Design and Performance Check of Gain-Scheduled Flight Controller Depending on Uncertain Scheduling Parameters for MuPAL-α

2020 ◽  
Vol 68 (1) ◽  
pp. 12-23
Author(s):  
Masayuki Sato
Keyword(s):  
Performance Check ◽  
And Performance ◽  
Gain Scheduled ◽  
Uncertain Scheduling

Gain-Scheduled ℋ∞-Control for Active Vibration Isolation of a Gyroscopic Rotor

2015 ◽  
Author(s):  
Fabian B. Becker ◽  
Martin A. Sehr ◽  
Stephan Rinderknecht
Keyword(s):  
Degrees Of Freedom ◽  
Vibration Isolation ◽  
Linear Time ◽  
Displacement Sensors ◽  
Active Vibration ◽  
And Performance ◽  
Gyroscopic Effects ◽  
Gain Scheduled ◽  
Active Vibration Isolation

This paper deals with active vibration isolation of unbalance-induced oscillations in rotors using gain-scheduled H∞-controller via active bearings. Rotating machines are often exposed to gyroscopic effects, which occur due to bending deformations of rotors and the consequent tilting of rotor disks. The underlying gyroscopic moments are proportional to the rotational speed and couple the rotor’s radial degrees of freedom. Accordingly, linear time-varying models are well suited to describe the system dynamics in dependence on changing rotational speeds. In this paper, we design gain-scheduled H∞-controllers guaranteeing both robust stability and performance within a predefined range of operating speeds. The paper is based on a rotor test rig with two unbalance-induced resonances in its operating range. The rotor has two discs and is supported by one active and one passive bearing. The active support consists of two piezoelectric stack actuators and two collocated piezoelectric load washers. In addition, the rig is equipped with four inductive displacement sensors located at the discs. Closed-loop performance is assessed via isolation of unbalance-induced vibrations using both simulation and experimental data. This contribution is the next step on our path to achieving the long-term objective of combined vibration attenuation and isolation.

scholarly journals Maternity Nurses’ Performance Regarding Cardiopulmonary Resuscitation During Pregnancy: Simulation Based Intervention

2017 ◽  
Vol 3 (1) ◽  
pp. 144
Author(s):  
Aziza Ibrahim Mohamed ◽  
Hemmat Mostafe Elbana ◽  
Samah Abd Elhaleim
Keyword(s):  
Cardiopulmonary Resuscitation ◽  
University Hospital ◽  
Post Intervention ◽  
Emergency Situations ◽  
Care Givers ◽  
Simulation Based ◽  
Performance Check ◽  
Health Nursing ◽  
And Performance ◽  
Nursing Department

Background: Training maternity nurse regarding cardiopulmonary resuscitation during pregnancy is most important for properly care of such emergency situations during pregnancy and save woman’s and fetal lives.The aim of the present study was to evaluate effect of simulation-based intervention on maternity nurse’ performance regarding cardiopulmonary resuscitation during pregnancy. Design Aquasi-experimental design was adopted in the current study.The study was conducted at woman’s health nursing department training lab at faculty of nursing affiliated at Benha University Hospital. Where a lot of women are admitted for normal and vaginal delivery, gyneacological treatment and surgery.Subjects: A Convenient sample of a total 52 maternity nurses was included.Tools: Two tools: Were used for data collection. Interviewing questionnaire sheet was concerning with nurses personnel characteristics’ and knowledge regarding cardiopulmonary resuscitation during pregnancy and performance check list sheet.the result of the present study that there was a highly statistical difference between knowledge and practical scores of maternity nurse at pre and post intervention. The study concluded that the simulation bases intervention is highly improved maternity nurses’ performance regarding cardiopulmonary resuscitation during pregnancy. The present study recommended that simulation-based training regarding cardiopulmonary resuscitation should be provided for all obstetrics health care givers.

scholarly journals Gain-Scheduled Drive-based Damping Control for Industrial Robots

2021 ◽  
Author(s):  
Patrick Mesmer ◽  
Christoph Hinze ◽  
Armin Lechler ◽  
Alexander Verl
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Control Performance ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Damping Control ◽  
Dynamic Path ◽  
And Performance ◽  
And Control ◽  
Gain Scheduled

<p>The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.</p>

Payload Drop Application Using an Unmanned Quadrotor Helicopter Based on Gain-Scheduled PID and Model Predictive Control

2014 ◽  
Vol 02 (01) ◽  
pp. 39-52 ◽  
Author(s):  
Iman Sadeghzadeh ◽  
Mahyar Abdolhosseini ◽  
Youmin Zhang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Autonomous Vehicles ◽  
Performance Comparison ◽  
Control Techniques ◽  
Unmanned Quadrotor Helicopter ◽  
Quadrotor Helicopter ◽  
Model Free ◽  
And Performance ◽  
Gain Scheduled

Two useful control techniques are investigated and applied experimentally to an unmanned quadrotor helicopter for a practical and important scenario of using an Unmanned Aerial Vehicle (UAV) for dropping a payload in circumstances where search and rescue and delivery of supplies and goods is dangerous and difficult to reach environments such as forest or high building fires fighting, rescue in earthquake, flood and nuclear disaster situations. The two considered control techniques for such applications are the Gain-Scheduled Proportional-Integral-Derivative (GS-PID) control and the Model Predictive Control (MPC). Both the model-free (GS-PID) and model-based (MPC) algorithms show a very promising performance with application to taking-off, height holding, payload dropping, and landing periods in a payload dropping mission. Finally, both algorithms are successfully implemented on an unmanned quadrotor helicopter testbed (known as Qball-X4) available at the Networked Autonomous Vehicles Lab (NAVL) of Concordia University for payload dropping tests to illustrate the effectiveness and performance comparison of the two control techniques.

Vibration isolation for parameter-varying rotor systems using piezoelectric actuators and gain-scheduled control

2017 ◽  
Vol 28 (16) ◽  
pp. 2286-2297 ◽  
Author(s):  
Fabian B Becker ◽  
Martin A Sehr ◽  
Stephan Rinderknecht
Keyword(s):  
Rotational Speed ◽  
Degrees Of Freedom ◽  
Vibration Isolation ◽  
Operating Conditions ◽  
Rotor Systems ◽  
Resonance Frequencies ◽  
Parameter Varying ◽  
And Performance ◽  
Gyroscopic Effects ◽  
Gain Scheduled

This paper deals with the active vibration isolation for a rotor subject to gyroscopic oscillations, where gain-scheduled [Formula: see text]-control is used to steer an active, piezoelectric bearing. Rotating machines are often exposed to gyroscopic effects, which occur due to bending deformations of rotors and subsequent tilting of eccentric mass elements. Gyroscopic moments observed at rotors are proportional to the rotational speed and couple radial degrees of freedom. This relationship with the operating conditions renders the system dynamics well-suited for the use of linear parameter-varying models and controllers, relying on the rotational speed as an uncertain parameter. In this paper, we design linear gain-scheduled [Formula: see text]-controllers guaranteeing both robust stability and performance within a given range of operating conditions. The paper is based on a rotor test rig with two unbalance-induced resonance frequencies in its operating range. The rotor has two protruding discs, one of which is centered between one active and one passive bearing support. The active support consists of two piezoelectric stack actuators and two collocated piezoelectric load washers. Closed-loop performance is assessed via isolation of unbalance-induced vibrations using both simulation and supporting experimental data.

scholarly journals Gain-Scheduled Drive-based Damping Control for Industrial Robots

2021 ◽  
Author(s):  
Patrick Mesmer ◽  
Christoph Hinze ◽  
Armin Lechler ◽  
Alexander Verl
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Control Performance ◽  
Linear Parameter ◽  
Linear Parameter Varying ◽  
Damping Control ◽  
Dynamic Path ◽  
And Performance ◽  
And Control ◽  
Gain Scheduled

<p>The drivetrain flexibility of industrial robots limits their accuracy. To open up new areas of application for industrial robots, an increased dynamic path accuracy has to be obtained. Therefore, this paper addresses this issue by a gain-scheduled drive-based damping control for industrial robots with secondary encoders. For this purpose, a linear parameter-varying (LPV) model is derived as well as a system identification method is presented. Based on this, a gain-scheduled drive-based LPV damping control design is proposed, which guarantees stability and performance under variation of the manipulator configuration. The control performance of the approach is experimentally validated for the three base joints of a KUKA KR210-2 industrial robot. The approach realizes a trade-off between ease of implementation and control performance as well as robustness.</p>

Active FTC of LPV Systems with Actuator Fault

2014 ◽  
Vol 644-650 ◽  
pp. 586-591
Author(s):  
Hua Min Chen ◽  
Han Bin Wang ◽  
Zheng Xin Weng
Keyword(s):  
Fault Tolerant ◽  
Main Idea ◽  
Actuator Fault ◽  
Linear Parameter Varying ◽  
Control Approach ◽  
Effect Factor ◽  
Lpv Systems ◽  
On Line ◽  
And Performance ◽  
Gain Scheduled

In this paper, a Fault Tolerant Control (FTC) strategy for Linear Parameter Varying (LPV) systems is proposed. The main idea of this FTC method is to transform the actuator fault to varying parameter such that an active FTC controller can be designed with gain-scheduled H∞ control approach. The resulting controller is a function of the fault-effect factor which reflects the actuator fault and can be estimated on-line. The effectiveness and performance of the proposed approach are illustrated by a two-link manipulator.

scholarly journals Gain-Scheduled Control of Asymmetric Thrust Magnetic Bearing

Actuators ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 329
Author(s):  
Shuyue Zhang ◽  
Jihao Wu
Keyword(s):  
Control Method ◽  
Magnetic Levitation ◽  
Structural Parameters ◽  
Response Speed ◽  
Magnetic Bearing ◽  
Structure Design ◽  
Magnetic Bearings ◽  
And Performance ◽  
The Cost ◽  
Gain Scheduled

The thrust position of the magnetic levitation rotor can be changed, bringing convenience to the practical application of cold compressors. This paper derives the mathematical model of asymmetric thrust magnetic bearings for a cold compressor and analyzes the changes in the system characteristics with the equilibrium position. By constructing PID controllers associated with the structural parameters of the magnetic bearing, the adaptive adjustment of the control parameters under different balanced position commands is realized. The simulation and experimental results prove that the gain-scheduled control method proposed in this paper can achieve a robust stability of the rotor in the range of 50 to 350 μm, and not at the cost of the response speed, adjustment time, and overshoot. The research results have reference significance for the structure design of asymmetric thrust magnetic bearings and play an important role in the commissioning and performance improvement of cold compressors.

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