A Novel Two DOF Control for Train-Like Guidance of Multiple Articulated Vehicles

2009 ◽  
Author(s):  
Sebastian Wagner ◽  
Stephan Zipser ◽  
Ralf Bartholomaeus ◽  
Bernard Baeker
Keyword(s):  
Control System ◽  
Nonlinear Feedback ◽  
Vehicle Guidance ◽  
Model Uncertainties ◽  
Feed Forward ◽  
Model Based Control ◽  
Model Based ◽  
Control Scheme ◽  
Articulated Vehicles ◽  
All Wheel Steering

This paper presents a novel two DOF control for train-like guidance of general multiple articulated vehicles with all wheel steering. The model based control scheme consists of a feed-forward and a feedback part designed separately. Within the nonlinear feedforward part the steering angles are calculated that theoretically cause every single axle to follow a desired path exactly. Thus in the nonlinear feedback part only model uncertainties and disturbances have to be compensated. Simulations as well as road tests show that the designed control system allows train-like vehicle guidance while it is robust against varying road conditions, payload as well as velocity.

ATF Test Evaluation of Model Based Control for a Single Spool Turbojet Engine

2009 ◽  
Author(s):  
Takeshi Tagashira ◽  
Takuya Mizuno ◽  
Masaharu Koh ◽  
Nanahisa Sugiyama
Keyword(s):  
Control System ◽  
Engine Performance ◽  
Good Control ◽  
Test Facility ◽  
Sensor Failure ◽  
Component Level ◽  
Feedback Controls ◽  
Model Based Control ◽  
Model Based ◽  
Turbojet Engine

This paper introduces a model based control system for a single spool turbojet engine. It consists of a feedback control (FBC) and a component level model (CLM) enhanced by the Constant Gain Extended Kalman Filter (CGEKF). The control system is implemented on a rugged PC, and verified to run in much faster than real time, which is essential requirement for a model based control. Then, the model based control system developed is applied to an actual engine and evaluation test is conducted by using an Altitude Test Facility (ATF). Several types of model based feedback controls are evaluated under various flight conditions, giving intentional engine performance change by varying nozzle area, and intentional sensor failure. It is concluded that the model based control using CGEKF is stable and shows good control performances over the whole flight envelope.

Vibration Control for Parallel Manipulator Based on the Feed Forward Control Strategy

2013 ◽  
Author(s):  
Ming Li ◽  
Huapeng Wu ◽  
Heikki Handroos ◽  
Marco Ceccarelli ◽  
Giuseppe Carbone
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Strategy ◽  
Parallel Manipulator ◽  
External Disturbance ◽  
Machining Process ◽  
End Effector ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based

Due to the high stiffness, high dynamic performance, the parallel manipulator presents great advantages in the industrial manufacture. However in the machining process, the external low frequency disturbance, e.g. the varying cutting force, has a significant effect on the control system of parallel manipulator, which presents a chatter phenomenon on the end-effector of manipulator. In this paper, a feed forward control strategy is proposed to eliminate the effect of the random external disturbance on the control system of parallel manipulator. By applying the external disturbance force on the inverse dynamic model, the compensation torque is calculated and fed forward into the manipulator driving joints to cancel out the effect of the disturbance acting on the manipulator end-effector. The key issue herein is to be able to establish the accurate dynamic model for the parallel manipulator. Furthermore, in order to guarantee the position precision of the manipulator, a feed forward model-based control strategy combined with the feedback loop PV (position and velocity) control has been developed based on the reference trajectory, which could relatively simplify the highly nonlinear control system of the parallel manipulator and obtain a stable tracking error model. The whole research has been carried out on a parallel manipulator named CaPaMan which has been built in the laboratory of robotics and mechatronics in university of Cassino and South Latium. The results show that the chatter phenomenon could be utterly depressed by the force compensation from the feed forward path of the external disturbance; meanwhile the model-based controller can guarantee the trajectory tracking accuracy within a stable error by choosing the suitable PV gains.

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