Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical...Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.展开更多
Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibra...Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibration.An active damping device(ADD)is used to the vibration of the pump valve pipeline system to apply the control force,to achieve the active control of the pipeline vibration.A pump-valve pipeline vibration test bench was built to compare the control effect of active damping device on pipeline vibration under different pump valve working conditions,and the results show that applying ADD control could effectively suppress the vibration of the pump valve pipeline and enhance the stability of the equipment during operation.At different pump operating rotation frequencies,the vibration amplitude of the pump valve pipeline in working frequency and its multiple frequencies are also effectively suppressed,with the maximum amplitude reduction of more than 60%.For the valve vibration caused by different operating openings,the vibration of the highest reduction of 68%,and the centrifugal pump drive shaft vi-bration reduced by up to 73%,which provides a new idea for vibration control of pump valve pipeline system.展开更多
The study of Mecanum mobile robots typically assumes motion on planar surfaces,while the challenges posed by inclined terrains remain largely unexplored,leaving a significant gap in control applications for such scena...The study of Mecanum mobile robots typically assumes motion on planar surfaces,while the challenges posed by inclined terrains remain largely unexplored,leaving a significant gap in control applications for such scenarios.In this context,two critical issues emerge:the gravitational pull caused by adding a potential energy term in the robot dynamics,which drives the vehicle downhill,and several positioning errors due to vibrations and slippage of the Mecanum wheel.To address these challenges,this work presents an Active Disturbance Rejection Control(ADRC)-based framework designed to enable accurate tracking on inclined surfaces,despite the compounded effects of gravitational forces and slippage.Unlike conventional controllers,the proposed method requires minimal model knowledge while actively compensates for unknown dynamics and external disturbances in real time.A complete theoretical formulation is provided,supported by numerical simulations and comprehensive experimental validation.Results demonstrate that the ADRC structure significantly outperforms not only the traditional proportional-integral-derivative(PID)control but also a robust variant of PID combined with a Quasi-Sliding Mode control(PID-QSMC)strategy,achieving superior tracking.Notably,this study offers an important experimental validation of ADRC for Mecanum-wheeled robots operating on inclined surfaces.It contributes a practical and scalable solution to extend their operational capabilities beyond flat environments.展开更多
A theoretical analysis regarding active vibration control of rotating machines with current-controlled electrodynamic actuators between machine feet and steel frame foundation and with velocity feedback of the machine...A theoretical analysis regarding active vibration control of rotating machines with current-controlled electrodynamic actuators between machine feet and steel frame foundation and with velocity feedback of the machine feet vibrations is presented.First,a generalized mathematical formulation is derived based on a state-space description which can be used for different kinds of models(1D,2D,and 3D models).It is shown that under special boundary conditions,the control parameters can be directly implemented into the stiffness and damping matrices of the system.Based on the generalized mathematical formulation,an example of a rotating machine—described by a 2D model—with journal bearings,flexible rotor,current-controlled electrodynamic actuators,steel frame foundation,and velocity feedback of the machine feet vibrations is presented where the effectiveness of the described active vibration control system is demonstrated.展开更多
Graphene platelets(GPLs)-reinforced metal foam structures enhance the mechanical properties while maintaining the lightweight characteristics of metal foams.Further bonding piezoelectric actuator and sensor layers on ...Graphene platelets(GPLs)-reinforced metal foam structures enhance the mechanical properties while maintaining the lightweight characteristics of metal foams.Further bonding piezoelectric actuator and sensor layers on the surfaces of GPLs-reinforced metal foam beams enables active vibration control,greatly expanding their applications in the aerospace industry.For the first time,this paper investigates the vibration characteristics and active vibration control of GPLs-reinforced metal foam beams with surfacebonded piezoelectric layers.The constant velocity feedback scheme is used to design the closed-loop controller including piezoelectric actuators and sensors.The effects of the GPLs on the linear and nonlinear free vibrations of the beams are numerically studied.The Newmark-βmethod combined with Newton's iteration technique is used to calculate the nonlinear responses of the beams under different load forms including harmonic loads,impact loads,and moving loads.Additionally,special attention is given to the vibration reduction performance of the velocity feedback control on the responses of the beam.展开更多
This paper investigates the active traveling wave vibration control of an elastic supported rotating porous aluminium conical shell(CS)under impact loading.Piezoelectric smart materials in the form of micro fiber comp...This paper investigates the active traveling wave vibration control of an elastic supported rotating porous aluminium conical shell(CS)under impact loading.Piezoelectric smart materials in the form of micro fiber composites(MFCs)are used as actuators and sensors.To this end,a metal pore truncated CS with MFCs attached to its surface is considered.Adding artificial virtual springs at two edges of the truncated CS achieves various elastic supported boundaries by changing the spring stiffness.Based on the first-order shear deformation theory(FSDT),minimum energy principle,and artificial virtual spring technology,the theoretical formulations considering the electromechanical coupling are derived.The comparison of the natural frequency of the present results with the natural frequencies reported in previous literature evaluates the accuracy of the present approach.To study the vibration control,the integral quadrature method in conjunction with the differential quadrature approximation in the length direction is used to discretize the partial differential dynamical system to form a set of ordinary differential equations.With the aid of the velocity negative feedback method,both the time history and the input control voltage on the actuator are demonstrated to present the effects of velocity feedback gain,pore distribution type,semi-vertex angle,impact loading,and rotational angular velocity on the traveling wave vibration control.展开更多
With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to...With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to ensure closed-loop stability when employing a time-varying bandwidth,as well as the supporting mathematical foundations,remain insufficiently studied.This paper investigates the stability condition for active disturbance rejection control(ADRC)with a time-varying bandwidth extended state observer(ESO).A new stability condition is derived,which means that the upper bound of rate of change for ESO bandwidth should be restricted.Moreover,under the proposed condition,the closed-loop stability of ADRC with a time-varying bandwidth observer is rigorously proved for nonlinear uncertainties.In simulations,the necessity of the proposed condition is illustrated,demonstrating that the rate of change of ESO bandwidth is crucial for closed-loop stability.展开更多
With the increasing penetration of renewable energy resources in power systems,conventional timescale separated load frequency control(LFC)and economic dispatch may degrade frequency performance and reduce economic ef...With the increasing penetration of renewable energy resources in power systems,conventional timescale separated load frequency control(LFC)and economic dispatch may degrade frequency performance and reduce economic efficiency.This paper proposes a novel data-driven adaptive distributed optimal disturbance rejection control(DODRC)method for real-time economic LFC problem in nonlinear power systems.Firstly,a basic DODRC method is proposed by integrating the active disturbance rejection control method and the partial primal–dual algorithm.Then,to deal with the tie-line power flow constraints,the logarithmic barrier function is employed to reconstruct the Lagrange function to obtain the constrained DODRC method.By analyzing the sensitivity of the uncertain parameters of power systems,a data-driven adaptive DODRC method is finally proposed with a neural network.The effectiveness of the proposed method is demonstrated by experimental results using real-time equipment.展开更多
The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, un...The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.展开更多
The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this...The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.展开更多
During the startup of the hydraulic turbine generators,the hybrid magnetic bearing support system exhibits displacement fluctuations,and the nonlinearity and strong coupling characteristics of the magnetic bearings li...During the startup of the hydraulic turbine generators,the hybrid magnetic bearing support system exhibits displacement fluctuations,and the nonlinearity and strong coupling characteristics of the magnetic bearings limit the accuracy of rotor modeling,making traditional control methods difficult to adapt to parameter variations.To suppress startup disturbances and achieve a control strategy with low computational complexity and high precision,this paper proposes a five-degree-of-freedom hybrid magnetic bearing control strategy based on an improved cascaded reduced-order linear active disturbance rejection controller(CRLADRC).The front-stage reduced-order linear extended state observer(FRLESO)reduces the system’s computational complexity,enabling the system to maintain stability during motor startup disturbances.The second-stage reduced-order linear extended state observer(SRLESO)further enhances the system’s disturbance estimation accuracy while maintaining low computational complexity.Furthermore,the disturbance rejection and noise suppression capabilities are analyzed in the frequency domain and the stability of the proposed control method is proven using Lyapunov theory.Experimental results indicate that the proposed strategy effectively reduces displacement fluctuations in the hybrid magnetic bearing support system during motor startup,significantly enhancing the system’s robustness.展开更多
Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails ...Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails to fully exploit feedback from first-order and higher-order estimation errors and tracking error simultaneously,thereby diminishing the control performance of ADRC.To address this limitation,an enhanced car-following algorithm utilising ADRC is proposed,which integrates the improved ESO with a feedback controller.In comparison to the conventional ESO,the enhanced version effectively utilises multi-order estimation and tracking errors.Specifically,it enhances convergence rates by incorporating feedback from higher-order estimation errors and ensures the estimated value converges to the reference value by utilising tracking error feedback.The improved ESO significantly enhances the disturbance rejection performance of ADRC.Finally,the effectiveness of the proposed algorithm is validated through the Lyapunov approach and experiments.展开更多
The phenomenon of shock/shock interaction(SSI)is widely observed in high-speed flow,and the double wedge SSI represents one of the typical problems encountered.The control effect of single-pulse plasma synthetic jet(P...The phenomenon of shock/shock interaction(SSI)is widely observed in high-speed flow,and the double wedge SSI represents one of the typical problems encountered.The control effect of single-pulse plasma synthetic jet(PSJ)on double wedge type-Ⅵand type-ⅤSSI was investigated experimentally and numerically,and the influence of discharge energy was also explored.The findings indicate that the interaction between PSJ and the high-speed freestream results in the formation of a plasma layer and a jet shock,which collectively governs the control of SSI.The control mechanism of single-pulse PSJ on SSI lies in its capacity to attenuate both shock and SSI.For type-ⅥSSI,the original second-wedge oblique shock is eliminated under the control of PSJ,resulting in a new type-ⅥSSI formed by the jet shock and the first-wedge oblique shock.For type-ⅤSSI,the presence of PSJ effectively mitigates the intensity of Mach stem,supersonic jet,and reflected shocks,thereby facilitating its transition into type-ⅥSSI.The numerical results indicate that the peak pressure can be reduced by approximately 32.26%at maximum.Furthermore,the development of PSJ also extends in the Z direction.The pressure decreases in the area affected by both PSJ and jet shock due to the attenuation of the SSI zone.With increasing discharge energy,the control effect of PSJ on SSI is gradually enhanced.展开更多
This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller fo...This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.展开更多
This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial...This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial and resonant disturbances.In this estimator structure,referred to as Cascade GPIO(CGPIO),the total disturbance sensitivity is the product of the sensitivities at each cascade level.This approach improves system performance against both periodic and non-periodic disturbances and enhances robustness under frequency variations in harmonic components.Additionally,the decoupled nature of the estimator reduces the order of the GPIOs,thereby simplifying tuning and limiting observer gains.The proposed control scheme is supported by a frequency-domain analysis and is experimentally validated in the current control of a grid-connected converter subject to control gain uncertainties,harmonic distortion,frequency deviations,and measurement noise.Experimental results demonstrate that the CGPIO-based ADRC outperforms benchmark solutions,including proportional-integral(PI)and proportional-resonant(PR)controllers.展开更多
This paper presents a further improved Production Activity Control Architecture to deal with the complexity of information by creating Sub-Producers and Sub-Movers which will not only give a better control at workstat...This paper presents a further improved Production Activity Control Architecture to deal with the complexity of information by creating Sub-Producers and Sub-Movers which will not only give a better control at workstation level but also reduce load on the Dispatcher. It also makes an analysis of the basic and improved PAC (Production Activity Control) Architecture in the Control System for Integrated Manufacturing. The PAC Architecture and the improvement will further enhance the flexibility and adaptability of the architecture in the ever changing environment of the Shop Floor Control (SFC) Systems.展开更多
The active vibration control technology has been successfully applied to several helicopter types.However,with the increasing of control scale,traditional centralized control algorithms are experiencing significant in...The active vibration control technology has been successfully applied to several helicopter types.However,with the increasing of control scale,traditional centralized control algorithms are experiencing significant increase of computational complexity and physical implementation challenging.To address this issue,a diffusion collaboration-based distributed Filtered-x Least Mean Square algorithm applied to active vibration control is proposed,drawing inspiration from the concept of data fusion in wireless sensor network.This algorithm distributes the computation load to each node,and constructs the active vibration control network topology of large-scale system by discarding the weak coupling secondary paths between nodes,achieving distributed active vibration control.In order to thoroughly validate the effectiveness and superiority of this algorithm,a helicopter fuselage model is designed as the research object.Firstly,the excellent vibration reduction performance of the proposed algorithm is confirmed through simulations.Subsequently,specialized node control units are developed,which utilize STM32 microcontroller as the processing unit.Further,a distributed control system is constructed based on multi-processor collaboration.Building on this foundation,a large-scale active vibration control experimental platform is established.Based on the platform,experiments are carried out,involving the 4-input 4-output system and the 8-input 8-output system.The experimental results demonstrate that under steady-state harmonic excitation,the proposed algorithm not only ensures control effectiveness but also reduces computational complexity by 50%,exhibiting faster convergence speed compared with traditional centralized algorithms.Under time-varying external excitation,the proposed algorithm demonstrates rapid tracking of vibration changes,with vibration amplitudes at all controlled points declining by over 94%,proving the strong robustness and adaptive capability of the algorithm.展开更多
In this paper, the attitude tracking and load relief control problems against wind disturbances and uncertain aerodynamics as well as the engine thrust of launch vehicles are studied.Firstly, a framework of Compensate...In this paper, the attitude tracking and load relief control problems against wind disturbances and uncertain aerodynamics as well as the engine thrust of launch vehicles are studied.Firstly, a framework of Compensated Acceleration Feedback based Active Disturbance Rejection Control(CAF-ADRC) is established to achieve both desired attitude tracking and load relief performances. In particular, the total disturbance that includes the effects caused by both aerocoefficient perturbations and disturbances is estimated by constructing an Extended State Observer(ESO) to achieve attitude tracking. Furthermore, combined with the normal acceleration due to the engine thrust, the accelerometer measurement is also compensated to enhance the load relief effect.Secondly, the quantitative analysis of ESO and the entire closed-loop system are studied. It can be concluded that the desired attitude tracking and load relief performances can be achieved simultaneously under the proposed approach. Besides, tuning laws of the proposed approach are systematically given, which are divided into ESO, Proportional Derivative(PD) and Compensated Acceleration Feedback(CAF) modules. Moreover, the performances under CAF-ADRC approach can be better than those under CAF based PD(CAF-PD) approach by tuning load relief gain.Finally, the approach presented is applied to a typical control problem of launch vehicles with wind disturbances and parameter uncertainties.展开更多
Shop floor control （SFC） is responsible for the coordination and control of the manufacturing physical and information flow within the shop floor in the manufacturing system. Weaknesses of the production activity co...Shop floor control （SFC） is responsible for the coordination and control of the manufacturing physical and information flow within the shop floor in the manufacturing system. Weaknesses of the production activity control （PAC） architecture of the shop floor are addressed by the Maglica＇s new system architecture. This architecture gives rise to unlimited number of movers and producers thus evolving more complex but decentralized architecture. Beijing Institute of Technology - production activity control （BIT-PAC） architecture introduces an idea of sub-producars and sub-movers thus reducing the complexity of the architecture. All the equipments including sub-producars and sub-movers are considered to be passive in the proposed shop floor information system. The dissemination of information from sub-producers and sub-movers is done manually through a PC. Proposed BIT-PAC SFC architecture facilitates the information flow from shop floor to the other area of the organization. Effective use of interact information services （IIS） and SQL2000 is done along with the ASP.NET technology to implement the application logic. Applicability of the software based on BIT-PAC architecture is checked by running application software on a network PC that supports the dynamic flow of information from sub-producers and sub-movers to the other parts of the organization. Use of software is also shown at the end for BIT training workshop thus supporting the use of SFC architecture for similar kind of environments.展开更多
The virtual synchronous generator(VSG)technology has been proposed to address the problem of system frequency and active power oscillation caused by grid-connected new energy power sources.However,the traditional volt...The virtual synchronous generator(VSG)technology has been proposed to address the problem of system frequency and active power oscillation caused by grid-connected new energy power sources.However,the traditional voltage-current double-closed-loop control used in VSG has the disadvantages of poor disturbance immunity and insufficient dynamic response.In light of the issues above,a virtual synchronous generator voltage outer-loop control strategy based on improved linear autonomous disturbance rejection control(ILADRC)is put forth for consideration.Firstly,an improved first-order linear self-immunity control structure is established for the characteristics of the voltage outer loop;then,the effects of two key control parameters-observer bandwidthω_(0)and controller bandwidthω_(c)on the control system are analyzed,and the key parameters of ILADRC are optimally tuned online using improved gray wolf optimizer-radial basis function(IGWO-RBF)neural network.A simulationmodel is developed using MATLAB to simulate,analyze,and compare the method introduced in this paper.Simulations are performed with the traditional control strategy for comparison,and the results demonstrate that the proposed control method offers superior anti-interference performance.It effectively addresses power and frequency oscillation issues and enhances the stability of the VSG during grid-connected operation.展开更多
基金supported by the National Natural Science Foundation of China(Nos.52177059 and 52407064).
文摘Permanent magnet synchronous motor based electro-mechanical actuation servo drives have widespread applications in the aviation field,such as unmanned aerial vehicle electric servos,electric cabin doors,and mechanical arms.The performance of the servo drive,which encompasses the response to the torque,efficiency,control bandwidth and the steady-state positioning accuracy,significantly influences the performance of the aviation actuation.Consequently,enhancing the control bandwidth and refining the positioning accuracy of aviation electro-mechanical actuation servo drives have emerged as a focal point of research.This paper investigates the multi-source disturbances present in aviation electro-mechanical actuation servo systems and summarizes recent research on high-performance servo control methods based on active disturbance rejection control(ADRC).We present a comprehensive overview of the research status pertaining to servo control architecture,strategies for suppressing disturbances in the current loop,and ADRC-based strategies for the position loop.We delineate the research challenges and difficulties encountered by aviation electro-mechanical actuation servo drive control technology.
基金The Fundamental Research Funds for the Central Universities(JD2423)。
文摘Pump valve pipeline vibration brings serious safety hazards to the operation of the equipment,for the pump valve system in the process of variable flow,variable speed,variable openings lead to excessive pipeline vibration.An active damping device(ADD)is used to the vibration of the pump valve pipeline system to apply the control force,to achieve the active control of the pipeline vibration.A pump-valve pipeline vibration test bench was built to compare the control effect of active damping device on pipeline vibration under different pump valve working conditions,and the results show that applying ADD control could effectively suppress the vibration of the pump valve pipeline and enhance the stability of the equipment during operation.At different pump operating rotation frequencies,the vibration amplitude of the pump valve pipeline in working frequency and its multiple frequencies are also effectively suppressed,with the maximum amplitude reduction of more than 60%.For the valve vibration caused by different operating openings,the vibration of the highest reduction of 68%,and the centrifugal pump drive shaft vi-bration reduced by up to 73%,which provides a new idea for vibration control of pump valve pipeline system.
文摘The study of Mecanum mobile robots typically assumes motion on planar surfaces,while the challenges posed by inclined terrains remain largely unexplored,leaving a significant gap in control applications for such scenarios.In this context,two critical issues emerge:the gravitational pull caused by adding a potential energy term in the robot dynamics,which drives the vehicle downhill,and several positioning errors due to vibrations and slippage of the Mecanum wheel.To address these challenges,this work presents an Active Disturbance Rejection Control(ADRC)-based framework designed to enable accurate tracking on inclined surfaces,despite the compounded effects of gravitational forces and slippage.Unlike conventional controllers,the proposed method requires minimal model knowledge while actively compensates for unknown dynamics and external disturbances in real time.A complete theoretical formulation is provided,supported by numerical simulations and comprehensive experimental validation.Results demonstrate that the ADRC structure significantly outperforms not only the traditional proportional-integral-derivative(PID)control but also a robust variant of PID combined with a Quasi-Sliding Mode control(PID-QSMC)strategy,achieving superior tracking.Notably,this study offers an important experimental validation of ADRC for Mecanum-wheeled robots operating on inclined surfaces.It contributes a practical and scalable solution to extend their operational capabilities beyond flat environments.
文摘A theoretical analysis regarding active vibration control of rotating machines with current-controlled electrodynamic actuators between machine feet and steel frame foundation and with velocity feedback of the machine feet vibrations is presented.First,a generalized mathematical formulation is derived based on a state-space description which can be used for different kinds of models(1D,2D,and 3D models).It is shown that under special boundary conditions,the control parameters can be directly implemented into the stiffness and damping matrices of the system.Based on the generalized mathematical formulation,an example of a rotating machine—described by a 2D model—with journal bearings,flexible rotor,current-controlled electrodynamic actuators,steel frame foundation,and velocity feedback of the machine feet vibrations is presented where the effectiveness of the described active vibration control system is demonstrated.
基金Project supported by the National Natural Science Foundation of China(Nos.12102015 and 12472003)the R&D Program of Beijing Municipal Education Commission of China(No.KM202110005030)。
文摘Graphene platelets(GPLs)-reinforced metal foam structures enhance the mechanical properties while maintaining the lightweight characteristics of metal foams.Further bonding piezoelectric actuator and sensor layers on the surfaces of GPLs-reinforced metal foam beams enables active vibration control,greatly expanding their applications in the aerospace industry.For the first time,this paper investigates the vibration characteristics and active vibration control of GPLs-reinforced metal foam beams with surfacebonded piezoelectric layers.The constant velocity feedback scheme is used to design the closed-loop controller including piezoelectric actuators and sensors.The effects of the GPLs on the linear and nonlinear free vibrations of the beams are numerically studied.The Newmark-βmethod combined with Newton's iteration technique is used to calculate the nonlinear responses of the beams under different load forms including harmonic loads,impact loads,and moving loads.Additionally,special attention is given to the vibration reduction performance of the velocity feedback control on the responses of the beam.
基金Supported by the National Natural Science Foundation of China(Nos.12272056 and 11832002)。
文摘This paper investigates the active traveling wave vibration control of an elastic supported rotating porous aluminium conical shell(CS)under impact loading.Piezoelectric smart materials in the form of micro fiber composites(MFCs)are used as actuators and sensors.To this end,a metal pore truncated CS with MFCs attached to its surface is considered.Adding artificial virtual springs at two edges of the truncated CS achieves various elastic supported boundaries by changing the spring stiffness.Based on the first-order shear deformation theory(FSDT),minimum energy principle,and artificial virtual spring technology,the theoretical formulations considering the electromechanical coupling are derived.The comparison of the natural frequency of the present results with the natural frequencies reported in previous literature evaluates the accuracy of the present approach.To study the vibration control,the integral quadrature method in conjunction with the differential quadrature approximation in the length direction is used to discretize the partial differential dynamical system to form a set of ordinary differential equations.With the aid of the velocity negative feedback method,both the time history and the input control voltage on the actuator are demonstrated to present the effects of velocity feedback gain,pore distribution type,semi-vertex angle,impact loading,and rotational angular velocity on the traveling wave vibration control.
基金supported partially by the National Natural Science Foundation(No.62473344)the T-Flight Laboratory in ShanXi Provincial(No.GSFC2024NBKY05)+1 种基金the Natural Science Basic Research Program of Shaanxi(No.2025JC-YBQN-035)the National Natural Science Foundation of China(Grant No.92471204).
文摘With the growing adoption of artificial intelligence algorithms and neural networks,online learning and adaptive methods for updating the bandwidth have become increasingly prevalent.However,the conditions required to ensure closed-loop stability when employing a time-varying bandwidth,as well as the supporting mathematical foundations,remain insufficiently studied.This paper investigates the stability condition for active disturbance rejection control(ADRC)with a time-varying bandwidth extended state observer(ESO).A new stability condition is derived,which means that the upper bound of rate of change for ESO bandwidth should be restricted.Moreover,under the proposed condition,the closed-loop stability of ADRC with a time-varying bandwidth observer is rigorously proved for nonlinear uncertainties.In simulations,the necessity of the proposed condition is illustrated,demonstrating that the rate of change of ESO bandwidth is crucial for closed-loop stability.
基金supported in part by the State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources under Grant LAPS24009in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2021A1515110016in part by the National Natural Science Foundation of China under Grant 52206009.
文摘With the increasing penetration of renewable energy resources in power systems,conventional timescale separated load frequency control(LFC)and economic dispatch may degrade frequency performance and reduce economic efficiency.This paper proposes a novel data-driven adaptive distributed optimal disturbance rejection control(DODRC)method for real-time economic LFC problem in nonlinear power systems.Firstly,a basic DODRC method is proposed by integrating the active disturbance rejection control method and the partial primal–dual algorithm.Then,to deal with the tie-line power flow constraints,the logarithmic barrier function is employed to reconstruct the Lagrange function to obtain the constrained DODRC method.By analyzing the sensitivity of the uncertain parameters of power systems,a data-driven adaptive DODRC method is finally proposed with a neural network.The effectiveness of the proposed method is demonstrated by experimental results using real-time equipment.
基金supported by the Fondo para el Primer Proyecto of the Comitépara el Desarrollo de la Investigación(CODI)at the Universidad de Antioquia(Grant Number PRV2024-78509)。
文摘The objective of this paper is to present a robust safety-critical control system based on the active disturbance rejection control approach, designed to guarantee safety even in the presence of model inaccuracies, unknown dynamics, and external disturbances. The proposed method combines control barrier functions and control Lyapunov functions with a nonlinear extended state observer to produce a robust and safe control strategy for dynamic systems subject to uncertainties and disturbances. This control strategy employs an optimization-based control, supported by the disturbance estimation from a nonlinear extended state observer. Using a quadratic programming algorithm, the controller computes an optimal, stable, and safe control action at each sampling instant. The effectiveness of the proposed approach is demonstrated through numerical simulations of a safety-critical interconnected adaptive cruise control system.
基金supported by Southern Marine Science and Guangdong Laboratory(Zhuhai)(Grant No.SML2023SP229)。
文摘The maneuverability and stealth of aerial-aquatic vehicles(AAVs)is of significant importance for future integrated air-sea combat missions.To improve the maneuverability and stealth of AAVs near the water surface,this paper proposed a high-maneuverability skipping motion strategy for the tandem twin-rotor AAV,inspired by the motion behavior of the flying fish to avoid aquatic and aerial predators near the water surface.The novel tandem twin-rotor AAV was employed as the research subject and a strategybased ADRC control method for validation,comparing it with a strategy-based PID control method.The results indicate that both control methods enable the designed AAV to achieve high stealth and maneuverability near the water surface with robust control stability.The strategy-based ADRC control method exhibits a certain advantage in controlling height,pitch angle,and reducing impact force.This motion strategy will offer an inspiring approach for the practical application of AAVs to some extent.
基金supported by the National Natural Science Foundation of China under Grant 52302458the CAS Project for Young Scientists in Basic Research,Grant No.YSBR-045.
文摘During the startup of the hydraulic turbine generators,the hybrid magnetic bearing support system exhibits displacement fluctuations,and the nonlinearity and strong coupling characteristics of the magnetic bearings limit the accuracy of rotor modeling,making traditional control methods difficult to adapt to parameter variations.To suppress startup disturbances and achieve a control strategy with low computational complexity and high precision,this paper proposes a five-degree-of-freedom hybrid magnetic bearing control strategy based on an improved cascaded reduced-order linear active disturbance rejection controller(CRLADRC).The front-stage reduced-order linear extended state observer(FRLESO)reduces the system’s computational complexity,enabling the system to maintain stability during motor startup disturbances.The second-stage reduced-order linear extended state observer(SRLESO)further enhances the system’s disturbance estimation accuracy while maintaining low computational complexity.Furthermore,the disturbance rejection and noise suppression capabilities are analyzed in the frequency domain and the stability of the proposed control method is proven using Lyapunov theory.Experimental results indicate that the proposed strategy effectively reduces displacement fluctuations in the hybrid magnetic bearing support system during motor startup,significantly enhancing the system’s robustness.
基金State Key Laboratory of Intelligent Green Vehicle and Mobility,Grant/Award Number:KFY2417Science and Technology Innovation 2030-“New Generation Artificial Intelligence”Major Project,Grant/Award Number:2022ZD0116305+7 种基金State Key Laboratory of Intelligent Vehicle Safety Technology,Grant/Award Number:IVSTSKL-202402Anhui Province Natural Science Funds for Distinguished Young Scholar,Grant/Award Number:2308085J02National Natural Science Foundation of China,Grant/Award Numbers:U2013601,U20A20225Wuhu Major Scientific and Technological Achievements Engineering Project,Grant/Award Number:2021zc04CAAI-Huawei Mind Spore Open Fund,Grant/Award Number:CAAIXSJLJJ-2022-011ANatural Science Foundation of Hefei,China,Grant/Award Number:202321State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body,Grant/Award Number:32215010Wuhu Municipal Science and Technology Program,Grant/Award Number:2021hg17。
文摘Active Disturbance Rejection Control(ADRC)possesses robust disturbance rejection capabilities,making it well-suited for longitudinal velocity control.However,the conventional Extended State Observer(ESO)in ADRC fails to fully exploit feedback from first-order and higher-order estimation errors and tracking error simultaneously,thereby diminishing the control performance of ADRC.To address this limitation,an enhanced car-following algorithm utilising ADRC is proposed,which integrates the improved ESO with a feedback controller.In comparison to the conventional ESO,the enhanced version effectively utilises multi-order estimation and tracking errors.Specifically,it enhances convergence rates by incorporating feedback from higher-order estimation errors and ensures the estimated value converges to the reference value by utilising tracking error feedback.The improved ESO significantly enhances the disturbance rejection performance of ADRC.Finally,the effectiveness of the proposed algorithm is validated through the Lyapunov approach and experiments.
基金supported by the Independent Innovation Science Fund of National University of Defense Technology(No.24-ZZCX-BC-05)National Natural Science Foundation of China(Nos.92271110 and 12202488)+2 种基金the Major National Science and Technology Project(No.J2019-Ⅲ0010-0054)the National Postdoctoral Researcher Program of China(No.GZB20230985)the Natural Science Program of National University of Defense Technology(No.ZK22-30)。
文摘The phenomenon of shock/shock interaction(SSI)is widely observed in high-speed flow,and the double wedge SSI represents one of the typical problems encountered.The control effect of single-pulse plasma synthetic jet(PSJ)on double wedge type-Ⅵand type-ⅤSSI was investigated experimentally and numerically,and the influence of discharge energy was also explored.The findings indicate that the interaction between PSJ and the high-speed freestream results in the formation of a plasma layer and a jet shock,which collectively governs the control of SSI.The control mechanism of single-pulse PSJ on SSI lies in its capacity to attenuate both shock and SSI.For type-ⅥSSI,the original second-wedge oblique shock is eliminated under the control of PSJ,resulting in a new type-ⅥSSI formed by the jet shock and the first-wedge oblique shock.For type-ⅤSSI,the presence of PSJ effectively mitigates the intensity of Mach stem,supersonic jet,and reflected shocks,thereby facilitating its transition into type-ⅥSSI.The numerical results indicate that the peak pressure can be reduced by approximately 32.26%at maximum.Furthermore,the development of PSJ also extends in the Z direction.The pressure decreases in the area affected by both PSJ and jet shock due to the attenuation of the SSI zone.With increasing discharge energy,the control effect of PSJ on SSI is gradually enhanced.
基金support through his Master scholarshipThe Vicerrectoría de Investigación y Estudios de Posgrado(VIEP-BUAP)partially funded this work under grant number 00593-PV/2025.
文摘This paper aims to fuse two well-established and,at the same time,opposed control techniques,namely,model predictive control(MPC)and active disturbance rejection control(ADRC),to develop a dynamic motion controller for a laser beam steering system.The proposed technique uses the ADRC philosophy to lump disturbances and model uncertainties into a total disturbance.Then,the total disturbance is estimated via a discrete extended state disturbance observer(ESO),and it is used to(1)handle the system constraints in a quadratic optimization problem and(2)injected as a feedforward term to the plant to reject the total disturbance,together with the feedback term obtained by the MPC.The main advantage of the proposed approach is that the MPC is designed based on a straightforward integrator-chain model such that a simple convex optimization problem is performed.Several experiments show the real-time closed-loop performance regarding trajectory tracking and disturbance rejection.Owing to simplicity,the self-contained approach MPC+ESO becomes a Frugal MPC,which is computationally economical,adaptable,efficient,resilient,and suitable for applications where on-board computational resources are limited.
文摘This paper presents a novel active disturbance rejection control(ADRC)scheme based on a cascade connection of generalized proportional integral observers(GPIOs)with internal models designed to estimate both polynomial and resonant disturbances.In this estimator structure,referred to as Cascade GPIO(CGPIO),the total disturbance sensitivity is the product of the sensitivities at each cascade level.This approach improves system performance against both periodic and non-periodic disturbances and enhances robustness under frequency variations in harmonic components.Additionally,the decoupled nature of the estimator reduces the order of the GPIOs,thereby simplifying tuning and limiting observer gains.The proposed control scheme is supported by a frequency-domain analysis and is experimentally validated in the current control of a grid-connected converter subject to control gain uncertainties,harmonic distortion,frequency deviations,and measurement noise.Experimental results demonstrate that the CGPIO-based ADRC outperforms benchmark solutions,including proportional-integral(PI)and proportional-resonant(PR)controllers.
文摘This paper presents a further improved Production Activity Control Architecture to deal with the complexity of information by creating Sub-Producers and Sub-Movers which will not only give a better control at workstation level but also reduce load on the Dispatcher. It also makes an analysis of the basic and improved PAC (Production Activity Control) Architecture in the Control System for Integrated Manufacturing. The PAC Architecture and the improvement will further enhance the flexibility and adaptability of the architecture in the ever changing environment of the Shop Floor Control (SFC) Systems.
文摘The active vibration control technology has been successfully applied to several helicopter types.However,with the increasing of control scale,traditional centralized control algorithms are experiencing significant increase of computational complexity and physical implementation challenging.To address this issue,a diffusion collaboration-based distributed Filtered-x Least Mean Square algorithm applied to active vibration control is proposed,drawing inspiration from the concept of data fusion in wireless sensor network.This algorithm distributes the computation load to each node,and constructs the active vibration control network topology of large-scale system by discarding the weak coupling secondary paths between nodes,achieving distributed active vibration control.In order to thoroughly validate the effectiveness and superiority of this algorithm,a helicopter fuselage model is designed as the research object.Firstly,the excellent vibration reduction performance of the proposed algorithm is confirmed through simulations.Subsequently,specialized node control units are developed,which utilize STM32 microcontroller as the processing unit.Further,a distributed control system is constructed based on multi-processor collaboration.Building on this foundation,a large-scale active vibration control experimental platform is established.Based on the platform,experiments are carried out,involving the 4-input 4-output system and the 8-input 8-output system.The experimental results demonstrate that under steady-state harmonic excitation,the proposed algorithm not only ensures control effectiveness but also reduces computational complexity by 50%,exhibiting faster convergence speed compared with traditional centralized algorithms.Under time-varying external excitation,the proposed algorithm demonstrates rapid tracking of vibration changes,with vibration amplitudes at all controlled points declining by over 94%,proving the strong robustness and adaptive capability of the algorithm.
基金supported by the National Key R&D Program of China (No. 2022YFA1004703)the National Natural Science Foundation of China (Nos. 62122083 and 62103014)Chinese Academy of Sciences Youth Innovation Promotion Association (No. 2021003)。
文摘In this paper, the attitude tracking and load relief control problems against wind disturbances and uncertain aerodynamics as well as the engine thrust of launch vehicles are studied.Firstly, a framework of Compensated Acceleration Feedback based Active Disturbance Rejection Control(CAF-ADRC) is established to achieve both desired attitude tracking and load relief performances. In particular, the total disturbance that includes the effects caused by both aerocoefficient perturbations and disturbances is estimated by constructing an Extended State Observer(ESO) to achieve attitude tracking. Furthermore, combined with the normal acceleration due to the engine thrust, the accelerometer measurement is also compensated to enhance the load relief effect.Secondly, the quantitative analysis of ESO and the entire closed-loop system are studied. It can be concluded that the desired attitude tracking and load relief performances can be achieved simultaneously under the proposed approach. Besides, tuning laws of the proposed approach are systematically given, which are divided into ESO, Proportional Derivative(PD) and Compensated Acceleration Feedback(CAF) modules. Moreover, the performances under CAF-ADRC approach can be better than those under CAF based PD(CAF-PD) approach by tuning load relief gain.Finally, the approach presented is applied to a typical control problem of launch vehicles with wind disturbances and parameter uncertainties.
基金This project is supported by Beijing City Key Discipline Fund, China (No.XK100070424).
文摘Shop floor control （SFC） is responsible for the coordination and control of the manufacturing physical and information flow within the shop floor in the manufacturing system. Weaknesses of the production activity control （PAC） architecture of the shop floor are addressed by the Maglica＇s new system architecture. This architecture gives rise to unlimited number of movers and producers thus evolving more complex but decentralized architecture. Beijing Institute of Technology - production activity control （BIT-PAC） architecture introduces an idea of sub-producars and sub-movers thus reducing the complexity of the architecture. All the equipments including sub-producars and sub-movers are considered to be passive in the proposed shop floor information system. The dissemination of information from sub-producers and sub-movers is done manually through a PC. Proposed BIT-PAC SFC architecture facilitates the information flow from shop floor to the other area of the organization. Effective use of interact information services （IIS） and SQL2000 is done along with the ASP.NET technology to implement the application logic. Applicability of the software based on BIT-PAC architecture is checked by running application software on a network PC that supports the dynamic flow of information from sub-producers and sub-movers to the other parts of the organization. Use of software is also shown at the end for BIT training workshop thus supporting the use of SFC architecture for similar kind of environments.
基金supported by the Lanzhou Jiaotong University-Southwest Jiaotong University Joint Innovation Fund(LH2024027).
文摘The virtual synchronous generator(VSG)technology has been proposed to address the problem of system frequency and active power oscillation caused by grid-connected new energy power sources.However,the traditional voltage-current double-closed-loop control used in VSG has the disadvantages of poor disturbance immunity and insufficient dynamic response.In light of the issues above,a virtual synchronous generator voltage outer-loop control strategy based on improved linear autonomous disturbance rejection control(ILADRC)is put forth for consideration.Firstly,an improved first-order linear self-immunity control structure is established for the characteristics of the voltage outer loop;then,the effects of two key control parameters-observer bandwidthω_(0)and controller bandwidthω_(c)on the control system are analyzed,and the key parameters of ILADRC are optimally tuned online using improved gray wolf optimizer-radial basis function(IGWO-RBF)neural network.A simulationmodel is developed using MATLAB to simulate,analyze,and compare the method introduced in this paper.Simulations are performed with the traditional control strategy for comparison,and the results demonstrate that the proposed control method offers superior anti-interference performance.It effectively addresses power and frequency oscillation issues and enhances the stability of the VSG during grid-connected operation.
