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MRAC based intelligent PID controller design technique for a class of dynamical systems

SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES 2024年第2期49卷 1-8页

作者： Mallick, Santanu Mondal, Ujjwal Bankura Unnayani Inst Engn Dept Appl Elect & Instrumentat Engn Bankura 722146 India Univ Calcutta Dept Appl Phys Instrumentat Engn Kolkata 700009 India

model-Free Control (MFC) is used to control a complex system by designing a simple representation of the system, known as ultralocal model. This MFC continuously updates the input-output behavior with the help of ultralocal model. The combination of MFC with standard Proportional Integral Derivative (PID) controller develops Intelligent Proportional Integral Derivative (i-PID) controller. The i-PID controller is basically a class of robust control technique in the field of PID controller. In this methodology, the tuning is quite straightforward for extremely nonlinear and/or time varying plants, without consideration of any modeling procedure. In model reference adaptive controller (MRAC)-PID controller principle, PID parameters are updated/tuned in accordance with control technique based on MRAC-Massachusetts Institute of Technology (MIT) rule, such that the plant is efficient to follow the reference model. The main objective of this paper is to implement MRAC based Intelligent PID controller for a class of dynamical systems using model-Free Control technique, where the prior knowledge about the system dynamic is not essential and moreover complex parameter tuning is not necessary.

关键词： Intelligent proportional integral derivative controller massachusetts institute of technology rule model-free control model reference adaptive controller ultralocal model

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model reference adaptive Control and Fuzzy Neural Network Synchronous Motion Compensator for Gantry Robots

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ENERGIES 2022年第1期15卷 123页

作者： Chen, Chin-Sheng Hu, Nien-Tsu Natl Taipei Univ Technol Grad Inst Automat Technol Taipei 10608 Taiwan

A model reference adaptive control and fuzzy neural network (FNN) synchronous motion compensator for a gantry robot is presented in this paper. This paper proposes the development and application of gantry robots with MRAC and FNN online compensators. First, we propose a model reference adaptive controller (MRAC) under the cascade control method to make the reference model close to the real model and reduce tracking errors for the single axis. Then, a fuzzy neural network compensator for the gantry robot is proposed to compensate for the synchronous errors between the dual servo motors to improve precise movement. In addition, an online parameter training method is proposed to adjust the parameters of the FNN. Finally, the experimental results show that the proposed method improves the synchronous errors of the gantry robot and demonstrates the methodology in this paper. This study also successfully integrates the hardware and successfully verifies the proposed methods.

关键词： fuzzy neural network gantry robot model reference adaptive controller online parameter

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Voltage Control Scheme for Multilevel Interfacing PV Application: Real-Time MRAC-Based Approach 24

Voltage Control Scheme for Multilevel Interfacing PV Applica...

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24th European Conference on Power Electronics and Applications (EPE ECCE Europe)

作者： Yeganeh, Mohammad Sadegh Orfi Rahmani, Mehdi Mijatovic, Nenad Dragicevic, Tomislav Blaabjerg, Frede Davari, Pooya Tech Univ Denmark DK-2800 Lyngby Denmark Imam Khomeini Int Univ Qazvin Iran Aalborg Univ Aalborg Denmark

ISBN: (纸本)9789075815399

Cascaded H-bridge multilevel inverters (CHB-MLIs) have a proper structure and significant advantages like filter-less topology due to their desired output voltage levels and being suitable for employing isolated DC voltage sources that have been utilized in multi-sources applications such as photovoltaic (PV) power generation. However, unbalanced DC voltage sources of the DC/DC output section or fast voltage variations can decrease the output voltage quality and make some undesired fluctuations and harmonics, affecting the load behavior in different applications. To overcome these problems, a new real-time voltage control technique has been proposed to regulate the output voltage magnitude properly. This aim can be obtained by employing the model reference adaptive control (MRAC) technique for voltage regulation to improve total harmonic distortion (THD), and to decrease some harmonic orders (HOs) magnitude, especially lower harmonics (3rd, 5th, and 7th). Therefore, the proposed solution is designed to stabilize the dynamic error originating from the DC side. At the same time, the DC voltage sources are interfaced with variations, where they do not have equal magnitudes with each other. The effectiveness of the proposed control technique has been verified by simulation in MATLAB/Simulink.

关键词： Harmonic mitigation model reference adaptive controller Cascaded h-bridge multilevel inverter Optimal switching angle Total harmonic distortion

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A new approach for hybrid (PID plus MRAC) adaptive controller applied to two-axes McKibben muscle manipulator: a mechanism for human-robot collaboration

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION 2021年第6期48卷 836-845页

作者： Bomfim, Marcelo Henrique Souza Lima, Eduardo Jose, II Monteiro, Neemias Silva Sena, Vinicius Avelino Univ Fed Minas Gerais Grad Program Mech Engn Belo Horizonte MG Brazil Univ Fed Minas Gerais Dept Mech Engn Belo Horizonte MG Brazil Univ Fed Minas Gerais Grad Program Elect Engn Belo Horizonte MG Brazil

Purpose This paper aims to present a new approach, called hybrid model reference adaptive controller or H-MRAC, for the hybrid controller (proportional-integral-derivative [PID + MRAC]) that will be used to control the position of a pneumatic manipulator. Design/methodology/approach It was developed a McKibben muscle using nautical mesh, latex and high-density polyethene connectors and it was constructed an elbow manipulator with two degrees of freedom, driven by these muscles. Then it was presented the H-MRAC control law based on the phenomenological characteristics of the plant, aiming at fast response and low damping. Lyapunov's theory was used as the project methodology, which ensures asymptotic stability for the control system. Findings It was developed a precise control system for a pneumatic manipulator and the results were compared to previous research. Research limitations/implications In collaborative robotics, human and machine occupy the same workspace. This research promotes the development of safer and more complacent mechatronic systems in the event of collisions. Practical implications As a practical implication, the research allows the substitution of electric motors by McKibben muscles in industrial robots with high accuracy. Social implications The pneumatic manipulator will make the human-robot physical interaction safer as it can prevent catastrophic collisions causing victims or equipment breakdown. Originality/value When compared to results in the literature, the present research showed a 37.51% and 36.74% lower global error in position tracking than MRAC and adaptive proportional-integral-derivative (A-PID), respectively, validating its effectiveness.

关键词： Control Artificial muscle Collaborative robotics Compliant mechanisms model reference adaptive controller McKibben muscle

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Reactive-power-based MRAC for rotor resistance and speed estimation in bearingless induction motor drives

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INTERNATIONAL JOURNAL OF APPLIED ELECTROMAGNETICS AND MECHANICS 2020年第1期62卷 127-143页

作者： Li, Ke Ling, Feng Sun, Xiaodong Zhao, Dean Yang, Zebin Jiangsu Univ Sch Elect & Informat Engn Zhenjiang Jiangsu Peoples R China Jiangsu Univ Automot Engn Res Inst Zhenjiang 212013 Jiangsu Peoples R China

The reactive power-based model reference adaptive controller (MRAC) is presented in this paper in detail to estimate rotor resistance online. This controller can maintain rotor flux orientation of bearingless induction motor (BIM) driven by indirect vector control. The instantaneous and steady state reactive power of the rotating part of the BIM are selected in the MRAC as reference model and adjustable model, which automatically protects the entire system from any effects of stator resistance. In addition, this proposed formation of MRAC is independent of the requirement for the estimation of any flux in the calculation process. Therefore, this scheme is not influenced by the integration, and the problems like saturation and drift can be ignored. At zero speed, this scheme will estimate the rotor resistance more accurately. A speed sensorless scheme can be proposed after adding flux estimators to the MRAC. The effectiveness of the proposed scheme has been verified in MATLAB/SIMULINK.

关键词： bearingless induction motor model reference adaptive controller reactive power estimation sensorless

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adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2020年第10期234卷 1587-1596页

作者： Bressan, G. Russo, A. Invernizzi, D. Giurato, M. Panza, S. Lovera, M. Politecn Milan Dipartimento Sci & Tecnol Aerosp Via La Masa 34 I-20156 Milan Italy

In this paper, the adaptive augmentation of the attitude control system for a multirotor unmanned aerial vehicle is considered. The proposed approach allows to combine a baseline controller with an adaptive one and to disable or enable the adaptive controller when needed, in order to take the advantages of both the controllers. To improve transient performance with respect to the standard model reference adaptive controller, an observed-based approach is exploited. The adaptation law is based on the error between the output of an observer of the nominal closed-loop dynamics and the actual output of the system with uncertainties. Experimental results obtained by testing the proposed approach on a quadrotor unmanned aerial vehicle are presented to compare the performance, in terms of disturbance rejection, with respect to the baseline controller and to aL1adaptive augmentation scheme.

关键词： Unmanned aerial vehicle multirotor adaptive control L(1)augmentation model reference adaptive controller

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Online adaptive Control Tuning in a Gas Turbine Hybrid System

Online Adaptive Control Tuning in a Gas Turbine Hybrid Syste...

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ASME Power Conference (POWER)

作者： Bonilla-Alvarado, Harry Restrepo, Bernardo Pezzini, Paolo Shadle, Lawrence Tucker, David Bryden, Kenneth Mark Ames Lab Simulat Modeling & Decis Sci Program 1620 Howe Hall Ames IA 50011 USA Polythecn Univ Puerto Rico 377 Ave Ponce De Leon San Juan PR 00917 USA Natl Energy Technol Lab 3610 Collins Ferry Rd Morgantown WV 26505 USA

ISBN: (纸本)9780791883747

Proportional integral and derivative (PID) controllers are the most popular technique used in the power plant industry for process automation. However, the performance of these controllers may be affected due to variations in the power plant operating conditions, such as between startup, shutdown, and baseload/part-load operation. To maintain the desired performance over the full range of operations, PID controllers are always retuned in most power plants. During this retuning process, the operator takes control of the manipulated variable to perform a standard procedure based on a bump test. This procedure is generally performed to characterize the relationship between the manipulated variable and the process variable at each operating condition. After the bump test, the operator generally applies basic guidelines to assign new parameters to the PID controller. In this paper, the model reference adaptive controller (MRAC) control technique was implemented to update the PID controller parameters online without performing the bump test procedure. This approach allows updating the controller response on-the-fly while the power plant is running and without using the standard procedure based on a bump test. The MRAC was developed and demonstrated in the gas turbine hybrid cycle at the National Energy Technology Laboratory (NETL) to retune a critically damped mass flow PID controller into an over-damped response. Results showed stable performance during mass flow setpoint steps and also a stable update of the controller parameters.

关键词： adaptive control model reference adaptive controller gas turbine systems

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Linear Matrix Inequality Based controller used in Multivariable Systems 17

Linear Matrix Inequality Based Controller used in Multivaria...

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17th IEEE Student Conference on Research and Development (SCOReD)

作者： Nagarajapandian, M. Kanthalakshmi, S. Anitha, T. Devan, P. Arun Mozhi Sri Ramakrishna Engn Coll Dept Elect & Instrumentat Engn Coimbatore Tamil Nadu India PSG Coll Technol Dept Elect & Elect Engn Coimbatore Tamil Nadu India Univ Teknol PETRONAS Dept Elect & Elect Engn Seri Iskandar Perak Malaysia

ISBN: (纸本)9781728126135

In industries most of the process are non-linear in nature. Inorder to overcome this problem most of the industries modify the loop and make it as Single Input and Single Output (SISO) controllers to regulate such processes inorder to obtain the fast and quicker settling. But some processes with numerous variables causes lot of complexities, there is a high demand for designing a multivariable system in process industries. One such multivariable process is the quadruple tank systems which are a multivariable process. It is non-linear and dynamic, but the challenging task is to maintain the level of tanks due to the interaction between the process variable. This paper is based on using LMI (Linear Matrix inequalities) and model reference adaptive control (MRAC) tuned PI controller for controlling the level of the four tanks. All the experimental results for various tanks are obtained using MATLAB software.

关键词： Linear Matrix Inequalities model reference adaptive controller PI controller Quadruple tank system

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model reference adaptive control of a series-parallel hybrid electric vehicle during mode shift

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2017年第7期231卷 541-553页

作者： Huang, Kun Xiang, Changle Langari, Reza Beijing Inst Technol Sch Mech Engn Beijing 100081 Peoples R China Texas A&M Univ Dept Mech Engn College Stn TX 77843 USA

Mode shift, as an essential transient state of series-parallel hybrid electric vehicle, might generate torque variation and intensive vehicle jerk due to the discontinuity and nonlinearity of dynamics of the powertrain topology, which results in an unpleasant driving comfort. Therefore, it is necessary to propose a proper control strategy and ensure a smooth transition process for the series-parallel hybrid electric vehicle during mode shift. This article presents a model reference adaptive controller to manage clutch engagement so as to decrease vehicle jerk and clutch frictional loss in a series-parallel hybrid electric vehicle. To design a clutch-coupled transmission system in this article, dynamic equations of a series-parallel hybrid electric vehicle are derived. To avoid the friction-induced discontinuity of clutch frictional torque during mode shift, a model reference adaptive controller based on hyper-stability theory is proposed that coordinately manages the clutch frictional torque. The simulation and the experimental results demonstrate that the proposed model reference adaptive controller in this article can effectively decrease the vehicle jerk and clutch frictional loss when compared with the conventional control method.

关键词： Series-parallel hybrid electric vehicle mode shift model reference adaptive controller

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model reference adaptive vector control for induction motor without speed sensor

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ADVANCES IN MECHANICAL ENGINEERING 2017年第1期9卷

作者： Fan, Bo Yang, Zhi-Xin Wang, Xian-Bo Song, Lu Song, Shu-Zhong Henan Univ Sci & Technol Coll Informat Engn Luoyang Peoples R China CITIC Heavy Ind Co Ltd Luoyang Peoples R China Univ Macau Fac Sci & Technol Dept Electromech Engn Macau 999078 Peoples R China

The wide applications of vector control improve the high-accuracy performance of alternating current (AC) adjustable speed system. In order to obverse the full-order flux and calculate the real-time speed, this article introduces the motor Tequivalent circuit to build a full-order flux observer model, where the current and flux variables of stator and rotor are adopted. model reference adaptive control is introduced to build the AC motor flux observer. The current output is used as feedback to build the feedback matrix. The calculation method of motor speed, which is part of the inputs of flux observation, is applied to realize the adaptive control. The concept of characteristic function is introduced to calculate the flux, of which the foundation is the variables of composite form of voltage and current models. The characteristic function is deduced as a relative-state variable function. The feedback matrix is improved and designed to ensure the motor flux observer is a smooth switch between current and voltage model in low and high speeds, respectively. Experimental results show that the feedback and characteristic model are feasible, and the vector control with speed sensorless based on the full-order flux observer has better performance and anti-disturbance.

关键词： Vector control full-order flux observer speed sensorless model reference adaptive controller induction motor

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