Analysis and Design of Robust Motion Controllers in the Unified Framework

2002 ◽  
Vol 124 (2) ◽  
pp. 313-321 ◽  
Author(s):  
Bong Keun Kim ◽  
Hyun-Taek Choi ◽  
Wan Kyun Chung ◽  
Il Hong Suh
Keyword(s):  
High Speed ◽  
Design Method ◽  
Internal Model Control ◽  
Disturbance Attenuation ◽  
Unified Framework ◽  
Control Structures ◽  
Positioning Systems ◽  
Analysis And Design ◽  
Model Based ◽  
Model Control

Model based disturbance compensating methods such as disturbance observer, robust control with adaptive algorithm, enhanced internal model control are well known control structures for robust motion controller which can satisfy desired performance and robustness of high-speed/high-accuracy positioning systems. In this paper, these are analyzed in the unified framework and their design method is proposed. To do this, a generalized disturbance attenuation framework named RIC (robust internal-loop compensator) structure is introduced. Through parameterization based on RIC, it is shown that there are inherent equivalences in their structures and the proposed RIC gives a general design framework for the model based disturbance compensating methods. Through simulation, the proposed method is verified.

scholarly journals Stabilization of the Magnetic Levitation System

2021 ◽  
Vol 11 (21) ◽  
pp. 10369
Author(s):  
Štefan Chamraz ◽  
Mikuláš Huba ◽  
Katarína Žáková
Keyword(s):  
Closed Loop ◽  
Magnetic Levitation ◽  
Internal Model Control ◽  
Pass Filter ◽  
Low Pass Filter ◽  
First Order ◽  
Model Based ◽  
Model Control ◽  
Levitation System ◽  
Magnetic Levitation System

This paper contributes toward research on the control of the magnetic levitation plant, representing a typical nonlinear unstable system that can be controlled by various methods. This paper shows two various approaches to the solution of the controller design based on different closed loop requirements. Starting from a known unstable linear plant model—the first method is based on the two-step procedure. In the first step, the transfer function of the controlled system is modified to get a stable non-oscillatory system. In the next step, the required first-order dynamic is defined and a model-based PI controller is proposed. The closed loop time constant of this first-order model-based approach can then be used as a tuning parameter. The second set of methods is based on a simplified ultra-local linear approximation of the plant dynamics by the double-integrator plus dead-time (DIPDT) model. Similar to the first method, one possible solution is to stabilize the system by a PD controller combined with a low-pass filter. To eliminate the offset, the stabilized system is supplemented by a simple static feedforward, or by a controller proposed by means of an internal model control (IMC). Another possible approach is to apply for the DIPDT model directly a stabilizing PID controller. The considered solutions are compared to the magnetic levitation system, controlled via the MATLAB/Simulink environment. It is shown that, all three controllers, with integral action, yield much slower dynamics than the stabilizing PD control, which gives one motivation to look for alternative ways of steady-state error compensation, guaranteeing faster setpoint step responses.

Model-Based Gain Scheduling Strategy for an Internal Model Control-Based Boost Pressure Controller in Variable Geometric Turbocharger System of Diesel Engines

2016 ◽  
Vol 138 (3) ◽  
Author(s):  
Seungwoo Hong ◽  
Inseok Park ◽  
Myoungho Sunwoo
Keyword(s):  
Diesel Engines ◽  
Internal Model ◽  
Gain Scheduling ◽  
Internal Model Control ◽  
Operating Conditions ◽  
Boost Pressure ◽  
Scheduling Strategy ◽  
Model Based ◽  
Model Control ◽  
Pressure Controller

This paper proposes a model-based gain scheduling strategy of a Skogestad internal model control (SIMC)-based boost pressure controller for passenger car diesel engines. This gain scheduling strategy is proposed with a new scheduling variable to handle the nonlinear variable geometric turbocharger (VGT) plant characteristics. The scheduling variable is derived from the pressure ratio between the exhaust and intake manifolds and the exhaust air-to-fuel ratio to estimate the static gain of the VGT plant, which varies widely with change in the engine operating conditions. The proposed static gain model was designed with the scheduling variable, engine speed, and fuel injection quantity. Compared to the steady-state experimental data, the static gain model showed an R-squared value of 0.91. The boost pressure controller had the proportional-integral (PI) structure to allow for online calibration, and the PI gains were determined using the SIMC method. The proposed static gain model for the VGT plant was integrated into the SIMC control structure to obtain the appropriate control gains under wide engine operating area. The proposed control algorithm was compared with a fixed gain boost pressure controller through various step tests of the desired boost pressure. The fixed gain controller showed a large overshoot of 64% when the exhaust gas recirculation (EGR) operating condition was changed. In contrast, the proposed gain scheduled boost pressure controller reduced the overshoot to 12%. The model-based gain scheduling strategy successfully adjusted the control gains to achieve consistent control performance under various engine operating conditions.

The Inverted Decoupling Based Fractional Order Two-Input-Two-Output IMC Controller

2017 ◽  
Author(s):  
Dazi Li ◽  
Xingyu He
Keyword(s):  
Frequency Domain ◽  
Fractional Order ◽  
Disturbance Rejection ◽  
Internal Model ◽  
Design Method ◽  
Internal Model Control ◽  
Order System ◽  
Single Input Single Output ◽  
Integer Order ◽  
Model Control

Many processes in the industry can be modeled as fractional order, research on the fractional order become more and more popular. Usually, controllers such as fractional order PID (FOPID) or fractional active disturbance rejection control (FADRC) are used to control single-input-single-output (SISO) fractional order system. However, when it comes to fractional order two-input-two-output (TITO) processes, few research focus on this. In this paper, a new design method for fractional order control based on multivariable non-internal model control with inverted decoupling is proposed to handle non-integer order two-input-two-output system. The controller proposed in this paper just has two parameters to tune compared with the five parameters of the FOPID controller, and the controller structure can be achieved by internal model control (IMC) method which means it is easy to implement. The parameters tuning method used in this paper is based on frequency domain strategy. Compared with integer order situation, fractional order method is more complex, because the calculation of the frequency domain characteristics is difficult. The controller proposed in this paper is robust to process gain variations, what’s more, it provides ideal performance for both set point-tracking and disturbance rejection. Numerical results are given to show the performance of the proposed controller.

Improved Internal Model Control-Proportional-Integral- Derivative Fractional-Order Multiloop Controller Design for Non Integer Order Multivariable Systems

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Tassadit Chekari ◽  
Rachid Mansouri ◽  
Maamar Bettayeb
Keyword(s):  
Fractional Order ◽  
Degrees Of Freedom ◽  
Controller Design ◽  
Mimo Systems ◽  
Design Method ◽  
Internal Model Control ◽  
Tuning Parameter ◽  
Multivariable Systems ◽  
Integer Order ◽  
Model Control

This paper is aimed to propose a multiloop control scheme for fractional order multi-input multi-output (FO-MIMO) systems. It is an extension of the FO-multiloop controller design method developed for integer order multivariable systems to FO-MIMO ones. The interactions among the control loops are considered as disturbances and a two degrees-of-freedom (2DOF) paradigm is used to deal with the process outputs performance and the interactions reduction effect, separately. The proposed controller design method is simple, in relation with the desired closed-loop specifications and a tuning parameter. It presents an interest in controlling complex MIMO systems since fractional order models (FO-models) represent some real processes better than integer order ones and high order systems can be approximated by FO-models. Two examples are considered and compared with other existing methods to evaluate the proposed controller.

Dynamic Analysis and Design Method Study on the Combined-Boom System of Portal Crane

2012 ◽  
Vol 152-154 ◽  
pp. 1645-1649 ◽  
Author(s):  
Yuan Tao Sun ◽  
Duan Li
Keyword(s):  
High Speed ◽  
Large Scale ◽  
Design Method ◽  
Time History ◽  
Analysis Method ◽  
Drive Power ◽  
Analysis And Design ◽  
Whole Process ◽  
Handling Device ◽  
Portal Crane

As a main handling device the portal crane is widely used in port, railroad, etc.The crane handling procedure is mainly carried out through its combined-boom system luffing or swing .In general, in order to reduce drive power and improve the operational performance, the luffing trajectory should meet the design requirement. At the same time, structure stress should be secured in the whole process of handling the cargo. Recently, to deal with more heaver and further cargo, the portal crane is becoming more large-scale. So that the large-scale components such as jib elastic deformation effect on large displacement motion cannot be ignored longer. In addition to the structure high speed motion in the process of handling also make the structure dynamic behaviors spending more obvious specially in the condition of luffing combined with swing. However, the problem for this dynamic behavior brings about to physical design sometimes has no method to solve according to the conventional analysis algorithm and dynamics method. To reduce the deviation caused by the common analysis, design and analysis method based on the multibody is put forward in this thesis. According to the method, the result on the luffing trajectory and stress-time history are analyzed easily. So that it ensure the efficiency and increase the accuracy of the initial design according to the conventional design and analysis method.

scholarly journals Modelling and control of fouling in submerged membrane bioreactor using neural network internal model control

2020 ◽  
Vol 9 (1) ◽  
pp. 100
Author(s):  
Nurazizah Mahmod ◽  
Norhaliza Abdul Wahab ◽  
Muhammad Sani Gaya
Keyword(s):  
Neural Network ◽  
Internal Model ◽  
Membrane Filtration ◽  
Membrane Bioreactor ◽  
Internal Model Control ◽  
Superior Performance ◽  
Water And Wastewater Treatment ◽  
Control Structures ◽  
Model Control ◽  
Artificial Neural Network Ann

Membrane bioreactor (MBR) is one of the best solutions for water and wastewater treatment systems in producing high quality effluent that meets its standard regulations. However, fouling is one of the main issues in membrane filtration for membrane bioreactor system. The prediction of fouling is crucial in the membrane bioreactor control system design. This paper presents an intelligence modeling system so called artificial neural network (ANN). The feedforward neural network (FFNN), radial basis function neural network (RBFNN) and nonlinear autoregressive exogenous neural network (NARXNN) are applied to model the submerged MBR filtration system. The simulation results show good predictions for all methods which the highest performance of the model given by RBFNN. Based on the developed models, the neural network internal model control (NNIMC) is implemented to control fouling development in membrane filtration process. Three different control structures of the NNIMC are proposed. The FFNN IMC, RBFNN IMC and NARXNN IMC controllers are compared to the conventional IMC. The RBFNN IMC has a superior performance both in tracking and disturbance rejections.

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