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IEEE Annual Conference on Decision and control

作者： W. P. M. H. Heemels V. Sessa F. Vasca M. K. Camlibel Control Systems Technology group Department of Mechanical Engineering Eindhoven Univeristy of Technology the Netherlands Department of Engineering University of Sannio Benevento Italy Johan Bernoulli Institute for Mathematics and Computing Science University of Groningen the Netherlands

ISBN: (纸本)9781467360890

In this paper we study a class of set-valued dynamical systems that satisfy maximal monotonicity properties. This class includes linear relay systems, linear complementarity systems, and linear mechanical systems with dry friction under certain conditions. We discuss two numerical time-stepping schemes for the computation of periodic solutions of these systems when being periodically excited. For these two schemes we will provide formal mathematical justifications and compare them in terms of approximation accuracy and computation time using a numerical example.

关键词： Steady-state Piecewise linear approximation Accuracy Context Numerical models Interpolation

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IDA-PBC control for the coupled plasma poloidal magnetic flux and heat radial diffusion equations in tokamaks

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IFAC Proceedings Volumes 2014年第3期47卷 11398-11403页

作者： N.M. Trang VU R. NOUAILLETAS L. LEFÈVRE S. BRÉMOND F. FELICI Univ. Grenoble Alpes LCIS F-26902 France Laboratoire CEA/DSM/IRFM/STEP CEA Cadarache France TU Eindhoven Mechanical Engineering Control Systems Technology Group P.O. Box 513 5600 Eindhoven The Netherlands

The IDA-PBC control of plasma dynamics in a tokamak is investigated. It is based on a model made of the two coupled PDEs of resistive diffusion for the magnetic poloidal flux and of radial thermal diffusion. The used Thermal-Magneto-Hydro-Dynamics (TMHD) couplings are the Lorentz forces (with non-uniform resistivity) and the bootstrap current. The control model is obtained with the coupling of the two finite dimensional approximations obtained from the two diffusion models, using two geometric reduction schemes. A feedforward control is used to ensure the compatibility with the actuator physical ability. Then, an IDA-PBC (Interconnection and Damping Assignment - Passivity Based control) controller is proposed for the coupled model to improve the system stabilization and convergence speed. The obtained numerical results are validated against the simulation data obtained from the RAPTOR (RApid Plasma Transport simulatOR) code for the TCV (Tokamak of Configuration Variable at CRPP, EPFL, Lausanne, Switzerland) tokamak real-time control system.

关键词： distributed parameters systems plasma control Tokamak Port-controlled Hamiltonian systems IDA-PBC control

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Design of Power Steering systems for Heavy-Duty Long-Haul Vehicles

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IFAC Proceedings Volumes 2014年第3期47卷 3930-3935页

作者： Emilia Silvas Eric Backx Theo Hofman Henk Voets Maarten Steinbuch Eindhoven University of Technology Control Systems Technology Group Mechanical Engineering Dept. P.O. Box 513 5600 MB Eindhoven The Netherlands DAF Trucks N.V. P.O. Box 900655600 PT Eindhoven The Netherlands

Conventionally, all auxiliaries present in a heavy-duty vehicle (e.g., power-steering pump, air-conditioning compressor) are engine-driven systems, which put high constraints on their performance. Outputs (e.g., speed, temperature) and energy consumption are dictated by engine speed, while most auxiliary demands are not proportional to the engine speed. Dealing with worst-case scenarios leads to highly oversized components that further, dramatically reduce the overall efficiency. How to choose, in a simultaneous design step , a topology, component sizes and a control algorithm for auxiliaries is still unknown. This becomes, especially, important when an integrated general optimal design is desired for the vehicle rather than an optimal system or sub-system design. To overcome the drawbacks of a sequential design approach, this paper shows the precise combination of technology, topology, size and control for the power steering system used in a heavy-duty vehicle. Modeling of six possible topologies and optimal sizing of components, as the gear ratio between combustion engine and power steering pump, are shown. Next, a sensitivity analysis is done for control parameters and a view is presented on a suitable topology for a power steering system used in a heavy-duty long-haul vehicle.

关键词： Optimal Design Power Steering Pump Electrical (Assisted) Steering

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Bandwidth increase for plate-like structures by adding mechanical dampers 13

Bandwidth increase for plate-like structures by adding mecha...

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13th International Conference of the European Society for Precision engineering and Nanotechnology, EUSPEN 2013

作者： Verbaan, C.A.M. Rosielle, P.C.J.N. Steinbuch, M. Control Systems Technology Group Department of Mechanical Engineering Eindhoven University of Technology Netherlands

ISBN: (纸本)9780956679024

Precision designs often lack damping, which makes it difficult to achieve high performance and sufficient robustness. This paper presents a method to increase the open-loop cross-over frequency of a control system of positioning stages with a large width-height-ratio by adding mechanical dampers to the system. Results are a smaller tracking error (a factor 2 faster response) and better low-frequent disturbance suppression.

关键词： Precision engineering

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Closed-loop control of the Safety Factor Profile in the TCV Tokamak

Closed-loop Control of the Safety Factor Profile in the TCV ...

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IEEE Annual Conference on Decision and control

作者： Justin E. Barton Eugenio Schuster Federico Felici Olivier Sauter Department of Mechanical Engineering and Mechanics Lehigh University Bethlehem PA 18015 USA Control Systems Technology Group Eindhoven University of Technology 5600 MB Eindhoven The Netherlands Ecole Polytechnique Federale de Lausanne (EPFL) Centre de Recherches en Physique des Plasmas (CRPP) Association EURATOM-Suisse 1015 Lausanne Switzerland

ISBN: (纸本)9781467360890

A key property that has a close relationship to both the performance and stability of the plasma in nuclear fusion tokamak devices is the safety factor profile (q-profile). As a result, extensive research has been conducted to develop algorithms to actively control the q-profile evolution with the goal of optimizing the tokamak approach to fusion energy production. The actuators that can be used to control the q-profile are the total plasma current, the auxiliary heating/current-drive system and the line-average electron density. In this work, we first investigate the effect that pure plasma auxiliary heating has on the q-profile in low performance (L-mode) operating scenarios in the TCV tokamak. This study indicates that pure auxiliary heating has a small effect on the q-profile in the examined scenarios. Therefore, feedback controllers that utilize the total plasma current and exclusively the auxiliary current-drive capabilities are designed for q-profile control in TCV. The controllers are designed to put emphasis on achieving the target q-profile in different spatial regions and to respond differently to errors in the q-profile. The control performance of each controller is tested with the simplified physics-based plasma profile simulation code RAPTOR. The comparison of the closed-loop performance of these controllers is done in preparation for future q-profile control experiments in the TCV tokamak.

关键词： TCV TOKAMAK Tokamak devices control ring controllers Factor of safety plasma currents control performance closed-loop performance

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Test rig design for bending fatigue performance evaluation of polymer based composite gears 1

Test rig design for bending fatigue performance evaluation o...

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1st International and 16th National Conference on Machines and Mechanisms, iNaCoMM 2013

作者： Kodeeswaran, M. Suresh, R. Senthilvelan, S. Control Actuators Systems Group Vikram Sarabhai Space Centre Thiruvananthapuram India Structural Analysis and Testing Group Vikram Sarabhai Space Centre Thiruvananthapuram India Department of Mechanical Engineering Indian Institute of Technology Guwahati Guwahati India

Test rig for evaluating the bi directional bending fatigue performance of polymer composite gears simulating the actual gear meshing is designed. In the test rig linear motion of servo hydraulic fatigue testing machine is converted into the rotary motion and is used for loading the plastic test gear through steel driver gear. Provision to conduct the tests at different gear roll angle, loading torque and frequency is incorporated in the test rig. The test rig is configured with additional features of monitoring in line torque and angular motion of test gear. Kinematic and kinetic analyses authenticate the utility of the test rig designed.

关键词： Fatigue testing

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Feedforward for flexible systems with time-varying performance locations

Feedforward for flexible systems with time-varying performan...

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American control Conference

作者： Michael Ronde John van den Bulk Rene van de Molengraft Maarten Steinbuch Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology group

ISBN: (纸本)9781479901777

Increasing demands for higher throughput in high-performance motion systems, e.g. waferstages or pick-and-place machines, lead to more aggressive motion profiles (higher accelerations), a stiffer design and/or larger wafer sizes (higher mass). Therefore, larger actuation forces are required, which puts stricter demands on actuators, amplifiers and cooling. However, this design paradigm has reached the boundary of its scalability. Therefore, the next generation of high-performance motion systems are designed to be lightweight. For this class of systems the location where the tool operates, e.g. the area to be exposed or component to be placed, is constantly varying. Due to the lightweight design and the changing position of the performance output location, the system dynamics to be considered for feedforward are changing as well, i.e. the flexible modes are observed differently. This paper presents a model-based feedforward method for flexible systems with time-varying performance locations. This method is experimentally validated on a two-mass setup with flexible shaft.

关键词： Feedforward LTV Flexible systems Motion control Time-varying performance variables FEEDFORWARD system clock flexible shaft light-weight design FLEXIBLE time varying System dynamics pick-and-place machine actuators

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Is there a need for fully converged CFD solutions? Global extremum seeking applied to aerodynamic shape optimisation

Is there a need for fully converged CFD solutions? Global ex...

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Australian control Conference (AUCC)

作者： Kuan Waey Lee William H. Moase Chris Manzie Nicholas Hutchins Andrew Ooi Jerome Vethecan Paul Riseborough Department of Mechanical Engineering The University of Melbourne VIC Australia Control Systems Engineering Group BAE Systems Australia Victoria Australia

Optimisation of aerodynamic shapes using computational fluid dynamics approaches has been successfully applied over a number of years, however the typical optimisation approaches employed utilise gradient algorithms that guarantee only local optimality of the solution. While numerous global optimisation techniques exist, they are usually too time consuming in practice. In this paper we show that interpreting the convergence of computational fluid dynamics solvers as plant dynamics allows recent results in global extremum seeking to be deployed. This alleviates the computational burden of requiring full convergence of the computation fluid dynamics solver. The approach is demonstrated on a simple example involving drag minimisation on a NACA aerofoil.

关键词： Computational fluid dynamics Aerodynamics Optimization Convergence Equations Shape Heuristic algorithms

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Frequency-domain mapping approach of stability bounds for loop shaping of bilateral controllers

Frequency-domain mapping approach of stability bounds for lo...

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World Haptics Conference

作者： G. Evers G. J. L. Naus M. J. G. van de Molengraft M. Steinbuch Department of Mechanical Engineering Control Systems Technology Group Eindhoven University of Technology Eindhoven Netherlands

Bilateral control architectures include multiple control elements. In general, the relation between a single control element and the stability of the entire system is non-linear. Therefore, stability is standard evaluated a posteriori, rendering the control design process to be complex and highly iterative. A priori understanding of stability constraints would simplify the design of control elements and, as performance is fundamentally limited by stability, could provide specific guidelines whether and how performance of the bilateral teleoperation system can be optimized. This paper presents a numerical visualization method that enables stability-based control design using classical loopshaping techniques: Frequency-domain Mapping of Bilateral Stability (FMBS). Unlike current stability-based control design approaches, the FMBS method i) is not limited to a fixed control element, a fixed control architecture or system dynamics and ii) enables the implementation of all often used stability criteria. The advantages of the FMBS method are theoretically validated through the use of two test cases, extracted from literature. Using the FMBS method, it is shown that control elements can be redesigned to achieve superior performance.

关键词： Stability criteria Power system stability Numerical stability Frequency control Three-dimensional displays control design

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Iterative Feedforward control: A Closed-loop Identification Problem and a Solution

Iterative Feedforward Control: A Closed-loop Identification ...

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IEEE Annual Conference on Decision and control

作者： Frank Boeren Tom Oomen Eindhoven University of Technology Department of Mechanical Engineering Control Systems Technology Group Eindhoven The Netherlands

ISBN: (纸本)9781467357159

Feedforward control can significantly improve the performance of a system through compensation of disturbances. By exploiting measured data from previous tasks and a suitable feedforward parametrization, iterative feedforward control simultaneously attains high performance and good extrapolability of tasks. This paper aims to show that earlier contributions in this area suffer from a closed-loop identification problem. A novel solution is presented based on closed-loop identification techniques, which shows that existing feedforward control algorithms can be significantly enhanced. A simulation example confirms the existence of a closed-loop identification problem in earlier approaches and shows that the proposed solution is superior compared to pre-existing results.

关键词： FEEDFORWARD control Iterative HIGH-PERFORMANCE Authentication optical coherence tomography angiography device system parameter compensated

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