Disturbance Cancellation Control Research Articles

Online control parameter optimization design for multi-machine coordinated loading system of hazardous substances

To address the parameter instability issues in hazardous materials handling during multi-machine loading and unloading operations, we propose a Full-Scale Smart Parameter Optimization Control (FSPOC) system specifically designed for multi-machine coordination. This system leverages a novel fish scale prediction algorithm tailored for cooperative multi-machine environments. Initially, the fish scale prediction algorithm, inspired by bionic fish scales, is developed to predict future system behavior by analyzing historical data. Building on this algorithm, we introduce a disturbance cancellation control theorem and design a parameter optimization controller to enhance stability in high-dimensional nonlinear spaces. The FSPOC method is then applied to a multi-machine cooperative system, enabling online distributed parameter optimization for complex systems with multiple degrees of freedom. The effectiveness of the proposed method was validated through simulations, where it was compared with two other optimization techniques: Genetic Algorithm-based PID (GAPID) and Chaotic Atomic Search Algorithm-based PID (CHASO). The simulation results confirm the superiority of the FSPOC method.

Add-on Harmonic Disturbance Cancellation Control in Continuous Hot-Dip Galvanizing Lines

In continuous hot-dip galvanizing of steel strips, unwanted vibrations of the processed strip can significantly degrade the coating uniformity and quality. Thus, an increasing number of hot-dip galvanizing lines are equipped with electromagnetic strip stabilization devices to enable active strip-shape and vibration control. Typically, commercial strip stabilizers achieve adequate broad-band vibration attenuation. However, their disturbance rejection capabilities are usually insufficient in case of persistently exciting harmonic disturbances. This work proposes a new multivariable harmonic disturbance cancellation control strategy which can be used as add-on to the position control loop of an existing strip stabilization device. The unknown amplitude, phase angle, and disturbance frequency are estimated during online operation. The systematic consideration of controller-output and estimator constraints in the design guarantees a reliable and safe operation in the challenging industrial environment. The devised control system works well even in the case of non-persistently exciting harmonic disturbances. The effectiveness of the proposed control scheme is demonstrated by short- and long-term measurement results from an industrial hot-dip galvanizing line.

Electromagnetic Levitation Control for Bending Flexible Steel Plate: Experimental Consideration on Disturbance Cancellation Control

When an ultrathin and flexible steel plate is to be levitated, levitation control becomes difficult because the ultrathin steel plate undergoes increased flexure. We herein propose a levitation method for an ultrathin steel plate that is bent to an extent that does not induce plastic deformation. In this study, to investigate the levitation stability of an ultrathin steel plate, we applied disturbance cancellation control in the bending levitation system. The object of electromagnetic levitation was a rectangular zinc-coated ultrathin steel plate (SS400) of length 800 mm, 600 mm, and thickness 0.19 mm. The vibrator was attached below the three frames, in which the electromagnet unit was installed so that the frames could be vibrated up and down. We conducted experiments on the levitation performance when the electromagnet was displaced by the frame vibration in the bending levitation system. The results showed that a stable levitation can be achieved even with an input of external disturbance when levitating at the optimum bending angle.

回転型アクティブ除振装置AWDによるスカイフック－外乱相殺併合制御と動的量子化器を用いた低分解能制御系の除振性能

This study develops a Active Wheel Damper Device (AWD) that can be attached easily to the boom sprayer. The AWD achieves lightweight and higher inertia by the flywheel and can be mounted on the flexible structure easily. In addition, this AWD can construct realize sky-hook control easily because of it can measure the absolute angular velocity of the flexible structure by the gyro sensor. Therefore, the AWD uses Sky-hook with Disturbance Cancellation (SWDC) control that combined control system of sky-hook control and disturbance cancellation control. Damping performance of AWD has been confirmed by presented studies, but for practical use of AWD, reduction of production cost of AWD is more necessary. Then, we suppose deterioration of resolution due to using the low cost and low resolution controller. In addition, we examine whether the performance of AWD can be kept when adding the dynamic quantizer. In the previous study, we have shown the influence of torque of motor on control performance, but not yet carried out a study on the effect of the sampling period. In this paper, we clarify the relationship between the sampling period of the controller and the maximum torque of the motor by introducing angular-momentum resolution.

G1000203 動的量子化器による柔軟構造物用回転型アクティブ除振装置AWDの低コスト高性能化

This study develops a rotary active vibration control device (AWD) using a flywheel to control vibrations in flexible structures. The AWD achieves lightweight and higher inertia by the flywheel and can be mounted on the flexible structure easily. In addition, the AWD can construct sky-hook control easily because it can measure the absolute angular velocity of the flexible structure by the gyro sensor. Therefore, The AWD use Sky-hook With Adaptive Disturbance Cancellation (SWADC) control which is combined control system of sky-hook control and adaptive disturbance cancellation control. This paper investigates a method for cost-performance improvement of the AWD by using the dynamic quantizer for practical use. In general, performance deteriorates according to using low cost instruments. So this study uses the dynamic quantizer to prevent performance deteriorates of the AWD. In addition, the parameters of the dynamic quantizer is optimized by Genetic Algorithm (GA). Cost-performance improvement of the AWD is shown by simulation.

Design of optimal disturbance cancellation controllers via modified loop transfer recovery

The authors proposed a modified loop transfer recovery (LTR) method for designing the disturbance cancellation controllers where the disturbances were assumed to be step functions and the optimality of the controllers was not considered. This paper discusses the extension of their work to a more general class of disturbances with optimality consideration. It is assumed that the plant is minimum phase and the disturbances entering the plant input side are generated by function generators with unknown initial conditions. A quadratic performance index explicitly representing the disturbance cancellation requirement is introduced. The optimal disturbance cancellation controller minimizing the performance index is constructed by the separation principle. As a target for the LTR design, the optimal disturbance cancellation controller based on the measurement of the plant state is chosen. It is shown that the target feedback property can be recovered in the output feedback controller by a simple modification of the standard LTR procedure. A numerical example is presented to illustrate the effectiveness of the proposed optimal design.

Design of optimal output disturbance cancellation controllers via loop transfer recovery

The authors have introduced optimal disturbance cancellation controllers as a class of controllers minimizing a non-standard quadratic performance index explicitly including disturbances. This paper discusses the application of the classical loop transfer recovery (LTR) technique to the optimal disturbance cancellation controller for step disturbances entering the plant output. The estimation error dynamics of the Kalman filter jointly estimating the plant states and the disturbances is chosen as a target of the LTR design. The weighting coefficient of the performance index is used to recover the target which has guaranteed stability margins as in the standard LTR design. It is shown by a numerical example that the proposed design provides flexible tuning of the disturbance rejection capability with sufficient stability margins.

Sky-Hook with Adaptive Disturbance Cancellation Control for Flexible Structures by Active Vibration Control Unit

This study presents Active Wheel Damper (AWD) unit which can be fixed on the flexible structures such as cantilever beam with ease. The AWD uses a gyro sensor to measure the absolute angular velocity due to the vibration of deflection of the structure directly, and can construct sky-hook control with no difficulty by direct feedback of the angular velocity. In this study, Sky-hook With Adaptive Disturbance Cancellation (SWADC) control, which is constructed as a combined control system of sky-hook control and adaptive disturbance cancellation control, is also proposed to enhance the performance of vibration suppression of AWD unit. Adaptive algorithm, which can estimate the frequency of the vibration of the structure in real-time, is derived based on adaptive notch filter algorithm, and estimated frequency is used for the model of disturbance observer which estimates harmonic disturbance. Performance of vibration suppression of the AWD is shown by simulation and experiment in this study.

Sky-Hook with Adaptive Disturbance Cancellation Control for Flexible Structures with an Active Vibration Control Unit

This study presents an Active Wheel Damper (AWD) unit that can be easily mounted on flexible structures such as cantilever beams. The AWD uses a gyro sensor to directly measure the absolute angular velocity, which is the rotational velocity of the slope angle of a deflection curve caused by the flexible vibration of the structure, and can be used to realize a skyhook control by the direct feedback of the angular velocity. This study proposes a Sky-hook With Adaptive Disturbance Cancellation (SWADC) control—which is constructed as a combined skyhook control and an adaptive disturbance cancellation control system—to enhance the capability of the AWD unit to suppress vibrations. An adaptive algorithm, which estimates the frequency of vibration of a structure in real time, is derived on the basis of an adaptive notch filter algorithm. The estimated frequency is used to model a disturbance observer that estimates harmonic disturbances. This study demonstrates the vibration-suppression performance of the AWD unit by numerical simulations and experiments.

Active Vibration Suppression of Flexible Sprayer-Boom by Sky-Hook with Adaptive Disturbance Cancellation Control Unit

Active Vibration Suppression of Flexible Sprayer-Boom by Sky-Hook with Adaptive Disturbance Cancellation Control Unit

Two-step design of critical control systems using disturbance cancellation integral controllers

An efficient critical control system design is proposed in this paper. The key idea is to decompose the design problem into two simpler design steps by the technique used in the classical loop transfer recovery method (LTR). The disturbance cancellation integral controller is used as a basic controller. Since the standard loop transfer recovery method cannot be applied to the disturbance cancellation controller, the nonstandard version recently found is used for the decomposition. Exogenous inputs with constraints both on the amplitude and rate of change are considered. The majorant approach is taken to obtain the analytical sufficient matching conditions. A numerical design example is presented to illustrate the effectiveness of the proposed design.

G100012 一様流中に置かれた片持ち弾性支持円柱の流れ誘起振動と振動制御([G10001]機械力学・計測制御部門一般セッション(1):制御)

This paper studies a control of vortex-induced vibrations of a circular cylinder supported by a cantilever beam. A servo motor is installed as an actuator to suppress the vibration of the system, and the beam is clamped at the axis of the motor. The beam-cylinder system is hanged in front of an air tunnel and allowed to tilt statically. When the wake frequency coincides with the natural frequency of the structure in the uniform flow, resonant vibration may occur and this is known as the rock-in phenomena. In this research, feedback control by the linear quadratic regulator and a disturbance cancellation control by the minimum order observer are applied to the system for vibration reduction. Performance of each control law is investigated by the numerical simulation.

418 アクティブ制振ユニットによる柔軟構造物の適応スカイフックー外乱相殺併合制御

418 アクティブ制振ユニットによる柔軟構造物の適応スカイフックー外乱相殺併合制御

Partial LTR Design of Optimal Output Disturbance Cancellation Controllers for Non-Minimum Phase Plants

AbstractFor non-minimum phase plants, a partial LTR design of optimal output disturbance cancellation controllers is discussed. A target recoverable by the partial LTR procedure is identified as an output injection with a frequency-shaped gain matrix. The partial LTR result is used to clarify system-theoretic meaning of enforcing the minimum phase LTR procedure. It is shown that the partial LTR procedure provides more design freedom in shaping target feedback property than the enforced minimum phase LTR procedure.

D204 スカイフック-適応外乱相殺併合制振制御ユニットによるスプレーヤブームのアクティブ振動抑制(OS14 農業機械の運動と制御2)

D204 スカイフック-適応外乱相殺併合制振制御ユニットによるスプレーヤブームのアクティブ振動抑制(OS14 農業機械の運動と制御2)

Disturbance Cancellation Control and Coupling Vibration of an Elastic Supported Cylinder and Wake Oscillator (Improvement of Control Simulation by Using van der Pol Wake Oscillator Model)

This paper studies disturbance cancellation control to suppress vortex-induced vibration of a circular cylinder in a cross flow. The cylinder is supported by two pairs of elastic beams and electromagnets are used as control devices. Fluctuating lift force acting on a vortex-induced cylinder is assumed as a disturbance. An observer is constructed to estimate the disturbance. Two different types of disturbance are assumed to describe the fluctuation of vortex shedding. One is a sinusoidal wave and the other is a wake oscillator represented by van der Pol equation. Simulation and experiments are carried out for the examination of the control performance.

ボイスコイルモータを用いた小型車両用シートの制御（外乱相殺制御を用いた実験的考察）

The purpose of this study was to examine the effectiveness of active seat suspension when it is applied to small cars, and to survey the problems associated with its practical use. A small active seat suspension, which is easy to install, was designed and manufactured for one-seat electric automobiles. In a realistic driving test, a test road was prepared in which the concavity and convexity of an actual road surface were simulated by using hard rubber. Our aim was to examine the vibration isolation effect for the driver's seat, using disturbance cancellation control. We examined the control performance with respect to the variation of the parameters for the frequency and the driver's weight. We performed experiments in several conditions, and compared the results of control performance with passive control, feedback control, feedforward control, and disturbance cancellation control. As a result, we confirmed the suppressive effect of the disturbance cancellation control.

115 弾性支持円柱と後流振動子の連成振動と外乱相殺制御

115 弾性支持円柱と後流振動子の連成振動と外乱相殺制御

薄鋼板磁気浮上搬送システムにおける外乱相殺制御に関する基礎的検討(昇降装置・物流機械の運動と制御,OS2 交通・物流機械のダイナミクス(振動,制御を含む))

In the thin steel plates which are used in many industrial products, flaws on the plate surface and peeling during a surface treatment process are induced due to the use of many rollers in the conveyance process. These lead to the deterioration of the quality of the plate surface. Electromagnetic levitation techniques can solve many problems in the conveyance modes of sheet steel. The authors have proposed a magnetic levitation control system for maintaining the absolute distance of the plate surface and the electromagnet, and carried out an experiment on digital control. In this study, the equipment was designed so that electromagnets, which are used for the magnetic levitation of a steel plate, vibrate vertically. For basic research, a controlled object was assumed to be a single-degree-of-freedom model and disturbance cancellation control was used as the control method. The vibration isolation effect observed in the steel plate was confirmed by experimentation.

616 渦励振される弾性支持円柱の周波数変化に適応する外乱相殺制御

616 渦励振される弾性支持円柱の周波数変化に適応する外乱相殺制御