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The speed control of PMLSM with discontinuous driving coils based on multi-loop DOB model

ISA TRANSACTIONS 2024年 146卷 366-379页

作者： Xiang, Biao Wen, Tao Wen, Tong Xidian Univ Sch Mechanoelect Engn Xian 710071 Peoples R China Beihang Univ Sch Instrumentat & Optoelect Engn Beijing 100191 Peoples R China Beihang Univ Ningbo Inst Technol Ningbo 31500 Peoples R China Beihang Univ Sch Instrumentat & Optoelect Engn Beijing Peoples R China

A permanent magnet linear synchronous motor (PMLSM) with discontinuous driving coils potentially applied in the underground pipeline freight delivery system is introduced in this article. Firstly, the detailed structure of the PMLSM with discontinuous driving coils is designed and presented, and the dynamic models of the PMLSM during three different processes are developed. In addition, based on the proportional-integral (PI) and the adaptive disturbance observer (DOB), a multi-loop control strategy is designed for the PMLSM with discontinuous driving coils. The critical performances of PMLSM, such as the speed precision and anti-disturbance ability, are testified in the experiment, and the results validate that the multi-loop control model with adaptive DOB used in the PMLSM with discontinuous driving coils has better speed precision than the PI+PI model by suppressing the detent force.

关键词： PMLSM Discontinuous driving coils multi-loop control Speed precision Anti-disturbance

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multi-loop active disturbance rejection control and PID control strategy for poultry house based on GA, PSO and GWO algorithms

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HELIYON 2024年第8期10卷 e29579页

作者： Elghardouf, Narjice Ennaciri, Yassine Elakkary, Ahmed Sefiani, Nacer Mohammed V Univ Rabat Super Sch Technol Sale Syst Anal Informat Proc & Integrated Management La Rabat Morocco

Maintaining the health and welfare of broilers, besides obtaining and optimizing good performance, are the main objectives of poultry production. In response, climate control remains the most guaranteed strategy for managing livestock successfully. Separate controlling temperature and humidity on the one hand;and contaminant gases on the other was a focus of several investigations. Thus, the particularity of this work which involves the study, analysis, and control of broiler livestock building while taking into account, at the same time, all the system's constituent variables (i.e., temperature, humidity, NH3 and CO2 concentration, air velocity, and differential pressure). In this paper, an Active Disturbance Rejection control (ADRC) and Proportional Integral Derivative (PID) controllers were designed and combined with a multi-loop approach for a multi-inputs multi-outputs (MIMO) system. Then, Genetic Algorithm (GA), Particle Swarm Optimization (PSO), and Grey Wolf Optimization (GWO) were used to obtain the optimal controllers' parameters employing the reward function, the Integrated Time Absolute Error (ITAE), according to the poultry system requirements. Simulation experiments were carried out using the Matlab Simulink toolbox to verify the effectiveness of all the proposed control methods with the two optimization algorithms regarding stabilization and tracking setpoints. Despite the introduction of several disturbances in the plant model, the PSO-ADRC controller still exhibits notable benefits in terms of rise time, overshoot, settling time, and good disturbance rejection, proving the robustness of the suggested control method.

关键词： Active disturbance rejection control and PID Poultry house system Climate control GA PSO and GWO algorithm multi-loop control

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Iterative Learning Cascade Trajectory Tracking control for Quadrotor-UAVs With Finite-Frequency Disturbances

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY 2025年第4期74卷 5624-5636页

作者： Qian, Shiyu Xu, Jing Niu, Yugang Jiao, Ticao East China Univ Sci & Technol Key Lab Smart Mfg Energy Chem Proc Minist Educ Shanghai 200237 Peoples R China Shandong Univ Technol Sch Elect & Elect Engn Zibo 255000 Peoples R China

Due to the under-actuated and strong coupling characteristics of the quadrotor system, the conventional trajectory tracking control methods always suffer from the low control precision, and the poor anti-disturbance capability. In this work, an iterative learning high-performance trajectory tracking control method is designed for quadrotors with finite-frequency uncertainties. The designed closed-loop flight control system includes the cascade connection of position and attitude loops. First, a cascade position loop, composed of the finite-frequency $H_\infty$ based PD-PID controllers, controls the translational dynamics of the quadrotor, and generates the desired attitudes for inner loops. Then, an iterative learning P-sliding mode controller is designed for inner loops to compensate for the repeatable tracking errors of the attitudes, and attenuate the sensor noises during the periodic flight maneuvers. By learning from previous iterations, the combination of SMC and PD-type learning terms yields a satisfactory inner-loop robust performance. The resulting algorithm requires little computational power and memory, and its convergence properties under measurement noise are shown. Experimental results have demonstrated the effectiveness of this approach in comparison to cascade PID-PID control and cascade PID-SMC methods.

关键词： Attitude control Robustness Quadrotors Uncertainty Trajectory tracking Tracking loops PD control Vectors Symmetric matrices Noise Sliding mode control cascade PD-PID control multi-loop control iterative learning control H-infinity control

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Distributed integral controllability for non-square processes: A comprehensive study and numerical analysis

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JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS 2025年第1期362卷

作者： Su, Steven Weidong Zhang, Zhihan Celler, Branko Savkin, Andrey Shandong First Med Univ & Shandong Acad Med Sci Coll Med Informat & Artificial Intelligence Jinan 250117 Peoples R China Southwest Univ Sch Comp & Informat Sci Sch Software Chongqing Sichuan Peoples R China Univ New South Wales Fac Engn Sydney NSW 2052 Australia

Distributed control systems offer significant benefits such as enhanced flexibility, improved failure tolerance, and simplified system design compared to centralized systems. While the controllability of linear square systems under decentralized structures incorporating integral action is well-explored, challenges arise when dealing with non-square processes, which are prevalent in various control and optimization scenarios. Traditionally, non-square systems are manipulated into square configurations by adjusting inputs and outputs to apply decentralized integral controllability (DIC) analysis, potentially affecting the system's reliability and controller flexibility. To address this issue, we propose a direct application of decentralized integral controllability to non-square processes, termed DIC-NSQ. We approach this problem by representing the system through a state space description, transforming it into standard singular perturbation form, and subsequently establishing its necessary as well as sufficient conditions using singular perturbation analysis. Through numerical examples, we demonstrate that DIC-NSQ effectively maintains offset-free tracking and ensures robust performance, even in the presence of actuator failures. This contribution marks an advancement in the field of distributed control systems, particularly for applications involving non-square processes.

关键词： Decentralized control Integral control multi-loop control Fault tolerant control Singular perturbation analysis Non-square process

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Identification and Compensation Method of Unbalanced Error in Driving Chain for Rate-Integrating Hemispherical Resonator Gyro

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SENSORS 2024年第13期24卷 4328页

作者： Sun, Yiwei Wei, Zhennan Yi, Guoxing Wang, Ning Harbin Inst Technol Space Control & Inertial Technol Res Ctr Harbin 150001 Peoples R China

The accuracy of the signal within a driving chain for the rate-integrating hemispherical resonator gyro (RI-HRG) plays a crucial role in the overall performance of the gyro. In this paper, a notable and effective method is proposed to realize the identification and compensation of the unbalanced error in the driving chain for the RI-HRG that improved the performance of the multi-loop control applied in the RI-HRG. Firstly, the assembly inclination and eccentricity error of the hemispherical resonator, the inconsistent metal conductive film layer resistance error of the resonator, the coupling error of the driving chain, and the parameter inconsistency error of the circuit components were considered, and the impact of these errors on the multi-loop control applied in the RI-HRG were analyzed. On this basis, the impact was further summarized as the unbalanced error in the driving chain, which included the unbalanced gain error, equivalent misalignment angle, and unbalanced equivalent misalignment angle error. Then, a model between the unbalanced error in the driving chain and a non-ideal precession angular rate was established, which was applicable to both single channel asynchronous control and dual channel synchronous control of the RI-HRG. Further, an unbalanced error identification and compensation method is proposed by utilizing the RI-HRG output with the virtual precession control. Finally, the effectiveness of the proposed method was verified through simulation and experiments in kind. After error compensation, the zero-bias instability of the RI-HRG was improved from 3.0950 degrees/h to 0.0511 degrees/h. The results of experiments in kind demonstrated that the proposed method can effectively suppress the non-ideal angular rate output caused by the unbalanced error in the driving chain for the RI-HRG, thereby further improving the overall performance of the RI-HRG.

关键词： rate-integrating hemispherical resonator gyro (RI-HRG) driving chain unbalanced error multi-loop control

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multi-loop PID tuning strategy based on non-iterative linear matrix inequalities

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COMPUTERS & CHEMICAL ENGINEERING 2025年 199卷

作者： Trica, Diego Jose Univ Fed Rio de Janeiro Chem Engn Program PEQ COPPE Ave Horacio Macedo 2030Bloco GSala G-116Cidade BR-21941914 Rio De Janeiro Brazil

Chemical processing plants usually have a control architecture composed of several single-paired loops. This type of control system is also called a multi-loop or decentralized control system. In this context, tuning PID controllers in a multi-loop system has become more important in recent decades. This is due to the need to ensure that the closed-loop system is stable or to achieve the expected dynamic performance over a wide range of possible operational conditions. To do this, several authors in the control theory field have used methods based on the Lyapunov stability criteria using linear matrix inequalities (LMI) to tune PID controllers in multi-loop systems. These methods solve the static output feedback (SOF) problem for systems represented by state spaces. This tuning problem is originally bilinear, and some authors have suggested iterative approaches that split the optimization into two layers to turn the problem into a convex one. However, these approaches may lead to high computational costs, depending on the initial guess for the decision variables. This work presents a strategy where only the control gain matrices are used as decision variables, and the Lyapunov matrix is expressed as a function of the control gain matrices. This makes quadratic matrix terms arise, which are handled by the congruency property and an S-procedure along with a slack variable. This strategy results in a non-iterative LMI-based SOF tuning approach. To illustrate the approach, a SOF problem that maximizes the system's Lyapunov function decay rate with an upper bound on H infinity norm was used.

关键词： multi-loop control Static output feedback Linear matrix inequalities Semi-definite programming

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The extension of decentralized integral controllability to non-square processes 36

The extension of decentralized integral controllability to n...

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36th Chinese control and Decision Conference (CCDC)

作者： Zhang, Zhihan Su, Steven Weidong Southwest Univ Sch Comp & Informat Sci Sch Software Chongqing Peoples R China Shandong First Med Univ Shandong Acad Med Sci Coll Artificial Intelligence & Big Data Med Sci Jinan Shandong Peoples R China

ISBN: (纸本)9798350387780;9798350387797

This paper studies the problem of distributed integral controllability for non-square multiple-input-output (MIMO) processes, where the number of inputs is greater than the number of outputs. Distributed or decentralized integral controllability (DIC) is a property that allows the use of stable decentralized controllers combined with integral action to achieve offset-free control and independent tuning of any subset of the control loops. Previous research has focused on DIC for linear/nonlinear square processes and nonlinear multiple-input single-output (MISO) systems, but not for non-square MIMO processes. We extend the concept of DIC to non-square MIMO processes and derive sufficient and necessary conditions for distributed integral controllability, which is a generalization of DIC for square systems. We also present a simulation study to demonstrate the effectiveness of our method.

关键词： Decentralized control Integral control multi-loop control Fault Tolerant control Singular Perturbation Analysis Non-square Process

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HARQ Based Optimal Scheduling Strategy for multi-loop WNCS 95

HARQ Based Optimal Scheduling Strategy for Multi-Loop WNCS

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IEEE 95th Vehicular Technology Conference: (VTC-Spring)

作者： Zhang, Minghan Wu, Shaohua Qiu, Yifei Jiao, Jian Zhang, Ning Zhang, Qinyu Harbin Inst Technol Dept Elect & Informat Engn Shenzhen Guangdong Peoples R China Univ Windsor Dept Elect & Comp Engn Windsor ON N9B 3P4 Canada

ISBN: (数字)9781665482431

ISBN: (纸本)9781665482431

This paper presents a Hybrid Automatic Repeat Request (HARQ) based scheduling scheme for a multi-loop Wireless Networked control System (WNCS). For each single-loop system in the multi-loop system, it includes uplink transmission and downlink transmission. By considering a practical application scenario, we formulate a mathematical model wherein the downlink transmission can be assumed ideal, and the uplink transmission updates the new system status which is used to generate control commands. Due to the resource constraints, not all single-loop systems can update their status information in the same time slot. Meanwhile, using the HARQ mechanism can ensure a higher probability of successful transmission. To achieve the stability of the system, we propose a scheduling strategy to minimize the long-term average Mean Square Error (MSE) of the plant state. And we model the optimization problem as a Markov Decision Process (MDP) problem to obtain the optimal strategy. For the case that the channel error rates change rapidly, we propose the Lyapunov optimization strategy. And through further analysis, the Lyapunov optimization strategy is a suboptimal strategy, it can achieve the performance approach to the optimal strategy.

关键词： WNCS HARQ remote control multi-loop control Age of Information

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Series resonant converter for pulsating power operating at fixed frequency

Series resonant converter for pulsating power operating at f...

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14th Annual IEEE Energy Conversion Congress and Exposition (IEEE ECCE) / IEEE-Industry-Applications-Society (IEEE-IAS) Annual Meeting

作者： Roy, Jinia Hassan, Rohail Sabate, Juan GE Res Niskayuna NY 12309 USA

ISBN: (数字)9781728193878

ISBN: (纸本)9781728193878

This paper presents a Series Resonant Converter (SRC) isolated power supply to regulate several outputs, delivering 70kW average power pulsating from no load to several hundred kW. The design is for magnetic resonance imaging (MRI) system application. The full-bridge power stage is controlled at fixed frequency with phase-shift between the two legs. The power supply has been designed to operate on discontinuous conduction mode, keeping soft switching over the whole power range, and tolerant to inductance and capacitance spread. The control has a feedback loop for output voltage regulation and a faster loop regulating the power through the resonant tank. The design has been implemented in a protype and the paper shows test results with the pulsating power load of the system. The proposed approach provides the high performance needed for MRI. All the outputs are tightly regulated even with the large power transients and the soft switching ensures low losses for improved footprint.

关键词： resonant-converter pulsating-power multi-loop control

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Sine-cosine-algorithm-based fractional order PID controller tuning for multivariable systems

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INTERNATIONAL JOURNAL OF BIO-INSPIRED COMPUTATION 2021年第2期17卷 113-120页

作者： Bhookya, Jailsingh Kumar, J. Ravi NIT Warangal Dept Elect & Commun Engn Fathimanagar Telangana India

The multivariable systems, used in several industrial processing systems, are controlled using multi-loop controllers. A novel fractional order proportional integral derivative (FOPID) controller design without decoupler for the multivariable system using an optimisation algorithm is proposed. The FOPID controller is employed in each loop of two-input-two-output (TITO) system and their parameters are tuned using sine-cosine algorithm (SCA). The proposed method eliminates the interaction of loops with optimal tuning of FOPID controller parameters. The proposed FOPID design for Wood-Berry TITO system is compared with the recent state-of-the-art literature to verify its overall efficiency. The simulation result demonstrates the superiority of the proposed controller over other controller designs for the TITO system.

关键词： fractional order PID TITO system multi-loop control sine-cosine algorithm optimal tuning multivariable system PID controller optimisation

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