Dynamic Compensation Strategy Research Articles

High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation

Heavy-duty vehicles with long bodies, a large number of axles and large loads are subject to increasingly high requirements for precise steering technology due to the increasing trend toward energy conservation and intelligent assisted driving as well as variable driving conditions. In this paper, an energy-efficient open circuit variable-speed pump-controlled steering system (OPCEHSSS) adapted for heavy loads is used, but its strong flow output nonlinearity and system nonlinear dynamic behavior greatly impede the steering performance. Therefore, in order to reduce the influence of the flow leakage of the fixed-displacement pump on the system and to ensure that the flow output of the system matches the control model, a mapping model based on the fitting of a two-layer neural network algorithm with a dynamic real-time compensation strategy (FNC) is proposed. In addition, considering the strong robustness of the system even under parameter uncertainty and unknown disturbance, a complex nonlinear mathematical model is established based on OPCEHSSS physical characteristics, and a dual-objective control strategy of steering angle and pressure based on sliding mode control (SMC) is proposed. However, in order to reduce the influence of high-order switching discontinuity on the steering and ensure the fast convergence of the control system, a fast super twisting algorithm (STA) based on double saturation function of the boundary layer is proposed. The experimental results show that the three different controllers can effectively reduce the steering angle error after the introduction of FNC. And in the case of a single axle loaded with 6 tons, the improved new FNC+STA integrated dual-objective control strategy improves the accuracy by 53.16% compared with PID and 40.67% compared with SMC. The steady-state error is maintained within 0.9°, realizing the high-performance steering tracking control of OPCEHSSS for heavy vehicles.

Observer‐based residual‐driven dynamic compensation strategy for performance improvement of grid‐forming inverter

SummaryGrid‐forming (GFM) inverters offer stable frequency support for microgrid systems, even in the absence of synchronous generators. However, the GFM inverters have low inertia and vulnerability to system uncertainties and external disturbances. The conventional dual‐loop proportional integral (PI) control strategy, while widely used for its simplicity and robustness, suffers from poor dynamic performance. Motivated by this, this paper presents an observer‐based residual‐driven dynamic compensation (RDDC) strategy based on the coprime factorization technic and the Youla parameterization theory to achieve the primary control of the GFM inverter. The observer‐based RDDC strategy comprises four components: a PI controller for tracking control, a linear quadratic regulator (LQR) controller for dynamic adjustment, a residual generator based on the Kalman filter for state estimation and residual generation, and a residual compensation controller designed using model matching theory and solved through linear matrix inequality (LMI) methods for disturbance suppression. Simulation and experiment results consistently demonstrate that the observer‐based RDDC strategy ensures system robustness, enhances the dynamic and steady‐state performance of the GFM inverter system, and strengthens the ability of the GFM inverter to suppress disturbances.

Dynamic Compensation Strategy for Scanning Error of Contact Probe Based on Damping Ratio and Frequency Mapping

Dynamic Compensation Strategy for Scanning Error of Contact Probe Based on Damping Ratio and Frequency Mapping

Dynamic Compensation Strategy With Dual Closed-Loop Control for Voltage Drift and Torque Ripple in TPFSI-Fed PMSM Drives

Aiming at capacitor voltage offset (CVO) in permanent magnet synchronous motor (PMSM) driven by three-phase four-switch inverter (TPFSI), the paper proposes a strategy to resist voltage drift with dynamic voltage compensation. A correction factor is introduced to adjust the capacitor voltage applied to Space Vector Pulse Width Modulation (SVPWM). Then, the additionally superimposed component controlled by the correction factor will be injected into the component of the actual output voltage vector on the α-axis. The additionally superimposed component is adjusted by setting the appropriate correction factor to cancel the CVO on the α-axis. By setting a controllable variable correction factor, its anti-offset characteristics can ensure the continuous and stable operation of the system. However, the scheme introduces torque ripple. The strategy adopts double closed-loop control. Experimental results on a 1 kW PMSM prototype show that the proposed scheme can effectively suppress CVO and torque ripple.

Thermal Error Prediction and Compensation of Digital Twin Laser Cutting Based on T-XGBoost.

Laser cutting belongs to non-contact processing, which is different from traditional turning and milling. In order to improve the machining accuracy of laser cutting, a thermal error prediction and dynamic compensation strategy for laser cutting is proposed. Based on the time-varying characteristics of the digital twin technology, a hybrid model combining the thermal elastic–plastic finite element (TEP-FEM) and T-XGBoost algorithms is established. The temperature field and thermal deformation under 12 common working conditions are simulated and analyzed with TEP-FEM. Real-time machining data obtained from TEP-FEM simulation is used in intelligent algorithms. Based on the XGBoost algorithm and the simulation data set as the training data set, a time-series-based segmentation algorithm (T-XGBoost) is proposed. This algorithm can reduce the maximum deformation at the slit by more than 45%. At the same time, by reducing the average volume strain under most working conditions, the lifting rate can reach 63% at the highest, and the machining result is obviously better than XGBoost. The strategy resolves the uncontrollable thermal deformation during cutting and provides theoretical solutions to the implementation of the intelligent operation strategies such as predictive machining and quality monitoring.

Multi-source residual capacity collaborative dynamic compensation strategy based on robust residual generator

In this paper, a dynamic compensation strategy based on a residual generator was proposed to solve the problem of the power quality of the bus in an isolated AC microgrid. Firstly, the disturbance analysis of power quality problems such as voltage fluctuation, three-phase imbalance, harmonic wave is carried out, and the disturbance current is converted into the time domain function in the dq rotating coordinate system. Secondly, the inverter establishes the state space model under the dq rotation coordinate system. Then, the control structure based on residual generator is proposed, the voltage compensator is solved by model matching method, and the current loop secondary compensator is designed to eliminate the influence of the voltage compensator on the current loop. Thirdly, the residual capacity calculation method of the inverter is analysed, and the residual capacity is used to achieve the power quality collaborative governance on the parallel inverter system with the perturbation allocation method. Finally, the control strategy proposed in this paper is verified by the simulation built in PSCAD/EMTDC, and the results can be effectively applied to the low-level control of microgrid, and the power quality control effect of voltage fluctuation, three-phase unbalance and harmonics is good, which improves the robustness of the system to a certain extent.

Research on Torque Distribution of Four-Wheel Independent Drive Off-Road Vehicle Based on PRLS Road Slope Estimation

In view of the high difficulty in coupling of various electric vehicle parameters, intractable parameter estimation, and unreasonable distribution of vehicle driving torque, the four-wheel hub motor is applied to drive electric vehicles, which can instantly obtain the torque and speed of the hub motor and achieve precise control of the torque of each wheel. According to the vehicle longitudinal dynamics model, a progressive RLS (PRLS) algorithm for real-time estimation of vehicle mass and road gradient is proposed. Meanwhile, by means of taking the longitudinal acceleration of the vehicle and the road gradient obtained from the estimation algorithm as the parameter of the torque distribution at the front and rear axles, a dynamic compensation and distribution control strategy of the front and rear axle torques is designed. Moreover, based on hardware-in-the-loop real-time simulation and real-vehicle tests, the effectiveness of the proposed estimation algorithm and the rationality of the real-time distribution control strategy of driving torque are verified.

Optimization and Experiment of Mass Compensation Strategy for Built-In Mechanical On-Line Dynamic Balancing System

In order to solve the problem of low precision and efficiency in the balancing process due to the movement of balance counterweights in a built-in mechanical on-line dynamic balance system, an optimization strategy for the mass compensation of the mechanical on-line dynamic balancing system is proposed, and a mass compensation optimization model is established. The optimization model takes the phase of counterweight movement as the optimization variable and the residual stress under dynamic balance as the optimization objective. Through the optimization model, the movement phase of the counterweight can be calculated, and the counterweight can be moved to a balanced position that significantly reduces the degree of unbalance. An experiment platform was built to carry out comparison experiments under different rotating speeds and unbalance levels. By comparing the residual stress, amplitude, and dynamic balancing time of the spindle before and after the balance, the accuracy of the phase of the counterweight that is calculated by the optimization model is verified. The optimized dynamic balance compensation strategy and the unoptimized were compared by experiments at different rotating speeds. The experimental results showed that, compared to the unoptimized balance, the amplitude of the spindle after optimizing balance with a dynamic balancing device can decrease by 30.39% on average, with its maximum amplitude decreasing by up 50.18%, and the balancing time can decrease by 31.72% on average, with its maximum balancing time decreasing by up to 43.86%. The research results showed that an optimization strategy can effectively improve dynamic balance efficiency and greatly reduce vibration amplitude, which provides the necessary theoretical basis for improving the running precision of the spindle system.

Loop stability analysis of boost circuit under globally dynamic compensation strategy

Loop stability analysis of boost circuit under globally dynamic compensation strategy

Adaptive Output Feedback Control for Piezoactuator-driven Stage

The accuracy and dynamic characteristics of piezoactuator-driven stage mainly depend on whether the controller can effectively compensate the inherent hysteresis of piezoactuator. For this problem, a neural network (NN) based adaptive output feedback control scheme is proposed. In order to avoid the impact of the velocity measurement noise of the piezoactuator, a high-gain observer is used to estimate unmeasured velocity of the system, and a neural network dynamic compensation strategy is proposed. A robust controller is used to compensate the neural network approximation error and the observer estimation error. Finally, the stability analysis is given by Lyapunov stability theory. Simulation results show the effectiveness of the proposed method.

Dynamic compensation of modeling uncertainties and disturbances of a precision planar motion stage based on sliding mode observer

This paper discusses dynamic modeling, controller design, simulation, and experiment for a non-contact three-degree-of-freedom planar motion stage for precision measurement and control of positions. A simplified model of this planar motion stage driven by four permanent magnetic linear motors is established on an assumption that the influence of the small yawing motion on the electromagnetic characteristics of the planar motion stage can be neglected. Overall control strategy, including a fine-tuned proportional integral derivative component to yield basic dynamic performance and a component derived from sliding mode observer to estimate and compensate for modeling uncertainties and disturbances, is developed and implemented in a digital signal processor. Simulation study and experimental results of using a three-axis interferometer as the position sensor are presented to verify the effectiveness of the suggested dynamic compensation strategy and tracking performance of the non-contact planar motion stage.

A Novel Control Method Using Nonlinear Observer for a XYθz Planar Actuator

In this study, a novel control law including a fine-tuned PID component to yield basic dynamic performance, and a component derived from the Sliding Mode Observer (SMO) to estimate and then compensate for modeling uncertainties and disturbances, has been introduced to planar actuator of an ultra-precision positioning stage. Experimental results are presented to verify the effectiveness of suggested dynamic compensation strategy and tracking performance of the non-contact planar actuator.

A strategy to correct for intrafraction target translation in conformal prostate radiotherapy: Simulation results

A strategy is proposed in which intrafraction internal target translation is corrected for by repositioning the multileaf collimator position aperture to conform to the new target pose in the beam projection, and the beam monitor units are adjusted to account for the change in the geometric relationship between the target and the beam. The purpose of this study was to investigate the dosimetric stability of the prostate and critical structures in the presence of internal target translation using the dynamic compensation strategy. Twenty-five previously treated prostate cancer patients were replanned using a four-field conformal technique to deliver 72 Gy to 95% of the planning target volume (PTV). Internal translation was introduced by displacing the prostate PTV (no rotation or deformation was considered). Thirty-six randomly selected isotropic displacements of magnitude 0.5, 1.0, 1.5 and 2.0 cm were sampled for each patient, for a total of 3600 errors. Due to their anatomic relation to the prostate, the rectum and bladder contours were also moved with the same magnitude and direction as the prostate. The dynamic compensation strategy was used to correct each of these errors by conforming the beam apertures to the new target pose and adjusting the monitor units using inverse-square and off-axis factor corrections. The dynamic compensation strategy plans were then compared to the original treatment plans via dose-volume histogram (DVH) analysis. Changes of more than 5% of the prescription dose (3.6 Gy) were deemed clinically significant. Compared to the original treatment plans, the dynamic compensation strategy produced small discrepancies in isodose distributions and DVH analyses for all structures considered apart from the femoral heads. These differences increased with the magnitude of the internal motion. Coverage of the PTV was excellent: D5, D95, and Dmean were not increased or decreased by more than 5% of the prescription dose for any of the 3600 simulated internal motion shifts. Dose increases for adjacent organs at risk were rare. D33 of the rectum and D20 of the bladder were increased by more than 5% of the prescription dose in 9 and 1 instances of the 3600 sampled internal motion shifts, respectively. Dmean of the right femoral head increased by more than 5% of the prescription dose in 651 (18%) internal motion shifts, predominantly due to the projection of the lateral beams through the femoral head for anterior prostate motion. However, D2 was not increased by more than 5% for any of the internal motion shifts. These data demonstrate the robustness of the proposed dynamic compensation strategy for correction of internal motion in conformal prostate radiotherapy, with minimal deviation from the original treatment plans even for errors exceeding those commonly encountered in the clinic. The compensation strategy could be performed automatically with appropriate enhancements to available delivery software.

A dynamic compensation strategy to correct patient-positioning errors in conformal prostate radiotherapy

Traditionally, pretreatment detected patient-positioning errors have been corrected by repositioning the couch to align the patient to the treatment beam. We investigated an alternative strategy: aligning the beam to the patient by repositioning the dynamic multileaf collimator and adjusting the beam weights, termed dynamic compensation. The purpose of this study was to determine the geometric range of positioning errors for which the dynamic compensation method is valid in prostate cancer patients treated with three-dimensional conformal radiotherapy. Twenty-five previously treated prostate cancer patients were replanned using a four-field technique to deliver 72 Gy to 95% of the planning target volume (PTV). Patient-positioning errors were introduced by shifting the patient reference frame with respect to the treatment isocenter. Thirty-six randomly selected isotropic displacements with magnitudes of 1.0, 2.0, 4.0, 6.0, 8.0, and 10.0 cm were sampled for each patient, for a total of 5400 errors. Dynamic compensation was used to correct each of these errors by conforming the beam apertures to the new target position and adjusting the monitor units using inverse-square and off-axis factor corrections. The dynamic compensation plans were then compared with the original treatment plans via dose-volume histogram (DVH) analysis. Changes of more than 5% of the prescription dose, 3.6 Gy, were deemed significant. Compared with the original treatment plans, dynamic compensation produced small discrepancies in isodose distributions and DVH analyses. These differences increased with the magnitudes of the initial patient-positioning errors. Coverage of the PTV was excellent: D95 and Dmean were not increased or decreased by more than 5% of the prescription dose, and D5 was not decreased by more than 5% of the prescription dose for any of the 5400 simulated positioning errors. D5 was increased by more than 5% of the prescription dose in only three of the 5400 positioning errors, all three occurring with a positioning error of 10.0 cm. Dose increases for adjacent organs at risk were more common. D33 of the rectum and the periprostatic rectum was increased by more than 5% of the prescription dose in 235 (4.4%) and 212 (3.9%) of the 5400 positioning errors, respectively. D10 of the right femoral head increased by more than 5% of the prescription dose in 444 (8.2%) positioning errors, and the degree of change was highly related to individual patient anatomy and simulation position. For the bladder D20, there were three increases of more than 5% of the prescription dose. These data demonstrate the robustness of dynamic compensation for correction of patient-positioning errors in four-field conformal prostate radiotherapy, with minimal deviation from the original treatment plans even for errors greatly exceeding those commonly encountered in the clinic. Dynamic compensation can be performed remotely, thus eliminating errors that may result from unnecessary increases in treatment time or from secondary patient motion induced by couch motion during the repositioning process. Further, the ability of dynamic compensation to correct large positioning errors has implications for the accuracy necessary during the initial patient setup and, hence, patient throughput for prostate radiotherapy.