Stability of indirect field-oriented control (IFOC) of induction motor drives is greatly influenced by estimated value of rotor time constant. By choosing estimation error of rotor time constant as bifurcation paramet...Stability of indirect field-oriented control (IFOC) of induction motor drives is greatly influenced by estimated value of rotor time constant. By choosing estimation error of rotor time constant as bifurcation parameter, the conditions of generating Hopf bifurcation in IFOC drives are analyzed. Dynamic responses and Lyapunov exponents show that chaos and limit cycles will arise for some ranges of load torque with certain PI speed controller setting. Stable drives are required for conventional applications, but chaotic rotation can promote efficiency or improve dynamic characteristics of drives. Thus, the study may be a guideline for designing a stable system or an oscillating system.展开更多
Automatic voltage regulators(AVR)are designed to manipulate a synchronous generator’s voltage level automatically.Proportional integral derivative(PID)controllers are typically used in AVR systems to regulate voltage...Automatic voltage regulators(AVR)are designed to manipulate a synchronous generator’s voltage level automatically.Proportional integral derivative(PID)controllers are typically used in AVR systems to regulate voltage.Although advanced PID tuning methods have been proposed,the actual voltage response differs from the theoretical predictions due to modeling errors and system uncertainties.This requires continuous fine tuning of the PID parameters.However,manual adjustment of these parameters can compromise the stability and robustness of the AVR system.This study focuses on the online self-tuning of PID controllers called indirect design approach-2(IDA-2)in AVR systems while preserving robustness.In particular,we indirectly tune the PID controller by shifting the frequency response.The new PID parameters depend on the frequency-shifting constant and the previously optimized PID parameters.Adjusting the frequency-shifting constant modifies all the PID parameters simultaneously,thereby improving the control performance and robustness.We evaluate the robustness of the proposed online PID tuning method by comparing the gain margins(GMs)and phase margins(PMs)with previously optimized PID parameters during parameter uncertainties.The proposed method is further evaluated in terms of disturbance rejection,measurement noise,and frequency response analysis during parameter uncertainty calculations against existing methods.Simulations show that the proposed method significantly improves the robustness of the controller in the AVR system.In summary,online self-tuning enables automated PID parameter adjustment in an AVR system,while maintaining stability and robustness.展开更多
A novel double extended state observers(ESOs)-based field-oriented control(FOC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive systems without any phase current sensor.In principle,...A novel double extended state observers(ESOs)-based field-oriented control(FOC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive systems without any phase current sensor.In principle,two current sensors are essential parts of the drive system for implementation of the feedback to achieve high accuracy control.For this purpose,the double ESOs are created to provide feedback stator currents instead of actual current sensors.The first one of the double ESOs is designed to estimate the benchmark value of q-axis stator current,which is a primary premise;While the second is designed to estimate real-time stator currents of d-axis and q-axis simultaneously.The resultant double ESOs can rapidly and accurately give estimation of the actual currents of a-axis,b-axis and c-axis,and the synthesized double ESOs-based FOC strategy for PMSM drive system without any current sensors has satisfactory control performance and strong robustness.Numerical experiments validate the feasibility and effectiveness of the proposed scheme.展开更多
To solve the receding horizon control （RHC） problem in an online manner, a novel numerical method called the indirect Radau pseudospectral method （IRPM） is proposed in this paper. Based on calculus of variations a...To solve the receding horizon control （RHC） problem in an online manner, a novel numerical method called the indirect Radau pseudospectral method （IRPM） is proposed in this paper. Based on calculus of variations and the first-order necessary optimality condition, the RHC problem for linear time-varying （LTV） system is transformed into the two-point boundary value problem （TPBVP）. The Radau pseudospectral approximation is employed to discretize the TPBVP into well-posed linear algebraic equations. The resulting linear algebraic equations are solved via a matrix partitioning approach afterwards to obtain the optimal feedback control law. For the nonlinear system, the linearization method or the quasi linearization method is employed to approximate the RHC problem with successive linear approximations. Subsequently, each linear problem is solved via the similar method which is used to solve the RHC problem for LTV system. Simulation results of three examples show that the IRPM is of high accuracy and of high compu- tation efficiency to solve the RHC problem and the stability of closed-loop systems is guaranteed.展开更多
This paper deals with the problem of the absolute stability for general neutral type Lurie indirect control systems by Lyapunov method and linear matrix inequality （LMI） technique. Delay-dependent sufficient conditi...This paper deals with the problem of the absolute stability for general neutral type Lurie indirect control systems by Lyapunov method and linear matrix inequality （LMI） technique. Delay-dependent sufficient conditions for the absolute stability are derived and expressed as the feasibility problem of LMI, which can be easily solved by Matlab Toolbox. Finally, some examples are provide to demonstrate the effectiveness of proposed method.展开更多
Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this...Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.展开更多
Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load ...Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper,the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. Simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. Simulation results are shown to illustrate the e ectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly.展开更多
According to a type of normal nonlinear system, an indirect adaptive fuzzy （IAF） controller has been applied to those systems where no accurate mathematical models of the systems under control are available. To sati...According to a type of normal nonlinear system, an indirect adaptive fuzzy （IAF） controller has been applied to those systems where no accurate mathematical models of the systems under control are available. To satisfy with system performance, an indirect accelerated adaptive fuzzy （IAAF） controller is proposed, and its general form is presented. The general form IAAF controller ensures necessary control criteria and system＇s global stability using Lyapunov Theorem. It has been proved that the close-loop system error converges to a small neighborhood of equilibrium point. The optimal IAAF controller is derived to guarantee the process＇s shortest settling time. Simulation results indicate the IAAF controller make the system more stable, accurate, and fast.展开更多
RBPjk-dependent Notch signaling regulates both the onset of chondrocyte hypertrophy and the progression to terminal chondrocyte maturation during endochondral ossification. It has been suggested that Notch signaling c...RBPjk-dependent Notch signaling regulates both the onset of chondrocyte hypertrophy and the progression to terminal chondrocyte maturation during endochondral ossification. It has been suggested that Notch signaling can regulate Sox9 transcription, although how this occurs at the molecular level in chondrocytes and whether this transcriptional regulation mediates Notch control of chondrocyte hypertrophy and cartilage development is unknown or controversial. Here we have provided conclusive genetic evidence linking RBPjk-dependent Notch signaling to the regulation of Sox9 expression and chondrocyte hypertrophy by examining tissuespecific Rbpjk mutant（Prx1Cre;Rbpjkf/f）, Rbpjk mutant/Sox9 haploinsufficient（Prx1Cre;Rbpjkf/f;Sox9f/1）,and control embryos for alterations in SOX9 expression and chondrocyte hypertrophy during cartilage development. These studies demonstrate that Notch signaling regulates the onset of chondrocyte maturation in a SOX9-dependent manner, while Notch-mediated regulation of terminal chondrocyte maturation likely functions independently of SOX9. Furthermore, our in vitro molecular analyses of the Sox9 promoter and Notch-mediated regulation of Sox9 gene expression in chondrogenic cells identified the ability of Notch to induce Sox9 expression directly in the acute setting, but suppresses Sox9 transcription with prolonged Notch signaling that requires protein synthesis of secondary effectors.展开更多
A novel control method for a general class of nonlinear systems using fuzzy logic systems （FLSs） is presertted. Indirect and direct methods are combined to design the adaptive fuzzy output feedback controller and a ...A novel control method for a general class of nonlinear systems using fuzzy logic systems （FLSs） is presertted. Indirect and direct methods are combined to design the adaptive fuzzy output feedback controller and a high-gain observer is used to estimate the derivatives of the system output. The closed-loop system is proven to be semiglobally uniformly ultimately bounded. In addition, it is shown that if the approximation accuracy of the fuzzy logic system is high enough and the observer gain is chosen sufficiently large, an arbitrarily small tracking error can be achieved. Simulation results verify the effectiveness of the newly designed scheme and the theoretical discussion.展开更多
A form of iterative learning control (ILC) is used to update the set-point for the local controller. It is referred to as set-point-related (SPR) indirect ILC. SPR indirect ILC has shown excellent performance: as a su...A form of iterative learning control (ILC) is used to update the set-point for the local controller. It is referred to as set-point-related (SPR) indirect ILC. SPR indirect ILC has shown excellent performance: as a supervision module for the local controller, ILC can improve the tracking performance of the closed-loop system along the batch direction. In this study, an ILC-based P-type controller is proposed for multi-input multi-output (MIMO) linear batch processes, where a P-type controller is used to design the control signal directly and an ILC module is used to update the set-point for the P-type controller. Under the proposed ILC-based P-type controller, the closed-loop system can be transformed to a 2-dimensional (2D) Roesser s system. Based on the 2D system framework, a sufficient condition for asymptotic stability of the closed-loop system is derived in this paper. In terms of the average tracking error (ATE), the closed-loop control performance under the proposed algorithm can be improved from batch to batch, even though there are repetitive disturbances. A numerical example is used to validate the proposed results.展开更多
Vector control schemes have recently been used to drive linear induction motors(LIM)in high-performance applications.This trend promotes the development of precise and efficient control schemes for individual motors.T...Vector control schemes have recently been used to drive linear induction motors(LIM)in high-performance applications.This trend promotes the development of precise and efficient control schemes for individual motors.This research aims to present a novel framework for speed and thrust force control of LIM using space vector pulse width modulation(SVPWM)inverters.The framework under consideration is developed in four stages.To begin,MATLAB Simulink was used to develop a detailed mathematical and electromechanical dynamicmodel.The research presents a modified SVPWM inverter control scheme.By tuning the proportional-integral(PI)controller with a transfer function,optimized values for the PI controller are derived.All the subsystems mentioned above are integrated to create a robust simulation of the LIM’s precise speed and thrust force control scheme.The reference speed values were chosen to evaluate the performance of the respective system,and the developed system’s response was verified using various data sets.For the low-speed range,a reference value of 10m/s is used,while a reference value of 100 m/s is used for the high-speed range.The speed output response indicates that themotor reached reference speed in amatter of seconds,as the delay time is between 8 and 10 s.The maximum amplitude of thrust achieved is less than 400N,demonstrating the controller’s capability to control a high-speed LIM with minimal thrust ripple.Due to the controlled speed range,the developed system is highly recommended for low-speed and high-speed and heavy-duty traction applications.展开更多
The absolute stability of a class of indirect control systems was studied by applying the theory of Hermitian quadratic form and Jordan normal form. The algebraic formal criteria for the absolute stability are establi...The absolute stability of a class of indirect control systems was studied by applying the theory of Hermitian quadratic form and Jordan normal form. The algebraic formal criteria for the absolute stability are established, and these results are new and useful.展开更多
The development of a tailless Flapping Wing Micro Aerial Vehicle(FWMAV)inspired by the hummingbird is presented in this work.By implementing mechanical simplifications,it is possible to use planar machining technology...The development of a tailless Flapping Wing Micro Aerial Vehicle(FWMAV)inspired by the hummingbird is presented in this work.By implementing mechanical simplifications,it is possible to use planar machining technology for manufacturing of the FWMAV’s body,greatly reducing assembly errors.Traditionally,studies on flapping wing aircraft are limited to open-loop wing kinematics control.In this work,an instantaneous closed-loop wing trajectory tracking control system is introduced to minimize wings’trajectory tracking errors.The control system is based on Field-Oriented Control(FOC)with a loop shaping compensation technique near the flapping frequency.Through frequency analysis,the loop shaping compensator ensures the satisfactory bandwidth and performance for the closed-loop flapping system.To implement the proposed controller,a compact autopilot board integrated with FOC hardware is designed,weighing only 2.5 g.By utilizing precise wing trajectory tracking control,the hummingbird-inspired FWMAV demonstrates superior ability to resist external disturbances and exhibits reduced attitude tracking errors during hovering flight compared to the open-loop wing motion.展开更多
基金This work was supported by the National Natural Science Foundation of China (No,50177009) and Guangdong Natural Science Foundation (No.011652) .
文摘Stability of indirect field-oriented control (IFOC) of induction motor drives is greatly influenced by estimated value of rotor time constant. By choosing estimation error of rotor time constant as bifurcation parameter, the conditions of generating Hopf bifurcation in IFOC drives are analyzed. Dynamic responses and Lyapunov exponents show that chaos and limit cycles will arise for some ranges of load torque with certain PI speed controller setting. Stable drives are required for conventional applications, but chaotic rotation can promote efficiency or improve dynamic characteristics of drives. Thus, the study may be a guideline for designing a stable system or an oscillating system.
基金the Malaysian Ministry of Higher Education(MOHE)for their support through the Fundamental Research Grant Scheme(FRGS/1/2021/ICT02/UMP/03/3)(UMPSA Reference:RDU 210117)。
文摘Automatic voltage regulators(AVR)are designed to manipulate a synchronous generator’s voltage level automatically.Proportional integral derivative(PID)controllers are typically used in AVR systems to regulate voltage.Although advanced PID tuning methods have been proposed,the actual voltage response differs from the theoretical predictions due to modeling errors and system uncertainties.This requires continuous fine tuning of the PID parameters.However,manual adjustment of these parameters can compromise the stability and robustness of the AVR system.This study focuses on the online self-tuning of PID controllers called indirect design approach-2(IDA-2)in AVR systems while preserving robustness.In particular,we indirectly tune the PID controller by shifting the frequency response.The new PID parameters depend on the frequency-shifting constant and the previously optimized PID parameters.Adjusting the frequency-shifting constant modifies all the PID parameters simultaneously,thereby improving the control performance and robustness.We evaluate the robustness of the proposed online PID tuning method by comparing the gain margins(GMs)and phase margins(PMs)with previously optimized PID parameters during parameter uncertainties.The proposed method is further evaluated in terms of disturbance rejection,measurement noise,and frequency response analysis during parameter uncertainty calculations against existing methods.Simulations show that the proposed method significantly improves the robustness of the controller in the AVR system.In summary,online self-tuning enables automated PID parameter adjustment in an AVR system,while maintaining stability and robustness.
基金National Natural Science Foundation of China(No.61463025)Opening Foundation of Key Laboratory of Opto-technology and Intelligent Control(Lanzhou Jiaotong University),Ministry of Education(No.KFKT2018-8)Program for Excellent Team of Scientific Research in Lanzhou Jiaotong University(No.201701)
文摘A novel double extended state observers(ESOs)-based field-oriented control(FOC)strategy is developed for three-phase permanent magnet synchronous motor(PMSM)drive systems without any phase current sensor.In principle,two current sensors are essential parts of the drive system for implementation of the feedback to achieve high accuracy control.For this purpose,the double ESOs are created to provide feedback stator currents instead of actual current sensors.The first one of the double ESOs is designed to estimate the benchmark value of q-axis stator current,which is a primary premise;While the second is designed to estimate real-time stator currents of d-axis and q-axis simultaneously.The resultant double ESOs can rapidly and accurately give estimation of the actual currents of a-axis,b-axis and c-axis,and the synthesized double ESOs-based FOC strategy for PMSM drive system without any current sensors has satisfactory control performance and strong robustness.Numerical experiments validate the feasibility and effectiveness of the proposed scheme.
基金supported by the National Natural Science Foundation of China(Nos.61174221 and 61402039)
文摘To solve the receding horizon control （RHC） problem in an online manner, a novel numerical method called the indirect Radau pseudospectral method （IRPM） is proposed in this paper. Based on calculus of variations and the first-order necessary optimality condition, the RHC problem for linear time-varying （LTV） system is transformed into the two-point boundary value problem （TPBVP）. The Radau pseudospectral approximation is employed to discretize the TPBVP into well-posed linear algebraic equations. The resulting linear algebraic equations are solved via a matrix partitioning approach afterwards to obtain the optimal feedback control law. For the nonlinear system, the linearization method or the quasi linearization method is employed to approximate the RHC problem with successive linear approximations. Subsequently, each linear problem is solved via the similar method which is used to solve the RHC problem for LTV system. Simulation results of three examples show that the IRPM is of high accuracy and of high compu- tation efficiency to solve the RHC problem and the stability of closed-loop systems is guaranteed.
文摘This paper deals with the problem of the absolute stability for general neutral type Lurie indirect control systems by Lyapunov method and linear matrix inequality （LMI） technique. Delay-dependent sufficient conditions for the absolute stability are derived and expressed as the feasibility problem of LMI, which can be easily solved by Matlab Toolbox. Finally, some examples are provide to demonstrate the effectiveness of proposed method.
基金supported by the National Natural Science Foundation of China(U1664263)。
文摘Due to the critical defects of techniques in fully autonomous vehicles,man-machine cooperative driving is still of great significance in today’s transportation system.Unlike the previous shared control structure,this paper introduces a double loop structure which is applied to indirect shared steering control between driver and automation.In contrast to the tandem indirect shared control,the parallel indirect shared control put the authority allocation system of steering angle into the framework to allocate the corresponding weighting coefficients reasonably and output the final desired steering angle according to the current deviation of vehicle and the accuracy of steering angles.Besides,the active disturbance rejection controller(ADRC)is also added in the frame in order to track the desired steering angle fleetly and accurately as well as restrain the internal and external disturbances effectively which including the steering friction torque,wind speed and ground interference etc.Eventually,we validated the advantages of double loop framework through three sets of double lane change and slalom experiments,respectively.Exactly as we expected,the simulation results show that the double loop structure can effectively reduce the lateral displacement error caused by the driver or the controller,significantly improve the tracking precision and keep great performance in trajectory tracking characteristics when driving errors occur in one of driver and controller.
基金Supported by National Basic Research Program of China(973 Program,Grant No.2013CB035406)Science Fund for Creative Research Groups of National Natural Science Foundation of China(Grant No.61621002)National Natural Science Foundation of China(Grant No.61633019)
文摘Posture adjustment of open-type hard rock tunnel boring machine(TBM) can be achieved by properly adjusting the hydraulic pressure of gripper cylinder and torque cylinders. However, the time-varying inhomogeneous load acting on tunneling face of TBM and complex stratum working condition can cause the trajectory deviation. In this paper,the position and posture rectification kinematics and dynamics models of TBM have been established in order to track the trajectory. Moreover, there are uncertain parameters and uncertain loads from complex working conditions in the dynamic model. An indirect adaptive robust control strategy is applied to achieve precise position and posture trajectory tracking control. Simulation results show when the position deviation only occurs in Y-axis and the current orientation is parallel with the designed axis, the deviation can be corrected by controlling the pressure of gripper cylinder and the actual trajectory meets the designed axis when TBM is pushed forward 0.14 m in X-axis. If the deviation only occurs in Z-axis, then the deviation can be corrected by controlling torque cylinders. If the position deviation occurs both in Y-axis and Z-axis at the same time, the pressure of gripper cylinder and torque cylinders should be controlled at the same time to rectify the deviation. Simulation results are shown to illustrate the e ectiveness and robustness of the proposed controller. This research proposes an indirect adaptive robust controller that can track the planned tracking trajectory smoothly and rapidly.
基金supported by Plan of Excellent Leaders in Their Science in Shanghai, China (No.06XD14201).
文摘According to a type of normal nonlinear system, an indirect adaptive fuzzy （IAF） controller has been applied to those systems where no accurate mathematical models of the systems under control are available. To satisfy with system performance, an indirect accelerated adaptive fuzzy （IAAF） controller is proposed, and its general form is presented. The general form IAAF controller ensures necessary control criteria and system＇s global stability using Lyapunov Theorem. It has been proved that the close-loop system error converges to a small neighborhood of equilibrium point. The optimal IAAF controller is derived to guarantee the process＇s shortest settling time. Simulation results indicate the IAAF controller make the system more stable, accurate, and fast.
基金supported in part by the following United States National Institute of Health grants: R01 grants (AR057022 and AR063071), R21 grant (AR059733 to MJH), a P30 Core Center grant (AR061307), and a T32 training grant that supported both AK and TPR (AR053459 to Regis J.O’Keefe and Michael J.Zuscik)
文摘RBPjk-dependent Notch signaling regulates both the onset of chondrocyte hypertrophy and the progression to terminal chondrocyte maturation during endochondral ossification. It has been suggested that Notch signaling can regulate Sox9 transcription, although how this occurs at the molecular level in chondrocytes and whether this transcriptional regulation mediates Notch control of chondrocyte hypertrophy and cartilage development is unknown or controversial. Here we have provided conclusive genetic evidence linking RBPjk-dependent Notch signaling to the regulation of Sox9 expression and chondrocyte hypertrophy by examining tissuespecific Rbpjk mutant（Prx1Cre;Rbpjkf/f）, Rbpjk mutant/Sox9 haploinsufficient（Prx1Cre;Rbpjkf/f;Sox9f/1）,and control embryos for alterations in SOX9 expression and chondrocyte hypertrophy during cartilage development. These studies demonstrate that Notch signaling regulates the onset of chondrocyte maturation in a SOX9-dependent manner, while Notch-mediated regulation of terminal chondrocyte maturation likely functions independently of SOX9. Furthermore, our in vitro molecular analyses of the Sox9 promoter and Notch-mediated regulation of Sox9 gene expression in chondrogenic cells identified the ability of Notch to induce Sox9 expression directly in the acute setting, but suppresses Sox9 transcription with prolonged Notch signaling that requires protein synthesis of secondary effectors.
基金This project was supported by the National Natural Science Foundation of China (90405011).
文摘A novel control method for a general class of nonlinear systems using fuzzy logic systems （FLSs） is presertted. Indirect and direct methods are combined to design the adaptive fuzzy output feedback controller and a high-gain observer is used to estimate the derivatives of the system output. The closed-loop system is proven to be semiglobally uniformly ultimately bounded. In addition, it is shown that if the approximation accuracy of the fuzzy logic system is high enough and the observer gain is chosen sufficiently large, an arbitrarily small tracking error can be achieved. Simulation results verify the effectiveness of the newly designed scheme and the theoretical discussion.
基金supported by National Natural Science Foundation of China (No. 60874116)Natural Science Foundation of Hebei Province (No. F2009000857)
文摘A form of iterative learning control (ILC) is used to update the set-point for the local controller. It is referred to as set-point-related (SPR) indirect ILC. SPR indirect ILC has shown excellent performance: as a supervision module for the local controller, ILC can improve the tracking performance of the closed-loop system along the batch direction. In this study, an ILC-based P-type controller is proposed for multi-input multi-output (MIMO) linear batch processes, where a P-type controller is used to design the control signal directly and an ILC module is used to update the set-point for the P-type controller. Under the proposed ILC-based P-type controller, the closed-loop system can be transformed to a 2-dimensional (2D) Roesser s system. Based on the 2D system framework, a sufficient condition for asymptotic stability of the closed-loop system is derived in this paper. In terms of the average tracking error (ATE), the closed-loop control performance under the proposed algorithm can be improved from batch to batch, even though there are repetitive disturbances. A numerical example is used to validate the proposed results.
基金The authors extend their appreciation to the Deanship of Scientific Research at King Khalid University for funding this work through Large Groups Project under grant number(RGP.2/111/43).
文摘Vector control schemes have recently been used to drive linear induction motors(LIM)in high-performance applications.This trend promotes the development of precise and efficient control schemes for individual motors.This research aims to present a novel framework for speed and thrust force control of LIM using space vector pulse width modulation(SVPWM)inverters.The framework under consideration is developed in four stages.To begin,MATLAB Simulink was used to develop a detailed mathematical and electromechanical dynamicmodel.The research presents a modified SVPWM inverter control scheme.By tuning the proportional-integral(PI)controller with a transfer function,optimized values for the PI controller are derived.All the subsystems mentioned above are integrated to create a robust simulation of the LIM’s precise speed and thrust force control scheme.The reference speed values were chosen to evaluate the performance of the respective system,and the developed system’s response was verified using various data sets.For the low-speed range,a reference value of 10m/s is used,while a reference value of 100 m/s is used for the high-speed range.The speed output response indicates that themotor reached reference speed in amatter of seconds,as the delay time is between 8 and 10 s.The maximum amplitude of thrust achieved is less than 400N,demonstrating the controller’s capability to control a high-speed LIM with minimal thrust ripple.Due to the controlled speed range,the developed system is highly recommended for low-speed and high-speed and heavy-duty traction applications.
文摘The absolute stability of a class of indirect control systems was studied by applying the theory of Hermitian quadratic form and Jordan normal form. The algebraic formal criteria for the absolute stability are established, and these results are new and useful.
基金Supported by Program for New Century Excellent Talents in Universities of China （NCET-05-0607）, National Natural Science Foundation of China （60774010）, and Project for Fundamental Research of Natural Sciences in Universities of Jiangsu Province （07KJB510114）
基金support by the National Natural Science Foundation of China(No.62073217,No.61871266)the Fund of the Ministry of Education of the People’s Republic of China(6141A02022607,6141A020227)the Fund of the Professional Technical Service Platform of Shanghai(19DZ2291103).
文摘The development of a tailless Flapping Wing Micro Aerial Vehicle(FWMAV)inspired by the hummingbird is presented in this work.By implementing mechanical simplifications,it is possible to use planar machining technology for manufacturing of the FWMAV’s body,greatly reducing assembly errors.Traditionally,studies on flapping wing aircraft are limited to open-loop wing kinematics control.In this work,an instantaneous closed-loop wing trajectory tracking control system is introduced to minimize wings’trajectory tracking errors.The control system is based on Field-Oriented Control(FOC)with a loop shaping compensation technique near the flapping frequency.Through frequency analysis,the loop shaping compensator ensures the satisfactory bandwidth and performance for the closed-loop flapping system.To implement the proposed controller,a compact autopilot board integrated with FOC hardware is designed,weighing only 2.5 g.By utilizing precise wing trajectory tracking control,the hummingbird-inspired FWMAV demonstrates superior ability to resist external disturbances and exhibits reduced attitude tracking errors during hovering flight compared to the open-loop wing motion.
