Mathematical Modeling of Perfect Decoupled Control System and its Application

2011 ◽  
pp. 47-55
Author(s):  
C Riverol ◽  
V Pilipovik
Keyword(s):  
Mathematical Modeling ◽  
Control System ◽  
Decoupled Control

scholarly journals A Study on Vision-Based Backstepping Control for a Target Tracking System

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 105
Author(s):  
Thinh Huynh ◽  
Minh-Thien Tran ◽  
Dong-Hun Lee ◽  
Soumayya Chakir ◽  
Young-Bok Kim
Keyword(s):  
Control System ◽  
Visual Servoing ◽  
Tracking System ◽  
Experimental Studies ◽  
Imaging Geometry ◽  
Control Scheme ◽  
Decoupled Control ◽  
Control Configuration ◽  
A New Technique ◽  
Pointing Control

This paper proposes a new method to control the pose of a camera mounted on a two-axis gimbal system for visual servoing applications. In these applications, the camera should be stable while its line-of-sight points at a target located within the camera’s field of view. One of the most challenging aspects of these systems is the coupling in the gimbal kinematics as well as the imaging geometry. Such factors must be considered in the control system design process to achieve better control performances. The novelty of this study is that the couplings in both mechanism’s kinematics and imaging geometry are decoupled simultaneously by a new technique, so popular control methods can be easily implemented, and good tracking performances are obtained. The proposed control configuration includes a calculation of the gimbal’s desired motion taking into account the coupling influence, and a control law derived by the backstepping procedure. Simulation and experimental studies were conducted, and their results validate the efficiency of the proposed control system. Moreover, comparison studies are conducted between the proposed control scheme, the image-based pointing control, and the decoupled control. This proves the superiority of the proposed approach that requires fewer measurements and results in smoother transient responses.

PROTOTYPE OF TRANSFEMORAL PROSTHESIS WITH AN ACTIVE ARTIFICIAL KNEE

2020 ◽  
Vol 4 (1) ◽  
pp. 172-180
Author(s):  
A.M. POLIAKOV ◽  
P.K. SOPIN ◽  
V.B. LAZAREV ◽  
A.I. RYZHKOV ◽  
M.A. KOLESOVA ◽  
...  
Keyword(s):  
Mathematical Modeling ◽  
Control System ◽  
Knee Joint ◽  
Hierarchical Control ◽  
Control Level ◽  
Quality Criteria ◽  
Optimal Conditions ◽  
Invariant Moments ◽  
Biological Similarity ◽  
Transfemoral Prosthesis

This article presents a transfemoral prosthesis prototype with active control of an artificial knee joint. One of the main criteria used in the design of the prosthesis was to achieve the maximum biological similarity of this device in order to provide optimal conditions conducive to user natural walking. The artificial knee joint, designed on the basis of a polycentric higed mechanism with intersecting links, provides such conditions at the design level, and a three-level hierarchical control system, built on the basis of an intelligent-synergetic concept, at the control level. To recognize user's intentions, the intelligent subsystem uses algorithms for comparing graphic images of user's walking phases by the method of estimating the invariant moments of Hu. After that, prosthesis elements movements are planned in the synergistic subsystem in accordance with the synergistic quality criteria. The algorithms used in the control system are adjusted depending on what type of artificial foot is used in the prosthesis: active, semi-active or passive (purely mechanical). Mathematical modeling of the prosthesis operation shows that the nature of its functioning corresponds to the quality criteria adopted in the design.

Decoupled Control System for Cascaded H-Bridge Multilevel Converter Based STATCOM

2016 ◽  
Vol 63 (1) ◽  
pp. 322-331 ◽  
Author(s):  
Ghias Farivar ◽  
Branislav Hredzak ◽  
Vassilios G. Agelidis
Keyword(s):  
Control System ◽  
Multilevel Converter ◽  
Decoupled Control

A Review on Active Bearings and Perspectives of Using Them in Rotating Machinery

2014 ◽  
Vol 630 ◽  
pp. 181-187
Author(s):  
Denis Shutin ◽  
Leonid Savin ◽  
Alexander Babin
Keyword(s):  
Mathematical Modeling ◽  
Artificial Intelligence ◽  
Control System ◽  
Motion Control ◽  
Dynamic Characteristics ◽  
Rotating Machinery ◽  
Fluid Film ◽  
Motion Control System ◽  
Fluid Film Bearings ◽  
System Components

The paper examines the issues of improving the rotor units by means of using support units with actively changeable characteristics. An overview of the known solutions related to the use of active bearings in various types of turbomachinery is provided. A closer look is given at the design and features of active radial bearings, the main elements of which are fluid film bearings. The results of mathematical modeling of active hybrid bearings are presented. The prospects of the use of this type of supports to improve the dynamic characteristics of rotating machinery, including reducing vibrations caused by various factors, are analyzed. Promising directions of development of active bearings are considered, which primarily involves the modification of system components and rotor motion control system algorithms, including intelligent technologies and artificial intelligence methods.

Modeling and Simulation of Electro-Hydraulic Proportional Position Control System with the Flexible Hose

2012 ◽  
Vol 468-471 ◽  
pp. 2094-2099 ◽  
Author(s):  
Yong Tian ◽  
Bo Liu ◽  
Hong Wei Gao ◽  
Wei Qi Li
Keyword(s):  
Mathematical Modeling ◽  
Control System ◽  
Dynamic Simulation ◽  
Hydraulic System ◽  
Position Control ◽  
Flexible Hose ◽  
Proportional Control ◽  
Power Bond Graph ◽  
Position Control System ◽  
Hose Model

A method which utilizes the power bond graph to establish the flexible hose model is described in this work. By using this method, the paper establishes mathematical modeling for the location of electro-hydraulic proportional control system with the flexible hose. And then, this article completes dynamic simulation by MATLAB and analyses the results of simulation. The effect of the flexible hose parameters on dynamics characteristics of the hydraulic system is also studied.

scholarly journals Analogical Model Development Methodology For Mathematical Modeling Of Energy Efficiency Control System

2020 ◽  
Vol 02 (10) ◽  
pp. 55-61
Author(s):  
Mirzoyev Narzullo Nuridddinovich ◽  
Keyword(s):  
Mathematical Modeling ◽  
Energy Efficiency ◽  
Control System ◽  
Model Development ◽  
Management Systems ◽  
Analogue Model ◽  
Analogical Model ◽  
Development Methodology ◽  
Efficiency Control

This article presents the methods and principles of developing an analogue model for mathematical modeling of energy efficiency management systems.

scholarly journals Adaptive Control of a Nonlinear Convertiplane under Conditions of Uncertainty

2020 ◽  
Vol 24 (3) ◽  
pp. 35-50
Author(s):  
S. F. Yatsun ◽  
O. V. Emelyanova ◽  
Andres Santiago Martinez Leon ◽  
Luis Miguel Mosquera Morocho
Keyword(s):  
Mathematical Modeling ◽  
Adaptive Control ◽  
Control System ◽  
Reference Model ◽  
Visual Contact ◽  
Hardware System ◽  
The Difference ◽  
Chemical Conditions ◽  
And Control ◽  
Physical And Chemical

Purpose of research. The article deals with the problem of monitoring water areas in order to control their physical and chemical conditions using a flying laboratory (FL) which includes an aircraft with attachable water intake equipment and a software and hardware system. A specific feature of the monitoring of surface waters is the unpredictable behavior of air and water, periodic absence of visual contact with the aircraft, the uncertainty of tricopter characteristics. Therefore, the purpose of this article is to study the parameters of the control system (CS) to meet the requirements for the accuracy of aircraft positioning in conditions of uncertainty of external parameters. Methods. Theoretical mechanics and robot mechanics methods were used to solve the set tasks. Methods for mathematical modeling of dynamic systems were used to study the patterns of convertiplane movement. Adaptive control with a reference model were used to plan and control the movement of the aircraft. Results. The use of adaptive FL motion control made it possible to ensure convergence to zero of the tracking errors i.e., the difference between the output signals and the reference model. The proposed control system gives a good result with small disturbing effects. The parameters of the regulator that ensure the quality indicators of the ACS within the specified limits are determined. Conclusion. A mathematical model was developed and mathematical modeling of the convertiplane movement under conditions of uncertainty of external influences was performed. The problem of parameter control of a convertiplane was considered when the control coefficients were available for setting. The developed algorithms in the adaptive control system made it possible to provide faster suppression of external disturbances in comparison with the traditional PID control system for the case of a linear description of the controlled object.

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