Motion Control of a Container With Slosh: Constrained Sliding Mode Approach

2010 ◽  
Vol 132 (3) ◽  
Author(s):  
Hanz Richter
Keyword(s):  
Motion Control ◽  
High Speed ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Cartesian Product ◽  
Linear Matrix ◽  
Open Container ◽  
Nominal Performance ◽  
Control Methodology ◽  
Safe Operating

A constrained sliding mode control methodology developed by the author is applied to the motion control of an open container filled with liquid. The objective is to control the position of the container to meet the performance and robustness requirements, and to specify a safe operating set, i.e., the set of initial conditions from which the system can be operated without exceeding a prescribed liquid level and additional constraints. A conventional sliding mode regulator is designed first to address nominal performance in the sliding mode. Then, a robustly invariant cylinder formed as the Cartesian product of an ellipsoid, and a closed interval is constructed using linear matrix inequalities. A set of constraint qualification conditions are evaluated to ensure that the intersection of the cylinder and the state constraints is robustly positively invariant, constituting the required operating set. Simulations and experimental results corresponding to a high-speed transfer validate the methodology.

High-Performance Motion Control With Slosh: A Constrained Sliding Mode Approach

2008 ◽  
Author(s):  
Hanz Richter ◽  
Kedar B. Karnik
Keyword(s):  
High Speed ◽  
High Performance ◽  
Design Methodology ◽  
Closed Loop ◽  
Sliding Mode ◽  
Initial Conditions ◽  
Rectilinear Motion ◽  
Industrial Setting ◽  
Open Container ◽  
Nominal Performance

The problem of controlling the rectilinear motion of an open container without exceeding a prescribed liquid level and other constraints is considered using a recently-developed constrained sliding mode control design methodology based on invariant cylinders. A conventional sliding mode regulator is designed first to address nominal performance in the sliding mode. Then an robustly-invariant cylinder is constructed and used to describe the set of safe initial conditions from which the closed-loop controller can be operated without constraint violation. Simulations of a typical transfer illustrate the usefulness of the method in an industrial setting. Experimental results corresponding to a high-speed transfer validate the theory.

scholarly journals Rotor Suspension and Stabilization of Bearingless SRM using Sliding Mode Controller

2018 ◽  
Vol 7 (1.8) ◽  
pp. 214
Author(s):  
Polamraju. V.S.Sobhan ◽  
G V. Nagesh Kumar ◽  
P V. Ramana Rao
Keyword(s):  
High Speed ◽  
Sliding Mode ◽  
Dynamic Performance ◽  
Sliding Mode Controller ◽  
Displacement Control ◽  
Switched Reluctance ◽  
Speed Regulation ◽  
High Torque ◽  
High And Low Temperatures ◽  
Control Methodology

Motors working in extreme conditions such as ultra high and low temperatures, high contamination, high purity etc. require high maintenance of mechanical bearings and the regular lubrication. Hence there is a need of a motor without mechanical bearings and lubrication in addition to simple in control and less maintenance. There by, bearingless motors (BLMs) gain more attention. The bearingless switched reluctance motor’s (BLSRM)  is simple in construction and economical in addition to high speed capacity and high torque to inertia ratio. The magnetic nonlinearity arising due to double salient structure makes rotor eccentric displacement control and speed regulation complicate and needs robust control methodology such as sliding mode control (SMC) which has integrity, high certainty and rapid dynamic response when compared to typical controllers. Sliding mode can be realized with distinct classical reaching laws. This paper presents design and implementation of a SMC for a 12/14 BLSRM and the dynamic performance is endorsed by simulation using Matlab software.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

scholarly journals Robust Position Control of an Over-actuated Underwater Vehicle under Model Uncertainties and Ocean Current Effects Using Dynamic Sliding Mode Surface and Optimal Allocation Control

Sensors ◽  
2021 ◽  
Vol 21 (3) ◽  
pp. 747
Author(s):  
Mai The Vu ◽  
Tat-Hien Le ◽  
Ha Le Nhu Ngoc Thanh ◽  
Tuan-Tu Huynh ◽  
Mien Van ◽  
...  
Keyword(s):  
Control System ◽  
Motion Control ◽  
Optimal Allocation ◽  
Position Control ◽  
Sliding Mode ◽  
Underwater Vehicle ◽  
Ocean Current ◽  
Model Uncertainties ◽  
Control Module ◽  
Dynamic Sliding Mode

Underwater vehicles (UVs) are subjected to various environmental disturbances due to ocean currents, propulsion systems, and un-modeled disturbances. In practice, it is very challenging to design a control system to maintain UVs stayed at the desired static position permanently under these conditions. Therefore, in this study, a nonlinear dynamics and robust positioning control of the over-actuated autonomous underwater vehicle (AUV) under the effects of ocean current and model uncertainties are presented. First, a motion equation of the over-actuated AUV under the effects of ocean current disturbances is established, and a trajectory generation of the over-actuated AUV heading angle is constructed based on the line of sight (LOS) algorithm. Second, a dynamic positioning (DP) control system based on motion control and an allocation control is proposed. For this, motion control of the over-actuated AUV based on the dynamic sliding mode control (DSMC) theory is adopted to improve the system robustness under the effects of the ocean current and model uncertainties. In addition, the stability of the system is proved based on Lyapunov criteria. Then, using the generalized forces generated from the motion control module, two different methods for optimal allocation control module: the least square (LS) method and quadratic programming (QP) method are developed to distribute a proper thrust to each thruster of the over-actuated AUV. Simulation studies are conducted to examine the effectiveness and robustness of the proposed DP controller. The results show that the proposed DP controller using the QP algorithm provides higher stability with smaller steady-state error and stronger robustness.

scholarly journals Robust Tracker of Hybrid Microgrids by the Invariant-Ellipsoid Set

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1794
Author(s):  
Hilmy Awad ◽  
Ehab H. E. Bayoumi ◽  
Hisham M. Soliman ◽  
Michele De Santis
Keyword(s):  
Sliding Mode ◽  
Tracking Error ◽  
Nonlinear Dynamical System ◽  
Sufficient Conditions ◽  
Linear Matrix ◽  
Nonlinear Dynamical ◽  
Load Variations ◽  
Invariant Ellipsoid ◽  
Steady State Responses ◽  
Linearized Model

This paper introduces a new ellipsoidal-based tracker design to control a grid-connected hybrid direct current/alternating current (DC/AC) microgrid (MG). The proposed controller is robust against both parameters and load variations. The studied hybrid MG is modelled as a nonlinear dynamical system. A linearized model around an operating point is developed. The parameter changes are modelled as norm-bounded uncertainties. We apply the new extended version of the attractive (or invariant) ellipsoid for this tracking problem. Convex optimization is used to obtain the region’s minimal size where the tracking error between the state trajectories and the reference states converges. The sufficient conditions for stability are derived and solved based on linear matrix inequalities (LMIs). The proposed controller’s validity is shown via simulating the hybrid MG with various operational scenarios. In each scenario, the performance of the controller is compared with a recently proposed sliding mode controller. The comparison clearly illustrates the superiority of the developed controller in terms of transient and steady-state responses.

scholarly journals Research on predictive sliding mode control strategy for horizontal vibration of ultra-high-speed elevator car system based on adaptive fuzzy

2021 ◽  
Vol 54 (3-4) ◽  
pp. 360-373
Author(s):  
Hong Wang ◽  
Mingqin Zhang ◽  
Ruijun Zhang ◽  
Lixin Liu
Keyword(s):  
Sliding Mode Control ◽  
High Speed ◽  
Sliding Mode ◽  
Mode Switching ◽  
Parameter Uncertainties ◽  
Horizontal Vibration ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
System A ◽  
Ultra High Speed

In order to effectively suppress horizontal vibration of the ultra-high-speed elevator car system. Firstly, considering the nonlinearity of guide shoe, parameter uncertainties, and uncertain external disturbances of the elevator car system, a more practical active control model for horizontal vibration of the 4-DOF ultra-high-speed elevator car system is constructed and the rationality of the established model is verified by real elevator experiment. Secondly, a predictive sliding mode controller based on adaptive fuzzy (PSMC-AF) is proposed to reduce the horizontal vibration of the car system, the predictive sliding mode control law is achieved by optimizing the predictive sliding mode performance index. Simultaneously, in order to decrease the influence of uncertainty of the car system, a fuzzy logic system (FLS) is designed to approximate the compound uncertain disturbance term (CUDT) on-line. Furthermore, the continuous smooth hyperbolic tangent function (HTF) is introduced into the sliding mode switching term to compensate the fuzzy approximation error. The adaptive laws are designed to estimate the error gain and slope parameter, so as to increase the robustness of the system. Finally, numerical simulations are conducted on some representative guide rail excitations and the results are compared to the existing solution and passive system. The analysis has confirmed the effectiveness and robustness of the proposed control method.

scholarly journals Variable step control to improve scanning speed of gene sequencing stage

2021 ◽  
pp. 002029402110022
Author(s):  
Xiaohua Zhou ◽  
Jianbin Zheng ◽  
Xiaoming Wang ◽  
Wenda Niu ◽  
Tongjian Guo
Keyword(s):  
Motion Control ◽  
High Precision ◽  
High Speed ◽  
Stable State ◽  
Gene Sequencing ◽  
Scanning Speed ◽  
Settling Time ◽  
Step Motion ◽  
Variable Step ◽  
Step Control

High-speed scanning is a huge challenge to the motion control of step-scanning gene sequencing stage. The stage should achieve high-precision position stability with minimal settling time for each step. The existing step-scanning scheme usually bases on fixed-step motion control, which has limited means to reduce the time cost of approaching the desired position and keeping high-precision position stability. In this work, we focus on shortening the settling time of stepping motion and propose a novel variable step control method to increase the scanning speed of gene sequencing stage. Specifically, the variable step control stabilizes the stage at any position in a steady-state interval rather than the desired position on each step, so that reduces the settling time. The resulting step-length error is compensated in the next acceleration and deceleration process of stepping to avoid the accumulation of errors. We explicitly described the working process of the step-scanning gene sequencer and designed the PID control structure used in the variable step control for the gene sequencing stage. The simulation was performed to check the performance and stability of the variable step control. Under the conditions of the variable step control where the IMA6000 gene sequencer prototype was evaluated extensively. The experimental results show that the real gene sequencer can step 1.54 mm in 50 ms period, and maintain a high-precision stable state less than 30 nm standard deviation in the following 10 ms period. The proposed method performs well on the gene sequencing stage.

Circuit-Level Safe-Operating-Area of a High-Speed SiGe BiCMOS Wireline Driver

2020 ◽  
Author(s):  
Arya Moradinia ◽  
Rafael P. Martinez ◽  
Jeffrey W. Teng ◽  
Nelson Sepulveda-Ramos ◽  
Harrison Lee ◽  
...  
Keyword(s):  
High Speed ◽  
Sige Bicmos ◽  
Safe Operating

High-Speed Imaging to Study an Auto-Oscillating Vocal Fold Replica for Different Initial Conditions

2017 ◽  
Vol 09 (05) ◽  
pp. 1750064 ◽  
Author(s):  
A. Van Hirtum ◽  
X. Pelorson
Keyword(s):  
Vocal Fold ◽  
High Speed ◽  
Initial Conditions ◽  
Vocal Folds ◽  
High Speed Imaging ◽  
Human Voice ◽  
Manual Intervention ◽  
Geometrical Features ◽  
Upstream Pressure

Experiments on mechanical deformable vocal folds replicas are important in physical studies of human voice production to understand the underlying fluid–structure interaction. At current date, most experiments are performed for constant initial conditions with respect to structural as well as geometrical features. Varying those conditions requires manual intervention, which might affect reproducibility and hence the quality of experimental results. In this work, a setup is described which allows setting elastic and geometrical initial conditions in an automated way for a deformable vocal fold replica. High-speed imaging is integrated in the setup in order to decorrelate elastic and geometrical features. This way, reproducible, accurate and systematic measurements can be performed for prescribed initial conditions of glottal area, mean upstream pressure and vocal fold elasticity. Moreover, quantification of geometrical features during auto-oscillation is shown to contribute to the experimental characterization and understanding.

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