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repetitive model predictive control for precise control of complex trajectory tracking in dual-stage actuator systems

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND control ENGINEERING 2017年第3期231卷 213-229页

作者： Lin, Chi-Ying Chang, Chih-Yuan Natl Taiwan Univ Sci & Technol Dept Mech Engn 43 Keelung RdSect 4 Taipei 10672 Taiwan

This article presents a predictive control methodology for the precise tracking of complex reference commands in dual-stage actuator systems. To improve synchronized motion control performance, a cost function was applied to account for dual-stage actuator tracking error as well as tracking error in the first-stage actuator. The dual-stage actuator control system uses repetitive model predictive control with two repetitive controllers to reduce the occurrence of periodic errors. As in precision machining, a complex reference trajectory containing two dynamic tracking signals with non-trivial magnitude and frequency orders in a motor/piezoelectric-driven dual-stage actuator system was used to evaluate the practicability of the proposed repetitive model predictive control method. Experimental results demonstrate the efficacy of the proposed repetitive model predictive control system in enhancing the periodic tracking control of dual-stage actuator systems, even when subjected to persistent short pulse disturbance.

关键词： Dual-stage actuator complex trajectory tracking repetitive model predictive control

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Enhancing vibration suppression in a periodically excited flexible beam by using a repetitive model predictive control strategy

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JOURNAL OF VIBRATION AND control 2016年第16期22卷 3518-3531页

作者： Lin, Chi-Ying Huang, Yi-Huan Natl Taiwan Univ Sci & Technol Dept Mech Engn 43 Keelung RdSect 4 Taipei 10672 Taiwan

This experimental study was conducted for the purpose of enhancing vibration suppression in periodically excited flexible structures by using model predictive control (MPC), an advanced optimal-control method that can be used to handle system constraints at all sampling steps. The Hildreth optimization solver was used to examine two MPC strategies, a basic MPC strategy and a repetitive MPC (RMPC) strategy, and the active vibration-control design and performance of the strategies were evaluated. The disturbance-rejection performance of the applied MPC methods was specifically investigated by using periodic input signals to excite a piezoelectric flexible beam. These comparative studies performed together with parameter analysis offer a design guideline for achieving satisfactory vibration-suppression performance and further demonstrate that the applied RMPC method can effectively suppress the vibration of a flexible-structure system.

关键词： Active vibration control flexible beam repetitive model predictive control

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Comparison of Conventional and repetitive MPC with Application to a Periodically Disturbed Compressor Stator Vane Flow

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IFAC-PapersOnLine 2017年第1期50卷 11107-11112页

作者： Steinberg S.J. Staats M. Nitsche W. King R. Department of Measurement and Control Technische Universität Berlin Berlin 10623 Germany Department of Aerodynamics Technische Universität Berlin Berlin 10587 Germany

The paper explores and compares the closed-loop behavior of conventional model predictive control (MPC) and repetitive model predictive control (RMPC) in the presence of unknown, highly transient disturbances which are periodic in time. Since MPC applies information about future disturbances when predicting the future response of the system to be controlled, the presence of unknown and transient disturbances, may decrease the quality of the prediction and thus also the performance of the MPC-controlled system significantly. If the disturbance is periodic in time, however, this problem can be attenuated. RMPC approaches the loss of prediction precision by integrating output measurements from past periods to the future forecast. The paper reviews both MPC algorithms for linear systems briefly and compares them experimentally to each other by means of regulating a compressor stator vane flow with transient, periodic disturbances while respecting the input and output constraints of the system. © 2017

关键词： Active Flow control Iterative Learning control repetitive model predictive control

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Comparison of Conventional and repetitive MPC with Application to a Periodically Disturbed Compressor Stator Vane Flow

Comparison of Conventional and Repetitive MPC with Applicati...

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20th World Congress of the International-Federation-of-Automatic-control (IFAC)

作者： Steinberg, Simon J. Staats, Marcel Nitsche, Wolfgang King, Rudibert Tech Univ Berlin Dept Measurement & Control D-10623 Berlin Germany Tech Univ Berlin Dept Aerodynam D-10587 Berlin Germany

关键词： repetitive model predictive control Iterative Learning control Active Flow control

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Multi-rate optimizing control of simulated moving beds

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JOURNAL OF PROCESS control 2010年第4期20卷 490-505页

作者： Grossmann, Cristian Langel, Christian Mazzotti, Marco Morbidelli, Massimo Morari, Manfred ETH Automat Control Lab CH-8092 Zurich Switzerland ETH Inst Proc Engn CH-8092 Zurich Switzerland ETH Inst Chem & Bioengn CH-8093 Zurich Switzerland

This paper presents an optimizing control scheme for simulated moving beds (SMB) that enables to incorporate multi-rate (MR) sampled measurements into the control and estimation problem in a clear and transparent manner. This is particularly relevant for chiral separations where online monitoring requires the combination of various analytical techniques that may operate on widely varying time scales. An MR periodic linear time-varying (PLTV) model is derived for the SMB process. The cyclic nature of the process is exploited by formulating the MR-PLTV model within a repetitive model predictive control framework. Simulation results for the chiral separation of the guaifenesin enantiomers are presented. The proposed multi-rate controller is able to deliver increased productivity while respecting the process and product specifications. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： Simulated moving bed repetitive model predictive control Multi-rate control Chiral separation Optimizing control

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repetitive control and Cyclic Steady State Optimization of a Simulated Moving Bed Process *

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IFAC Proceedings Volumes 2010年第11期43卷 172-177页

作者： Kiwoong Kim Kwang Soon Lee Dept. of Chemical and Biomol. Engng. Sogang Univ. 1 Shinsoodong Mapogu Seoul 121-742 Korea

A two-tier optimizing control strategy for the simulated moving bed (SMB) process proposed in Kim et *** (2010) has been studied experimentally as well as numerically. The strategy was designed to carry out repetitive model predictive control (RMPC) of average product purities in the lower tier and off-line cyclic steady state optimization of feed and desorbent flow rates and the length of switching period in the upper tier. Experimental studies have been conducted in a four zone SMB system to separate L-ribose and L-arabinose from their mixture dissolved in water for the linear isotherm case and numerical studies have been carried out for the nonlinear isotherm case. As a consequence, the optimizing control strategy is observed to satisfactorily attain the intended optimum while robustly regulating the product purities against various uncertainties.

关键词： Simulated Moving Bed (SMB) repetitive model predictive control repetitive control Optimization PowerFeed

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'Cycle to cycle' optimizing control of simulated moving beds

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AICHE JOURNAL 2008年第1期54卷 194-208页

作者： Grossmann, Cristian Erdem, Gueltekin Morari, Manfred Amanullah, Mohammad Mazzotti, Marco Morbidelli, Massimo ETH Inst Chem & Bioengn CH-8092 Zurich Switzerland ETH Automat Control Lab CH-8092 Zurich Switzerland ETH Inst Proc Engn CH-8092 Zurich Switzerland

The novel feature of the presented simulated moving bed (SMB) controller is its capability to make use of the average outlet concentration of the product streams over a cycle as feedback information, i.e., 'cycle to cycle' control. Its effectiveness is confirmed experimentally on an eight-column four-section laboratory SMB unit, which is used to separate a binary mixture of the nucleosides, uridine and guanosine. The performance of the 'cycle to cycle' SMB control scheme is also demonstrated by several SMB simulation runs that are chosen to test the robustness of the controller. Furthermore, the case where measurements have a time delay is presented. The results illustrate that the 'cycle to cycle' controller is able to meet the products' purity specifications and operate the process optimally with minimal information about the system regardless of the disturbances that might take place during the operation. (C) 2007 American Institute of Chemical Engineers.

关键词： simulated moving bed repetitive model predictive control nucleoside separation online monitoring dynamic optimization

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Experimental implementation of automatic 'cycle to cycle' control of a chiral simulated moving bed separation

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JOURNAL OF CHROMATOGRAPHY A 2007年第1-2期1165卷 100-108页

作者： Amanullah, Mohammad Grossmann, Cristian Mazzotti, Marco Morari, Manfred Morbidelli, Massimo ETH Inst Proc Engn CH-8092 Zurich Switzerland ETH Automat Contorl Lab CH-8092 Zurich Switzerland ETH Inst Chem & Bioengn CH-8093 Zurich Switzerland

In the absence of a suitable controller, currently simulated moving beds (SMBs) are operated suboptimally to cope with system uncertainties and to guarantee robustness of operation. Recently, we have developed a 'cycle to cycle' optimizing controller that not only makes use of minimal system information, i.e. only the Henry constants and average bed voidage, but also optimizes the process performance and taps the full economic potential of the SMB technology. The experimental implementation of the 'cycle to cycle' optimizing controller had been carried out for achiral separation. For chiral separation however, application of any online controller has not been possible because an appropriate online monitoring system has not been avaiable. This work reports and discusses the first experimental implementation of the 'cycle to cycle' optimizing control for chiral separations. A mixture of guaifenesin enantiomers is separated on Chiralcel OD columns with ethanol as mobile phase in a eight-column four sections laboratory SMB unit. The results show that the controller, although using minimal information about the retention of the two enantiomers, is able to meet product and process specifications, can optimize the process performance, and is capable of rejecting disturbances that may occur during the operation of the SMB plant. (c) 2007 Elsevier B.V. All rights reserved.

关键词： simulated moving bed optimizing control separation of enantiomers repetitive model predictive control

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OPTIMIZING control OF VARIABLE CYCLE TIME SIMULATED MOVING BEDS

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IFAC Proceedings Volumes 2007年第5期40卷 201-206页

作者： Cristian Grossmann Mohammad Amanullah Marco Mazzotti Massimo Morbidelli Manfred Morari ETH Zurich Automatic Control Laboratory Physikstrasse 3 8092 Zürich Switzerland ETH Zurich Institute of Process Engineering Sonneggstrasse 3 8092 Zürich Switzerland ETH Zurich Institute for Chemical and Bio-Engineering 8093 Zürich Switzerland

Simulated moving bed (SMB) is a cost-efficient chromatographic technique employed for difficult separation tasks. SMB processes exhibit complex dynamics, e.g., its hybrid nature due to the inlet/outlet port switches with nonlinearities and delays. The novel feature presented in this work is the extension of the ‘cycle to cycle’ control concept to make use as manipulated variables, of the four sectional flow rates and the switch time. Its effectiveness is demonstrated through two case studies; the startup of a SMB unit under plant-model mismatch and the rejection of a pump disturbance.

关键词： Optimization repetitive model predictive control Automatic Process control Simulated Moving Bed

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Optimizing control of an experimental simulated moving bed unit

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AICHE JOURNAL 2006年第4期52卷 1481-1494页

作者： Erdem, G Morari, M Amanullah, M Mazzotti, M Morbidelli, M Swiss Fed Inst Technol Automat Control Lab Zurich Switzerland Swiss Fed Inst Technol Inst Proc Engn Zurich Switzerland Swiss Fed Inst Technol Inst Chem & Bioengn Zurich Switzerland

Simulated moving bed (SMB) chromatography has become a key separation technology in the areas of pharmaceutical and biotechnology industry thanks to its high productivity and short process development times. Today, modeling, design, and optimization of the SMB process are regarded to be well established. On the other hand, long term robust/optimized operation of the process is still an open issue. The common practice is to operate the SMB units under suboptimal operating conditions in order to gain the necessary robustness. The operating parameters are tuned manually by experienced operators in order to maintain the product specifications in the long term. Therefore, as SMB applications spread, the SMB process control problem becomes increasingly important. Recently, we have proposed an on-line optimization based SMB control scheme that allows exploiting the full economic potential of the SMB technology on the basis of minimal information. This work addresses the experimental implementation of the developed control concept on an eight-column four-section laboratory SMB unit that is used to separate the binary mixture of nucleosides uridine and guanosine. The performance of the SMB control scheme is demonstrated via several experimental controlled SMB runs that are designed to challenge the robust performance of the controller. The reported results aim to demonstrate that the controller is able to deliver the products with the specified purities and to optimize the process performance despite uncertainties in the system behavior and disturbances taking place during the operation. (c) 2006 American Institute of Chemical Engineers.

关键词： simulated moving bed chromatography online optimization optimizing control repetitive model predictive control

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