Switching Control Strategy Research Articles

Switched control strategy based on Preview-based MPC for active suspension of heavy-duty vehicle to improve ride comfort and roll stability

Abstract This paper proposes a switched control system for heavy-duty vehicles, aiming to improve ride comfort and roll safety in unstructured road conditions. The realization of the comprehensive control target depends on the active suspension system: on the one hand, it can suppress the vibration caused by road excitation; on the other hand, it can dynamically adjust the output vertical force of the actuator to achieve the purpose of anti-roll. Focusing on the important influence of complex road conditions with road curvature and inclination on stability of heavy-duty vehicles, a vertical-lateral coupling nine-degree-of-freedom model is established. Then, a preview-based Model Predictive Control (MPC) switching controller is designed to make full use of road information, which allows the controller to be solved in advance, thereby improving the real-time performance. In addition, variable weight coefficients are used to realize the switched control of ride comfort and roll safety based on the preview road information. Finally, the simulation results given by Matlab/Simulink show that over the one without control, the proposed controller improves the ride comfort by about 53.2% and the roll safety by about 45.2%.

Global Non-fragile Finite-time Stabilization Based on Switching Control Strategy for Nonlinear Systems With Output Uncertainty

Global Non-fragile Finite-time Stabilization Based on Switching Control Strategy for Nonlinear Systems With Output Uncertainty

Design of Direct Current Microgrid Converter with Cost-Effective Low-Voltage Battery Storage System

Battery storage systems are becoming very popular around the world. However, they are mainly used in industry for high-performance applications. Domestic use is still sporadic due to size and cost issues. This work overviews basic conceptual designs for a cost-effective battery storage system. The main specificity of the proposed systems is the use of commonly available recycled batteries from household appliances such as laptops and backup power supplies. The circuit topology considered is a 3S (three cells in series) configuration. This is because such wiring arrangements are those that are most often found in the home appliances described here. The technical solutions of the device itself focus on the ratio of the efficiency of the whole system to the production cost. Given the above, attention was paid to the simulation analysis of the operating modes, which directly influenced the components’ price. Changing the switching control scheme of the power transistors makes it possible to reduce the requirements for the driving components used with minimal impact on the power conversion efficiency (Δη 1–4%). According to the established findings, a prototype was made on which the simulation findings were verified; then, we further focused on the experimental measurement of the efficiency of the MPPT converter and conducted an analysis of a methodology in which we measure the deviation from the actual point of maximum power. The simple possibility of parallelizing the individual storage devices will again help improve the system’s overall efficiency. This makes the system suitable for use in small spaces such as houses, garages, cellars, etc.

Flexible switching method of control strategy for MMC-HVDC converter based on AC power grid strength

Modular Multilevel Converter based High Voltage Direct Current (MMC-HVDC) has been widely used in the large-scale transmission of renewable energy sources (RESs). However, the operating conditions of MMC-HVDC system with RESs are complex and variable, making it challenging to apply a single converter control strategy to different operating conditions, which affects the safe and stable operation of the whole system. In this paper, a flexible switching method of control strategies is proposed for MMC-HVDC converter. Firstly, the state-space model of MMC-HVDC under different control strategies is established, and the small signal stability and stable operation ranges under these control strategies are analyzed. Then, according to the proposed control strategy switching principle, a flexible control switching method for MMC-HVDC converter is proposed. This flexible control switching method ensures a smooth switching between different control strategies and causes a minimal disturbance to the overall system. Finally, a simulation model is established on the PSCAD/EMTDC platform, and the feasibility of the flexible control switching strategy for the MMC-HVDC system is verified. The simulation results show that very small disturbance is observed during the control switching and the flexible control switching strategy can effectively maintain the stable operation of MMC-HVDC system under different operating conditions. The proposed flexible control switching method can be activated according to the change of AC grid strength and it will help improve the stable operation of MMC converter.

Dynamic characteristics of a semi-active fractional-order inerter-based suspension with acceleration-velocity switch control

The fractional-order differential theory is applied in the hydraulic inerter to describe its mechanical characteristic, a semi-active fractional-order (SA-FO) inerter based on the hydraulic inerter is proposed and used in the vehicle suspension to constitute the semi-active fractional-order inerter-based (SA-FOIB) suspension, which consists of two adjustable inertances. According to the mechanical characteristic of the inerter, the acceleration-velocity switch (AVS) control strategy is proposed to adjust the inertance of the SA-FO inerter. The dynamic model of the SA-FOIB suspension with AVS control is established, its dynamic response under road harmonic excitation is obtained using the averaging method, the dynamic performance under road harmonic and random excitations is analyzed and evaluated by the vehicle body acceleration, suspension dynamic deflection and wheel dynamic load, the optimized structural parameters are obtained using the genetic algorithm optimization method. The results show that for road harmonic excitation, the SA-FOIB suspension can further enhance the high-frequency dynamic performance of the passive fractional-order inerter-based (P-FOIB) suspension, which the high-frequency resonance peaks of the dynamic performance indices are smaller. For road random excitation, the SA-FOIB suspension can decrease the root-mean-square (RMS) values of the suspension dynamic deflection and wheel dynamic load compared with the P-FOIB suspension, while increases the RMS value of the vehicle body acceleration. The optimized SA-FOIB suspension further improves the dynamic performance of the suspension dynamic deflection and wheel dynamic load, which the corresponding RMS values are smaller than the unoptimized SA-FOIB suspension, while deteriorates the vehicle body acceleration.

Event-Triggered Adaptive Antidisturbance Switching Control for Switched Systems With Dynamic Neural Network Disturbance Modeling.

In this article, a dynamic event-triggered adaptive antidisturbance (ETAAD) switching control strategy is proposed for switched systems subject to multisource disturbances. The disturbances are divided into two categories: the available unmodeled disturbance and the unavailable dynamic neural network modeled disturbance. First, a dynamic ET criterion is set based on the system state. Then, a novel dynamic ETA disturbance estimator is introduced to observe the modeled disturbance. Furthermore, according to the ET rule and adaptive disturbance observer, a switched controller is designed. Next, under the controller and switching criterion with the average dwell time limitation, sufficient conditions are given to force the switched systems to realize multisource disturbance suppression (DS), trajectory tracking, and communication resource (CR) saving simultaneously. Meanwhile, the Zeno phenomenon may be caused by the ET rule being excluded. In addition, the presented ETAAD approach is also applicable to the nonswitched systems case. Finally, a simulation case is given to validate the effectiveness of the dynamic ETAAD switching control method.

Secure Consensus Control of Multiagent Systems Under DoS Attacks: A Switching-Scheme-Based Active Defense Method.

This article studies the secure consensus control problem of multiagent systems (MASs) with a nonzero input leader subject to denial-of-service (DoS) attacks. The introduction of backup topologies makes it possible for MASs to actively defend against DoS attacks. Subsequently, a novel active defense method consisting of two types of state observers, an adaptive topology switching mechanism, and switching controllers is proposed, which can ensure the leader-follower bound consensus even if DoS attacks hinder the interaction between agents. Within such a defense framework, the switching mechanism, driven by the predefined performance index and designed monitoring function, can automatically search for a healthy communication graph among backup topologies. Concurrently, the observer-based switching control strategy will be modified to match the corresponding topology, in which the universal observer and controller parameters in different topologies are obtained by solving linear matrix inequalities. It should be highlighted that the developed defense scheme not only removes the limitations of existing results on the duration and frequency of DoS attacks but also ensures the same upper bound of consensus error before and after DoS attacks. Finally, several simulation examples for different systems illustrate the efficiency and superiority of the theoretical results.

Research on Omnidirectional Gait Switching and Attitude Control in Hexapod Robots.

To tackle the challenges of poor stability during real-time random gait switching and precise trajectory control for hexapod robots under limited stride and steering conditions, a novel real-time replanning gait switching control strategy based on an omnidirectional gait and fuzzy inference is proposed, along with an attitude control method based on the single-neuron adaptive proportional-integral-derivative (PID). To start, a kinematic model of a hexapod robot was developed through the Denavit-Hartenberg (D-H) kinematics analysis, linking joint movement parameters to the end foot's endpoint pose, which formed the foundation for designing various gaits, including omnidirectional and compound gaits. Incorporating an omnidirectional gait could effectively resolve the challenge of precise trajectory control for the hexapod robot under limited stride and steering conditions. Next, a real-time replanning gait switching strategy based on an omnidirectional gait and fuzzy inference was introduced to tackle the issue of significant impacts and low stability encountered during gait transitions. Finally, in view of further enhancing the stability of the hexapod robot, an attitude adjustment algorithm based on the single-neuron adaptive PID was presented. Extensive experiments confirmed the effectiveness of this approach. The results show that our approach enabled the robot to switch gaits seamlessly in real time, effectively addressing the challenge of precise trajectory control under limited stride and steering conditions; moreover, it significantly improved the hexapod robot's dynamic stability during its motion, enabling it to adapt to complex and changing environments.

Research on the Smooth Switching Control Strategy of Electric Vehicle Charging Stations Based on Photovoltaic–Storage–Charging Integration

To facilitate seamless transitions between grid-connected and islanded modes in PV–storage–charging integration, an energy storage system converter is designated as the subject of investigation, and its operational principles are examined. Feed-forward decoupling, double closed-loop, constant-power (PQ), constant-voltage–constant-frequency (V/F), and constant-voltage charge and discharge control strategies are developed. The PQ and V/F control framework of the energy storage battery comprises an enhanced common current inner loop and a switching voltage outer loop. The current reference value output by the voltage outer loop and the voltage signal output by the current inner loop are compensated. The transient impact is reduced, and the smooth switching of the microgrid from the grid-connected mode to the island mode is realized, which significantly improves the power quality and ensures the uninterrupted charging of electric vehicles and the stable operation of the key load of the system. By constructing a simulation model of the photovoltaic energy storage microgrid on the MATLAB/Simulink platform, the practicability of the control strategy proposed in this paper is verified.

Finite-time secure synchronization for stochastic complex networks with delayed coupling under deception attacks: A two-step switching control scheme

This article is concerned with the finite-time secure synchronization (FNTS) in mean square for stochastic complex networks (SCNs) with time-varying delayed coupling under deception attacks, where attack is described by a Bernoulli's stochastic variable, and is performed in the communication channel between the controller and the actuator. With the help of an auxiliary function, a new Halanay inequality is developed for continuous differential stochastic functions. By utilizing the Lyapunov functional gradient inequality with variable coefficients, a criterion about the finite-time stability in mean square is established for nonlinear stochastic systems under the designed two-step attenuation scheme. In order to reduce controller update consumption and communication waste, a two-step switching control mechanism consisting of an event-triggered control (ETC) and a time-varying gain state feedback control, is devised to achieve the FNTS objective. By Lyapunov stability theory, inequality analysis technique and the proposed finite-time stability criterion, the finite-time synchronization conditions are addressed in terms of linear matrix inequality (LMIs), and the bound of stochastic settling time (SST) is estimated explicitly. Finally, a practical application example is given to illustrate the effectiveness of the proposed control scheme, and to verify the correctness of the analytical results.

Feedback switching control of a walking piezoelectric actuator for trajectory tracking

Abstract This paper proposes a feedback switching control (FSC) scheme for a Walking Piezoelectric Actuator (WPA) to track a time-varying trajectory. A WPA has two feet with each foot integrated with a clamp and shear Piezoelectric Stack Actuators (PSAs). The first foot pushes the stage translator a step forward when clamped while the second foot is reset and retracted; subsequently, ‘foot switching’ occurs; as a result, the second foot is clamped to push the translator to make a next step forward and the first foot is reset and retracted. To make sure that the translator is always controlled in closed-loop no matter which foot is clamped, the FSC scheme is proposed. It consists of a clamping waveform generator which converts the trajectory into control signals for the clamp PSAs of the two feet and a feedback controller which provides control signals for the two shear PSAs of the feet. Experimental results show that the proposed control scheme achieves a tracking error of 0.028 µm for a constant velocity trajectory, which is a 75% reduction compared to the 0.113 µm of waveform-based control with ILC compensation in literature.

A Novel HPPD-Type Fuzzy Switching Control Scheme of Active Vehicle Suspension Systems

A Novel HPPD-Type Fuzzy Switching Control Scheme of Active Vehicle Suspension Systems

Bending/force switching control of pneumatic soft actuator based on multi-sensor fusion

Abstract The soft actuator has unlimited freedom, and can realize the grasping of irregular or fragile objects. A pneumatic soft actuator is designed in this paper, which consists of a series of symmetrically distributed pneumatic chambers. The soft actuator consists of a top expansion layer composed of 20 chambers and a bottom restraint layer. The Yeoh model and the finite element method (FEM) were employed to analyze the bending of the soft actuator. To improve the tracking performance, a PID strategy of the endocrine system (ES-PID) based on the neuroendocrine thyroid hormone regulation mechanism was constructed to tune the bending deformation. To achieve steady and precise force control, a bending/force switching control algorithm based on multi-sensor fusion is designed to realize high control accuracy. The bending/force switching control strategy mainly consists of two feedback loops for bending control, a force control, and a switching control. In the experimental process, the bending control is the primary control, and the force control is the primary control when the switching condition is satisfied. In order to prevent the occurrence of a false switching action, a switching factor is constructed using the method of successive comparison of neighboring values. Finally, several experiments are carried out to verify the effectiveness and feasibility of the control algorithm.

Optimization Control Strategy for Light Load Efficiency of Four-Switch Buck-Boost Converter

The four-switch buck-boost (FSBB) converter usually adopts a pseudo-continuous conduction mode (PCCM) soft switching (ZVS) control strategy, but there is a problem with the low efficiency of FSBB converters under light loads. Firstly, the constraints that the control variables of the FSBB converter need to satisfy are analyzed, and it is pointed out that the fixed frequency constraint is not necessary. Then, the switching frequency is used to control the degree of freedom, and the quantitative relationship between the FSBB converter loss and the switching frequency is obtained. Finally, for different input voltages and loads, the switching frequency corresponding to the minimum power loss is calculated offline. By optimizing the switching frequency, the light-load efficiency of the FSBB converter is improved. A prototype with an input voltage range of 210 V–330 V, an output voltage of 270 V, and an output power of 3 kW was developed. The loss was reduced by 15% at 20% load, and the peak efficiency of the converter reached 99.23%. The experimental results verified the effectiveness of the proposed control strategy.

Supervisory control strategy for dual battery assisted solar water pumping using a 3-stage interleaved boost converter

This article proposes effective power management and battery protection strategies for a solar photovoltaic (SPV) powered dual-battery supported standalone water pumping approach propelled by a permanent magnet brushless direct current (PMBLDC) motor. A drift-avoidance perturb and observe MPPT algorithm is employed in conjunction with a 3-stage interleaved boost converter (TSIBC) and proposes a switching control scheme to enable double-stage solar photovoltaic generation system (SPGS) to operate at its maximum accessible power point (MPP) irrespective of any variation in climatic condition. The proposed dual battery control scheme (DBCS), which integrates a primary battery with an auxiliary battery, is connected to the 310 V DC link. This dual battery setup utilizes a parallel-active configuration facilitated by two bidirectional DC-DC converters (BDCs). The core idea behind dualization aims to maintain the state of charge (SoC) of the primary battery within upper and lower limits with the help of an auxiliary battery unit and regulate the DC link voltage at 310 V during fluctuations generated in the protection period. This scheme significantly extends the battery's lifespan, achieving an estimated 800 to 1000 cycles by maintaining its depth of discharge (DoD) at a level of 70 %. A centralized power handling unit (CPHU) is integrated for both the BDCs to facilitate the operating mode selection and regulate DC link voltage by alternatively charging/discharging both batteries. This approach enhances overall system efficiency by eliminating the need to oversize the solar array by up to 46 %, which would have been necessary to fully charge both batteries simultaneously. Previously, the DC link voltage regulation relied solely on MPPT control, resulting in significant deviations (up to ±38.43 %) during battery overcharging/deep-discharging (SoC ≥ 90 %/SoC ≤ 20 %). This work proposes a solution using an auxiliary battery controller within the DBCS, achieving near-zero (±0.5 %) DC link voltage deviation under all operating conditions. The effectiveness of the suggested DBCS controller is validated through a time-domain simulation conducted in MATLAB/Simulink, alongside real-time hardware-in-the-loop (HIL) digital simulator using the OPAL-RT platform. The acquired results corroborate enhanced performance for the standalone water pumping system (WPS) and demonstrate a seamless shift from the normal operational mode to battery protection mode, while ensuring steady regulation of the DC link voltage.

Logic-Based Fixed-Time Control for Uncertain Nonlinear Systems With Unknown Control Directions.

The fixed-time control problem is investigated for a class of uncertain nonlinear systems subjected to multiple unknown control directions. The control coefficients of nonlinear systems under consideration are time varying and their signs are not required to be identical. To tackle this challenge, a switching mechanism along with a novel dynamic boundary function is proposed. Utilizing the devised dynamic boundary function, adaptive parameters are introduced into the controller to effectively handle system uncertainties. It is proved that the system output converges to a small neighborhood of the origin in fixed time and the boundedness of all system signals is maintained. Finally, two simulation examples are used to show the validity of the presented switching control strategy.

Smooth control strategy for emergency switching of multi-port flexible interconnected distribution system modes

IntroductionWith the rise of distributed energy resources, the interconnection of distribution networks and Flexible Multi-State Switch (FMSS) has become a key technology in the construction of new distribution networks. FMSS plays a significant role in enhancing the reliability and flexibility of the system.MethodsThis paper investigates the impact of mode-switching in FMSSs on voltage shocks, current shocks, and power fluctuations in the event of a feeder fault in a multi-port flexible interconnected distribution system. Firstly, an improved state-tracking control method is proposed to effectively mitigate these impacts. Secondly, for feeder faults connected to the fixed DC bus voltage (Udc-Q) control port, a reselection method for the Udc-Q control port at the main station is introduced, aiming to select the optimal port to maintain the stability of the DC bus voltage.ResultsSimulation experiments have validated the effectiveness of the proposed control method in reducing voltage and current shocks as well as power fluctuations. Additionally, the proposed control strategy has demonstrated an enhancement in the safe and stable operation of the system under emergency fault conditions.DiscussionThe control strategy presented in this paper is capable of addressing the challenges posed by feeder faults and ensuring the stability of the DC bus voltage and reliable power supply to feeder loads, thereby enhancing the overall performance and reliability of the flexible interconnected distribution system. The research findings have been verified on the MATLAB/Simulink simulation platform.

Analysis and experimental evaluation of an inertial eddy current damper for vibration control

Electromagnetic damping features non-contact operation, easy adjustability, convenient processing, and high energy consumption. Combined with the damping efficiency enhancement effect of the inertial system, it is conducive to further improving its damping effect. This paper proposes an inertial mass damper, named the Inertial Eddy Current Damper (IECD). The proposed IECD has the advantage of adjustability, meaning that the eddy current damping force can be adjusted by regulating the current in the coil. First, the mechanical model of the IECD was proposed through theoretical methods. Secondly, performance tests were conducted to verify the accuracy of the proposed mechanical model. Finally, numerical models of structures employing various applications of the IECD were established to conduct seismic response analysis. The results show that the proposed mechanical model effectively reflects the actual performance of the IECD. When used for energy dissipation and vibration reduction, the IECD demonstrates superior control performance in terms of displacement and velocity compared to the LVD, and the switch control strategy can address the issue of poor acceleration control performance. Combining the IECD with isolation bearings not only further reduces the seismic response of the superstructure but also enhances the safety of the isolation bearings, preventing excessive deformation.

Investigation of the tradeoffs between tracking performance and energetics in heterogeneous variable recruitment fluidic artificial muscle bundles

In traditional hydraulic robotics, actuators must be sized for the highest possible load, resulting in significant energy losses when operating in lower force regimes. Variable recruitment fluidic artificial muscle (FAM) bundles offer a novel bio-inspired solution to this problem. Divided into individual MUs, each with its own control valve, a variable recruitment FAM bundle uses a switching control scheme to selectively bring MUs online according to load demand. To date, every dynamic variable recruitment study in the literature has considered homogeneous bundles containing MUs of equal size. However, natural mammalian muscle MUs are heterogeneous and primarily operate based on Henneman's size principle, which states that MUs are recruited from smallest to largest for a given task. Is it better for a FAM variable recruitment bundle to operate according to this principle, or are there other recruitment orders that result in better performance? What are the appropriate criteria for switching between recruitment states for these different recruitment orders? This paper seeks to answer these questions by performing two case studies exploring different bundle MU size distributions, analyzing the tradeoffs between tracking performance and energetics, and determining how these tradeoffs are affected by different MU recruitment order and recruitment state transition thresholds. The only difference between the two test cases is the overall force capacity (i.e. total size) of the bundle. For each test case, a Pareto frontier for different MU size distributions, recruitment orders, and recruitment state transition thresholds is constructed. The results show that there is a complex relationship between overall bundle size, MU size distributions, recruitment orders, and recruitment state transition thresholds corresponding to the best tradeoffs change along the Pareto frontier. Overall, these two case studies validate the use of Henneman's Size Principle as a variable recruitment strategy, but also demonstrate that it should not be the only variable recruitment method considered. They also motivate the need for a more complex variable recruitment scheme that dynamically changes the recruitment state transition threshold and recruitment order based on loading conditions and known system states, along with a co-design problem that optimizes total bundle size and MU size distribution.

Two-stage auxiliary drifting path tracking control for distributed driving three-axle commercial vehicles

When maneuvering corners at high speeds, commercial vehicles experience significant sideslip angles and tire force saturation, which can lead to severe traffic accidents. Incorporating intelligent driving technology to develop a controllable scheme that surpasses stability constraints and maintains the vehicle in a drift state is crucial for enhancing driving safety. Therefore, based on the model characteristics of distributed drive three-axle(DDTA) commercial vehicles, a two-stage auxiliary drift controller is proposed. In the auxiliary drift stage, time-varying model predictive control (MPC) is employed to track the desired states and achieve steady-state drift path tracking under extreme working conditions. A two-stage controller switching strategy is implemented based on road information. In the yaw stability control stage, an advanced auxiliary system facilitates cooperative control to smoothly restore tire attachment and vehicle yaw. Simulation results demonstrate that the control strategy ensures consistent path tracking performance even when adhesion of the middle and rear axle saturates and peak vehicle sideslip angle reaches 32.09°. After completing the drifting, vehicle yaw successfully returns to a stable state. Subsequently, miniaturized vehicle tests qualitatively analyze relevant conclusions by elucidating transient instability evolution in vehicles subjected to steering and distributed drive. The controllable stability boundary of the vehicle is thus expanded, thereby enhancing the engineering feasibility of drift technology.