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Comparison of LQ-optimal actuator / sensor selection approaches for flexible structure systems

AIP Conference Proceedings 2012年第1期1493卷 459-466页

作者： Mark Hemedi Alexander Schirrer Martin Kozek Vienna University of Technology Institute of Mechanics and Mechatronics Division of Control and Process Automation Austria

In active control of flexible structures, the optimal selection of actuating andmeasurement positions on the structure is a prerequisite to enable effective control design. This paper compares two selection onsets based on the LQG control problem formulation. Although the two selection onsets differ considerably in their idea, it is shown at a classical bending beam example that they produce consistent results. The methods’ characteristics are discussed and outlined, providing a guideline for their applicability in practice. The first onset, published in [11], utilizes the LQG formalism and efficient tuning parameter search to design tuned LQG controllers for each candidate actuator / sensor. Thereby, a normalized performance index can be formulated which reflects the efficiency of actuation / measurement. This very general onset has been shown to produce reliable results in numerically challenging industrial problems and is easily extended to sets of linearized systems of nonlinear plants. The strategy presented in [3] reformulates the LQG design problem into a sensor (actuator) cost minimization problem subject to LMI constraints which implement the corresponding Riccati equations and coupling conditions. A numeric example for this method is given in the present paper for the first time which shows strong discrimination of non-optimal actuator / sensor positions. Both methods are compared at a bending beam input selection task, highlighting each method’s major advantages and limitations.

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Battery impedance emulation for hybrid and electric powertrain testing

Battery impedance emulation for hybrid and electric powertra...

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IEEE Conference on Vehicle Power and Propulsion (VPPC)

作者： Oliver König Stefan Jakubek Günter Prochart Institute of Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Austria AVL List GmbH Graz Austria

With battery emulators, development engineers can test electrical drives on testbeds without the need for costly battery prototypes. Furthermore, valuable time for battery pre-conditioning can be saved. However, high quality battery emulation is a challenge that requires a good battery model and accurate emulation of the model with a controllable power supply. A high-fidelity nonlinear battery model based on local model networks is used. This allows the extraction of local linear models for impedance emulation with a switch model DC-DC converter. Local linear battery models and a model of the converter are combined to a prediction model which is used for designing a model predictive controller. In contrast to existing impedance emulation schemes with cascaded feedback loops, the virtual impedance is included in the inner voltage control loop in order to achieve the highest possible bandwidth. Owing to constrained optimal control, this is achieved while respecting control variable constraints and inductor current safety limits. Experimental results show the effectiveness of the proposed battery impedance emulation scheme.

关键词： Load modeling Inverters Variable speed drives Switches Time measurement

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Model predictive control of a battery emulator for testing of hybrid and electric powertrains

Model predictive control of a battery emulator for testing o...

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7th IEEE Vehicle Power and Propulsion Conference, VPPC 2011

作者： König, Oliver Jakubek, Stefan Prochart, Günter Institute of Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Austria AVL List GmbH Graz Austria

ISBN: (纸本)9781612842486

Thorough testing of the powertrain is a key aspect for the development of reliable hybrid and electric vehicles. Instead of a real traction battery, a battery emulator is used to supply the electric motor inverters of hybrid powertrains on a testbed. This approach avoids time-consuming preconditioning of batteries and allows automated testing of hybrid powertrains. An electric motor inverter acts as a constant power load towards the battery emulator. This degrades the dynamic performance and can even destabilize a supply with a conventional controller. The contributions are a model predictive controller design approach that includes a model of the system and the constant power load. A robustness concept is utilized in order to achieve stable operation. An algorithm for real-time execution of constrained model predictive control is proposed as well. Simulation results and experimental results are presented. © 2011 IEEE.

关键词： Traction motors

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Implementation of model predictive control in an industrial continuous annealing furnace

Implementation of model predictive control in an industrial ...

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13th IASTED International Conference on control and Applications, CA 2011

作者： Bitschnau, Lukas Kozek, Martin Jakubek, Stefan Leeber, Florian Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna University of Technology Vienna Austria Divison Metals Andritz AG Eibesbrunnergasse 20 Vienna Austria

ISBN: (纸本)9780889868724

This paper presents a successful implementation of a model predictive controller (MPC) in an continuous annealing furnace, based on a compact process model with few physical parameters. The complete furnace structure, including the conveyed strip, the heater elements, and the thermal effects of the cladding, is therefore described by a discrete state space model of low order. To ensure stability of the discretized process model a physically motivated sufficient stability criterion is presented. For state estimation, an efficient Kalman filter algorithm is introduced. A model based predictive controller, which also respect considers process constraints, is customized to the special application of the continuous annealing furnace. Experimental results demonstrate the effective industrial implementation and the potential of constrained model based predictive control.

关键词： Stability criteria

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Integrated input-output selection strategy for robust control of complex parameter varying systems 10

Integrated input-output selection strategy for robust contro...

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10th International Conference on Motion and Vibration control, MOVIC 2010

作者： Hemedi, Mark Schirrer, Alexander Westermayer, Christian Kozek, Martin Division of Control and Process Automation Institute for Mechanics and Mechatronics Vienna Technical University Wiedner Hauptstrasse 8 A-1040 Vienna Austria

The selection of optimal inputs and outputs from larger candidate sets is an important prerequisite for an effective robust control application. This is especially true for active damping of complex and high-dimensional multi-input multi-output systems (MIMO) with flexible modes. Existing optimal selection strategies are commonly based on a single nominal system model and cannot explicitly consider parameter variations in the system. Consequently, an optimal selection for the nominal plant may perform poorly for a different parameter setting or even render the perturbed closed-loop system unstable. The proposed integrated input-output (I/O) selection strategy overcomes this problem by explicitly considering a set of systems covering the range of parameter variation. It is structured in three consecutive selection steps, where only the subset of accepted candidates is fed into the subsequent selection;thus, it is also computationally efficient. An additional advantage is a quantitative ranking of the final candidates, which enables the control engineer to make an optimal I/O choice. The method is illustrated by a flexible beam example as well as at a blended wing-body passenger aircraft model. Copyright © 2010 by the Japan Society of Mechanical Engineers.

关键词： Flexible structures

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Actuator and Sensor Positioning Optimization in control Design for a Large BWB Passenger Aircraft

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International Scholarly Research Notices 2011年第1期2011卷

作者： A. Schirrer C. Westermayer M. Hemedi M. Kozek Division of Control and Process Automation Institute of Mechanics and Mechatronics Vienna University of Technology Wiedner Hauptstraße 8 / E325/A5 1040 Vienna Austriatuwien.ac.at

This paper states an approach to actuator and sensor positioning optimization and design in the control system design of a large blended wing body (BWB) passenger aircraft. Numerous objectives have to be achieved by the control system: loads alleviation, vibration attenuation, and the fulfillment of handling quality requirements. Exploiting the system structure and existing system knowledge (excitation, comfort, and load formulations), evaluation criteria are designed to assess actuator and sensor effectiveness and efficiency for the aircraft dynamic range of interest. The tasks of optimal actuator and sensor positioning, actuator sizing, and actuator bandwidth requirements are investigated, whereby solutions that are robust are sought with respect to parameter variations. The results are shown on a BWB passenger aircraft model and verified using a normalized closed-loop performance assessment approach.

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LQ-based design of the inner loop lateral control for a large flexible BWB-type aircraft

LQ-based design of the inner loop lateral control for a larg...

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IEEE Conference on control Technology and Applications (CCTA)

作者： A. Schirrer C. Westermayer M. Hemedi M. Kozek Institute of Mechanics and Mechatronics Division of Control and Process Automation University of Technology Vienna Vienna Austria

Two LQ-based MIMO controllers (LQG and LQI architectures) for lateral inner loop flight control for a large BlendedWing Body (BWB) passenger aircraft pre-design model are presented. The main control goals are Dutch roll mode damping, coordinated turn, and roll response shaping. An open loop analysis shows that traditional SISO design faces fundamental limitations, so both controller variants are designed as MIMO controllers. Their performance is tuned and evaluated, and their specific properties are discussed and compared. The controllers are validated on various fuel and payload mass cases and fulfill all demanded goals. Ongoing and future research seeks to reduce structural loads and increase passenger comfort using robust control design methods.

关键词： control design Aircraft Aerospace control Aerodynamics Atmospheric modeling MIMO Damping

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A comprehensive robust control design and optimization methodology for complex flexible-structure systems

A comprehensive robust control design and optimization metho...

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Mediterranean Conference on control and automation (MED)

作者： Alexander Schirrer Christian Westermayer Mark Hemedi Martin Kozek Division of Control and Process Automation Institute of Mechanics and Mechatronics University of Technology Vienna Vienna Austria

Robust control design for complex flexible structures involves many consecutive essential steps. Additionally, many design parameters arise, which turn design optimization into a cumbersome and difficult task. This paper presents a comprehensive robust ℋ ∞ -optimal control design methodology for this class of systems. It relies on a pragmatic approach: The control engineer produces an initial design and reuses it in subsequent design iterations and parameter optimization. The methodology is illustrated by a large transport aircraft model and shows high potential to obtain and tune robust high-performance controllers. Expert knowledge and design decisions are introduced in a natural, clearly structured way, while control engineers are relieved from repetitive design tasks which are safely automated.

关键词： Uncertainty Optimization Robustness Robust control control design Aircraft Atmospheric modeling

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Modeling of Lateral Dynamics for an Endless Steel Belt

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AIP Conference Proceedings 2010年第1期1233卷 1541-1546页

作者： Klemens G. Schulmeister Martin Kozek aInstitute for Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Wiedner Hauptstrasse 8‐10 1040 Vienna Austria

In this paper a grey‐box model for the lateral dynamics of an endless steel process belt is presented. Due to their high elastic modulus steel belts are operated on cylindrical return drums which do not provide for passive lateral positioning. Therefore, active control inputs like swiveling of the return drums have to be employed. The model is of sixth order, has a linear state space structure, and is computationally inexpensive. Inputs are the horizontal swivel angles of the drums, a lateral disturbance force and a disturbance moment, outputs are the lateral positions at the return drums. It is convenient for both off‐line and on‐line simulations and perfectly suited for control design. The model is parameterized by a few simple geometric dimensions, the elastic modulus of the strip material, and an adjustable transport delay. Validation results from a scaled experimental belt machine prove the excellent accuracy of the new model.

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Modeling and control of an industrial continuous furnace

Modeling and control of an industrial continuous furnace

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CSSim 2009 - 1st International Conference on Computational Intelligence, Modelling, and Simulation

作者： Bitschnau, L. Kozek, M. Institute for Mechanics and Mechatronics Vienna University of Technology Division of Control and Process Automation Vienna Austria

ISBN: (纸本)9780769537955

This paper describes a furnace model in state space formulation for a continuous heat treating process specifically suitable for controller design. The model comprises the heat transfer in the conveyed steel strip, the heat transmission from the heating or cooling elements to the steel strip, the inner dynamics of the heating elements and the related furnace portion, heat losses to the ambience, and time-varying parameters of both the strip material and the process (strip velocity, set temperature profile). Model inputs are the heating powers of the individual heaters, and the outputs are either strip or furnace temperatures at specific furnace positions. The model is also suitable for on-line simulation, and due to the flexible and versatile structure of the heater model a wide range of furnace types can be covered with high accuracy. Simulation results for classical PID zone temperature control and a proposed feedforward extension demonstrate the efficiency of the furnace model. © 2009 IEEE.

关键词： controllers

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