inputs. These results are experimentally confirmed using a sinusoidal reference input with varying frequencies. The controller is able to track reference signals with frequencies up to 500 Hz (very close to the resonance frequency of the APA) with relatively small tracking errors. To further assess the quality of the proposed controller, we compare its tracking performance against a previously proposed controller. We show that our controller consistently achieves smaller tracking errors and the performance gap between the two controllers increases with an increase in frequency. We finally show the advantage of using the feedforward learning controller by comparing the tracking performance of our feedforward-feedback controller against that of the PI. The results show a clear performance improvement and that this improvement becomes even more evident at higher frequencies.

关键词： feedback-feedforward control piezoelectric actuators learning control hysteresis model-free control

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feedback-linearization and feedback-feedforward decentralized control for multimachine power system

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ELECTRIC POWER SYSTEMS RESEARCH 2008年第3期78卷 382-391页

作者： De Tuglie, Enrico Iannone, Silvio Marcello Torelli, Francesco Politecn Bari DIASS Dipartimento Ingn Ambiente I-74100 Taranto Italy Politecn Bari DEE Dipartimento Elettrotecn & Elettron I-70125 Bari Italy

In this paper a decentralized nonlinear controller for large-scale power systems is investigated. The proposed controller design is based on the input-output feedback linearization methodology. In order to overcome computational difficulties in adopting such methodology, the overall interconnected nonlinear system, given as n-order, is analyzed as a cascade connection of an n(1)-order nonlinear subsystem and an n(2)-order linear subsystem. The controller design is obtained by applying input-output feedback linearization to the nonlinear subsystem and adopting a tracking control scheme, based on feedback-feedforward technique, for the linear subsystem. In the assumed system model, which is characterised by an interconnected structure between generating units, a decentralised adaptive controller is implemented by decentralizing these constraints. The use of a totally decentralised controller implies a system performance decay with respect to performance when the system is equipped with a centralised controller. Fortunately, the robustness of the proposed controller, based on input-output feedback procedure, guarantees good performance in terms of disturbance even when disturbances are caused by decentralization of interconnection constraints. Test results, provided on the IEEE 30 bus test system, demonstrate the effectiveness and practical applicability of proposed methodology. (c) 2007 Elsevier B.V. All rights reserved.

关键词： decentralized control nonlinear control input-output feedback linearization feedback-feedforward control

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A methodology to implement a closed-loop feedback-feedforward level control in a laboratory-scale flotation bank using peristaltic pumps

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METHODSX 2023年 10卷 102081页

作者： Quintanilla, Paulina Navia, Daniel Moreno, Felipe Neethling, Stephen J. Brito-Parada, Pablo R. Imperial Coll London Royal Sch Mines Dept Earth Sci & Engn South Kensington Campus London SW7 2AZ England Univ Tecn Federico Santa Maria Dept Ingn Quim Campus San Joaquin Santiago Chile Imperial Coll London Sargent Ctr Proc Syst Engn Dept Chem Engn South Kensington Campus London England

This paper describes the implementation of a level control strategy in a laboratory-scale flotation system. The laboratory-scale system consists of a bank of three flotation tanks connected in series, which mimics a flotation system found in mineral processing plants. Besides the classical feed-back control strategy, we have also included a feedforward strategy to better account for process disturbances. Results revealed that the level control performance significantly improves when a feedforward strategy is considered. This methodology uses peristaltic pumps for level control, which has not been extensively documented even though: (1) peristaltic pumps are commonly used in laboratory-scale systems, and (2) the control implementation is not as straightforward as those control strategies that use valves. Therefore, we believe that this paper, which describes a proven methodology that has been validated in an experimental system, can be a useful reference for many researchers in the field. center dot Preparation of reagents to ensure that the froth stability of the froth layer is representative of an industrial flotation froth. center dot Calibration of instruments - convert the electrical signal from PLCs to engineering units. center dot Tuning PI parameters using SIMC rules by performing step-changes in each flotation cell.

关键词： Closed-loop level control feedback-feedforward control Froth flotation Flotation control Integrating process Laboratory-scale flotation bank SIMC tuning

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Application of feedback-feedforward loop digital control to a PWM dc-dc boost converter used for solar photovoltaic systems 2

Application of feedback-feedforward loop digital control to ...

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International Renewable and Sustainable Energy Conference (IRSEC)

作者： Tanouti, Jaouad Setti, Mohammed Aziz, Abdelhak Aziz, El Mamoun Higher Sch Technol Lab Elect Engn & Maintenance LGEM PB 473 Oujda Morocco

ISBN: (纸本)9781479973361

In this paper a new method (Algorithm) of controller design for boost type dc-dc converter is proposed. A feedback-feedforward controller for DC-DC boost converter is designed to obtain and keep output voltage constant. To do so, a digital unit is used as the heart of the control system which it tracks and provides pulse-width-modulation signal to control power electronic device in boost converter. The boost converter will be able to direct couple with inverter for solar photovoltaic system. Simulations using Matlab-Simulink are carried out and the obtained results show that the analyzed system exhibits good steady state performances and fast dynamical response. Moreover, this application significantly improves the line and load regulations of the output voltage of a boost converter rating an output power up to 1.44kW. Indeed, these parameters are less than 1% over a wide range of changes in the input voltage as well as in the load.

关键词： Boost converter Digital controller feedback-feedforward control Pulse width modulation (PWM) system control PV module

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High Order feedback-feedforward Iterative Learning control Scheme with a Variable Forgetting Factor

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2016年第3期13卷 95-95页

作者： Wang, Hongbin Dong, Jian Wang, Yueling Yanshan Univ Qinhuangdao Heibeisheng Peoples R China

In this work, we present a new iterative learning control (ILC) scheme for a class of non-linear systems with uncertain and non-repetitive disturbances, in order to achieve perfect tracking by proposing a high order feedback-feedforward ILC algorithm with a variable forgetting factor. The high order feedback-feedforward iterative learning controller can fully apply the previous control data to the system, which allows the system to track expectations more rapidly and precisely. Introducing a variable forgetting factor can weaken the former control output and its variance in the control law, while strengthening the robustness of the ILC. Through rigorous analyses, we demonstrate that uniform convergence of the state tracking error is guaranteed under this new ILC scheme. Simulation examples are also included to demonstrate the feasibility and effectiveness of the proposed learning controls.

关键词： High Order Iterative Learning control feedback-feedforward control Variable Forgetting Factor

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Time response parameters and control design for second-order nonminimum-phase systems

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ARCHIVES OF control SCIENCES 2024年第2期34卷 323-348页

作者： Blachuta, Marian J. Bieda, Robert Grygiel, Rafal Silesian Tech Univ Dept Automat Control & Robot Ul Akad 2A PL-44100 Gliwice Poland

The article considers the step and impulse response of second-order linear systems with a positive zero. A particular parameterization of the system equations is proposed which enables good assessment of the influence of its parameters on transients. Expressions missing in the literature are derived for step response parameters such as the values of undershoot, overshoot, time of inverse response, rise time and settling time, as well as of impulse response. Based on them, a precise time-domain approach to design feedforward, feedback and mixed feedback- feedforward control structures for nonminimum phase objects is presented that considers both setpoint tracking and disturbance rejection.

关键词： overshoot undershoot rise time settling time setpoint control disturbance rejection feedback-feedforward control

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control Strategy for a Soft Actuated Knee Rehabilitation Device 19

Control Strategy for a Soft Actuated Knee Rehabilitation Dev...

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5th International Conference on Mechatronics and Robotics Engineering (ICMRE)

作者： Solaque Guzman, Leonardo Velasco Vivas, Alexandra Univ Mil Nueva Granada Carrera 11 Bogota 10180 Colombia

ISBN: (纸本)9781450360951

Knee injuries are frequent in all the population. In recent years there has been an increasing interest in the research of assistive devices with multiple scopes, that can be used to improve people's quality of life. In this context, we have designed a knee rehabilitation device to assist the physiotherapy process when there is an injury. We use variable stiffness actuators to achieve more natural motions and keep safety in the interaction of the patient with the device. This kind of soft-actuated systems requires control actions that do not affect the intrinsic desired dynamics. In this paper, we present a combined feedback-feedforward strategy for a one-Degree-of-Freedom (DoF) system with a variable stiffness actuator, to gain an insight of the controller behavior. Nevertheless, without lost generality, the results obtained here can be later applied to the designed rehabilitation device. The proposed control strategy takes into account the dynamics behavior for changing the joint stiffness when the desired angular position changes. It is shown that this nonlinear control law with dynamic state feedback, linearizes the system and enables to achieve a desired dynamic behavior of the closed-loop system. The results are presented in simulation, showing the validity of the control law.

关键词： feedback-feedforward control Robotic assistive device Knee rehabilitation Soft actuation

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control Strategies for Wastewater Treatment Plants Aimed to Improve Nutrient Removal and to Reduce Aeration Costs 21

Control Strategies for Wastewater Treatment Plants Aimed to ...

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21st IEEE International Conference on Automation, Quality and Testing, Robotics (AQTR THETA)

作者： Varhelyi, Melinda Brehar, Marius Cristea, Vasile-Mircea Babes Bolyai Univ Fac Chem & Chem Engn Cluj Napoca Romania

ISBN: (纸本)9781538622056

Municipal wastewater treatment plants (WWTPs) are responsible for the quality of the water discharged to the emissary rivers. Besides the effluent quality, WWTPs also have to take into consideration the operational costs. Operation costs can be reduced and nutrient removal can be improved by using different control structures. In this research, three main control strategies were investigated by mathematical modeling and simulation: dissolved oxygen cascade control (DO cascade), ammonia based aeration control (ABAC) and a combination of ABAC with the control of nitrate and return activated sludge recycles. These automatic control structures are favorable from the point of view of reducing the total nitrogen effluent concentration, respectively the concentration of nitrates and nitrites in the effluent, and savings of up to 43% of aeration costs.

关键词： control strategies ammonia based aeration control feedback-feedforward control aeration costs

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ROBUST-control OF BINARY DISTILLATION-COLUMNS

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HUNGARIAN JOURNAL OF INDUSTRIAL CHEMISTRY 1991年第2期19卷 89-95页

作者： CHIDAMBARAM, M MALLESWARARAO, YSN Indian Inst of Technology Bombay India

Design of robust multivariable nonlinear feddback controllers for dual composition control in a distillation column is proposed. The performance of the control system is evaluated by simulation for larger disturbances in feed composition and feed flow rates. The robustness of the control system is evaluated for 20 percent perturbations in relative volatility and Murphee stage efficiency. The design procedure of the proposed controller is easier and the performance of the controller is robust to disturbances and to modelling errors.

关键词： ROBUST control NONLINEAR control DISTILLATION COLUMN feedback-feedforward control

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An Iterative Learning Approach for Train Trajectory Tracking control 1

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IFAC Proceedings Volumes 2011年第1期44卷 14916-14921页

作者： Heqing Sun Zhongsheng Hou Tao Tang Advanced Control Systems Lab Beijing Jiaotong University Beijing China State Key Lab of Rail Traffic Control and Safety Beijing Jiaotong University Beijing China

Abstract This work presents an iterative learning control (ILC) based automatic train operation (ATO) algorithm to address trajectory tracking problem. The train motion dynamics is first described by a modified discrete model with position as its independent variable, since train motion dynamics repeats along position axis more exactly. ILC method is combined with error feedback to achieve trajectory tracking. Meanwhile, the case with input constraints is considered. Rigorous theoretical analysis confirms that proposed algorithm can guarantee the asymptotic convergence of train speed to desired profile along iteration axis. Its effectiveness is further verified through case studies with intensive simulations.

关键词： Iterative Learning control feedback-feedforward control Input Constraints Automatic Train Operation Trajectory Tracking

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