Vibration control of a frame structure using electro-rheological fluid mounts

A squeeze-mode electro-rheological (ER) mount has been designed, manufactured, and applied to the vibration control of a frame structure subjected to external excitations. After verifying that the damping force of the ER mount can be controlled by controlling the applied voltage, a frame structure system supported by spring mounts and the proposed ER mounts has been assembled. The governing equation of the structural system is derived in the modal coordinate and is rewritten as a state-space control model. An optimal controller, which consists of the velocity feedback signal of the frame structure and the force feedback signal transmitted from the exciting point to the mount position, is formulated in order to attenuate the imposed excitations. The controller has been optimized experimentally and control responses such as the acceleration of the frame structure and the transmitted force at each mount position are presented in both time and frequency domains.     

Sliding mode control of a shear-mode type ER engine mount

This paper presents feedback control characteristics of a shear-mode type electro-rheological (ER) engine mount. The field-dependent yield stress of an arabic gum-based ER fluid is obtained using a couette type electroviscometer, and it is incorporated into the governing equation of motion of the ER engine mount, which is derived from a bond graph model. A sliding mode controller which directly represents the field-dependent damping force is formulated by taking into account the stiffness and damping properties of the systems as parameter uncertainties. The controller is then experimentally realized by imposing a semi-active actuating condition. The effectiveness of the proposed ER engine mount is demonstrated showing capabilities of isolating the vibrations due to sinusoidal and random excitations.     

Active vibration suppression of a flexible structure using sliding mode control

In this paper, sliding mode control (SMC) is designed and applied to an elastic structure to suppress some of its vibration modes. The system is an elastic beam clamped on one end and the designed controller uses only the deflection measurement of the free end. The infinite dimensional mathematical model of the beam is reduced to an ordinary differential equation set to represent the behavior of required modes. Since the states of the finite dimensional model are not physically measurable quantities, an observer is designed to estimate these states by measuring the tip deflection of the beam. The performance of the observer is important because the observed states are used in the SMC design. In this study, by using the output information, an observer is designed and tested to estimate the states of the finite dimensional model of the beam. Then the designed SMC is applied to the experimental beam system which gives satisfactory suppressed vibrations.     

Dynamic modeling and control of flexible space structures

This paper presents a global mode modeling of space structures and a control scheme from the practical point of view. Since the size of the satellite has become bigger and the accuracy of attitude control more strictly required, it is necessary to consider the structural flexibility of the spacecraft. Although it is well known that the finite element (FE) model can accurately model the flexibility of the satellite, there are associated problems: FE model has the system matrix with high order and does not provide any physical insights, and is available only after all structural features have been decided. Therefore, it is almost impossible to design attitude and orbit controller using FE model unless the structural features are in place. In order to deal with this problem, the control design scheme with the global mode (GM) model is suggested. This paper describes a flexible structure modeling and three-axis controller design process and demonstrates the adequate performance of the design with respect to the maneuverability by applying it to a large flexible spacecraft model.     

Sliding mode control of two-wheeled welding mobile robot for tracking smooth curved welding path

In this paper, a nonlinear controller based on sliding mode control is applied to a two-wheeled Welding Mobile Robot (WMR) to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known. It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered : fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.     

面向IP模式测控系统的PLSR-SBR双层压缩

针对以太网测控网络存在数据冲突导致系统实时性、可靠性降低问题,提出了基于偏最小二乘回归(PLSR)SBR的双层压缩方法。第一层建立主参量与所有辅助参量的确定模型,利用压缩有效性指标确定主成分,完成主参量的信息压缩。第二层基于改进的SBR,通过选取辅助参量中的基础序列,建立基础信号;在满足拟合误差条件下,逐步将每一个辅助参量序列映射到基础信号上,完成对辅助参量的数据压缩。该方法重点解决辅助参量和主参量中的解释潜变量和反映潜变量相关程度最大、基础信号由最少基础序列组成、辅助参量实现最小变长分解个数及基础信号独立更新原则等关键问题。最后将该方法应用于IP模式乙醇浓度测控系统。实验结果表明,在IP模式测控系统同时具有主参量和辅助参量,且不同参量间存在相关性时,该方法可在允许拟合相对误差为5%的情况下,使压缩率达到68%以上,从而有效地降低以太网测控网络数据冲突程度。     

改进的自适应噪声总体集合经验模态分解在光谱信号去噪中的应用

针对近红外无创血糖检测过程中噪声对血糖浓度模型精度和稳定性的影响,提出用自适应噪声总体集合经验模态分解方法实现近红外光谱信号的去噪;同时,根据原始信号曲率和分解后本征模态函数(IMFs)曲率间的离散弗雷歇距离选择相关模态。首先,将自适应噪声的总体集合经验模态分解方法引入近红外光谱去噪过程,介绍了经验模态分解、集合经验模态分解、互补集合经验模态分解及自适应噪声总体集合经验模态分解的基本原理及具体实现过程。然后,应用基于曲率和离散弗雷歇距离的自适应噪声总体集合经验模态分解改进算法对仿真信号和光谱信号进行去噪,并将其标准差和信噪比作为评价指标。实验结果表明:应用提出的方法得到的血糖浓度近红外光谱数据其标准差为0.179 4,信噪比为19.117 5dB,实现了信号与噪声的分离,改善了重构信号质量,具有良好的自适应性,可以有效识别并提取有用信息。     

Identification of motion platform using the signal compression method with pre-processor and its application to siding mode control

In case of a single input single output (SISO) system with a nonlinear term, a signal compression method is useful to identify a system because the equivalent impulse response of linear part from the system can be extracted by the method. However even though the signal compression method is useful to estimate uncertain parameters of the system, the method cannot be directly applied to a unique system with hysteresis characteristics because it cannot estimate all of the two different dynamic properties according to its motion direction. This paper proposes a signal compression method with a pre-processor to identify a unique system with two different dynamics according to its motion direction. The pre-processor plays a role of separating expansion and retraction properties from the system with hysteresis characteristics. For evaluating performance of the proposed approach, a simulation to estimate the assumed unknown parameters for an arbitrary known model is carried out. A motion platform with several single-rod cylinders is a representative unique system with two different dynamics, because each single-rod cylinder has expansion and retraction dynamic properties according to its motion direction. The nominal constant parameters of the motion platform are experimentally identified by using the proposed method. As its application, the identified parameters are applied to a design of a sliding mode controller for the simulator.     

Design and analysis of tilt integral derivative controller with filter for load frequency control of multi-area interconnected power systems

In this paper, a novel Tilt Integral Derivative controller with Filter (TIDF) is proposed for Load Frequency Control (LFC) of multi-area power systems. Initially, a two-area power system is considered and the parameters of the TIDF controller are optimized using Differential Evolution (DE) algorithm employing an Integral of Time multiplied Absolute Error (ITAE) criterion. The superiority of the proposed approach is demonstrated by comparing the results with some recently published heuristic approaches such as Firefly Algorithm (FA), Genetic Algorithm (GA) and Particle Swarm Optimization (PSO) optimized PID controllers for the same interconnected power system. Investigations reveal that proposed TIDF controllers provide better dynamic response compared to PID controller in terms of minimum undershoots and settling times of frequency as well as tie-line power deviations following a disturbance. The proposed approach is also extended to two widely used three area test systems considering nonlinearities such as Generation Rate Constraint (GRC) and Governor Dead Band (GDB). To improve the performance of the system, a Thyristor Controlled Series Compensator (TCSC) is also considered and the performance of TIDF controller in presence of TCSC is investigated. It is observed that system performance improves with the inclusion of TCSC. Finally, sensitivity analysis is carried out to test the robustness of the proposed controller by varying the system parameters, operating condition and load pattern. It is observed that the proposed controllers are robust and perform satisfactorily with variations in operating condition, system parameters and load pattern.     

基于ANFIS及MPC的车辆转向换道控制系统设计

为提高智能车辆在高速工况下进行转向换道避撞时的行驶稳定性,设计了一种基于ANFIS及MPC的车辆转向换道控制系统。车辆转向换道控制系统是以模型预测控制(Model Predictive Control, MPC)算法为基础,结合五阶多项式换道路径和最小车距安全模型搭建的;以理想横摆角速度与实际横摆角速度的偏差及其变化率为双输入,利用自适应神经模糊系统(Adaptive Network-based Fuzzy Inference System, ANFIS)规则输出所需的附加横摆力矩,对车轮进行差动制动,以修正车身姿态,实现行车稳定。仿真结果对比表明,此车辆转向换道控制系统可显著提高车辆在高速工况下进行转向换道避撞时的行驶稳定性。