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International Electric Machines & Drives Conference

作者： Bhavinkumar Patel M. Nasir Uddin

This paper presents a nonlinear speed and loss minimization control (LMC) of an interior permanent magnet synchronous motor (IPMSM) drive to achieve both high efficiency and high dynamic performance. The control strategy is based on an input-output feedback linearization which ensures high performance speed control while minimizing the losses. Among all the losses, copper and iron losses can be precisely controlled and minimized by an optimal control of the d-axis stator current (i_d). The proposed LMC is developed based on motor model to produce optimum i_d for loss minimization. The global stability of the proposed drive system is verified through a Lyapunov's stability analysis. Also, a novel observer is applied to estimate the permanent magnet flux linkage (Ψ) online. The performance of the proposed nonlinear speed and LMC is demonstrated in simulation at different operating conditions. A performance comparison of the proposed LMC control scheme with the conventional control scheme is also provided.

关键词： Efficiency optimization adaptive speed control nonlinear control flux estimation input-output linearization copper loss and iron loss

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Design and Analysis of Model Following Control Structure with Nonlinear Plant

Design and Analysis of Model Following Control Structure wit...

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Conference on Mechatronic Systems, Mechanics and Materials

作者： Jerzy Brzozka Maritime Univ Szczecin Dept Control Syst & Robot Mech Fac PL-70205 Szczecin Poland

ISBN: (纸本)9783037852743;3037852747

linearization methods of the object: input-state and input-output linearization are usually used in a standard feedback control system. However, these systems are sensitive to the changes of the nonlinear characteristics of the plant. These changes can be compensated with two types of control systems: the model following control (MFC) and adaptive. The article presents the first solution and contains: miscellaneous structures of linear control systems with model following, a brief description of linearization's methods, simulation example of the course control of vessel and the advantages of this solution.

关键词： input-state input-output linearization model following control ship course control

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Design of LUT-controllers for Nonlinear Systems with PB Models Based on I/O linearization

Design of LUT-controllers for Nonlinear Systems with PB Mode...

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IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)

作者： Taniguchi, Tadanari Sugeno, Michio Tokai Univ Hiratsuka Kanagawa 2591292 Japan European Ctr Soft Comp Mieres 33600 Asturias Spain

ISBN: (纸本)9781467315067

This paper deals with the stabilization of nonlinear control systems approximated by piecewise bilinear (PB) models. The approximated model is found to be fully parametric and its controller is represented by the Look-Up-Table (LUT). The input-output (I/O) feedback linearization is applied to stabilize PB control systems. This paper proposes the PB modeling combined with the conventional feedback-linearization as a very powerful tool for the analysis and synthesis of nonlinear control systems. Illustrative examples are given to show the validity of the proposed method.

关键词： nonlinear control piecewise bilinear model input-output linearization LUT controller

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Tracking Control of Snake-like Robot with Rotational Elastic Actuators

Tracking Control of Snake-like Robot with Rotational Elastic...

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12th International Conference on Control, Automation and Systems (ICCAS)

作者： Nansai, Syunsuke Iwase, Masami Tokyo Denki Univ Dept Robot & Mechatron Tokyo 1208551 Japan

ISBN: (纸本)9788993215045

The long-term goal of this study is to realize a locomotion control for snake-like robots on various environments. Key points for robots to adapt to various environments are measurement of stress applied to robots, and to realize locomotion control utilizing the stress. The observation leads to utilize a spring because a spring twists by the applied stress and generates energy by being twisted. We suggest a rotational elastic actuator (REA) consisting of a motor and a spring, and have developed a snake-like robot installing this mechanism at each joint. However, an effective locomotion control of the snake-like robot with REAs has not realized yet. In this paper, a controller tracking a serpenoid curve formulated from snake's kinematics is suggested based on a dynamic model with REAs. To realize such controller, the dynamic model of the snake-like robot with REAs is derived by the Projection Method. The derived dynamic model is linearized by an input-output linearization technique. A servo controller is also designed by utilizing the linearized system with its state space representation. A smooth locomotion of the snake-like robot with REAs tracking a serpenoid curve utilizing the designed servo controller is verified through numerical simulations.

关键词： Snake-like robot Rotational Elastic Actuator Servo control Projection Method input-output linearization

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A Model-Based Direct Adaptive Control Strategy for Nonlinear Processes

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IFAC Proceedings Volumes 2012年第15期45卷 256-261页

作者： Chyi-Tsong Chen Department of Chemical Engineering Feng Chia University 100 Wenhwa Rd. Seatwen Taichung 407 Taiwan (Tel: +886-4-24517250 ext. 3691 Fax: +886-4-24510890

In this paper, a novel model-based direct adaptive control strategy is proposed for nonlinear processes whose mathematical models are input-output linearizable. The proposed controller consists of two parts: the first part includes the nonlinear process information gained directly from the process's nominal model and the second part, which has two adjustable parameters, is an adaptive nonlinear function used to compensate for model errors adaptively. An efficient parameter tuning algorithm is derived for use to adjust the parameters of the adaptive term by simply feeding back the process output information. To show the robust stability and performance of the direct adaptive control system, a rigorous analysis involving the use of a Lyapunov-based approach is presented. The effectiveness and applicability of the proposed nonlinear strategy are demonstrated through the temperature trajectory tracking control problem of a batch reactor in the presence of plant/model mismatch, unanticipated periodic disturbances and process noise. Extensive simulation results reveal that the proposed model-based direct adaptive control strategy is promising and that it provides stable, robust and high control performance for nonlinear processes.

关键词： Model-based control Direct adaptive control Nonlinear process input-output linearization Lyapunov stability Batch process

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Application of a Zero-speed Fin Stabilizer for Roll Reduction of a Marine Robot near the Surface

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Journal of Marine Science and Application 2012年第2期11卷 228-235页

作者： Yannan Gao Hongzhang Jin Shengbin Zhou College of Automation Harbin Engineering University Harbin 150001 China College of Electrical and Technology Heilongjiang Institute of Science and TechnologyCollege of Electrical and Technology Heilong/iang Institute of Science and Technology Harbin 150001 China College of Mathematics Harbin Normal UniversityCollege of Mathematics Harbin Normal University Harbin 150001 China

A zero-speed fin stabilizer system was developed for rolling control of a marine *** a robot steering device near the sea surface with low speed,it will have rolling motion due to disturbance from *** on the working principle of a zero-speed fin stabilizer and a marine robot’s dynamic properties,a roll damping controller was designed with a master-slave *** was composed of a sliding mode controller and an output tracking controller that calculates the desired righting moment and drives the zero-speed fin *** methods of input-output linearization and model reference were used to realize the tracking *** were presented to demonstrate the validity of the control law proposed.

关键词： zero-speed fin stabilizer roll reduction input-output linearization master-slave structure marine robot

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Design of LUT-controllers for Nonlinear Systems with PB Models Based on I/O linearization

Design of LUT-controllers for Nonlinear Systems with PB Mode...

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IEEE International Conference on Fuzzy Systems

作者： Tadanari Taniguchi Michio Sugeno Tokai University European Centre for Soft Computing

ISBN: (纸本)9781467315074

关键词： Nonlinear control Piecewise bilinear model input-output linearization LUT controller

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Nonlinear control by input-output linearization scheme for EV permanent magnet synchronous motor

Nonlinear control by input-output linearization scheme for E...

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IEEE Vehicle Power and Propulsion Conference (VPPC)

作者： Rebouh, S. Kaddouri, A. Abdessemed, R. Haddoun, A. Univ Batna Dept Elect Engn Batna 05000 Algeria

ISBN: (纸本)9780780397606

This paper presents a modern approach of speed control for permanent magnet synchronous motor (PMSM) applied for electric vehicle using a nonlinear control. The regulation algorithms are based on the input-output feedback linearization technique. The direct component of the current is controlled to be zero which insures the maximum torque operation. The near unity power factor operation is also achieved. Moreover, among EV's motor electric propulsion features, the energy efficiency is a basic characteristic that is influenced by vehicle dynamics and system architecture. For this reason, the EV dynamics are taken into account. Simulation tests have been carried out on a 19.8-kW EV PMSM drive to evaluate the consistency and the performance of the proposed control approach.

关键词： PMSM electric vehicle (EV) nonlinear control input-output linearization differential geometry theory traction control

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Design of a flexible manipulator controller based on input-output linearization

Design of a flexible manipulator controller based on input-o...

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IEEE International Conference on Automation and Logistics

作者： Sun, Ying Wu, Runzhi Cheng, Fangxiao Yu, Lan Changchun Univ Technol Dept Elect & Elect Engn Changchun Jilin Province Peoples R China Changchun Inst Technol Dept Energy & Power Changchun Jilin Province Peoples R China

ISBN: (纸本)9781424415304

Basing on input-output linearization strategy, a model of the flexible manipulator can be decomposed into an input-output subsystem and a zero-dynamics subsystem A fuzzy control is used to input-output subsystem. By analyzing the relationship between the eigenvalues of the zero-dynamics subsystem and the designed parameters in the output of the redefined system, the designed parameters are determined, and guarantee the zero-dynamics to be asymptotically stable at equilibrium point, thus guarantee the whole flexible manipulator system to be asymptotically stable.

关键词： flexible manipulator input-output linearization fuzzy control

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Design of a Flexible Manipulator controller Based on input-output linearization

Design of a Flexible Manipulator controller Based on Input-o...

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2007 IEEE International Conference on Automation and Lofistics

作者： Runzhi Wu Ying Sun Fangxiao Cheng Lan Yu Department of Electric and Electronic Engineering Changchun University of Technology Changchun Jili Department of Energy and Power Changchun Institute of Technology Changchun Jilin Province China

ISBN: (纸本)9781424415304

Basing on input-output linearization strategy,a model of the flexible manipulator can be decomposed into an input-output subsystem and a zero-dynamics subsystem A fuzzy control is used to input-output *** analyzing the relationship between the eigenvalues of the zero-dynamics subsystem and the designed parameters in the output of the redefined system,the designed parameters are determined, and guarantee the zero-dynamics to be asymptotically stable at equilibrium point,thus guarantee the whole flexible manipulator system to be asymptotically stable.

关键词： Flexible manipulator input-output linearization Fuzzy control

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