持续有界路面激励下的车辆主动悬架可靠L1干抗抑制控制

在车辆主动悬架控制当中,路面激励通常可建模为一类持续有界的外部干扰。针对该问题,提出了车辆主动悬架的可靠L1干扰抑制控制方法。区别于以往的H∞/GH2控制方法,文中无需假设路面干扰为能量有界的情况。在控制器设计中,使用L1性能指标来提高汽车悬架的舒适性,同时保证悬架的其它性能,如悬架动行程、轮胎动载荷、控制饱和和执行器错误。以线性-分数矩阵不等式给出了控制的设计条件,控制器可根据凸优化方法和广义特征值问题求得,且相应的闭环系统具有指数的稳定性及L1干扰抑制性能。最后通过数值实例表明,在持续有界的正弦型和随机白噪声路面激励下,系统能取得理想的驾驶舒适性能,并保证悬架硬约束。     

车辆半主动座椅悬架自适应模糊滑模控制

针对含有人体模型的五自由度半主动座椅悬架系统,设计一种基于趋近率的滑模控制器.通过引入自适应控制算法,对系统模型简化过程中产生的扰动及外界干扰进行估计,并在简化模型的基础上采用模糊算法,对滑模控制中趋近速率参数进行优化,在保证趋近速率的同时,提高系统的鲁棒性;采用双曲正切函数替代切换项中的符号函数使得系统在切换过程中更...     

基于LMI的旋转起重机鲁棒控制器设计

悬绳和荷载组成的振动系统的固有频率变化会对控制系统的稳定性和控制性能产生影响,因此针对此问题提出一种低复杂度的鲁棒控制器设计方法。首先,采用干扰观测器导出起重机的线性模型。该模型对于关节摩擦,荷载质量以及旋转速度等参数变化具有鲁棒性。其次,基于该线性模型设计一个含有积分器的状态反馈控制器,其增益通过线性矩阵不等式(LMI)优化算法求出,并且该控制器对于绳长变化具有鲁棒性。最后,比较仿真和实验结果验证所提方法的有效性。通过使用此法可以实现在无测量绳长的传感器系统的情况下容易地操作起重机,从而大大地简化其结构和降低其安装成本。     

不确定电液位置伺服系统的动态面跟踪控制

针对一类含有动态不确定性的双作用液压缸电液伺服系统跟踪控制问题,采用动态面控制方法设计了一个鲁棒自适应跟踪控制器.由于在逆推设计过程中加入了低通滤波器使得该方法不用对模型非线性进行多次微分,因而设计方法简化.所设计的自适应鲁棒控制器不仅能保证闭环系统的半全局渐近稳定,使得输出渐近跟踪期望轨迹;而且,跟踪误差可以通过控制器的设计参数加以调整.数字仿真结果表明,控制系统对给定位置的跟踪具有良好的动态特性,对系统的不确定性,具有较强的鲁棒性.     

Development of a simple and efficient method for robust optimization

Robust optimization problems are newly formulated and an efficient computational scheme is proposed. Both design variables and design parameters are considered as random variables about their nominal values. To ensure the robustness of objective performance, we introduce a new performance index bounding the performance together with a constraint limiting the performance variation. The constraint variations are regulated by considering the probability of feasibility. Each probability constraint is transformed into a sub‐optimization problem by the advanced first‐order second moment (AFOSM) method for computational efficiency. The proposed robust optimization method has the advantages that the mean value and the variation of the performance function are controlled simultaneously and rationally and the second‐order sensitivity information is not required even in case of gradient‐based optimization process. The suggested method is examined by solving three examples and the results are compared with those for the deterministic case and those available in the literature. Copyright © 2002 John Wiley & Sons, Ltd.     

基于区域极点配置的汽车主动悬架H_2/H_∞控制

利用混合H2/H∞控制方法设计了某重载车辆悬架控制器。以此种方法设计出的控制器,通过H∞控制指标保证被控对象约束输出传递函数的无穷范数低于适当γ值的同时,最小化一个给定的H2性能指标函数,较好的解决了悬架系统性能和系统鲁棒性之间的折衷优化控制问题,同时,通过将闭环极点配置在指定位置,保证了系统的动态性能,结果显示,通过将单一范数(H2或H∞)控制方法改进为混合范数H2/H∞控制方法,强化了每种范数各自的优势,系统综合性能品质得到了保证。     

基于6 的汽车发动机半主动悬置稳健性优化设计

针对一款汽车发动机控制节流孔式半主动悬置,建立其集总参数模型,通过灵敏度分析方法确定优化变量,以不同模式所处区间的力传递率最小为目标,采用遗传算法对其集总参数进行了确定性优化。考虑到加工制造误差导致的悬置性能变化,为提高产品的可靠性,采用蒙特卡洛法对确定性优化结果进行稳健性了分析,并运用6σ方法对半主动悬置进行了稳健性优化。研究结果表明:在允许的设计空间内,与确定性优化相比,基于6σ的稳健性优化设计能使半主动悬置的可靠性明显提高。     

基于区域极点配置的汽车主动悬架H2/H 控制

利用混合H2/H 控制方法设计了某重载车辆悬架控制器。以此种方法设计出的控制器,通过H 控制指标保证被控对象约束输出传递函数的无穷范数低于适当γ值的同时,最小化一个给定的H2性能指标函数,较好的解决了悬架系统性能和系统鲁棒性之间的折衷优化控制问题,同时,通过将闭环极点配置在指定位置,保证了系统的动态性能,结果显示,通过将单一范数（H2或H ）控制方法改进为混合范数H2/H 控制方法,强化了每种范数各自的优势,系统综合性能品质得到了保证。     

Global optimization of robust truss topology via mixed integer semidefinite programming

This paper discusses a global optimization method of robust truss topology under the load uncertainties and slenderness constraints of the member cross-sectional areas. We consider a non-stochastic uncertainty of the external load, and attempt to minimize the maximum compliance corresponding to the most critical load. A design-dependent uncertainty model in the external load is proposed in order to consider the variation of truss topology rigorously. It is shown that this optimization problem can be formulated as a 0–1 mixed integer semidefinite programming (0–1MISDP) problem. We propose a branch-and-bound method for computing the global optimal solution of the 0–1MISDP. Numerical examples illustrate that the topology of robust optimal truss depends on the magnitude of uncertainty. The presented method can provide global optimal solutions for benchmark examples, which can be used for evaluating the performance of any other local optimization method for robust structural optimization.     

A comparison of multirate robust track-following control synthesis techniques for dual-stage and multisensing servo systems in hard disk drives

This paper presents the system modeling, design, and analysis of multirate robust track-following controllers for a dual-stage servo system with a microelectromechanical systems (MEMS) microactuator (MA) and an instrumented suspension. A generalized model is constructed which includes a nominal plant, disturbances, uncertainties, and multirate sensing and control. Two major categories of controller design methodologies are considered. The first includes synthesis methodologies that are based on single-input single-output (SISO) design techniques, and includes the sensitivity decoupling (SD) and the PQ methods. In this case, a high sampling-rate inner loop damping control is first implemented using the auxiliary sensor signals. Subsequently, a low-rate outer loop controller is designed for the damped plant using either the SD or PQ design methods. The second category of design methodologies includes those based on multirate, multi-input multi-output (MIMO) design techniques, including mixed H/sub 2//H/sub /spl infin//, mixed H/sub 2///spl mu/, and robust H/sub 2/ synthesis. In this case, a set of controllers, which is periodically time-varying due to multirateness, is designed by explicitly considering plant uncertainty and hence robust stability. Comparisons are made between all the design techniques in terms of nominal H/sub 2/ performance, robust stability, and robust performance between these controllers, when the feedback controller is closed around the full order, perturbed plant. The advantages and disadvantages of each of these methods are discussed, as well as guidelines for their practical implementation.     

An adaptive recurrent radial basis function network tracking controller for a two-dimensional piezo-positioning stage

An adaptive recurrent radial basis function network (ARRBFN) tracking controller for a two-dimensional piezo-positioning stage is proposed in this study. First, a mathematical model that represents the dynamics of the two-dimensional piezo-positioning stage is proposed. In this model, a hysteresis friction force that describes the hysteresis behavior of one-dimensional motion is used; and a nonconstant stiffness with the cross-coupling dynamic due to the effect of bending of a lever mechanism in x and y axes also is included. Then, according to the proposed mathematical model, an ARRBFN tracking controller is proposed. In the proposed ARRBFN control system, a recurrent radial basis function network (RRBFN) with accurate approximation capability is used to approximate an unknown dynamic function. The adaptive learning algorithms that can learn the parameters of the RRBFN on line are derived using Lyapunov stability theorem. Moreover, a robust compensator is proposed to confront the uncertainties, including approximation error, optimal parameter vectors, higher-order terms in Taylor series. To relax the requirement of the value of the lumped uncertainty in the robust compensator, an adaptive law is investigated to estimate the lumped uncertainty. Using the proposed control scheme, the position tracking performance is substantially improved and the robustness to uncertainties, including hysteresis friction force and cross-coupling stiffness, can be obtained as well. The tracking performance and the robustness to external load of the proposed ARRBFN control system are illustrated by some experimental results.     

Modeling and output feedback control of automotive air conditioning system

This paper presents an application of robust control theory to an automotive Air Conditioning (A/C) system. A control-oriented model built using moving-boundary method is validated against experimental data collected on a vehicle chassis dynamometer, at constant engine speeds as well as on driving cycles. Next, an H_∞ controller is synthesized by formulating an optimization problem whose solution requires appropriate weighting functions selection. Singular perturbation method is utilized to remove states associated with fast dynamics in both model and controller. Both full-order and reduced-order H_∞ controllers are verified by simulation results obtained using the nonlinear A/C system model. It is demonstrated that the designed controller is capable of tracking the reference output trajectories while rejecting disturbances introduced on the boundary conditions of the heat exchangers. Furthermore, a preliminary study is performed to reveal the opportunity of designing a gain-scheduled H_∞ controller for global output tracking.     

Robust topology optimization of optical cloaks under uncertainties in wave number and angle of incident wave

This article presents a robust topology optimization method for optical cloaks under uncertainties in the wave number and angle in the incident wave. We first discuss the governing equation derived from Maxwell's equation, and extend it to the entire domain including the dielectric material and air, based on the level set-based topology optimization method. Next, a robust optimization problem is formulated as a minimization problem of the weighted sum of the scattered wave norm and its standard deviation with respect to the wave number and angle of the incident wave. The standard deviation is mathematically expressed by the Taylor series approximation and the use of the adjoint variable method. The design sensitivity of the objective functional is also derived by the adjoint variable method. An optimization algorithm is then constructed, based on the proposed formulation for robust designs of optical cloaks. Several numerical examples are finally provided to demonstrate the validity and utility of the proposed method.     

Robust mixed H 2/H ∞ controller for uncertain neutral state‐input delayed systems via LMI optimization approach

Abstract

In this paper, the problem of designing a robust mixed H ₂/H _∞ controller for a class of uncertain neutral state‐input delays system is considered. Based on Lyapunov‐Krasovskii functional theory, a delay‐dependent criterion is derived for the existence of a desired mixed H ₂/H _∞ controller, which can be easily constructed by certain feasible linear matrix inequalities (LMIs). Furthermore, a convex optimization problem is formulated to solve for a robust mixed H ₂/H _∞ controller which achieves the minimization of an upper bound of the closed‐loop H ₂ perforance measure.     

Reliability-based robust multi-objective optimization applied to engineering system design

ABSTRACT

Probabilistic and non-probabilistic methods have been proposed to deal with design problems under uncertainties. Reliability-based design and robust design are probabilistic strategies traditionally used for this purpose. In the present contribution, reliability-based robust design optimization (RBRDO) is formulated as a multi-objective problem considering the interaction of both approaches. The proposed methodology is based on the differential evolution algorithm associated with two strategies to deal with reliability and robustness, respectively, namely inverse reliability analysis and the effective mean concept. This multi-objective optimization problem considers the maximization of reliability and robustness coefficients as additional objective functions. The effectiveness of the methodology is illustrated by two classical test cases and a rotor-dynamics application. The results demonstrate that the proposed methodology is an alternative method to solve RBRDO problems.     

A Linear Matrix Inequality Approach to Initial Value Compensation for Mode Switching Control in Hard Disk Drive Servo Systems

In switching from the track-seeking or track-jumping control mode to the track-following control mode in hard disk drives, initial values of the feedback controller are tuned such that the transient response is improved. We present a simple initial value compensation (IVC) method using linear matrix inequalities (LMIs) instead of the conventional method that uses a Lyapunov equation. The LMIs include conditions for improving the transient response performance in the ${cal L}_2$-norm sense and minimizing the $H_infty$ norm of the closed-loop system in order to reduce the controlled outputs such as plant states, tracking error, and control efforts. We obtain optimal initial values of the controller by solving an optimization problem with constraints represented by only one LMI. We verified the feasibility of the method by using a series of simulations.      

基于T-S模糊模型的主动悬架滑模容错控制器设计

针对主动悬架系统的质量参数不确定性以及作动器出现的随机故障对车辆行驶平顺性和控制稳定性带来的重要影响,该文提出一种基于T-S模糊模型的主动悬架滑模容错控制器设计方法。为了描述悬架参数不确定性,基于T-S模糊模型建立1/4车辆的非线性模型,利用故障调节因子表示作动器故障的大小,进而获得考虑悬架系统质量不确定性和作动器故障的车辆主动悬架控制模型。接着,将滑模控制与自适应理论结合,设计合适的滑模面函数和滑模容错控制律,以达到故障悬架系统的容错控制目的;并基于Lyapunov稳定性理论,对所提出控制器稳定性和悬架系统安全约束性能进行了分析。最后,给出一个仿真算例,验证了所设计控制器的有效性和适用性。     

LQR/RPS design of robust controllers for a one‐link robot

Abstract

In this paper, a design method for robust controllers for a one‐link robot is developed. Based on a linearized model of this nonlinear robot system, the linear quadratic regulator (LQR) design method is incorporated with a reduced parameter sensitivity (RPS) technique to design a robust proportional‐plus‐integral (PI) controller to achieve better performance in position control. This robust controller can tolerate real parameter variations resulting from the mechanical loads of applications. A direction method is further developed and used to evaluate the stability robustness of this controlled system. Combining the direction method with the LQR/RPS method, a robust PI controller can be generated to avoid improper over‐design. Both computer simulation and experimental results demonstrate the feasibility and effectiveness of the proposed approach.     

Simultaneous reconstruction of the time-dependent Robin coefficient and heat flux in heat conduction problems

This paper aims to solve an inverse heat conduction problem in two-dimensional space under transient regime, which consists of the estimation of multiple time-dependent heat sources placed at the boundaries. Robin boundary condition (third type boundary condition) is considered at the working domain boundary. The simultaneous identification problem is formulated as a constrained minimization problem using the output least squares method with Tikhonov regularization. The properties of the continuous and discrete optimization problem are studied. Differentiability results and the adjoint problems are established. The numerical estimation is investigated using a modified conjugate gradient method. Furthermore, to verify the performance of the proposed algorithm, obtained results are compared with results obtained from the well-known finite-element software COMSOL Multiphysics under the same conditions. The numerical results show that the proposed algorithm is accurate, robust and capable of simultaneously representing the time effects on reconstructing the time-dependent Robin coefficient and heat flux.     

Robust design of tuned mass dampers installed on multi-degree-of-freedom structures subjected to seismic action

This study deals with robust optimum design of tuned mass dampers installed on multi-degree-of-freedom systems subjected to stochastic seismic actions, assuming the structural and seismic model parameters to be uncertain. A new global performance index for evaluating the efficiency of protection systems is proposed, as an alternative to commonly used local performance indices such as the maximum interstorey drift. The latter can be considered a good estimator of seismic damage, but it does not measure the whole structural integrity. The direct perturbation method based on first order approximation is adopted to evaluate the effects of uncertainties on the response. The robust design is formulated as a multi-objective optimization problem, in which both the mean and the standard deviation of the performance index are simultaneously minimized. A comparison of the effectiveness and robustness of tuned mass dampers designed using local or global performance indices is carried out, considering different levels of uncertainty.