Model Control Design Research Articles

Order Reduction of Real Time Electromechanical Systems by Using a New Model Order Reduction Method and Controller Design

Order Reduction of Real Time Electromechanical Systems by Using a New Model Order Reduction Method and Controller Design

Optimizing traffic signal control for continuous‐flow intersections: Benchmarking against a state‐of‐practice model

AbstractContinuous‐flow intersections (CFI), also known as displaced left‐turn (DLT) intersections, aim to improve the efficiency and safety of traffic junctions. A CFI introduces additional cross‐over intersections upstream of the main intersection to split the left‐turn flow from the through movement before it arrives at the main intersection which decreases the number of conflict points between left‐turn and through movements. This study develops and examine a two‐step optimization model for CFI traffic signal control design and demonstrates its performance across more than 300 different travel demand scenarios. The proposed model is compared against a state‐of‐practice CFI signal control model as a benchmark. Microsimulation results suggest that the proposed model reduces average delay by 17% and average queue length by 32% for a full CFI compared with the benchmark signal control model.

Study on a nonlinear dynamic characteristic of the positive flow pump in its pilot hydraulic cylinder

The displacement of the positive flow pump is controlled by its pilot hydraulic cylinder. The tracking performance of the pump displacement directly affects the energy saving of the hydraulic excavator through power matching. In this article, a nonlinear dynamic characteristic of the positive flow pump in its pilot hydraulic cylinder is studied to improve the mathematical model for controller design. The concept of relative water hammer is first proposed to describe the relative pressure wave acting on the hydraulic piston to illustrate the mechanism of the nonlinearity. Chaotic motion can be generated by the relative water hammer when the hydraulic piston is in a partial stroke. The mathematical model is derived and its critical parameters are analyzed. The simulation and experimental results verify the existence of the relative water hammer and the effect of each critical parameter on the pilot hydraulic cylinder and the positive flow pump.

Internal Model Control Design for Nonlinear Systems Based on Inverse Dynamic Takagi–Sugeno Fuzzy Model

Internal Model Control Design for Nonlinear Systems Based on Inverse Dynamic Takagi–Sugeno Fuzzy Model

A new method for model reduction and controller design of large-scale dynamical systems

A new method for model reduction and controller design of large-scale dynamical systems

A robust internal model control design for low-quality waste heat power generation systems

Recovering low-quality waste heat using industrial waste heat is challenging, and the reuse technology needs to erupt. Moreover, the gas source of low-quality waste heat is relatively volatile, which makes it challenging to keep the actual working condition of the plant stable. Therefore, it is inspiring to research the robustness of root-waste heat power generation processed measurement and control system to improve the stability of the plant operation. Hence, in this paper, we have applied uncertainty theory to analyze it and formulate the uncertainty model based on the Bode diagram. We also proposed a control method based on the uncertainty model, which combines robust control and internal model control to make the roots waste heat power generation system operate stably under the effect of external disturbances and changes of internal structure or parameters in actual operation. Experimental results show that the robust internal model control method has a speed deviation of no more than 7.9 r/min compared with the PID control method. The adjustment time to track the set value does not exceed 73.1 seconds within the allowed fluctuation range. The fluctuation variance is 30.95% of that of the PID controller. The dynamic performance is better, with strong anti-interference capability and significantly improved tracking performance. It ensures the stability of the roots-type waste heat utilization system, which is essential for future intelligent grid-connected power generation.

Current Controller Design of Grid-Connected Inverter with Incomplete Observation Considering L-/LC-Type Grid Impedance

This paper presents a current control design for stabilizing an inductive-capacitive-inductive (LCL)-filtered grid-connected inverter (GCI) system under uncertain grid impedance and distorted grid environment. To deal with the negative impact of grid impedance, LC-type grid impedance is considered in both the system model derivation and controller design process of an LCL-filtered GCI system. In addition, the integral and resonant control terms are also augmented into the system model in the synchronous reference frame to guarantee the reference tracking of zero steady-state error and good harmonic disturbance compensation of the grid-injected currents from GCI. By considering the effect of grid impedance on the control design process, an incomplete state feedback controller will be designed based on the linear-quadratic regulator (LQR) without damaging the asymptotic stabilization and robustness of the GCI system under uncertain grid impedance. By means of the closed-loop pole map evaluation, the asymptotic stability, robustness, and resonance-damping capability of the proposed current control scheme are confirmed even when all the system states are not available. In order to reduce the number of required sensors for the realization of the controller, a discrete-time current-type full-state observer is employed in this paper to estimate the system state variables with high precision. The feasibility and effectiveness of the proposed control scheme are demonstrated by the PSIM simulations and experiments by using a three-phase GCI prototype system under adverse grid conditions. The comprehensive evaluation results show that the designed control scheme maintains the stability and robustness of the LCL-filtered GCI when connecting to unexpected grids, such as harmonic distortion and L-type and LC-type grid impedances. As a result, the proposed control scheme successfully stabilizes the entire GCI system with high-quality grid-injected currents even when the GCI faces severe grid distortions and an extra grid dynamic caused by the L-type or LC-type grid impedance. Furthermore, low-order distortion harmonics come from the background grid voltages and are maintained as acceptable limits according to the IEEE Std. 1547-2003. Comparative test result with the conventional one also confirms the effectiveness of the proposed control scheme under LC-type grid impedance thanks to the consideration of LC grid impedance in the design process.

Evaluation of Neural Network Effectiveness on Sliding Mode Control of Delta Robot for Trajectory Tracking

The Delta robot is an over-actuated parallel robot with highly nonlinear kinematics and dynamics. Designing the control for a Delta robot to carry out various operations is a challenging task. Various advanced control algorithms, such as adaptive control, sliding mode control, and model predictive control, have been investigated for trajectory tracking of the Delta robot. However, these control algorithms require a reliable input–output model of the Delta robot. To address this issue, we have created a control-affine neural network model of the Delta robot with stepper motors. This is a completely data-driven model intended for control design consideration and is not derivable from Newton’s law or Lagrange’s equation. The neural networks are trained with randomly sampled data in a sufficiently large workspace. The sliding mode control for trajectory tracking is then designed with the help of the neural network model. Extensive numerical results are obtained to show that the neural network model together with the sliding mode control exhibits outstanding performance, achieving a trajectory tracking error below 5 cm on average for the Delta robot. Future work will include experimental validation of the proposed neural network input–output model for control design for the Delta robot. Furthermore, transfer learnings can be conducted to further refine the neural network input–output model and the sliding mode control when new experimental data become available.

Nonlinear Robust Adaptive Control of Universal Manipulators Based on Desired Trajectory

The introduction of a dynamic model in robot trajectory tracking control design can significantly improve its trajectory tracking accuracy, but there are many uncertainties in the robot dynamic model which can be dealt with through robust control and adaptive control. The prevailing robust control as well as adaptive control methods require real-time computation of robot dynamics, but the extreme complexity of the robot dynamics equations makes it difficult to apply these methods in real industrial systems. To this end, this article proposes a robust adaptive control method based on the desired trajectory, which uses the desired trajectory to compute most of the control terms offline, including the robot’s nominal dynamics and regression matrices, and substantially reduces the need for real-time computation of the feedback signals. The robust term modifies the perturbation of the inertial parameters of the links, the adaptive term learns the friction coefficients of the joints online, and an additional compensation term is designed to satisfy the Lyapunov stability condition of the system. Finally, taking a universal manipulator as the experimental platform, the control performances of different control methods are compared to show the feasibility of the controller and the effective reduction in real-time computational complexity.

Electric Submersible Pump Lifted Oil Field: Basic Model for Control, and Comparison of Simulation Tools

Optimal operation of petroleum production is important in a transition from energy systems based on fossil fuel to sustainable systems. One sub-process in petroleum production deals with transport from the (subsea) well-bore to a topside separator. Good control design for such operation requires a dynamic model of the petroleum flow from the well-bore to the separator. Here, such a dynamic model is considered for liquid production (oil/water) using an electric submersible pump (ESP) to aid in counteracting gravity and friction forces. Based on an existing model used for industrial control design, one goal is to report a complete dynamic model in a single paper. Emphasis is put on dimensionless equipment models for the simple change of units, and the model is developed from physical laws for easy replacement of sub-models, if needed. All the necessary information (equations, parameters) for model implementation is provided, and two candidate equation-based modeling languages are selected and compared: Modelica and ModelingToolkit [MTK] for Julia. The simulation results are virtually identical for the two languages and make sense from physics; however, there is a minor discrepancy in one plot—likely caused by slight differences in accuracy in handling initialization in the implicit algebraic equations. The implementation structures of the model in Modelica and MTK are similar. Modelica is a mature and excellent modeling tool, handles large-scale models, and has tools for producing C code and integration with other tools. MTK is still in rapid development, supports more model types than Modelica, and is integrated in an eco-system with excellent support for control design, optimization, model fitting, and more. To illustrate the suitability of using the developed model for control design, a simple PI controller is designed within the eco-system of MTK/Julia.

Dynamic modeling and closed-loop control design for humanoid robotic systems: Gibbs–Appell formulation and SDRE approach

Dynamic modeling and closed-loop control design for humanoid robotic systems: Gibbs–Appell formulation and SDRE approach

IPC‐based robust disturbance accommodating control for load mitigation and speed regulation of wind turbines

SummaryOver the past few decades, global demand for renewable energy has been rising steadily. To meet this demand, there has been an exponential growth in size of wind turbines (WTs) to capture more energy from wind. Consequent increase in weight and flexibility of WT components has led to increased structural loading, affecting reliability of these wind energy conversion systems. Spatio‐temporal variation of rotor effective wind field acts as a disturbance to a WT system, hence, necessitating controllers that can cancel this disturbance. Additionally, assumptions made in extracting linear models for controller design lead to modeling errors resulting from changing operating conditions. Previous attempts have proposed robust controllers incorporating wind disturbance models. However, these controllers have been evaluated on smaller WTs, which experience lower structural loading than larger ones. Additionally, a majority these controllers are based on collective pitch control (CPC), hence do not address loading in the blades. To address these challenges, this contribution proposes an independent pitch‐based robust disturbance accommodating controller (IPC‐RDAC) for reducing structural loads and regulating generator speed in utility‐scale WTs. The proposed controller is designed using ‐synthesis approach and is evaluated on the 5 MW National Renewable Energy Laboratory (NREL) reference WT. Its performance is evaluated against a gain‐scheduled proportional integral (GSPI)‐based reference open‐source controller (ROSCO) and a CPC‐based RDAC (CPC‐RDAC) controller, developed previously by the authors. Simulation results for various wind conditions show that the proposed controller offers improved performance in blade and tower load mitigation, as well a generator speed regulation.

Learning Control Affine Neural NARX Models for Internal Model Control Design

Learning Control Affine Neural NARX Models for Internal Model Control Design

Neural Autoencoder-Based Structure-Preserving Model Order Reduction and Control Design for High-Dimensional Physical Systems

Neural Autoencoder-Based Structure-Preserving Model Order Reduction and Control Design for High-Dimensional Physical Systems

Improved Fourier Domain Model and Adaptive Controller Design for Handling Double Resonance Impact on Performance of Current-Fed Isolated DC/DC Converter

Improved Fourier Domain Model and Adaptive Controller Design for Handling Double Resonance Impact on Performance of Current-Fed Isolated DC/DC Converter

Application of Fractional-order PID controllers in a Greenhouse Climate Control System

A model-based Fractional Order Proportional-Integral-Derivative (FOPID) control design method is applied to a multivariable greenhouse climate control system. A multivariable transfer function model of the greenhouse system, obtained via model Identification experiment, provides plant’s model information for control design. The fractional controller is tuned using the conventional Biggest Log-modulus Tuning (BLT) method associated with integer order PID controllers. However, unlike the conventional PID case, the controller gains are first computed using internal model control design procedure. This produces preliminary values of controller parameters. The FOPID controller gains are further tuned using a single detuning factor (F) until a biggest log modulus of 2N dB is obtained where N is the number of loops in the MIMO system. Simulation studies, using MATLAB and Simulink, show that good compromise between performance and robustness is achievable for both temperature and humidity regulation in a greenhouse control application.

PENERAPAN MODEL PEMBELAJARAN CHILDREN LEARNING IN SCIENCE (CLIS) UNTUK MENINGKATKAN HASIL BELAJAR KOGNITIF SISWA PADA MATERI TEKANAN KELAS VIII SMP NEGERI 7 TAMBANG

This study aims to determine the increase in cognitive learning outcomes of class VIII students on pressure material at SMP Negeri 7 Tambang using the Children Learning In Science (CLIS) model. The samples in this study were two classes, namely class VIII-A as the control class and class VIII-B as the experimental class. The type of research used is Experimental Research with a posttest-only control design model. Data collection was carried out using a written test instrument in the form of multiple choice questions of 20 items. The data obtained is then subjected to a normality test and homogeneity test to find out whether the data obtained is homogeneous or not. Furthermore, to find out whether or not there were significant differences in learning outcomes between the experimental and control classes, an independent sample test was carried out with a significance level of 0.05. Based on the results of data processing, a significance <0.05 was obtained which indicated that Ho was rejected and Ha was accepted. it can be concluded that there are significant differences in students' cognitive learning outcomes between classes that use the CLIS model and classes that apply conventional learning models.

Multibody Constraints in the Geometrically Nonlinear Intrinsic Formulation

Abstract The intrinsic formulation for geometrically nonlinear beam dynamics provides a compact and versatile description of slender beam-like structures. With nonlinearities limited to second-order couplings in the formulation, it has been an attractive choice in formulating nonlinear reduced-order models for dynamic analysis and control design in aeroelasticity problems involving large displacements and rotations. Owing to its rotation-free formalism, the intrinsic formulation has not been formulated to accommodate multibody constraints, limiting its use against multibody structures with kinematic constraints. This work aims to address such weakness as we present developments in introducing multibody constraints into the full and reduced-order intrinsic equations while still preserving the beneficial traits of the method. We describe the resolution of displacement-level constraints using index-1 approach and adaptation of constraint stabilization strategies to the intrinsic formulation using state projection. The numerical behavior of the full- and reduced-order implementations are assessed using test cases with large static and dynamic deformations with time-domain simulations to demonstrate validity of the approach.

Model and Fuzzy Controller Design Approaches for Stability of Modern Robot Manipulators

Robotics is a crucial technology of Industry 4.0 that offers a diverse array of applications in the industrial sector. However, the quality of a robot’s manipulator is contingent on its stability, which is a function of the manipulator’s parameters. In previous studies, stability has been evaluated based on a small number of manipulator parameters; as a result, there is not much information about the integration/optimal arrangement/combination of manipulator parameters toward stability. Through Lagrangian mechanics and the consideration of multiple parameters, a mathematical model of a modern manipulator is developed in this study. In this mathematical model, motor acceleration, moment of inertia, and deflection are considered in order to assess the level of stability of the ABB Robot manipulator of six degrees of freedom. A novel mathematical approach to stability is developed in which stability is correlated with motor acceleration, moment of inertia, and deflection. In addition to this, fuzzy logic inference principles are employed to determine the status of stability. The numerical data of different manipulator parameters are verified using mathematical approaches. Results indicated that as motor acceleration increases, stability increases, while stability decreases as moment of inertia and deflection increase. It is anticipated that the implementation of these findings will increase industrial output.

Model based aircraft design and optimization: a case study with cessna 172N aircraft

Abstract This study aims to create an interdisciplinary, multi-level design approach for fixed wing aircrafts. A case study is performed using Cessna 172N aircraft characteristics that is based on a mathematical model having six degrees of freedom (DOF). A Model Based Aircraft Design Software (MAD) is developed using a mathematical dynamic model in Python environment for use in the optimization phase of the Cessna 172N aircraft. The MAD environment is composed of analysis tools that communicate with each other by an automated process chain system. The model includes aerodynamics, engine, mass, control, atmosphere, and landing gear submodules. In addition, the model has trim and 6 DOF simulation analysis capabilities which provide a diversity of analyses that can be considered in early design phases. In order to get trimming and simulation capability, MAD software does not need any precalculated aerodynamic database. The force and moment calculations are performed instantly via DATCOM and AVL solvers for each iteration of simulation or trim. Thanks to this method, alternative aircraft geometries can be compared at the first phase of the design and optimization processes without creating an overall database. All methodologies of model submodules, performance, stability and control calculations, design, and optimization applications are implemented in the MAD environment.