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Nonlinear signal-based control for shake table experiments with sliding masses

EARTHQUAKE ENGINEERING & STRUCTURAL DYNAMICS 2023年第6期52卷 1908-1931页

作者： Enokida, Ryuta Ikago, Kohju Guo, Jia Kajiwara, Koichi Tohoku Univ Int Res Inst Disaster Sci Sendai Miyagi Japan Natl Res Inst Earth Sci & Disaster Resilience E Def Miki Hyogo Japan

This study introduces the first application of nonlinear signal-based control (NSBC) to shake table experiments with sliding masses. NSBC utilising a nonlinear signal was specifically developed for nonlinear system control. In shake table experiments with a steel structure, it realised a seismic acceleration record on the table with near 100% accuracy even when the structure displayed nonlinear characteristics due to yielding of its components. Regarding the severity, sliding is stronger than yielding because of the rapid shifts of stick and slip states. Sliding is utilised for structural damage mitigation in seismic isolation systems, which are prominent devices in earthquake engineering. However, when sliding occurs on a shake table, it significantly jeopardises the table control. Thus, this study investigates the performance of NSBC to shake table experiments involving the phenomenon. First, this study examines the effectiveness of NSBC via numerical simulations on a shake table with a sliding interface, demonstrated by the Karnopp model, with a friction coefficient of 0.2. Subsequently, a linear model is designed based on the stability analysis of NSBC to assess stability margins obtained from different models. Experiments are performed by placing masses weighing approximately twice the table weight on sliding interfaces with friction coefficients of 0.2-0.4. In these experiments, NSBC with a reasonable linear model design realised expected acceleration records with sufficiently high accuracies, whereas inversion-based control failed. This study verifies the effectiveness of NSBC for shake table experiments with sliding masses.

关键词： graphite lubrication inversion-based control isolation system Karnopp model nonlinear signal-based control

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Closed-loop real-time optimization for unsteady operating production systems

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JOURNAL OF PROCESS control 2022年 113卷 80-95页

作者： Himmel, Andreas Findeisen, Rolf Sundmacher, Kai Tech Univ Darmstadt Control & Cyber Phys Syst Darmstadt Germany Max Planck Inst Dynam Complex Tech Syst Dept Proc Syst Engn Magdeburg Germany

Environmental and economic pressure leads to an increasing desire to operate processes over various operational conditions, adapting to changing conditions such as feed quality, available energy, customer demand, or product prices. This requires frequent changes in the process setpoints, involving transitions between those. We focus on the explicit utilization of varying storage levels between process elements to increase the flexibility and thus the operational space of the overall process. To do so, we propose a so-called closed-loop static real-time optimization (RTO). It extends classical static RTO by integrating the time evolution of the storage levels and the underlying storage level controls. This enables the optimum and safe operation of the production plant, taking into account storage size limitations and filling levels of the elements. We approximate the dynamic effect of the controlled storage elements on the process dynamics by a suitable mapping, which allows us to capture the transition behavior of the storage element. The mapping can be, for instance, given by inversion based control ideas or learned, e.g., by Gaussian processes. At the same time, the approach allows minimizing the dynamic effects of the storages on the overall system. The proposed formulation requires the efficient solution of a bilevel optimization problem. Thus, we will discuss a decomposition strategy to solve the overall closed-loop static RTO problem efficiently. A process example illustrates the effectiveness of the approach. (c) 2022 Elsevier Ltd. All rights reserved.

关键词： Real-time optimization Storage elements Decomposition inversion-based control Gaussian processes

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Tracking control of an Antagonistic Shape Memory Alloy Actuator Pair

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2009年第1期17卷 184-190页

作者： Moallem, M. Tabrizi, V. A. Simon Fraser Univ Surrey Sch Engn Sci Burnaby BC V3T OA3 Canada

Shape memory alloy actuators exhibit significant nonlinearities in their stress-strain-temperature characteristics which makes them difficult to control. This brief presents a control scheme for trajectory tracking using torque control of shape memory alloy (SMA) actuators connected to a rotary load in an antagonistic configuration. Despite possessing interesting properties such as large force to mass ratio, possibility of miniaturization, light weight, and quiet actuation, SMA exhibits undesirable characteristics that should be taken into account when utilizing them as actuators. The undesirable characteristics include hysteresis, nonlinear temperature dependencies, and slow response. By considering the nonlinear behavior and thermal characteristics of SMA, an inversion-based control scheme with time-varying gains is developed in this brief. The proposed controller does not depend on characteristics of SMA wire and only an approximate model is sufficient. The controller performance is further evaluated on an experimental setup.

关键词： Actuators inversion-based control motion control nonlinear systems shape memory alloys (SMAs) torque control

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Optimization-Free Fast Charging for Lithium-Ion Batteries Using Model inversion Techniques 22

Optimization-Free Fast Charging for Lithium-Ion Batteries Us...

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22nd World Congress of the International Federation of Automatic control (IFAC)

作者： Li, Yang Wik, Torsten Huang, Yicun Zou, Changfu Chalmers Univ Technol S-41296 Gothenburg Sweden

ISBN: (纸本)9781713872344

We propose a novel fast-charging control framework for lithium-ion (Li-ion) batteries that can leverage a class of models including the high-dimensional, electrochemical-thermal pseudo-two-dimensional model. The control objective is to find the highest battery current while fulfilling various operating constraints. Conventionally, computationally demanding optimization is needed to solve such a constrained optimal control problem when an electrochemicalthermal model is used, leading to practical difficulties in achieving low-cost implementation. Instead, this paper provides an optimization-free solution to Li-ion battery fast charging by converting the constrained optimal control problem into an output tracking problem with multiple tracking references. The required control input, i.e., the charging current, is derived by inverting the battery model. As a result, a nonlinear inversion-based control algorithm is obtained for Li-ion battery fast charging. Results from comparative studies show that the proposed controller can achieve performance close to nonlinear model predictive control but at significantly reduced computational costs and parameter tuning efforts. Copyright (c) 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Fast charging inversion-based control lithium-ion batteries tracking nonlinear control.

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Validation of anti-slip control for traction system using Hardware-In-the-Loop simulation

Validation of anti-slip control for traction system using Ha...

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IEEE Vehicle Power and Propulsion Conference (VPPC)

作者： Verhille, J. N. Bouscayrol, A. Barre, P. J. Hautier, J. P. Univ Lille L2EP USTL F-59655 Villeneuve Dascq France

ISBN: (纸本)9780780397606

In this paper a new-anti-slip control is proposed for the traction system of an automatic subway. Energetic Macroscopic Representation was used to proposed a graphical and physical description of the whole traction system. An inversion based control is deduced from this graphical description. This control scheme highlights different possibilities of control. A new anti-slip strategy is then deduced from the inversion-based control. Before an implementation on an actual vehicle, the new control is validated on a reduced power experimental set-up. A hardware-in-the-loop simulation is thus used to asses performance of this control in the same conditions as in the actual vehicle. Experimental results are provided.

关键词： railway traction system anti-slip control inversion-based control energetic macrocopic representation

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Time Scaling for Motion control of a High-Order and Very Fast Dynamic System 2

Time Scaling for Motion Control of a High-Order and Very Fas...

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2nd International Conference on control and Robotics Engineering (ICCRE)

作者： Kongthon, Jiradech Mosley, Nile S. Farrell, Robert E. Assumption Univ Dept Mechatron Engn Suvarnabhumi Campus Samuthprakarn Thailand

ISBN: (纸本)9781509037742

This article delves into time scaling for a high-order and very fast dynamic system. A very fast system responds to a test input (e, g. a unit step input) with a very small settling time or rise time in the transient time evolution and its settling time or rise time could be in the scale of milliseconds or microseconds, and the positioning or tracking of a very fast system could be challenging. In general, simulations are needed to tune up or adjust the design and to support the theory or the experiment. The main contributions of this article are to show that for a high-order and very fast system, (i) simulations without time rescaling result in large numerical errors, and (ii) simulations with time rescaling lead to a very large decrease in numerical errors, and thus better representing the physical system. In this work, the time unit is rescaled from the unit of second to the unit of millisecond to effectively reduce the numerical error to achieve a very good tracking performance.

关键词： Feedforward control High-Order System inversion-based control Reduced-Order Inverse Time Scaling Tracking Very Fast Dynamic System

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Tracking of High-speed, Non-smooth and Microscale-amplitude Wave Trajectories 13

Tracking of High-speed, Non-smooth and Microscale-amplitude ...

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13th International Conference on Informatics in control, Automation and Robotics (ICINCO)

作者： Kongthon, Jiradech Assumption Univ Dept Mech Engn Suvarnabhumi Campus Samuthprakarn Thailand

ISBN: (纸本)9789897581984

In this article, an inversion-based control approach is proposed and presented for tracking desired trajectories with high-speed (100Hz), non-smooth (triangle and sawtooth waves), and microscale-amplitude (10 micron) wave forms. The interesting challenge is that the tracking involves the trajectories that possess a high frequency, a microscale amplitude, sharp turnarounds at the corners. Two different types of wave trajectories, which are triangle and sawtooth waves, are investigated. The model, or the transfer function of a piezoactuator is obtained experimentally from the frequency response by using a dynamic signal analyzer. Under the inversion-based control scheme and the model obtained, the tracking is simulated in MATLAB. The main contributions of this work are to show that (1) the model and the controller achieve a good tracking performance measured by the root mean square error (RMSE) and the maximum error (E-max), (2) the maximum error occurs at the sharp corner of the trajectories, (3) tracking the sawtooth wave yields larger RMSE and E-max values, compared to tracking the triangle wave, and (4) in terms of robustness to modeling error or unmodeled dynamics, E-max is still less than 10% of the peak to peak amplitude of 20 micron if the increases in the natural frequency and the damping ratio are less than 5% for the triangle trajectory and E-max is still less than 10% of the peak to peak amplitude of 20 micron if the increases in the natural frequency and the damping ratio are less than 3.2 % for the sawtooth trajectory.

关键词： High-speed Tracking inversion-based control Microscale Positioning Reduced-order Inverse Tracking

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Model-based control Design Process Overview Energetic Macroscopic Representation

Model-Based control Design Process Overview Energetic Macros...

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2014 IEEE Vehicle Power and Propulsion Conference

作者： Chen, Keyu Grellier, Olivier Bruyere, Antoine Valeo Powertrain Syst Business Grp 14 Ave BeguinesImmeuble DELTABP 68532 F-95892 Cergy Pontoise France

ISBN: (纸本)9781479967827

Today's designers are continuously challenged by shrinking development time and growing design complexity. Model-based control Design (MBD) has been, therefore, developed to ensure the control design efficiency. based on an overview of MBD approaches, this paper aims to discuss the application of Energetic Macroscopic Representation (EMR) to the control design. Using a Permanent Magnet Synchronous Machine (PMSM) as an example, this paper shows that EMR, as a graphical and causal representation, establishes a common framework throughout the control design process. EMR contributes to the quality, enhance the efficiency and reduce potentially the design time and cost.

关键词： Model-based control Design (MBD) Energetic Macroscopic Representation (EMR) inversion-based control Permanent Magnet Synchronous Machine (PMSM)

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Optimization-Free Fast Charging for Lithium-Ion Batteries Using Model inversion Techniques

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IFAC-PapersOnLine 2023年第2期56卷 6636-6641页

作者： Yang Li Torsten Wik Yicun Huang Changfu Zou Chalmers University of Technology Gothenburg 41296 Sweden

We propose a novel fast-charging control framework for lithium-ion (Li-ion) batteries that can leverage a class of models including the high-dimensional, electrochemical-thermal pseudo-two-dimensional model. The control objective is to find the highest battery current while fulfilling various operating constraints. Conventionally, computationally demanding optimization is needed to solve such a constrained optimal control problem when an electrochemical-thermal model is used, leading to practical difficulties in achieving low-cost implementation. Instead, this paper provides an optimization-free solution to Li-ion battery fast charging by converting the constrained optimal control problem into an output tracking problem with multiple tracking references. The required control input, i.e., the charging current, is derived by inverting the battery model. As a result, a nonlinear inversion-based control algorithm is obtained for Li-ion battery fast charging. Results from comparative studies show that the proposed controller can achieve performance close to nonlinear model predictive control but at significantly reduced computational costs and parameter tuning efforts.

关键词： Fast charging inversion-based control lithium-ion batteries tracking nonlinear control

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Functional Modeling and Energetic Macroscopic Representation of Modular Multilevel Converters

Functional Modeling and Energetic Macroscopic Representation...

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International Power Electronics and Motion control Conference

作者： Nicolas Cherix Michail Vasiladiotis Alfred Rufer Laboratoire d'Electronique Industrielle (LEI) Ecole Polytechnique Federale de Lausanne (EPFL)

ISBN: (纸本)9781467319706

A key feature of Modular Multilevel Converters (MMC) is the continuous and independent nature of the branch currents. Therefore, a decoupled control of the line and partial bus currents is possible, unlike for classical topologies. To this end, several control strategies have been proposed in the literature. Unfortunately, some of these strategies appear to be rather complex and are prone to conflicting control loops. This paper uses the formalism of the Energetic Macroscopic Representation (EMR) in order to develop functional representations of the MMC phase legs, which reveals to be very helpful in the understanding of the intrinsic converter behavior as well as its control structures. Both coupled and non-coupled branch inductors are taken into account in the developments. In a second step, this paper shows how such representations can be used to deduce simple and effective control strategies through elementary inversion rules. As an example, a typical decoupled current control strategy is developed and its effectiveness is verified by simulations.

关键词： Modular Multilevel Converter Circulating Currents Energetic Macroscopic Representation Functional Modeling inversion-based control Coupled Inductors

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