On-line Tuning Strategy for PI Control Algorithms Based on Simple Linear Models

2002 ◽  
Vol 35 (4) ◽  
pp. 324-333 ◽  
Author(s):  
Emad Ali
Keyword(s):  
Linear Models ◽  
Control Algorithms ◽  
Pi Control ◽  
On Line ◽  
Tuning Strategy

Adaptive-passive structural vibration attenuation using distributed absorbers

2002 ◽  
Vol 216 (3) ◽  
pp. 223-235 ◽  
Author(s):  
N Jalili ◽  
E Esmailzadeh
Keyword(s):  
Vibration Suppression ◽  
Sufficient Conditions ◽  
Structural Vibration ◽  
Dynamic Vibration Absorber ◽  
Vibration Attenuation ◽  
Adaptive Capability ◽  
On Line ◽  
Lumped Masses ◽  
Necessary And Sufficient ◽  
Tuning Strategy

A distributed dynamic vibration absorber with adaptive capability is presented to improve vibration suppression characteristics of harmonically excited structures. A double-ended cantilever beam carrying intermediate lumped masses forms the absorber subsection. The adaptive capability is achieved through concurrent adjustment of the positions of the moving masses, along the beam, to comply with the desired optimal performance. The necessary and sufficient conditions for the existence of periodic oscillatory behaviour, along with some physical bounds placed on the absorber parameters, form a constrained optimization problem for the optimum tuning strategy. Through numerical simulations it is shown that adaptive tuning is achieved by the variation of tuning mass locations such that the first-mode natural frequency is modulated on-line. The optimally tuned absorber provides considerable vibration suppression improvement over the passive and detuned absorbers.

Comparison of Damped Velocity and Acceleration Control for Non-Redundant Manipulators

2000 ◽  
Author(s):  
Yu-Che Chen ◽  
Kevin A. O’Neil
Keyword(s):  
Path Tracking ◽  
Least Square ◽  
Dynamics Simulation ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Velocity Control ◽  
Redundant Manipulator ◽  
Singular Configurations ◽  
On Line ◽  
Simulation Results

Abstract Damped Least Square (DLS) method has been widely used as an on-line algorithm for manipulator path tracking near and at singular configurations. Wampler (1986) formulated the framework of DLS method applied to velocity control and addressed the applicability of DLS method to acceleration control. The purpose of this paper is to demonstrate the differences in the joint paths generated by damped velocity and damped acceleration control algorithms in non-redundant manipulators. We examine these joint paths, find the cause of the differences, and demonstrate the features of damped acceleration control in non-redundant manipulator dynamics. Simulation results on a planar 2R and a spatial 6R manipulator moving through and near singular configurations verify the phenomena analyzed.

Robust Observer-Based Load Extenuation Control for Wind Turbines

2019 ◽  
Author(s):  
M. Hung Do ◽  
Dirk Söffker
Keyword(s):  
Wind Turbines ◽  
Large Scale ◽  
Linear Models ◽  
Simulation Software ◽  
Control Algorithms ◽  
Linear Quadratic ◽  
Robust Observer ◽  
Wind Turbine Control ◽  
Speed Regulation ◽  
The Stability

Abstract Wind energy is currently the fastest growing electricity source. To meet the output demand, wind turbines are becoming larger and more flexible leading to the problems of structural load especially in case of offshore turbines. Advanced control algorithms are developed to reduce the load, allowing to build larger turbines, and expand their lifetime. Observer-based control algorithms such as Linear-Quadratic-Gaussian LQG control which uses LQR to calculate the optimal observer and controller gains are commonly applied to wind turbines in literature. However the approach requires to calculate the observer and control gains separately. In addition, linear models used for parameter calculation may have errors with respect to the nonlinearities of wind turbines and induced to unmodeled dynamical properties. These modeling errors need to be considered to to guarantee the stability of the controlled system. Alternatively a robust design assuming bounds and limits of models have to be realized to guarantee stability while ignoring details of modeling. This paper proposes an optimal robust observer-based state feedback controller for large-scale wind turbines to realize multi objectives, including structural load mitigation and rotor speed regulation. The novel contribution is that the observer gain parameters, control gains, and integral action are optimized at the same time within H∞ mixed sensitivity framework to achieve desired performance with respect to power regulation, structural load mitigation, and also robustness for the wind turbine control system. The control performances have been verified by a high fidelity simulation software and are compared to those of a classical baseline controller.

scholarly journals Verification hybrid control of a wheeled mobile robot and manipulator

2016 ◽  
Vol 6 (1) ◽  
Author(s):  
Magdalena Muszynska ◽  
Andrzej Burghardt ◽  
Krzysztof Kurc ◽  
Dariusz Szybicki
Keyword(s):  
Mobile Robot ◽  
Tracking Control ◽  
Fuzzy Systems ◽  
Hybrid Control ◽  
Work Conditions ◽  
Control Algorithms ◽  
Control Task ◽  
Wheeled Mobile Robots ◽  
Controlled Systems ◽  
On Line

Abstract In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system’s nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

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