Search results for "Control theory"
showing 10 items of 1333 documents
Neural network-based models for a vibration suppression system equipped with MR brake
2012
This paper is devoted to the modeling and simulation of a full-scale commercially available magnetorheological (MR) brake installed in a semi-active suspension (SAS) system. The analysis of the Bouc-Wen and Dahl mathematical models of MR damper is presented. Influence of their parameters on the response is explored. Subsequently, by using the neural networks, the parameters characterizing each model are estimated. This makes it possible to perform the comparative analysis of the suggested damper models responses with the measured experimental results. The novelty of the presented methodology is the application of artificial intelligence methods to estimate model parameters of a MR brake uti…
Feedback vibration control of a base-isolated building with delayed measurements using h<inf>&#x221E;</inf> techniques
2010
In this paper we address the problem of vibration reduction of buildings with delayed measurements, where the delays are time-varying and bounded. We focus on a convex optimization approach to the problem of state-feedback H ∞ control design. An appropriate Lyapunov-Krasovskii functional and some free weighting matrices are used to establish some delay-range-dependent sufficient conditions for the design of desired controllers in terms of linear matrix inequalities (LMIs). The controller, which guarantees asymptotic stability and an H ∞ performance, simultaneously, for the closed-loop system of the structure, is then developed. The performance of the controller is evaluated through the simu…
Asymptotic observer of the link states of flexible joint robots with motor-side sensing
2015
This paper proposes an approach for observing the link states, i.e. angular position and velocity, of the robotic joints with elasticities, when only the motor-side sensing is available. By separating the state-dependent nonlinearities of the rigid manipulator dynamics a linear sub-model of the elastic joint robot is obtained in an observable state-space form. The standard asymptotic Luenberger state observer is then designed for the given motor position signal which is measured by encoder and rectified from the nonlinear contribution. The configurable poles of observer allow shaping the estimated states dynamics to be fast enough in relation to the actual resonant joint behavior. Therefore…
Direct evaluation of the equivalent linear damping for TLCD systems in random vibration for pre-design purposes
2014
Abstract Passive control of structural vibrations has received in recent years a great attention from researchers concerned with vibration control. Several types of devices have been proposed in order to reduce the dynamic responses of different kinds of structural systems. Among them, the Tuned Liquid Column Damper (TLCD) proved to be very effective in reducing vibration of structures. Since the increasing use of TLCDs in practical realizations, this paper aims at developing an approximate formulation, by means of a statistical linearization technique, able to estimate the parameters of a structure equipped with a TLCD subjected to random loads for pre-design purposes. Moreover, it is show…
Simulating mechanical consequences of voluntary movement upon whole-body equilibrium: the arm-raising paradigm revisited.
2001
Voluntary arm-raising movement performed during the upright human stance position imposes a perturbation to an already unstable bipedal posture characterised by a high body centre of mass (CoM). Inertial forces due to arm acceleration and displacement of the CoM of the arm which alters the CoM position of the whole body represent the two sources of disequilibrium. A current model of postural control explains equilibrium maintenance through the action of anticipatory postural adjustments (APAs) that would offset any destabilising effect of the voluntary movement. The purpose of this paper was to quantify, using computer simulation, the postural perturbation due to arm raising movement. The m…
Performance analysis of photovoltaic powered dc motor &#x2014; Propeller system
2015
The application of autonomous directly photovoltaic (PV) powered electro-mechanical has received increasing attention for different applications (e.g. PV water pumping, PV powered cooling of arid climate greenhouses, solar vehicles etc). The PV array output is a nonlinear and time-dependent power supply that varies with solar intensity and cell temperature, so the performance characteristics of the directly PV-powered DC motor — propeller system are very different than when powered by a constant DC voltage. The focus of this work is to do performance analysis of directly PV-powered DC motor — propeller system. Through performance evaluation, it has been observed that power transfer matching…
Diagnostics of stator winding failures in wind turbine pitch motors using Vold-Kalman filter
2019
Pitch systems are among the most failure-prone components in wind turbines. Winding failures in pitch motors are common due to high start-up loads and poor ventilation. This article presents a diagnostics scheme that can detect the stator winding failures in the pitch motors under time-varying speed and load conditions. The proposed approach based on three-phase motor currents can be directly integrated into the motor drive and can be used for induction as well as permanent magnet synchronous machines. The extended Park's vector calculated on the motor currents is order tracked based on the supply frequency from the drive using Vold-Kalman filter. The approach is shown to be robust under ar…
Wind Shear On-Line Identification for Unmanned Aerial Systems
2014
An algorithm to perform the on line identification of the wind shear components suitable for the UAS characteristics has been implemented. The mathematical model of aircraft and wind shear in the augmented state space has been built without any restrictive assumption on the dynamic of wind shear. Due to the severe accelerations on the aircraft induced by the strong velocity variation typical of wind shear, the wind shear effects have been modeled as external forces and moments applied on the aircraft. The identification problem addressed in this work has been solved by using the Filter error method approach. An Extended Kalman Filter has been developed to propagate state. It has been tuned …
WING FLUTTER SUPPRESSION ENHANCEMENT USING A WELL-SUITED ACTIVE CONTROL MODEL
2007
State-space theory is employed here to model a new active wing flutter suppression control. In this paper, the design of a flutter suppression control law, for the NASA Benchmark Active Control Technology wing, is proposed through a single input-single output controller and unsteady aerodynamics is modelled using the Theodorsen's theory. Wing dynamic model is obtained by combining the aeroelastic equations of motion with the actuator model presented. Open-loop dynamic behaviour is examined for a single feedback variable that combines pitch and plunge accelerations. Here, a new formulation of control law, based on classical control techniques and featuring two feedback closed-loops, is succ…
An atlas- and data-driven approach to initializing reaction-diffusion systems in computer cardiac electrophysiology
2016
The cardiac electrophysiology (EP) problem is governed by a nonlinear anisotropic reaction-diffusion system with a very rapidly varying reaction term associated with the transmembrane cell current. The nonlinearity associated with the cell models requires a stabilization process before any simulation is performed. More importantly, when used in a 3-dimensional (3D) anatomy, it is not sufficient to perform this stabilization on the basis of isolated cells only, since the coupling of the different cells through the tissue greatly modulates the dynamics of the system. Therefore, stabilization of the system must be performed on the entire 3D model. This work develops a novel procedure for the i…