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31st Chinese control Conference

作者： Li Jin-ying Fu Cheng-yu Xia Yun-xia Chinese Acad Sci Inst Opt & Elect Chengdu 610209 Peoples R China Chinese Acad Sci Key Lab Beam Control Chengdu 610209 Peoples R China Chinese Acad Sci Grad Univ Beijing 100049 Peoples R China

ISBN: (纸本)9789881563811

High precision tracking system has strict rapidity and smooth requirements of speed and torque. For the system is a direct drive structure, it is more sensitive to torque disturbances. Traditional current closed loop cannot suppress torque ripples caused by flux distortion of the motor. Torque closed loop's bandwidth is restricted and cannot provide fast torque response. Aimed at a high precision tracking system driven by a permanent magnet synchronous motor, multi-closed loops strategy combined with torque correction is proposed: Based on current closed loop and speed closed loop, torque coefficient is estimated by torque estimator, and used to correct current expectation. Simulation results show that the proposed control can provide high bandwidth torque response, suppress torque ripples caused by motor's flux harmonics, and has strong robustness to variances of motor parameters.

关键词： tracking multi-closed loops torque ripples model reference adaptive control torque estimator

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adaptive control of a Nanopositioning Device

Adaptive Control of a Nanopositioning Device

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IEEE Annual Conference on Decision and control

作者： Arnfinn Aas Eielsen Jan Tommy Gravdahl Department of Engineering Cybernetics at the Norwegian University of Science and Technology

ISBN: (纸本)9781467320658

High-bandwidth tracking control is desirable in many nanopositioning applications, including scanning probe microscopy. Typical nanopositioner designs have several sources of uncertainty which can degrade control performance, and even induce instability. Salient uncertainties are in the control gain and the resonant frequencies of the mechanical structure. The control gain varies due to hysteresis and creep which result in a control gain that is dependent on the offset, range, and form of the driving signal, as well as actuator temperature and age. The resonant frequencies change due to payload mass. In order to maintain performance in the presence of a moderately changing dynamic response, a model reference adaptive control (MRAC) scheme is proposed and implemented. The details of implementing a working MRAC will be discussed. Most notably, a novel augmentation of the parameter identification scheme in the form of a special pre-filter will be shown to be necessary to obtain parameter convergence, and thus also for stability and performance in the case of the MRAC scheme. Experimental results are presented to assess the performance.

关键词： Nanopositioning adaptive control model reference adaptive control resonant frequencies Parameter identification payload mass driving signal control performance

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Performance of MRAS Based Speed Estimators for Grid Connected Doubly fed Induction Machines During Voltage Dips

Performance of MRAS Based Speed Estimators for Grid Connecte...

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IEEE Power and Energy Society General Meeting

作者： V.Verma M. J. Hossain T. Saha C. Chakraborty Department of Electrical Engineering Indian Institute of Technology Kharagpur India-721302 School of Information Technology and Electrical Engineering The University of Queensland QLD 4072 Australia School of Information Technology and Electrical Engineering The University of Queensland QLD 4072 Australia. Department of Electrical Engineering Indian Institute of Technology Kharagpur India-721302.

ISBN: (纸本)9781467327275

Rotor speed is required for the independent control of active power, reactive power and to achieve maximum power and also for pitch control. Speed estimation is preferred rather than sensing from accuracy, cost and reliability point of view. Different model reference adaptive System (MRAS) based speed estimation techniques are available for grid connected doubly fed induction machines. Performance of all the MRAS speed estimators has been studied under normal grid voltage. As per the new grid codes, wind turbine should remain connected to the grid during severe voltage dips [1]. Hence the performance of these speed estimators should also be studied under voltage dips. This paper compares the performances of different MRAS based estimators during voltage dips up to 50% and 5% of the nominal grid voltage. This paper also shows the effect of resistance variation on speed estimation during above mentioned operating conditions. Simulation has been performed in MATLAB/SIMULINK and the results are presented for various speed estimators.

关键词： MRAS Doubly fed induction machine Voltage dip Speed estimation MRAS gene voltage sags grids Induction machines gate voltage Grid Speed Estimation Estimators rotor speed independent control Maximum power model reference adaptive control

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Design of adaptive I-PD control Systems Based on Augmented Error Method

Design of Adaptive I-PD Control Systems Based on Augmented E...

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Society of Instrument and control Engineers Annual Conference

作者： Tsuyoshi Shiota Hiromitsu Ohmori Department of Integrated Design Engineering Keio University Department of System Design Engineering Keio University

Proportional-Integral-Derivative (PID) controllers are undoubtedly the most employed controllers in industry. Also, since the so called exact model matching is impossible in the actual realities, the partial model matching from the lowest order term to as higher the term as possible is adopted by Kitamori. This controller has a structure which consists of information about the controlled object and the reference model. PID can be obtained after some manipulation from the original solution. Thus a problem arises which is the superior, the original one or PID. In this paper, we propose adaptive I-PD controller using augmented error method for MIMO systems. In addition, we show the effectiveness of the proposed method by the simulation result.

关键词： model reference adaptive control I-PD control MIMO systems Augmented error

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Minimal control Synthesis adaptive control of Continuous Bimodal Piecewise Affine Systems

Minimal Control Synthesis Adaptive Control of Continuous Bim...

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IEEE Annual Conference on Decision and control

作者： M. di Bernardo U. Montanaro S. Santini Department of Systems and Computer Engineering University of Naples Federico II National Council Research Istituto Motori

ISBN: (纸本)9781467320658

This paper reviews the derivation of a model reference adaptive control (MRAC) scheme for bimodal piecewiseaffine (PWA) continuous systems [9]. The algorithm is based on an extension of the minimal control synthesis algorithm, originally developed as an MRAC for smooth systems. The resulting adaptive algorithm is a switched feedback controller able to cope with uncertain continuous PWA systems. The effectiveness of the new proposed control strategy is shown by using it to achieve master slave synchronization of two PWA systems as a representative example.

关键词： model reference adaptive control waste assessments adaptive control Bimodal feedback controller control strategy derivation Affine In-law Piecewise Minimal

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Fuzzy adaptive control for a UAV

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JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 2011年第2期62卷 271-293页

作者： Gomez, Jose F. Jamshidi, Mo Univ Texas San Antonio Autonomous Control Engn Lab San Antonio TX 78249 USA

In this paper a combination of Fuzzy Logic control (FLC) and model reference adaptive control (MRAC) will be developed to stabilize and control a fixed-wing unmanned aerial vehicle (UAV). The control must be able to direct the airplane towards different waypoints while at the same time maintaining the UAV stable. Also, the control should be transferable to similar UAV models with little to no change to the algorithm.

关键词： control Fuzzy logic control FLC Intelligent control adaptive control model reference adaptive control MRAC Unmanned aerial vehicle UAV

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A Numerical Study on controlling a Nonlinear Multilink Arm Using A Retrospective Cost model reference adaptive controller

A Numerical Study on Controlling a Nonlinear Multilink Arm U...

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IEEE Conference on Decision and control

作者： Matthew W. Isaacs Jesse B. Hoagg Alexey V. Morozov Dennis S. Bernstein Department of Mechanical Engineering The University of Kentucky Lexington KY 40506-0503 Department of Aerospace Engineering University of Michigan Ann Arbor MI 48109

ISBN: (纸本)9781612848006

We address the model reference adaptive control problem for a nonlinear multilink planar arm mechanism, where links are interconnected by torsional springs and dashpots, a control torque is applied to the hub of the mechanism, and the objective is to control the angular position of the last link. It is known that the linearized transfer function for the multilink planar arm has nonminimum-phase zeros when the control torque and angular position sensor are not colocated. We use a retrospective cost model reference adaptive control (RC-MRAC) algorithm, which is effective for nonminimumphase systems provided that the nonminimum-phase zeros are known. We demonstrate that RC-MRAC effectively controls the multilink arm for a range of reference model command signal amplitudes and frequencies.

关键词： Torque control multilink adaptive controller Angular position sensor model reference adaptive control angular position model reference HUB TRANSFER FUNCTIONS

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Theory and Flight-Test Validation of a Concurrent-Learning adaptive controller

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JOURNAL OF GUIDANCE control AND DYNAMICS 2011年第2期34卷 592-607页

作者： Chowdhary, Girish V. Johnson, Eric N. Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA

Theory and results of flight-test validation are presented for a novel adaptive law that concurrently uses current as well as recorded data for improving the performance of model reference adaptive control architectures. This novel adaptive law is termed concurrent learning. This adaptive law restricts the weight updates based on stored data to the null-space of the weight updates based on current data for ensuring that learning on stored data does not affect responsiveness to current data. This adaptive law alleviates the rank-1 condition on weight updates in adaptive control, thereby improving weight convergence properties and improving tracking performance. Lyapunov-like analysis is used to show that the new adaptive law guarantees uniform ultimate boundedness of all system signals in the framework of model reference adaptive control. Flight-test results confirm expected improvements in performance.

关键词： Flight Testing model reference adaptive control Neural Networks Rotorcrafts Kalman Filter Flight Envelope Unmanned Aerial Vehicle Output Feedback Taylor Series Yaw

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adaptive impedance control of a hydraulic suspension system using particle swarm optimisation

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VEHICLE SYSTEM DYNAMICS 2011年第12期49卷 1951-1965页

作者： Fateh, Mohammad Mehdi Zirkohi, Majid Moradi Shahrood Univ Technol Dept Elect & Robot Engn Shahrood *** Iran

This paper presents a novel active control approach for a hydraulic suspension system subject to road disturbances. A novel impedance model is used as a model reference in a particular robust adaptive control which is applied for the first time to the hydraulic suspension system. A scheme is introduced for selecting the impedance parameters. The impedance model prescribes a desired behaviour of the active suspension system in a wide range of different road conditions. Moreover, performance of the control system is improved by applying a particle swarm optimisation algorithm for optimising control design parameters. Design of the control system consists of two interior loops. The inner loop is a force control of the hydraulic actuator, while the outer loop is a robust model reference adaptive control (MRAC). This type of MRAC has been applied for uncertain linear systems. As another novelty, despite nonlinearity of the hydraulic actuator, the suspension system and the force loop together are presented as an uncertain linear system to the MRAC. The proposed control method is simulated on a quarter-car model. Simulation results show effectiveness of the method.

关键词： impedance adaptive control hydraulic suspension system model reference adaptive control particle swarm optimisation

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Robust Physical Parameter Estimation by Using MRAC Based on the Inverse Normalized Delta Operator

Robust Physical Parameter Estimation by Using MRAC Based on ...

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SICE Annual Conference

作者： Tatsu Aoki Seiichi Kawata Monozukuri Department Tokyo Metropolitan College of Industrial Technology Advanced Institute of Industrial Technology

ISBN: (纸本)9781467322591

The conventional identification algorithm based on the shift operator lacks a physical meaning. Thus, we proposed previously the new method that estimates directly physical parameters by unifying MRAC and the delta form. Since this proposed method needs to calculate the difference on the error between the plant and model output, the algorithm cannot be applied to the high-order systems due to measurement noise. Thus, in this paper we propose the method based on the integral operation by using the inverse normalized delta operator. As an illustration, second-order systems are considered. Simulation results show that this proposed method can accurately estimate the plant parameters in comparison with the conventional RLS under measurement noise. Since the amount of the calculation on the proposed method is very low, the algorithm can be calculated in real-time by using fixed-point microprocessors with short word-length.

关键词： Parameter estimation model reference adaptive control Delta operator Microprocessor control

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