PSD Controller Research Articles

Stabilization Control of Underactuated Spring-Coupled Three-Link Horizontal Manipulator Based on Energy Absorption Idea

A spring-coupled three-link horizontal manipulator (STHM) is an underactuated mechanical system that possesses two control inputs and three degrees of freedom (DOF). This paper discusses the stabilization control problem for this multi-DOF underactuated system. By using an energy-absorbing idea, we design two types of virtual friction controllers: PsD controller and PD controller. Additionally, the stability of the control system is analyzed based on Lyapunov theory and LaSalle’s invariance principle. The design of the stabilizing controller in this paper makes good use of the physical characteristics of the STHM system. The design process of the whole control system is simple. Numerical examples demonstrate the validity and superiority of our developed control strategy.

The Control Reversing Algorithm for Autonomous Vehicles with PSD-Controlled Trailers

Abstract Driving a vehicle with a passive trailer has been the subject of numerous studies. Current control strategies are mostly used by differential geometry, linear algebra, fuzzy regulators, and artificial neural networks. The objective of this study is to design an algorithm for autonomous control of the tractor-trailer system reversing based on an algorithm using a PSD controller and to verify it on a simulated mathematical model. All parameters listed in the models and experiments are performed based on the existing tractor-trailer system. Dynamic models of steering and velocity control were identified and incorporated into the simulation. Result includes a stable operation of the steering without oscillating. The proposed algorithm can be implemented in microcontrollers without the need for high computing power.

Robust Gain-Scheduled PSD Controller Design from Educational Perspective

Nowadays, the demand for qualified engineers in novel model-based controller design techniques is rapidly increasing. Therefore, it is necessary to include these up-to-date techniques in control theory courses. We are confident that this paper provides a motivation for embedding new linear/bilinear matrix inequality (LMI/BMI)-based approaches in topic-related courses and student projects. Within this paper a systematic design framework for robust discrete-time gain-scheduled proportional, summation, and difference (PSD) controller design for uncertain linear parameter-varying systems is presented. Conditions to satisfy robust stability and performance requirements are translated to an optimization problem subject to LMI/BMI constraints which students can easily solve using commercial as well as free and open source software tools and solvers. Two student project examples are given to illustrate and validate the proposed methodology.

Velocity Tracking Control for Hydraulic Lifting System Based on Adaptive PSD Controller

The single neutron adaptive PID controller is applied to the angular velocity tracking control of the hydraulic lifting system. The angle velocity tracking control strategy of the lifting process is proposed, and the lifting angle velocity is designed based on the sine acceleration function, and the lifting angle velocity dynamic programming based on the real-time angle is proposed. The single neutron adaptive PID control method is studied, and in order to improve its performance, a method utilizing genetic algorithm to optimize these parameters of single neuron PID controller is presented. The control algorithm is applied to the large mechanical lifting process successfully, and the simulation results show that the control performance of the Adaptive PSD Controller is more effective.

Study on the Intelligent Control Technology for Wet Dual Clutch Transmission

An intelligent control system of wet dual clutch transmission was presented in this paper,and an intelligent control arithmetic based on neural adaptive PSD was established to realize precise control of clutch pressure.The transfer characteristics of clutch torque were analyzed,and the clutch torque model was established Due to the characteristic of the clutch control valve,the clutch pressure was precisely controlled in the neural adaptive PSD controller. The shift tests showed that the intelligent control arithmetic based on neural adaptive PSD had good adaptive ability,which could meet the control requirements of wet dual clutch transmission.

Improving power system dynamic performance using attuned design of dual-input PSS and UPFC PSD controller

The objective of this work is the coordinated design of controllers that can enhance damping of power system swings. With presence of flexible AC transmission system (FACTS) device as unified power flow controller (UPFC), three specific classes of the power system stabilizers (PSSs) have been investigated. The first one is a conventional power system stabilizer (CPSS); the second one is a dual-input power system stabilizer (dual-input PSS); and the third one is an accelerating power PSS model (PSS2B). Dual-input PSS and PSS2B are introduced to maintain the robustness of control performance in a wide range of swing frequency. Uncoordinated PSS and UPFC damping controller may cause unwanted interactions; therefore, the simultaneous coordinated tuning of the controller parameters is needed. The problem of coordinated design is formulated as an optimization problem, and particle swarm optimization (PSO) algorithm is employed to search for optimal parameters of controllers. Finally, in a system having a UPFC, comparative analysis of the results obtained from application of the dual-input PSS, PSS2B, and CPSS is presented. The eigenvalue analysis and the time-domain simulation results show that the dual-input PSS & UPFC and the PSS2B & UPFC coordination provide a better performance than the conventional single-input PSS & UPFC coordination. Also, the PSS2B & UPFC coordination has the best performance.

DECENTRALIZED PID CONTROLLER DESIGN FOR UNCERTAIN LINEAR SYSTEM

A state space approach to designing decentralized (multi-loop) PID robust controllers is studied for linear time varying uncertain system with affine (polytopic) uncertainty. The bounded parameter variation rate is assumed. Both continuous PID and discrete time PSD controller design is discussed for constrained structure of controller matrix. The Lyapunov stability approach with parameter dependent Lyapunov function is considered to decrease conservativeness of quadratic stability approach. For parameter varying systems with the bounded parameter variations, the parameter variation upper bound is included in stability conditions and control design procedure.

Robotic Welding Systems with Vision-Sensing and Self-learning Neuron Control of Arc Welding Dynamic Process

This paper addresses the vision sensing and neuron control techniques for real-time sensing and control of weld pool dynamics during robotic arc welding. Current teaching playback welding robots are not provided with this real-time function for sensing and control of the welding process. In our research, using composite filtering technology, a computer vision sensing system was established and clear weld pool images were captured during robotic-pulsed Gas Tungsten Arc Welding (GTAW). A corresponding image processing algorithm has been developed to pick up characteristic parameters of the weld pool in real-time. Furthermore, an ANN model of the weld pool dynamic process of robotic-pulsed GTAW was developed. Based on neuron self-learning PSD controller design, the real-time control of weld pool dynamics during the pulsed GTAW process has been realized in robotic systems.

Drying Kiln Parameters Adaptive Control

Drying processes represent in wood and furniture industries large consumer of energy. Therefore it is obvious that the microcomputer technology aiming at rationalization of the production, is employed in these processes. The paper briefly describes one for the possible ways of how to approach the control of the drying agent in metal construction lumber drying kiln. Simple adaptive PSD (numerical PID) controller with direct setting of parameters of the control law is applied in the control of chosen agent parameters. The digital controller is wind-up resistant. The algorithm was tested by simulations on the computer and directly in technological process.