Cartesian Versus Joint Space Command Shaping for a Ship Boom Crane

2000 ◽  
Author(s):  
Michael J. Agostini ◽  
Gordon G. Parker ◽  
Kenneth Groom ◽  
Rush D. Robinett ◽  
Frank Leban
Keyword(s):  
Control Method ◽  
Joint Space ◽  
Line Length ◽  
Operating Conditions ◽  
Spherical Pendulum ◽  
Command Shaping ◽  
Payload Mass ◽  
Lift Line ◽  
Boom Crane ◽  
Space Approach

Abstract This paper presents a command shaping control method for suppressing operator induced payload swing in rotary, ship-based, boom cranes. The crane configuration studied consists of a payload mass that swings on the end of a spherical pendulum of varying lift-line length (hoisting). The lift-line is attached to a boom capable of elevation (luffing). The boom can rotate about an axis perpendicular to the ship’s deck (slewing). Positioning of the payload is accomplished through luff, slew, and hoist commands issued in real-time by an operator. A Cartesian space command shaping method is developed and compared to a previously documented joint space approach. Although both methods are appropriate for low rate crane maneuvers, the Cartesian method provides better performance under the tested operating conditions. Simulation results are presented to compare their performance.

scholarly journals Task-space regulation of rigid-link electrically-driven robots with uncertain kinematics using neural networks

2021 ◽  
Vol 54 (1-2) ◽  
pp. 102-115
Author(s):  
Wenhui Si ◽  
Lingyan Zhao ◽  
Jianping Wei ◽  
Zhiguang Guan
Keyword(s):  
Neural Networks ◽  
Asymptotic Stability ◽  
Control Method ◽  
Joint Space ◽  
Robot Kinematics ◽  
Rbf Neural Networks ◽  
Task Space ◽  
Actuator Dynamics ◽  
Rigid Link ◽  
On Line

Extensive research efforts have been made to address the motion control of rigid-link electrically-driven (RLED) robots in literature. However, most existing results were designed in joint space and need to be converted to task space as more and more control tasks are defined in their operational space. In this work, the direct task-space regulation of RLED robots with uncertain kinematics is studied by using neural networks (NN) technique. Radial basis function (RBF) neural networks are used to estimate complicated and calibration heavy robot kinematics and dynamics. The NN weights are updated on-line through two adaptation laws without the necessity of off-line training. Compared with most existing NN-based robot control results, the novelty of the proposed method lies in that asymptotic stability of the overall system can be achieved instead of just uniformly ultimately bounded (UUB) stability. Moreover, the proposed control method can tolerate not only the actuator dynamics uncertainty but also the uncertainty in robot kinematics by adopting an adaptive Jacobian matrix. The asymptotic stability of the overall system is proven rigorously through Lyapunov analysis. Numerical studies have been carried out to verify efficiency of the proposed method.

scholarly journals Assessment of vehicle brake control functional stability

2021 ◽  
Vol 12 (2) ◽  
pp. 33-44
Author(s):  
Volodymyr Volkov ◽  
◽  
Igor Gritsuk ◽  
Tetiana Volkova ◽  
Volodymyr Kuzhel ◽  
...  
Keyword(s):  
Energy Consumption ◽  
Control Method ◽  
Operating Conditions ◽  
National Standards ◽  
Passenger Vehicles ◽  
The Difference ◽  
Braking Control ◽  
The Stability ◽  
Friction Surfaces

The article is devoted to the study of the influence of the brake control elements of passenger vehicles on the stability of their braking properties. The analysis of the influence of uneven braking forces on the wheels of one axle of vehicles on the deviation of the distribution of braking forces between the axles from its calculated value is carried out. When assessing the error in regulating the distribution of braking forces between the axles of vehicles, three components were taken into account: the theoretical error due to the imperfection of the selected control method (the difference between the actual calculated control characteristic from the ideal), the error created due to the instability of the ratio of the braking forces on the front and rear wheels, an additional error caused by the unevenness of the braking forces on the wheels of individual axles, since the fulfillment of the most stringent requirements of international and national standards for the efficiency of braking of vehicles and is inextricably linked with the need to increase the energy consumption of brake mechanisms. The energy consumption of braking mechanisms is understood as the ability of the latter to dissipate the greatest amount of energy of the braking machine without reducing the braking efficiency indicators to the minimum permissible level. Excessive heating of the braking mechanisms leads to a decrease in the friction coefficient μ of the friction surfaces and increased wear of the friction linings, and the brakes are the most unstable element of the braking control, which ensures the absorption and dissipation of the vehicle's energy during braking. The instability of the braking torques on the front and rear wheels, caused by a change in the coefficients of friction of friction pairs, leads not only to a change in the distribution of braking forces between the axles and individual wheels, but also to a decrease in the braking efficiency of vehicles under operating conditions. A method is proposed that makes it possible to assess the quality of regulation of the distribution of braking forces between the axles of a car, taking into account the instability of the braking forces on the wheels.

Application of Blow-off Wind Tunnel Control Based on Genetic Algorithm Optimized BP-Neural Network PID Neural Network

2013 ◽  
Vol 310 ◽  
pp. 557-559 ◽  
Author(s):  
Li Ji ◽  
Xiao Fei Lian
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Wind Tunnel ◽  
Bp Neural Network ◽  
Control Method ◽  
Network Control ◽  
Operating Conditions ◽  
Algorithm Optimization ◽  
Large Delay ◽  
Neural Network Pid

For a blow-off tunnel running, there is the large delay and lag issues. We build a mathematical model of the wind tunnel Mach number control by the test modeling method, then analyse the pros and cons of various control methods based on BP neural network control algorithm. Put forward genetic algorithm optimization neural network adaptive control method to solve the large inertia of the wind tunnel system, and large delay. A large number of simulation studies, run a variety of operating conditions for the wind tunnel simulation proved that the improved adaptive neural network PID control method is reasonable and effective.

scholarly journals Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects

2019 ◽  
Vol 53 (1-2) ◽  
pp. 141-150 ◽  
Author(s):  
Menghua Zhang ◽  
Yongfeng Zhang ◽  
Bing Ji ◽  
Changhui Ma ◽  
Xingong Cheng
Keyword(s):  
Closed Loop ◽  
Double Pendulum ◽  
Control Methods ◽  
Spherical Pendulum ◽  
Closed Loop System ◽  
Tower Crane ◽  
Lyapunov Techniques ◽  
Payload Mass ◽  
System States ◽  
Invariance Theorem

As typical underactuated systems, tower crane systems present complicated nonlinear dynamics. For simplicity, the payload swing is traditionally modeled as a single-pendulum in existing works. Actually, when the hook mass is close to the payload mass, or the size of the payload is large, a tower crane may exhibit double-pendulum effects. In addition, existing control methods assume that the hook and the payload only swing in a plane. To tackle the aforementioned practical problems, we establish the dynamical model of the tower cranes with double-pendulum and spherical-pendulum effects. Then, on this basis, an energy-based controller is designed and analyzed using the established dynamic model. To further obtain rapid hook and payload swing suppression and elimination, the swing part is introduced to the energy-based controller. Lyapunov techniques and LaSalle’s invariance theorem are provided to demonstrate the asymptotic stability of the closed-loop system and the convergence of the system states. Simulation results are illustrated to verify the correctness and effectiveness of the designed controller.

scholarly journals A Robust Maximum Power Point Tracking Control Method for a PEM Fuel Cell Power System

2018 ◽  
Vol 8 (12) ◽  
pp. 2449 ◽  
Author(s):  
Mohamed Derbeli ◽  
Oscar Barambones ◽  
Lassaad Sbita
Keyword(s):  
Proton Exchange Membrane ◽  
Control Method ◽  
Rapid Change ◽  
Proton Exchange ◽  
Operating Conditions ◽  
Maximum Power ◽  
Backstepping Technique ◽  
Maximum Power Point ◽  
Power Point ◽  
Efficient Power

Taking into account the limited capability of proton exchange membrane fuel cells (PEMFCs) to produce energy, it is mandatory to provide solutions, in which an efficient power produced by PEMFCs can be attained. The maximum power point tracker (MPPT) plays a considerable role in the performance improvement of the PEMFCs. Conventional MPPT algorithms showed good performances due to their simplicity and easy implementation. However, oscillations around the maximum power point and inefficiency in the case of rapid change in operating conditions are their main drawbacks. To this end, a new MPPT scheme based on a current reference estimator is presented. The main goal of this work is to keep the PEMFCs functioning at an efficient power point. This goal is achieved using the backstepping technique, which drives the DC–DC boost converter inserted between the PEMFC and the load. The stability of the proposed algorithm is demonstrated by means of Lyapunov analysis. To verify the ability of the proposed method, an extensive simulation test is executed in a Matlab–Simulink T M environment. Compared with the well-known proportional–integral (PI) controller, results indicate that the proposed backstepping technique offers rapid and adequate converging to the operating power point.

Model-based model predictive control for a direct-driven permanent magnet synchronous generator with internal and external disturbances

2019 ◽  
Vol 42 (3) ◽  
pp. 586-597 ◽  
Author(s):  
Li Shengquan ◽  
Li Juan ◽  
Tang Yongwei ◽  
Shi Yanqiu ◽  
Cao Wei
Keyword(s):  
Permanent Magnet ◽  
Control Method ◽  
Synchronous Generator ◽  
Critical Issue ◽  
Operating Conditions ◽  
Maximum Power ◽  
External Disturbances ◽  
Permanent Magnet Synchronous Generator ◽  
Model Based ◽  
Wide Range

This paper deals with the critical issue in a direct-driven permanent magnet synchronous generator (PMSG)-based wind energy conversion system (WECS): the rejection of internal and external disturbances, including the uncertainties of external environment, rapid wind speed changes in the original parameters of the generator caused by mutative operating conditions. To track the maximum power, a maximum power point tracking strategy based on model predictive controller (MPC) is proposed with extended state observer (ESO) to attenuate the disturbances and uncertainties. In real application, system inertia and the system parameters vary in a wide range with variations of wind speeds and disturbances, which substantially degrade the maximum power tracking performance of wind turbine. The MPC design should incorporate the available model information into the ESO to improve the control efficiency. Based on this principle, a model-based MPC with ESO control structure is proposed in this paper. Simulation study is conducted to evaluate the performance of the proposed control strategy. It is shown that the effect of internal and external disturbances is compensated in a more effective way compared with the ESO-based MPC approach and traditional proportional integral differential (PID) control method.

Hybrid Anti-Windup Fuzzy PI Controller Based Direct Torque Control of Three Phase Induction Motor

2014 ◽  
Vol 573 ◽  
pp. 155-160
Author(s):  
A. Pandian ◽  
R. Dhanasekaran
Keyword(s):  
Fuzzy Logic ◽  
Induction Motor ◽  
Fuzzy Logic Controller ◽  
Control Method ◽  
Fuzzy Controller ◽  
Direct Torque Control ◽  
Operating Conditions ◽  
Torque Control ◽  
Constant Speed ◽  
Three Phase

This paper presents improved Fuzzy Logic Controller (FLC) of the Direct Torque Control (DTC) of Three-Phase Induction Motor (IM) for high performance and torque control industrial drive applications. The performance of the IM using PI Controllers and general fuzzy controllers are meager level under load disturbances and transient conditions. The FLC is extended to have a less computational burden which makes it suitable for real time implementation particularly at constant speed and torque disturbance operating conditions. Hybrid control has advantage of integrating a superiority of two or more control techniques for better control performances. A fuzzy controller offers better speed responses for startup and large speed errors. If the nature of the load torque is varied, the steady state speed error of DTC based IM drive with fuzzy logic controller becomes significant. To improve the performance of the system, a new control method, Hybrid fuzzy PI control is proposed. The effectiveness of proposed method is verified by simulation based on MATLAB. The proposed Hybrid fuzzy controller has adaptive control over load toque variation and can maintain constant speed.

scholarly journals Designing Stipulated Gains of Aircraft Stability and Control Augmentation Systems for Semiglobal Trajectories Tracking

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Mohamed Mostafa Y. B. Elshabasy ◽  
Yongki Yoon ◽  
Ashraf Omran
Keyword(s):  
Control Method ◽  
Simple Procedure ◽  
Operating Conditions ◽  
Stability And Control ◽  
Wide Range ◽  
Flight Envelope ◽  
The Stability ◽  
Classical Control ◽  
And Control ◽  
Aircraft Stability And Control

The main objective of the current investigation is to provide a simple procedure to select the controller gains for an aircraft with a largely wide complex flight envelope with different source of nonlinearities. The stability and control gains are optimally devised using genetic algorithm. Thus, the gains are tuned based on the information of a single designed mission. This mission is assigned to cover a wide range of the aircraft’s flight envelope. For more validation, the resultant controller gains were tested for many off-designed missions and different operating conditions such as mass and aerodynamic variations. The results show the capability of the proposed procedure to design a semiglobal robust stability and control augmentation system for a highly maneuverable aircraft such as F-16. Unlike the gain scheduling and other control design methodologies, the proposed technique provides a semi-global single set of gains for both aircraft stability and control augmentation systems. This reduces the implementation efforts. The proposed methodology is superior to the classical control method which rigorously requires the linearization of the nonlinear aircraft model of the investigated highly maneuverable aircraft and eliminating the sources of nonlinearities mentioned above.

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