scholarly journals Control Design and Validation for Floating Piston Electro-Pneumatic Gearbox Actuator

2020 ◽  
Vol 10 (10) ◽  
pp. 3514 ◽  
Author(s):  
Adam Szabo ◽  
Tamas Becsi ◽  
Peter Gaspar
Keyword(s):  
Piecewise Linear ◽  
Control Design ◽  
Continuous Control ◽  
Control Methods ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Control Frequency ◽  
Heavy Duty Vehicle ◽  
High Control ◽  
And Control

The paper presents the modeling and control design of a floating piston electro-pneumatic gearbox actuator and, moreover, the industrial validation of the controller system. As part of a heavy-duty vehicle, it needs to meet strict and contradictory requirements and units applying the system with different supply pressures in order to operate under various environmental conditions. Because of the high control frequency domain of the real system, post-modern control methods with high computational demands could not be used as they do not meet real-time requirements on automotive level. During the modeling phase, the essential simplifications are shown with the awareness of the trade-off between calculation speed and numerical accuracy to generate a multi-state piecewise-linear system. Two LTI control methods are introduced, i.e., a PD and an Linear-Quadratic Regulators (LQR) solution, in which the continuous control signals are transformed into discrete voltage solenoid commands for the valves. The validation of both the model and the control system are performed on a real physical implementation. The results show that both modeling and control design are suitable for the control tasks using floating piston cylinders and, moreover, these methods can be extended to electro-pneumatic cylinders with different layouts.

Modeling and Control Design of a Powertrain Simulation Testbed for Earthmoving Vehicles

1999 ◽  
Author(s):  
Eko A. Prasetiawan ◽  
Rong Zhang ◽  
Andrew G. Alleyne ◽  
Tsu-Chin Tsao
Keyword(s):  
First Principles ◽  
Control Design ◽  
System Response ◽  
Prime Mover ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Initial Control ◽  
Displacement Pump ◽  
Variable Displacement ◽  
And Control

Abstract A nonlinear model of an Earthmoving Vehicle Powertrain Simulator is developed using both first principles as well as I/O data. The model is an interconnection of subsystem models, which consist of a prime mover, a variable-displacement pump, proportional flow valves, and fixed-displacement motor models. In addition, a typical drive or tractive load of an earthmoving vehicle is also presented and implemented in the system as one of the loads. Efforts have been directed to develop a simple model in order to cater to developing and testing powertrain controllers as well as studying the dynamic behavior of such systems. An initial control design approach utilizing the Linear Quadratic technique is also presented. The controller is aimed at regulating load speeds in presence of a step load disturbance. The simulation results of the compensated system response are presented.

scholarly journals Modelling, analysis and control design of hybrid dynamical systems

2019 ◽  
Vol 70 (3) ◽  
pp. 176-186
Author(s):  
Dominik Vošček ◽  
Anna Jadlovská ◽  
Dominik Grigl’ák
Keyword(s):  
Hybrid Systems ◽  
Piecewise Linear ◽  
Control Design ◽  
Linear Quadratic Regulator ◽  
Cyber Physical Systems ◽  
Jacobi Matrices ◽  
Hybrid Automata ◽  
Linear Quadratic ◽  
Physical Systems ◽  
And Control

Abstract This paper introduces a methodology for one of the challenges regarding cyber-physical systems, ie modelling and control design them as hybrid systems. The proposed methodology comprises modules with specific steps to accomplish the tasks. Specifically, the paper aims to utilize hybrid systems framework onto the chosen hydraulic hybrid system with complex dynamics to showcase different aspects of hybrid systems. The mathematical model was derived using hybrid automata framework and then transformed into the linear form either using Jacobi matrices or using linear approximations without Jacobi matrices. After that the system was validated and analysed and the control design utilizing piecewise linear-quadratic regulator optimal control was proposed. Furthermore, parameters of control algorithm were tuned using particle swarm optimization algorithm. The whole logic, system dynamics and constrains are implemented within MATLAB/Simulink simulation environment using s -functions. The proposed methodology can be implemented on the various types of cyber-physical systems as far as they can be described as hybrid systems.

scholarly journals Nonlinear Modeling and Control Design of Active Helicopter Blades

2012 ◽  
Vol 57 (1) ◽  
pp. 1-11 ◽  
Author(s):  
Matthias Althoff ◽  
Mayuresh J. Patil ◽  
Johannes P. Traugott
Keyword(s):  
Structural Model ◽  
Simulation Analysis ◽  
Nonlinear Modeling ◽  
Control Design ◽  
Beam Model ◽  
Linear Quadratic ◽  
Cross Sectional ◽  
Modeling And Control ◽  
Helicopter Blades ◽  
And Control

This paper presents the theoretical basis for the simulation and control of active helicopter blades. The analysis is based on a model that considers the structural dynamics, the aerodynamics, as well as the integrated blade actuation and sensing. The effect of the integral actuation enters the beam model via an active beam cross-sectional analysis. A two-dimensional incompressible, inviscid, quasi-steady aerodynamic model is coupled to the active structural model. For simulation, analysis, and control design, the blade model is discretized in space using a Galerkin approach. The resulting nonlinear model of high order is reduced using the aeroelastic modes of the blade. Finally, the usefulness of a reduced-order model is demonstrated by designing an energy optimal linear-quadratic-Gaussian (LQG) control.

Multivariable modeling and control of an activated sludge process

1998 ◽  
Vol 37 (12) ◽  
pp. 149-156 ◽  
Author(s):  
Carl-Fredrik Lindberg
Keyword(s):  
Activated Sludge ◽  
Nitrate Concentration ◽  
State Space Model ◽  
Activated Sludge Process ◽  
Invariant State ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Space Model ◽  
And Control ◽  
Time Invariant

This paper contains two contributions. First it is shown, in a simulation study using the IAWQ model, that a linear multivariable time-invariant state-space model can be used to predict the ammonium and nitrate concentration in the last aerated zone in a pre-denitrifying activated sludge process. Secondly, using the estimated linear model, a multivariable linear quadratic (LQ) controller is designed and used to control the ammonium and nitrate concentration.

The Modeling and Control of the Hydraulic Servo System by Using On-Off Valve

2000 ◽  
Author(s):  
Xuanyin Wang
Keyword(s):  
Servo System ◽  
Mathematic Model ◽  
Hydraulic Cylinder ◽  
Servo Control ◽  
Linear Quadratic ◽  
Modeling And Control ◽  
Hydraulic Servo ◽  
Self Tuning ◽  
Hydraulic Servo System ◽  
And Control

Abstract This paper researches on the hydraulic servo system by using ordinary on-off valves. The mathematic model of an asymmetric hydraulic cylinder servo control system is built, and its characteristic is analysed here. To reduce the static and dynamic characteristic differences between forward and reverse motion of asymmetric cylinder, and improve system’s performance, a self-tuning linear quadratic gaussian optimum controller (SLQG) is designed successful. In the end, an asymmetric hydraulic cylinder servo system of paint robot is researched. The result shows that the above method is effective.

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