scholarly journals Wire Tension Coordination Control of Electro-Hydraulic Servo Driven Double-Rope Winding Hoisting Systems Using a Hybrid Controller Combining the Flatness-Based Control and a Disturbance Observer

Symmetry ◽  
2021 ◽  
Vol 13 (4) ◽  
pp. 716
Author(s):  
Xiang Li ◽  
Zhencai Zhu ◽  
Gang Shen ◽  
Yu Tang
Keyword(s):  
Disturbance Observer ◽  
Dynamic Models ◽  
External Disturbance ◽  
Coordination Control ◽  
Wire Ropes ◽  
Hybrid Controller ◽  
Hydraulic Servo ◽  
Hoisting System ◽  
The Stability ◽  
Leveling Control

When the double-rope winding hoisting system (DWHS) is in operation, tensions of two wire ropes of the DWHS will not be symmetrical because of some factors such as different manufacturing deviation between the twin winding drum and two wire ropes, different winding groove depths, the winding asynchronism of two wire ropes, and elastic modulus difference of two wire ropes and so on. Therefore, an electro-hydraulic servo system (EHSS) is employed to actively control two wire ropes tensions to guarantee operation security of the DWHS. Dynamic models of the hoisting system and the EHSS are introduced, of which dynamic model of the DWHS is expressed with state representation. The flatness-based controller (FBC) is designed for the hoisting system. A disturbance observer is utilized to deal with the external disturbance and unmodeled characteristics of the EHSS. Hence, a disturbance observer based integral backstepping controller (DO-BIBC) is designed for the EHSS. The stability of the overall control system is proved by de-fining an overall Lyapunov function. To investigate the property of the proposed controller, an experimental setup of the DWHS is established. As well, comparative experimental results indicate that the proposed controller exhibits a better performance on leveling control of the conveyance and tension coordination control on the two wire ropes than a conventional PI controller.

Integrated Modified Repetitive Control With Disturbance Observer of Piezoelectric Nanopositioning Stages for High-Speed and Precision Motion

2019 ◽  
Vol 141 (8) ◽  
Author(s):  
Zhao Feng ◽  
Jie Ling ◽  
Min Ming ◽  
Xiaohui Xiao
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
External Disturbance ◽  
Repetitive Control ◽  
Optimization Procedure ◽  
Tracking Performance ◽  
Hysteresis Nonlinearity ◽  
Control Scheme ◽  
The Stability ◽  
Precision Motion

The tracking performance of piezoelectric nanopositioning stages is vital in many applications, such as scanning probe microscopes (SPMs). Although modified repetitive control (MRC) can improve tracking performance for commonly used periodic reference input, it is sensitive to unexpected disturbances that deteriorate tracking precision, especially for high-speed motion. In order to achieve high-speed and precision motion, in this paper, a new composite control scheme by integrating MRC with disturbance observer (DOB) is developed. To simplify controller implementation, the hysteresis nonlinearity is treated as external disturbance and the proposed method is designed in frequency domain. The stability and robust stability are analyzed, and an optimization procedure to calculate the controller parameters is employed to enhance the performance to the maximum extent. To validate the effectiveness of the proposed method, comparative experiments are performed on a piezoelectric nanopositioning stage. Experimental results indicate that the hysteresis is suppressed effectively and the proposed method achieves high-speed and precision tracking with triangular waves references up to 25 Hz and improves the disturbance rejection ability with disturbances under different frequencies and robustness to model uncertainty through comparing with feedback controllers and MRC, respectively.

Sliding mode synchronous control for fixture clamps system driven by hydraulic servo systems

2007 ◽  
Vol 221 (9) ◽  
pp. 1039-1045 ◽  
Author(s):  
Z H U Dachang
Keyword(s):  
Sliding Mode ◽  
Dynamic Error ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Tracking Errors ◽  
Servo Systems ◽  
Driving Mechanisms ◽  
Hydraulic Servo ◽  
The Stability ◽  
External Forces

Although the two sides clips of a fixture clamps system have the same driving mechanisms, the synchronous error between the dual drivers of the two clips is generated by non-balanced forces. With position variation of clips and various uncertainty disturbances during the working process, the synchronous movement of the two clips is difficult. In the current paper, sliding mode synchronous controller is designed for fixture clamps system which is driven by hydraulic servo system. Setting the load dynamic error of one driver as external disturbance to the other driver, the departure from synchronization caused by the parameter variation and external forces between two clips is limited. The stability of the control system and the convergence of synchronous tracking errors are guaranteed by Lyapunov stability theory. Simulations illustrate the applicability of the proposed approach.

scholarly journals Continuous Recursive Sliding Mode Control for Hypersonic Flight Vehicle with Extended Disturbance Observer

2015 ◽  
Vol 2015 ◽  
pp. 1-26 ◽  
Author(s):  
Yunjie Wu ◽  
Jianmin Wang
Keyword(s):  
Disturbance Observer ◽  
Sliding Mode ◽  
External Disturbance ◽  
Sliding Mode Controller ◽  
Flight Vehicle ◽  
Terminal Sliding Mode ◽  
Hypersonic Flight Vehicle ◽  
Hypersonic Flight ◽  
Compensation Factor ◽  
The Stability

A continuous recursive sliding mode controller (CRSMC) with extended disturbance observer (EDO) is proposed for the longitudinal dynamics of a generic hypersonic flight vehicle (HFV) in the presence of multiple uncertainties under control constraints. Firstly, sliding mode tracking controller based on a set of novel recursive sliding mode manifolds is presented, in which the chattering problem is reduced. The CRSMC possesses the merits of both nonsingular terminal sliding mode controller (NTSMC) and high-order sliding mode controller (HOSMC). Then antiwindup controller is designed according to the input constraints, which adds a dynamic compensation factor in the CRSMC. For the external disturbance of system, an improved disturbance observer based on extended disturbance observer (EDO) is designed. The external disturbance is estimated by the disturbance observer and the estimated value is regarded as compensation in CRSMC for disturbance. The stability of the proposed scheme is analyzed by Lyapunov function theory. Finally, numerical simulation is conducted for cruise flight dynamics of HFV, where altitude is 110000 ft, velocity is 15060 ft/s, and Mach is 15. Simulation results show the validity of the proposed approach.

Super-twisting algorithm with fast super-twisting disturbance observer for steer-by-wire vehicles

2020 ◽  
pp. 095440702097395
Author(s):  
Yong Yang ◽  
Yunbing Yan ◽  
Xiaowei Xu ◽  
Bian Gong
Keyword(s):  
Disturbance Observer ◽  
Closed Loop ◽  
External Disturbance ◽  
Response Speed ◽  
Operating Conditions ◽  
Steer By Wire ◽  
Error Dynamics ◽  
The Stability ◽  
Twisting Algorithm ◽  
Disturbance Torque

The control performance of a vehicle steer-by-wire (SBW) system can be seriously affected by vagaries of tyre-road conditions and external disturbance. Aiming at the problem of fast estimating and compensating the time-varying disturbance torque acting on the front wheels under different working conditions, this article presents a super-twisting algorithm (STA) combined with fast super-twisting disturbance observer (FSTDO) control scheme. At first the SBW system is modelled according to the experiment plant. Secondly, the FSTDO is designed according to SBW system model. A fast reaching law is adopted to accelerate the sliding variable convergence rate and enhance the response speed of the observer. The FSTDO-STA controller adopts STA control in closed-loop system. The control signal is continuous, so that, the chattering could be inhibited. The stability of FSTDO error dynamics and closed-loop dynamics is proved in the sense of Lyapunov. Finally, comparative verification experiments are carried out to demonstrate the validity of FSTDO-STA. The FSTDO-STA controller can quickly estimate and compensate disturbance torque under various operating conditions. Compared with other comparative algorithms, the proposed controller has some advantages in response speed, control accuracy and robustness. And it was corroborated by the experimental results.

Fixed-time tracking control for two-link rigid manipulator based on disturbance observer

2021 ◽  
pp. 014233122098363
Author(s):  
Heli Gao ◽  
Mou Chen
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Disturbance Observer ◽  
Inverse Dynamics ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Fixed Time ◽  
Extended State

This paper studies the fixed-time disturbance estimate and tracking control for two-link manipulators subjected to external disturbance. A fixed-time extended-state disturbance observer (FxTESDO) is proposed by improving the extended state observer. Also, a fixed-time inverse dynamics tracking control (FxTIDTC) scheme based on the FxTESDO is given for two-link manipulators. The fixed-time convergence of the FxTESDO and FxTIDTC is proved by the Lyapunov stability theory and with the aid of the bi-limit homogeneous technique. Numerical simulations are employed to illustrate the effectiveness of the proposed FxTIDTC.

Integral terminal sliding-mode robust vibration control of large space intelligent truss structures using a disturbance observer

2021 ◽  
pp. 095441002110290
Author(s):  
Dalong Tian ◽  
Jianguo Guo
Keyword(s):  
Robust Control ◽  
Forced Vibration ◽  
Disturbance Observer ◽  
Sliding Mode ◽  
External Disturbance ◽  
Truss Structures ◽  
Model Parameters ◽  
Large Space ◽  
Terminal Sliding Mode ◽  
Piezoelectric Stack Actuator

This study aims to develop an advanced integral terminal sliding-mode robust control method using a disturbance observer (DO) to suppress the forced vibration of a large space intelligent truss structure (LSITS). First, the dynamics of the electromechanical coupling of the piezoelectric stack actuator and the LSITS, based on finite element and Lagrangian methods, are established. Subsequently, to constrict the vibration of the structure, a novel integral terminal sliding-mode control (ITSMC) law for the DO is used to estimate the parameter perturbation of the LSITS based on a continuous external disturbance. Simulation results show that, under a forced vibration and compared with the ITSMC system without a DO, the displacement amplitude of the ITSMC system with the DO is effectively reduced. In the case where the model parameters of the LSITS deviate by ±50%, and an unknown continuous external disturbance exists, the control system with the DO can adequately attenuate the structural vibration and realize robust control. Concurrently, the voltage of the employed piezoelectric stack actuator is reduced, and voltage jitter is alleviated.

Analyzing Bifurcation, Stability and Chaos for a Passive Walking Biped Model with a Sole Foot

2018 ◽  
Vol 28 (09) ◽  
pp. 1850113 ◽  
Author(s):  
Maysam Fathizadeh ◽  
Sajjad Taghvaei ◽  
Hossein Mohammadi
Keyword(s):  
Dynamic Models ◽  
Chaotic Behavior ◽  
Bifurcation Diagrams ◽  
Behavior Simulation ◽  
Passive Walking ◽  
Low Energy Consumption ◽  
Nonlinear Dynamic Models ◽  
Soles Of The Feet ◽  
The Stability ◽  
Intrinsic Characteristic

Human walking is an action with low energy consumption. Passive walking models (PWMs) can present this intrinsic characteristic. Simplicity in the biped helps to decrease the energy loss of the system. On the other hand, sufficient parts should be considered to increase the similarity of the model’s behavior to the original action. In this paper, the dynamic model for passive walking biped with unidirectional fixed flat soles of the feet is presented, which consists of two inverted pendulums with L-shaped bodies. This model can capture the effects of sole foot in walking. By adding the sole foot, the number of phases of a gait increases to two. The nonlinear dynamic models for each phase and the transition rules are determined, and the stable and unstable periodic motions are calculated. The stability situations are obtained for different conditions of walking. Finally, the bifurcation diagrams are presented for studying the effects of the sole foot. Poincaré section, Lyapunov exponents, and bifurcation diagrams are used to analyze stability and chaotic behavior. Simulation results indicate that the sole foot has such a significant impression on the dynamic behavior of the system that it should be considered in the simple PWMs.

scholarly journals Sliding mode control of the automobile electro-coating conveying mechanism with a nonlinear disturbance observer

2018 ◽  
Vol 10 (9) ◽  
pp. 168781401879574 ◽  
Author(s):  
Wei Yuan ◽  
Guoqin Gao
Keyword(s):  
Sliding Mode Control ◽  
Disturbance Observer ◽  
High Performance ◽  
Sliding Mode ◽  
External Disturbance ◽  
Nonlinear Disturbance Observer ◽  
Control Approach ◽  
Mode Control ◽  
Highly Nonlinear ◽  
Nonlinear Disturbance

The trajectory-tracking performance of the automobile electro-coating conveying mechanism is severely interrupted by highly nonlinear crossing couplings, unmodeled dynamics, parameter variation, friction, and unknown external disturbance. In this article, a sliding mode control with a nonlinear disturbance observer is proposed for high-accuracy motion control of the conveying mechanism. The nonlinear disturbance observer is designed to estimate not only the internal/external disturbance but also the model uncertainties. Based on the output of the nonlinear disturbance observer, a sliding mode control approach is designed for the hybrid series–parallel mechanism. Then, the stability of the closed-loop system is proved by means of a Lyapunov analysis. Finally, simulations with typical desired trajectory are presented to demonstrate the high performance of the proposed composite control scheme.

The Machining Parameters Online Monitoring Method for Stability Prediction

2011 ◽  
Vol 141 ◽  
pp. 559-563
Author(s):  
Yong Xiang Jiang ◽  
San Peng Deng ◽  
Yu Ming Qi ◽  
Bing Du
Keyword(s):  
Dynamic Models ◽  
Grinding Wheel ◽  
Machining Accuracy ◽  
Machining Parameters ◽  
Regenerative Chatter ◽  
Monitoring Method ◽  
Good Surface ◽  
Prediction And Control ◽  
The Stability ◽  
Online Detecting

Unstable grinding due to the regenerative chatter is one of the most critical errors and a serious limitation to achieve good surface quality. The machining accuracy of CNC is greatly depending on online detecting, prediction and control ability of abnormal phenomena in machining such as chatter. Based on the mechanism of regenerative chatter, the dynamic models of cylindrical plunging are established by considering both the rotate speed of workpiece and grinding wheel. The traverse grinding can be assumed as the sum of several stepwise plunging grinding with respect to the grinding contact area. The stability caused by online detecting indexes of grinding parameters was analyzed. Grinding experiments of online chatter detecting were carried out and agreed well with the theoretical results that show good application future for online chatter detecting.

System identification and robust position control for electro-hydraulic servo system using hybrid model predictive control

2017 ◽  
Vol 24 (18) ◽  
pp. 4145-4159 ◽  
Author(s):  
Hai-Bo Yuan ◽  
Hong-Cheol Na ◽  
Young-Bae Kim
Keyword(s):  
System Identification ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Position Control ◽  
Servo System ◽  
Model Parameters ◽  
Integral Control ◽  
Hybrid Controller ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

This paper examined system identification using grey-box model estimation and position-tracking control for an electro-hydraulic servo system (EHSS) using hybrid controller composed of proportional-integral control (PIC) and model predictive control (MPC). The nonlinear EHSS model is represented by differential equations. We identify model parameters and verify their accuracy against experimental data in MATLAB to evaluate the validity of this mathematical model. To guarantee improved performance of EHSS and precision of cylinder position, we propose a hybrid controller composed of PIC and MPC. The controller is designed using the Control Design and Simulation module in the Laboratory Virtual Instrumentation Engineering Workbench (LabVIEW). A LabVIEW-based experimental rig is developed to apply the proposed controller in real time. Then, the validity and performance superiority of the hybrid controller were confirmed by comparing them with the MPC and PIC results. Results of real-life experiments show improved robustness and dynamic and static properties of EHSS.

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