Design Method Of Control System Research Articles

Design and simulation of AGV control system based on V-REP

Abstract In this paper, the design and simulation method of the AGV control system is studied, a variable gain PID control method for the AGV-oriented speed control system is designed, a three-dimensional AGV model in the V-REP simulation platform is established for the directional control system, and a control strategy is designed. Finally, the AGV control system is simulated based on the V-REP simulation platform. The simulation results show that the control system in V-REP has a good control effect on AGV.

Model reference adaptive controller with interpretable fuzzy rules for linear MIMO systems

This paper presents a method for fuzzy model reference adaptive control system design for a partially known multi-input multi-output (MIMO) linear dynamic plant. Differential or convolutional equations can describe the plant to be controlled, and the fuzzy controller is assumed to be from the MIMO sector-bounded nonstationary nonlinearities class. The task is to obtain robust adaptive stabilization. Some absolute stability theorems and integral evaluations of the state and control vectors are applied in the MIMO fuzzy adaptive controller design procedure for the first time. A method for automatically obtaining a near-optimal nonlinear dynamic reference model is described. A practical step-by-step procedure of the MIMO adaptive fuzzy controller design is proposed, resulting in highly interpretable MIMO fuzzy control rules based on triangular fuzzy sets and strong triangular fuzzy partition. An example of the fuzzy controller design according to the proposed procedure is given.

Ground Adaptability of Crawler Mobile Robots with Sub-Crawler Rotary Joint Compliance

Remote-controlled mobile robots are expected to be used in difficult- or impossible-to-access environments for inspection workers and responders, such as in investigations and search activities at accident/disaster sites and inspection/investigation work at plants/infrastructure. Among ground mobile robots, crawler mobile robots with sub-crawlers (also known as ground-adaptive crawler robots) excel at in-ground adaptability and stack escape; however, their operators require advanced remote-control technology and experience. Therefore, the introduction of semi-autonomous control to assist the operator is required. In this study, the principle of the pushing-up sequence and the possibility of mobiligence emerging from interaction with obstacles caused by the robot movement were described. In addition, the sub-crawler rotary joint’s compliance, which significantly contributes to ground adaptability, was hypothesized, and a compliance control system design method that uses the sub-crawler constraint angle as a design condition was proposed. It was confirmed that the model robot for the evaluation, which used the proposed method, could adapt to unknown obstacles without measuring their height and shape and traverse them based on experimental results. In addition, based on the numerical calculation results, it was determined that the optimum solution for the restriction angle of the sub-crawler was approximately 35°–50° from the perspective of propulsive force and tumble stability.

Novel tuning rules for IMC-high-order PID load frequency controller of power systems

The problem of load frequency control (LFC) for power grids has received widespread attention in power industrial control. Ensuring the stability of the frequency is the primary concern that constrains the development of the electric power system. This paper presents a novel internal model control (IMC)- proportional-integral-derivative (PID) controller design method for LFC control systems, centered on pole-zero conversion. This method aims to simplify the system model's complexity and improve the system's performance. The IMC controller is approximated as a PID series compensator (high-order PID), with exact tuning formulas provided for various scenarios. These include single-area without or with reheat turbines, hydro turbines with transient droop compensators, wind turbines, and gas turbines. The tuning formulas are characterized by a single parameter, determined under robustness constraints and integrated time absolute error (ITAE). The proposed tuning method considers the generator rate constraint (GRC) and applies to multi-area single-source and multi-area multi-source power systems. The results of the simulation confirm that the controller tuning method presented in this paper has significant advantages over the existing design methods concerning robustness and anti-interference performance.

Design and multilevel reconstruction method of intelligent power industry control system based on digital twins

SummaryIn order to improve the security and reliability of power industry control systems, research proposes the design of intelligent industrial control systems based on digital twins. This design combines the digital twin multilevel reconstruction method to construct an intelligent power control system structure, and proposes a system safety verification range design and evaluation indicators. The experimental data illustrates that the production time of the deep learning digital twin system reconstruction algorithm is 19.1% less than that of the reconstruction algorithm based on differential evolution; and when the number of nodes and the type and number of twins change, the algorithm proposed in the study takes less time and is more in line with the actual needs of the situation. The intelligent power industry control system based on digital twins has a score of no less than 9.5 in four aspects, indicating that the overall effectiveness of the system is good. The results indicate that this method can improve the safety and reliability of the system, ensure the stable operation of the power system, and provide technical support for the widespread application of intelligent power industry control systems.

Structure Selecting and Design Method for Control Systems Considering Plant’s Order Change

Structure Selecting and Design Method for Control Systems Considering Plant’s Order Change

On the Global Stability of Nonlinear Hurwitz Control Systems

The problem of designing nonlinear control systems by the algebraic polynomial-matrix method using quasilinear models is considered. The quasilinear models of nonlinear plants are easily created on the basis of their nonlinear equations in the Cauchy form. To create these models only the differentiability of the plants nonlinearities is required. The solution to the design problem of the nonlinear Hurwitz control systems using the algebraic polynomial-matrix method is available if the quasilinear model of the plant is controllable. The design with application of this method consists of creating the quasilinear model of the nonlinear plant, generating several polynomials, composing and solving a system of linear algebraic equations. The theorem about the global stability of the equilibrium of the nonlinear systems, represented in the quasilinear model, is proved by the method of Lyapunov functions. The numerical examples of the design of nonlinear Hurwitz control systems are given. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —This article is concerned with the creation of stable nonlinear control systems with nonlinear elements since the linear systems can’t fulfill the quality requirements demanded from modern control systems. Additionally, the known design methods of nonlinear systems, such as the input-state feedback linearization, backstepping, passivity and others, require the transformation of the original nonlinear equations of the plant into some special form. These transformations are often very difficult to find and to execute. A new algebraic polynomial-matrix design method of the nonlinear control systems using the quasilinear models of nonlinear plants is proposed in the article. This method can be applied if the nonlinearities of the plant are differentiable, and the quasilinear model of the plant is controllable. The theorem about global stability of the equilibrium is proved for the systems designed with this approach. The quasilinear models are easily created on the basis of the original equations in the Cauchy form for a given nonlinear plant. The algebraic polynomial-matrix design method is very simple: the quasilinear model is created; several polynomials are calculated with the use of this model and the linear algebraic equations system is composed. The solution of this system allows us to write down the expression which defines the control law as a nonlinear function of the plant’s state variables. This system will be globally or locally stable if the conditions of the theorem or the corollaries, proved in this article, are satisfied. The numerical examples illustrate the application of the suggested approach to the design of nonlinear Hurwitz control systems for the nonlinear plants. The main advantages of this approach: the quasilinear models are created quite easily; the nonlinear control law is found as a solution to the system of linear equations. The results can be applied to the creation of nonlinear control systems of nonlinear plants in many industries: shipbuilding, aircraft construction, automobile construction, agriculture and many others.

Study on the design method of an automatic outrigger layout control system for variable outrigger layout trimaran

During the navigation of a trimaran, its wave resistance is influenced by both sailing speed and outrigger layout. In the case of a variable outrigger layout trimaran, due to the adjustability of its outrigger layout according to different speeds, its wave resistance will be lower than that of traditional trimarans. In this paper, an automatic outrigger layout control system is figured out for a variable outrigger layout trimaran. The system can control and regulate the position of outriggers according to the traveling speed in order to reduce the wave resistance during navigation. The slender ship theory based resistance calculation program is applied as the solver in this system to evaluate the wave resistance of the trimaran and further determine the optimal outrigger layout under a specific speed. In order to improve the calculation accuracy, NURBS (Non-Uniform Rational B-Splines) method is introduced to modeling the hull surface. Model tests for trimaran with 6 different outrigger layouts are conducted to obtain the resistance of the trimaran in order to validate the numerical method. The steepest descent method is applied to solve the problem of searching the outrigger layout with minimum wave resistance efficiently. On this basis, an open-loop control system for trimaran outrigger layout is designed based on PID (Proportional Integral Derivative) algorithm with the control objective derived by the solver. Finally, a outrigger layout adjustment simulation (when speed changes from Fr=0.4 to Fr=0.35) is conducted on the experimental trimaran model. By comparing the resistance results obtained by numerical method utilized in this paper to the results obtained by CFD (Computational Fluid Dynamics) simulations, the effectiveness of the proposed system is validated.

Sensorless Control Design of High-Speed Electric Drives in Discrete-Time Domain for Mild-Hybrid Turboprop Aircraft Applications

High-speed Permanent Magnet Synchronous Machine (PMSM) sensorless control design is not without challenges, especially when the ratio of power electronic modulation frequency to electrical fundamental frequency (M-F ratio) is relatively low. The Model Reference Adaptive System (MRAS) is a mature sensorless control method and has been widely used in industrial drives. There, an observer is commonly used to estimate rotor speed and angle using machine voltages and currents. The estimated angle is then further implemented for voltage and current frame transformations. Thus, the MRAS sensorless control is indeed a strong-coupled, multi-variable and nonlinear system. This paper proposes a detailed MRAS sensorless control system design method in discrete-time domain for high speed drives with relatively low M-F ratio with good system stability confidence. A detailed discrete local-linearized small-signal model is developed and state-space evolution matrix of current closed-loop system has been derived. The system stability can be defined and analysed with its maximum eigenvalue and the controller design is to make sure that the maximum eigenvalue is falling within the stable region. This proposed design method has been validated on a dual three-phase PMSM by simulation and experiment results with selected stable design point.

Virtual reference setting and its application in thermal power unit control

In thermal power units, superheater outlet temperature is a very important parameter, but because of its long delay time and large inertia, it is difficult to obtain good control effect by traditional control algorithm. In this paper, taking a supercritical once-through boiler as the research object, combined with the established superheated steam temperature object model, a two-degree-of-freedom superheater outlet temperature control system based on VRFT is designed, and compared with the conventional tuning method, it is proved that the virtual reference feedback tuning (VRFT) method has many advantages, such as simple design, less computation, no need to select initial parameters and good convergence, is an application-oriented direct control system design method.

Data-driven cascade control system: Response estimation and controller design

In this study, we propose a data-driven design method for a cascade control system with inner and outer control loops. First, the input–output response of a controlled plant, which varies with the controller parameters of a fixed-structure inner-outer control law, is estimated directly from open-loop input–output data. Next, based on the estimated response, the controller parameters are optimized to minimize the difference between a reference model with a controlled closed-loop system. In the proposed method, the response of a fictitious reference input, which varies with the controller parameters, is estimated, and then the closed-loop response is estimated. Therefore, a closed-loop input–output data is not required, and the controller parameters are determined directly from an open-loop input–output data. Furthermore, the time constant of a reference model is also optimized so as to reduce the control error. The proposed method is compared with both conventional single-loop and cascade data-driven methods by means of numerical examples.

Integrated Guidance and Control Design for Guided Projectile Using Sliding Mode Method

According to the characteristics of special launch and flight environment such as high dynamic and large disturbance of guided projectile, the separate design method of traditional guidance system and control system will bring large errors, even affect the stability of the system, and the accuracy of projectile hitting the target is poor. In this paper, the guidance and control integrated control law of guided projectile is designed based on the sliding mode variable structure theory. The correctness, accuracy and stability of the designed control law are verified by numerical simulation. Numerical simulation shows that the guidance control integrated control law designed by sliding mode control theory can still have high control accuracy in the case of large perturbation. At the same time, Monte Carlo simulation shows that this method can meet the needs of engineering.

Re-evaluation on fuzzy logic controlled system by optimizing the membership functions

Heat exchange among two fluids at different temperatures is achieved by temperature gradient. Heat exchange process modelling and control is complex because of its non-linearity, large inertia, and time variability. Its control effect is often not satisfactory because of these disadvantages which are difficult to overcome. Therefore, it is very important to identify an effective and accurate temperature control scheme for heat exchange system. A fuzzy logic control (FLC) system can be used for controlling this process. FLC system works with fuzzy set theories which are characterized via membership functions (MFs) i.e. fuzzy sets are constructed by their MFs. Their simulation studies can be performed with different shapes such as triangular, trapezoidal, Gaussian, etc. There are different responses to different shapes of MFs of a fuzzy inference system. The membership function must have its values in the range [0,1], which is the only constraint it must satisfy. This paper evaluates the detailed design method of a fuzzy logic control (FLC) system. The study considers the plant function of a heat exchange system and presents the controller response of this system using various membership functions. The study also details out comparison of three different types of membership functions in a fuzzy logic controller. The plant model [2] is used as a test base to confirm the efficacy of this design technique, with modeling and simulations performed using MATLAB Simulink software. Through the results of the simulation, the study, justifies the control strategy which has a significant robustness, quicker response, and better temperature control of the plant system.

Research on Distributed Measurement and Control System Based on FlexRay Bus

With the purpose of the design problem of electromagnetic launch distributed measurement and control system, this paper proposes a design method of scalable large-scale distributed interconnected measurement and control system based on FlexRay bus. The task execution time deviation of each node in the distributed system, including phase deviation and frequency deviation, is reduced by using the macro tick generation process and clock synchronization process to achieve task synchronization in the distributed system. The synchronization of timing generation is realized based on the universal clock technology. When the timing interval is zero, the pulse power units are guaranteed to be close to the ideal full synchronization, thus ensuring that the released energy during transmission is close to the design value. In the state of adjustable timing, when the pulse power supply module conducts pulse discharge, the trigger discharge times of the modules are set according to the load needs. The flat top, sawtooth, and other characteristic current waveforms are adjusted accurately. At the same time, a combined multi-level protection structure based on hardware and software is realized. The verification results show that the distributed electromagnetic launch measurement and control system implemented in this paper can meet the high efficiency, fast and continuous launch target.

The design method of simple adaptive control system with PFC for MIMO system via DE

This paper deals with a design method of adaptive output feedback control system with parallel feedforward compensator (PFC) for a multiple input multiple output system. An adaptive output feedback control system, which is based on almost strictly positive real (ASPR), requires PFC in most cases. The design method is using one-shot input/output data of the controlled system, and parameter optimization will be done by differential evolution (DE). By using DE, the designer can optimize the design parameters without trial and error, which can be a more practical method.

Reduction of Conservativeness of Robust PID Control System Design Method: An Approach Using the Mapping Theorem and the Cremer–Leonhard–Mikhailov Criterion

This paper gives a novel method to design less‐conservative robust PID control systems. The partial model matching method is a design method for PID control systems. That is a method to design a control system that matches a reference model as closely as possible. This method does not guarantee robust stability of a PID control system because it is assumed that there are no uncertainties on the coefficients of the lower‐order terms of the plant. Therefore, in our previous work, a robust design method based on the partial model matching method was proposed. However, the drawback of this conventional method is that the results of stability analysis are conservative. In this paper, we aim to reduce the conservativeness caused by the conventional method. To achieve this goal, we use a robust stability analysis method based on the Cremer–Leonhard–Mikhailov criterion and the mapping theorem. Moreover, we also propose a new method to update the value of a design parameter. A numerical example shown in this paper implies that the conservativeness is reduced by the proposed method. © 2023 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.

Research on the Automatic Control System of Coolant Circulation in Laboratory

This paper introduces a design method of an automatic control system for coolant circulation in the laboratory, which can use a “pneumatic pump + valve control” manual in place of “manual pressing + manual liquid filling + manual collection”. Then this paper analyzes the system principle and has carried out the application in a practical laboratory, which had solved the problems of low efficiency, environmental pollution, and waste of resources of the existing manual operation mode.

Design of remote wireless remote control system for corn harvester

A design method of remote wireless remote control system for corn harvester is pointed out. It can realize real-time monitoring, recording and video recording functions of corn harvester through remote control operating platform and operating terminal. The principle and components of remote control technology are introduced in detail in this paper.

The protection design method of the engine control system under electromagnetic pulses.

This study assessed the survivability of an engine control system under intense electromagnetic pulses. It investigated the electromagnetic sensitivity of the system under the action of intense electromagnetic pulses. In this work, the evaluation focuses on the terminal circuit of the control system. It proposes a co-design method for electromagnetic pulse protection circuits on a printed circuit board. The electromagnetic interference mechanism and phenomena were analyzed through simulation and experiments. The electromagnetic susceptibility of the control system was tested using the bulk current injection test method, and the pulse coupling signal of the sensitive part was obtained. Subsequently, the terminal circuit was analyzed using a numerical calculation method. The pulse coupling signal was injected into the terminal circuit. Thus, we can determine why the control system exhibits sensitive phenomena. Then, a protection circuit of the terminal circuit was established. The design method's advantage is accurately locating the circuit's sensitive points and reducing the controller circuit's electromagnetic sensitivity by designing the circuit without drastically changing the original circuit. At the same time, the redundancy of protection circuit design can be effectively reduced.

Loop-Shaping Technique for Quadruple-Stage Actuator System in Hard Disk Drive

The future of the cloud service is dependent on the hard disk drive (HDD) capacity growth because demands for the data capacity in the cloud service are rapidly increasing. To solve this issue, we are going to improve the accuracy of a magnetic-head positioning control system so that size of bits for data stored on a disk decreases. In this paper, we have proposed the control system design method for the quadruple-stage actuator system which is a future technology for HDDs. In the proposed method, we employ the Robust Bode (RBode) plot that enables us to design the robust controller with visualized guidelines on the Bode plot of the open-loop characteristics. The validation results with a hybrid simulation by measurement data and mathematical models showed that the proposed control system has good robust performances against the large disturbance for HDDs.