Disturbance Compensation Algorithm Research Articles

Force-controlled Compensation Scheme for P-Q Valve-controlled Asymmetric Cylinder used on Hydraulic Quadruped Robots

Under the requirement of the force controller of hydraulic quadruped robots, the goal of this work is to accurately track the force commands at the level of the hydraulic drive unit. The main contribution focuses on the development of a force-controlled compensation scheme, which is specifically aimed at the key issues affecting the hydraulic quadrupedal locomotion. With this idea, based on a P-Q valve-controlled asymmetric cylinder, we first establish a mathematical model for the hydraulic drive unit force control system. With the desired force commands, a force feed-forward algorithm is presented to improve the dynamic performance of the system. Meanwhile, we propose a disturbance compensation algorithm to reduce the influence induced by external disturbances due to foot-ground impacts. Afterwards, combining with a variable gain PI controller, a series of experiments are implemented on a force control performance test platform to verify the proposed scheme. The results demonstrate that the force-controlled compensation scheme has the ability to notably improve the force tracking accuracy, reduce the response time and redundant force.

Chattering-Free Reference Sliding Variable-Based SMC

The paper addresses the problem of chattering elimination in sliding mode control for sampled data dynamical systems and proposes an innovative control scheme. The key to the proposed control method is utilizing a pregenerated nonswitching type reference sliding variable profile to control the disturbed plant. As sampled data systems contain sample-and-hold devices in their input and output channels, we carry out a discrete time analysis. We consider the discretization effects on the controller in two aspects: the pace of convergence of the system and the ultimate band width. Consequently, in the reference sliding variable generator, we analyse two reaching laws, differently adapting to changes of the controller’s frequency. We prove that this approach not only minimizes the chattering phenomenon but also provides a reduction of the quasi-sliding mode band width, which in general case remains of O(T) order. Furthermore, the proposed control method incorporates a disturbance compensation algorithm, which results in the ultimate band width of O(T2) order. Finally, we also show that a certain selection of the sliding plane guarantees limitation of all the state variables’ errors to O(T2) order as well. Therefore, the proposed control algorithm significantly improves the system’s robustness.

Disturbance Compensation Algorithm Under Saturation of Control Signal

The disturbance compensation algorithm for control of multi-input multi-output (MIMO) plant is proposed. The plant is described by the linear differential equation with unknown parameters and external bounded disturbances. The algorithm ensures the small difference between plant output and reference signal under the saturation of control signal. It is shown that the algorithm can be applied for plant with unknown dynamical order. The simulations illustrate the efficiency and robustness of the designed control system.

An investigation on motor-driven power steering-based crosswind disturbance compensation for the reduction of driver steering effort

This paper describes a lateral disturbance compensation algorithm for an application to a motor-driven power steering (MDPS)-based driver assistant system. The lateral disturbance including wind force and lateral load transfer by bank angle reduces the driver's steering refinement and at the same time increases the possibility of an accident. A lateral disturbance compensation algorithm is designed to determine the motor overlay torque of an MDPS system for reducing the manoeuvreing effort of a human driver under lateral disturbance. Motor overlay torque for the compensation of driver's steering torque induced by the lateral disturbance consists of human torque feedback and feedforward torque. Vehicle–driver system dynamics have been investigated using a combined dynamic model which consists of a vehicle dynamic model, driver steering dynamic model and lateral disturbance model. The human torque feedback input has been designed via the investigation of the vehicle–driver system dynamics. Feedforward input torque is calculated to compensate additional tyre self-aligning torque from an estimated lateral disturbance. The proposed compensation algorithm has been implemented on a developed driver model which represents the driver's manoeuvreing characteristics under the lateral disturbance. The developed driver model has been validated with test data via a driving simulator in a crosswind condition. Human-in-the-loop simulations with a full-scale driving simulator on a virtual test track have been conducted to investigate the real-time performance of the proposed lateral disturbance compensation algorithm. It has been shown from simulation studies and human-in-the-loop simulation results that the driver's manoeuvreing effort and a lateral deviation of the vehicle under the lateral disturbance can be significantly reduced via the lateral disturbance compensation algorithm.

Double Servo Synchronization Drive Control Strategy for the Main Slide Carriage of Broaching Machine Based on Disturbance Compensation Algorithm

The electromechanical integration system structure of the electric servo broaching machine, the double servo synchronous drive system and the double ball screw mechanical structure of the broaching machine worktable are introduced. To improve the synchronous operation precision of the worktable when the load changing intermittently, a self-tuning control algorithm is designed based on disturbance identification and compensation which is presented from the perspective of raising the load disturbance inhibition performance of servo drive system. And the principle of the algorithm is analyzed especially. Based on this disturbance compensation algorithm, a control strategy that achieved synchronization driven is designed and the control strategy is simple, reliable and easy to implement. Taking a 20-ton servo broaching machine as the goal, the synchronization performance of the control strategy is tested for a variety of tonnage, on the case of the two main slide carriage ran independently and the worktable work with unbalanced load respectively. The experimental results show that the disturbance compensation algorithm is effective, the synchronization control strategies based on the disturbance algorithm has a good synchronization accuracy, which provides a good theoretical reference and experimental data for the application of double ball screw servo synchronization control system.

Development and convergence analysis of new least‐mean‐square‐based algorithm equipped with exponential‐decay step size and disturbance compensation for active noise control

SUMMARYIn real‐world active noise control (ANC) applications, disturbance can be picked up by error sensors and significantly degrade the steady‐state ANC performance. This study proposes two techniques in combination with a least‐mean‐square (LMS) based ANC algorithm, named normalized filtered‐x LMS/commutation error (NFxLMS/CE) algorithm, to deal with the disturbance that is independent of a reference signal. A new stochastic method to analyze convergence properties of the NFxLMS/CE algorithm under influence of the disturbance is first established. Given that the reference signal is persistently exciting of sufficient order, exponential convergence of the algorithm is derived with a step‐size condition. An exponential‐decay step size (EDSS) is then proposed to obtain a new ANC algorithm referred to as EDSS‐NFxLMS/CE algorithm. In addition, a disturbance‐compensation (DC) technique is developed for the EDSS‐NFxLMS/CE algorithm to obtain an EDSS‐NFxLMS/CE_DC algorithm such that the influence of the disturbance can be reduced. It is shown that the EDSS‐NFxLMS/CE_DC algorithm is exponentially convergent. Moreover, computer simulations show that the EDSS‐NFxLMS/CE_DC algorithm can achieve a better ANC performance in terms of convergence rate and level of noise reduction as compared with that using the EDSS‐NFxLMS/CE algorithm without DC and that using NFxLMS/CE_DC algorithm of constant step sizes. These results support the effectiveness of the proposed techniques and EDSS‐NFxLMS/CE_DC algorithm. Copyright © 2012 John Wiley & Sons, Ltd.