Nonlinear Model-Based Adaptive Control of a Solenoid-Valve System

2010 ◽  
Author(s):  
DongBin Lee ◽  
C. Nataraj ◽  
Peiman Naseradinmousavi
Keyword(s):  
Dynamic Models ◽  
Controller Design ◽  
Current Source ◽  
Solenoid Valve ◽  
Projection Algorithm ◽  
Control Input ◽  
Valve System ◽  
Multiple Parameters ◽  
Model Based ◽  
Control Objective

In this paper, a model-based control algorithm is developed for a solenoid-valve system. Solenoids and butterfly valves have uncertainties in multiple parameters in the model, which make the system difficult to adjust to the environment. These are further complicated by combining the solenoid and butterfly dynamic models. The control objective of a solenoid-valve system is to position the angle of the butterfly valve through the electric-driven actuator in spite of the complexity presented by uncertainties. The novelty of the controller design is that the current source of the solenoid valve from the model of the electromagnetic force is substituted for the control input in order to reach the set-point of the butterfly disk based on the error signals, overcoming the uncertainties represented by lumped parameters groups, and a stable controller is designed via the Lyapunov-based approach for the stability of the system and obtaining the control objective. The parameter groups are updated by adaptation laws using a projection algorithm. Numerical simulation is shown to demonstrate good performance of the proposed approach.

Model-Based Adaptive Control for a Solenoid-Valve System

2010 ◽  
Author(s):  
C. ‘Nat’ Nataraj ◽  
DongBin Lee
Keyword(s):  
Adaptive Control ◽  
Dynamic Models ◽  
Solenoid Valve ◽  
Projection Algorithm ◽  
Electric Signal ◽  
Control Input ◽  
Butterfly Valve ◽  
Set Point ◽  
Valve System ◽  
Model Based

In this paper, a model-based control algorithm is developed for a solenoid-valve system. The electric-driven machinery system and its sophisticated control give high levels of automation on huge systems such as ships and submarines. It is known that the characteristics between the force versus displacement and fluid dynamics are strongly nonlinear. The system has uncertainties in multiple parameters in the model, which make the system difficult to adjust to the environment and consequently require adaptation for sustainability and capability. The novelty of this research is that the uncertain nonlinear dynamics of the solenoid-valve system is simplified by formulating in dimensionless form. The non-dimensional control approach of the unknown bounded parameters which is approximately twenty parameter groups used in general adaptive control of the solenoid-butterfly valve system dramatically reduced to just four lumped parameter groups. The control objective is to the set-point of the solenoid-valve and accordingly control the angle position of the butterfly valve in spite of the complications presented by the uncertainties in the dynamic model. The estimated parameters are updated by the adaptation laws using the projection algorithm. After combining the translational and rotational dynamic models, the control input is designed by substituting the electric signal such as current from the model of electromagnetic force. Error signals of the trajectory tracking are developed for the solenoid-valve system. A closed-loop stable controller is designed based on the above error dynamics of the nonlinear solenoid-valve system utilizing Lyapunov-type stability which yields a stable result while obtaining the set-point objective.

scholarly journals Nonlinear Dynamic Model-Based Adaptive Control of a Solenoid-Valve System

2012 ◽  
Vol 2012 ◽  
pp. 1-13 ◽  
Author(s):  
DongBin Lee ◽  
Peiman Naseradinmousavi ◽  
C. Nataraj
Keyword(s):  
Adaptive Control ◽  
Dynamic Model ◽  
Nonlinear Model ◽  
Nonlinear Dynamic ◽  
Solenoid Valve ◽  
Projection Algorithm ◽  
Control Input ◽  
Control Approach ◽  
Valve System ◽  
Model Based

In this paper, a nonlinear model-based adaptive control approach is proposed for a solenoid-valve system. The challenge is that solenoids and butterfly valves have uncertainties in multiple parameters in the nonlinear model; various kinds of physical appearance such as size and stroke, dynamic parameters including inertia, damping, and torque coefficients, and operational parameters especially, pipe diameters and flow velocities. These uncertainties are making the system not only difficult to adjust to the environment, but also further complicated to develop the appropriate control approach for meeting the system objectives. The main contribution of this research is the application of adaptive control theory and Lyapunov-type stability approach to design a controller for a dynamic model of the solenoid-valve system in the presence of those uncertainties. The control objectives such as set-point regulation, parameter compensation, and stability are supposed to be simultaneously accomplished. The error signals are first formulated based on the nonlinear dynamic models and then the control input is developed using the Lyapunov stability-type analysis to obtain the error bounded while overcoming the uncertainties. The parameter groups are updated by adaptation laws using a projection algorithm. Numerical simulation results are shown to demonstrate good performance of the proposed nonlinear model-based adaptive approach and to compare the performance of the same solenoid-valve system with a non-adaptive method as well.

Mathematical Models for Model-Based Control in Offshore Pipelay Operations

2009 ◽  
Author(s):  
Gullik A. Jensen ◽  
Thor I. Fossen
Keyword(s):  
Mathematical Models ◽  
Dynamic Models ◽  
Controller Design ◽  
Computational Time ◽  
Beam Model ◽  
Time Dynamic ◽  
Model Based ◽  
On Line ◽  
Stability And Accuracy ◽  
Control Application

This paper considers mathematical models for model-based controller design in offshore pipelay operations. Three classes of models for control design are discussed, real-world models suitable for controller design verification, controller and observer models which are used on-line in the control system implementation. The control application place requirements on the model with respect to the computational time, dynamic behavior, stability and accuracy. Models such as the beam model, two catenary models, as well as general finite element (FE) models obtained from computer programs were not able to meet all of the requirements, and two recent dynamic models designed for control are presented, which bridge the gap between the simple analytical and more complex FE models. For completeness, modeling of the pipelay vessel, stinger and roller interaction, soil and seabed interaction and environmental loads are discussed.

Vibration Reduction of a Vision-Based Controlled Flexible Arm: Theoretical and Experimental Aspects

2005 ◽  
Author(s):  
Shuxin Wang ◽  
Bingquan Wen ◽  
Hongbo Yu ◽  
Jintian Yun
Keyword(s):  
Dynamic Models ◽  
Controller Design ◽  
Model Simulation ◽  
Sampling Rate ◽  
Experimental Results ◽  
Control Input ◽  
Actual System ◽  
Flexible Arm ◽  
Two Factors ◽  
Measured Position

For vision-based controlled flexible arm, the accuracy of the finite dimensional dynamic models and stability become very important for controller design. This paper addresses the issue of selecting the shape function and mode in developing finite dynamic models, and designs suitable controller for a flexible arm with vision-based control. Input of the controller is the measured position error of the beam tip, which can be directly obtained by camera. In spite of the observed differences between actual system and simulated system, experimental results are good enough to validate the arm model. Simulation and experimental results show that the PID controller is acceptable. It is also stressed that two factors, the camera sampling rate and a dead band in the velocity command, will influence the properties of the control system for vision-based controlled flexible arm.

scholarly journals Feedforward Plus Feedback Control of an Electro-Hydraulic Valve System Using a Proportional Control Valve

Actuators ◽  
2020 ◽  
Vol 9 (2) ◽  
pp. 45
Author(s):  
Young-Rae Ko ◽  
Tae-Hyoung Kim
Keyword(s):  
Output Feedback ◽  
Control Valve ◽  
Feedback Controller ◽  
Parallel Structure ◽  
Feedback Signal ◽  
Control Input ◽  
Proportional Control ◽  
Valve System ◽  
Model Based ◽  
Hydraulic Valve

The output feedback signal of the electro-hydraulic valve system (EHVS) affects the activation of its right or left envelope function; thus, even weak measurement noise can cause high-frequency switching between the two envelope functions, leading to chattering in the control input. Consequently, feedforward and feedback controllers in a cascaded configuration generate undesirable chattering in the output signal. We propose a practical and reliable control approach for an EHVS actuated by a proportional control valve. The proposed controller has a parallel structure comprising an inverse generalized Prandtl–Ishlinskii (P–I) model-based feedforward controller, with both hydraulic dead-zone and flow saturation limits, for compensating asymmetric hysteretic behavior. Further, the proposed controller comprises a robust proportional-integral-derivative (PID) feedback controller for achieving robustness against disturbances and noises. The proposed parallel structure is independent of the output feedback of the EHVS. Moreover, the proposed robust PID feedback controller guarantees EHVS stability by precisely selecting the cutoff frequency for the sensitivity and complementary sensitivity functions based on the amplitude spectrum of the inverse-model-based feedforward compensation error. The results verify the high reliability of the proposed EHVS control scheme for the precise control of an EHVS actuated by a proportional control valve in practice.

scholarly journals Improved Model Predictive-Based Underwater Trajectory Tracking Control for the Biomimetic Spherical Robot under Constraints

2020 ◽  
Vol 10 (22) ◽  
pp. 8106
Author(s):  
Xihuan Hou ◽  
Shuxiang Guo ◽  
Liwei Shi ◽  
Huiming Xing ◽  
He Yin ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Controller Design ◽  
State Space Model ◽  
Reference Trajectory ◽  
Control Input ◽  
Backstepping Method ◽  
Spherical Robot ◽  
Trajectory Tracking Control ◽  
Improved Model

To improve the autonomy of the biomimetic sphere robot (BSR), an underwater trajectory tracking problem was studied. Considering the thrusters saturation of the BSR, an improved model predictive control (MPC) algorithm that features processing multiple constraints was designed. With the proposed algorithm, the kinematic and dynamic models of the BSR are combined in order to establish the predictive model, and a new state-space model is designed that is based on an increment of the control input. Furthermore, to avoid the infeasibility of the cost function in the MPC controller design, a new term with a slack variable is added to the objective function, which enables the constraints to be imposed as soft constraints. The simulation results illustrate that the BSR was able to track the desired trajectory accurately and stably while using the improved MPC algorithm. Furthermore, a comparison with the traditional MPC shows that the designed MPC-based increment of the control input is small. In addition, a comparative simulation using the backstepping method verifies the effectiveness of the proposed method. Unlike previous studies that only focused on the simulation validations, in this study a series of experiments were carried out that further demonstrate the effectiveness of the improved MPC for underwater trajectory tracking of the BSR. The experimental results illustrate that the improved MPC is able to drive the BSR to quickly track the reference trajectory. When compared with a traditional MPC and the backstepping method used in the experiment, the proposed MPC-based trajectory is closer to the reference trajectory.

TRANSIENT MODEL AND ENERGY ASSESSMENT OF A DIGITAL SOLENOID VALVE SYSTEM FOR A MAGNETIC REFRIGERATOR

2016 ◽  
Author(s):  
Pedro Cardoso ◽  
Mário Cesar Destro ◽  
Manoel Guidi Alvares ◽  
Jaime Lozano ◽  
Victor Juliano De Negri ◽  
...  
Keyword(s):  
Solenoid Valve ◽  
Transient Model ◽  
Valve System ◽  
Magnetic Refrigerator ◽  
Energy Assessment

scholarly journals Towards Automatic Model Based Controller Design for Reconfigurable Plants

2008 ◽  
Vol 41 (2) ◽  
pp. 342-346 ◽  
Author(s):  
Axel G. Michelsen ◽  
Roozbeh Izadi-Zamanabadi ◽  
Jakob Stoustrup
Keyword(s):  
Controller Design ◽  
Model Based

Multi-objective adaptive cruise controller design using nonlinear predictive controller with the objective function with variable weights determined by fuzzy logic controller

2021 ◽  
pp. 095440702110147
Author(s):  
Behzad Samani ◽  
Amir H. Shamekhi
Keyword(s):  
Objective Function ◽  
Fuzzy Logic Controller ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Hierarchical Control ◽  
Control Input ◽  
Cruise Control ◽  
Model Predictive Controller ◽  
Control Step ◽  
Predictive Controller

In this paper, an adaptive cruise control system with a hierarchical control structure is designed. The upper-level controller is a model predictive controller (MPC) that by minimizing an objective function in the presence of the constraints, calculates the desired acceleration as control input and sends it to the lower-level controller. So the lower-level controller, which is a fuzzy controller, determines the amount of throttle valve opening or brake pressure to get the car to this desired acceleration. The model predictive controller performs optimization at each control step to minimize the objective function and achieve the reference values. Usually, the objective function has predetermined and constant weights to meet objectives such as maintain the driver’s desired speed and increase safety and in some cases increase comfort and reduce fuel consumption. In this paper, it is suggested that instead of using constant weights in the objective function, these weights should be determined by a fuzzy controller, depending on the different conditions in which the car is placed. The simulation results show that the variability of the weights of the objective function achieves control objectives much better than the optimization of the objective function with constant weights.

Control-oriented modeling for the electrodynamic levitation with permanent magnet Halbach array

2021 ◽  
pp. 1-19
Author(s):  
Yongpan Hu ◽  
Zhiqiang Long ◽  
Yunsong Xu ◽  
Zhiqiang Wang
Keyword(s):  
Permanent Magnet ◽  
Controller Design ◽  
Levitation Force ◽  
Model Based ◽  
Halbach Array ◽  
Validation Experiment ◽  
Electromagnetic Models ◽  
Two Stages ◽  
Poor Stability ◽  
Maximum Minimum

Poor stability of the permanent magnet electrodynamic levitation hinders its application in the maglev field. Therefore, building a control-oriented model to improve its stability is most challenging. However, intractable electromagnetic models leading to an implicit relationship between levitation force and gap, yields a barrier for model-based controller design. To solve the above-mentioned problem, this paper develops a control-oriented model by two stages. Specifically, the first stage is to show an explicit formula of the levitation force with regard to the levitation gap by neglecting end effect; meanwhile the “maximum–minimum rectification” method is put forward to evaluating an accurate levitation force. The second stage is to bring forth the control-oriented model on basis of the estimated levitation force. Although the paper focus mainly on the development of the control-oriented model, an example of PD controller is provided to verify its validation. Experiment results demonstrate the estimated levitation force is highly consistent with the real one. Simulation results show that the control-oriented model is sufficiently reliable. The research bridges the gap between the physical model and the model-based controller for the electrodynamic levitation with permanent magnet Halbach array.

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