The document presents a robust adaptive cross-coupling position control strategy for a biaxial motion system. The strategy aims to improve both stability and synchronous performance simultaneously. It establishes a synchronous error converting system to analyze destabilizing factors in the biaxial system. Based on Narendra adaptive control theory, the strategy designs a reference model and robust adaptive law to force the dual axes to track the same reference and suppress destabilizing factors. Stability analysis using Lyapunov theory shows the proposed strategy can balance stability and synchronous performance. Simulations and experiments demonstrate the effectiveness of the robust adaptive cross-coupling control strategy.
Design of an adaptive state feedback controller for a magnetic levitation sy...IJECEIAES
This paper presents designing an adaptive state feedback controller (ASFC) for a magnetic levitation system (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive state feedback controller (SFC) is designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changes, the designed controller can no longer achieve the design specifications, since it is designed based on a linearization about a different operating point. This gives rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation show that the operating point has significant effect on the performance of nonadaptive SFC, and this performance may degrade as the operating point deviates from the equilibrium point, while the ASFC achieves the required design specification for any operating point and outperforms the state feedback controller from this point of view.
Kinematics Analysis of Parallel Mechanism Based on Force Feedback DeviceIJRES Journal
Kinematic analysis of mechanism is the fundamental work of force feedback device research.The
composition of Delta mechanism based on Omega.7 force feedback device was illustrated in this paper.The
kinematic loop equations of Delta mechanism was established according to its geometric relationship,also the
inverse kinematics solution of Delta mechanism were obtained. And the numerical forward kinematics were
calculated by Newton iteration algorithm.Finally,The analysis of velocity and acceleration was carried out
through matrix operations.Kinematic analysis of Delta mechanism provides a theoretical basis for following
study.
This document summarizes a seminar presentation on using linear matrix inequalities (LMIs) to optimally adjust power system stabilizers (PSSs) to guarantee power system stability and performance under varying operating conditions. The presentation discusses modeling power systems and PSS control structures, using LMIs to place closed-loop system poles in desired regions to meet performance criteria, constraining controller gains, and ensuring robustness to operating point variations through a polytopic modeling approach. Experimental results applying these LMI techniques to a 9-machine New England power system model are also summarized.
STATE OBSERVER DESIGNS FOR QUARTER-CAR PASSIVE SUSPENSIONijccmsjournal
This paper presents state observer designs for quarter-car passive suspension. Proposed designs correspond to two theories, full-order state observer and observer on closed-loop system. Those observers are used for states and estimation errors observation. Simulation is done using MATLAB and SIMULINK. MATLAB is used to calculate both feedback gain matrix and observer gain matrix whereas SIMULINK is applied to build state space block. Results show that those observers work effectively and fit observer theories. This work may motivate to continue to other steps of observer designs, observer designs for halfcar and full car passive suspension.
Mechatronics design of ball and beam system education and researchAlexander Decker
This document describes the proposed design of a mechatronics ball and beam system for educational and research purposes. The system aims to test and analyze various control strategies by using a servo motor to continuously adjust the angle of a beam to stabilize a rolling ball. It discusses the requirements, conceptual design, and concurrent selection and integration of subsystems including the mechanical design, sensors, actuators, and control algorithm. Preliminary block diagrams and component layouts are presented and the mechanical system parts are listed. The design is intended to help users visualize and experiment with different control methods on a precise and cost-effective experimental unit.
Speed and Torque Control of Mechanically Coupled Permanent Magnet Direct Curr...IDES Editor
A new controller is designed for speed and torque
control of a Permanent Magnet DC motor based on
measurements of speed and current. This research work
focuses on investigating the effects of control of the speed and
torque of two brushless dc motors that are mechanically
coupled. Two controller design methods: the Root Locus
method and Bode Plot method as well as two controllers:
Proportional-Integral-Derivative (PID) and Proportional-
Integral (PI) are used to obtain the control objectives of speed
control and torque control. The simulation is performed using
MATLAB/SIMULINK software. The effects of varying the
controller gains on the system performance is studied and
quantified. The simulation results show that the speed control
objectives of the motor are satisfied even in the case of torque
disturbance from the other motor.
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects because it provides a straight motion directly without mediate mechanical actuators. Some control methods for PLM based on Rotational Motor are applied to obtain several good performances, but position and velocity constraints which are important in real systems are ignored. In this paper, we analysis control problem of tracking position in PLM under state-independent disturbances via min-max model predictive control. The proposed controller brings tracking position error converge to zero and satisfies state including position and velocity and input constraints. The simulation results validity a good efficiency of the proposed controller.
This document summarizes a paper presented at the International Conference on Mechatronics in Kumamoto, Japan in May 2007. The paper presents analysis and implementation of exact model knowledge and direct adaptive control schemes for a 4th order ball and beam system. Two controllers are designed - one using the exact model and one using direct adaptive control. Experimental results show that both controllers can track constant and sinusoidal references for the ball position asymptotically on a physical ball and beam system.
Design of an adaptive state feedback controller for a magnetic levitation sy...IJECEIAES
This paper presents designing an adaptive state feedback controller (ASFC) for a magnetic levitation system (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive state feedback controller (SFC) is designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changes, the designed controller can no longer achieve the design specifications, since it is designed based on a linearization about a different operating point. This gives rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation show that the operating point has significant effect on the performance of nonadaptive SFC, and this performance may degrade as the operating point deviates from the equilibrium point, while the ASFC achieves the required design specification for any operating point and outperforms the state feedback controller from this point of view.
Kinematics Analysis of Parallel Mechanism Based on Force Feedback DeviceIJRES Journal
Kinematic analysis of mechanism is the fundamental work of force feedback device research.The
composition of Delta mechanism based on Omega.7 force feedback device was illustrated in this paper.The
kinematic loop equations of Delta mechanism was established according to its geometric relationship,also the
inverse kinematics solution of Delta mechanism were obtained. And the numerical forward kinematics were
calculated by Newton iteration algorithm.Finally,The analysis of velocity and acceleration was carried out
through matrix operations.Kinematic analysis of Delta mechanism provides a theoretical basis for following
study.
This document summarizes a seminar presentation on using linear matrix inequalities (LMIs) to optimally adjust power system stabilizers (PSSs) to guarantee power system stability and performance under varying operating conditions. The presentation discusses modeling power systems and PSS control structures, using LMIs to place closed-loop system poles in desired regions to meet performance criteria, constraining controller gains, and ensuring robustness to operating point variations through a polytopic modeling approach. Experimental results applying these LMI techniques to a 9-machine New England power system model are also summarized.
STATE OBSERVER DESIGNS FOR QUARTER-CAR PASSIVE SUSPENSIONijccmsjournal
This paper presents state observer designs for quarter-car passive suspension. Proposed designs correspond to two theories, full-order state observer and observer on closed-loop system. Those observers are used for states and estimation errors observation. Simulation is done using MATLAB and SIMULINK. MATLAB is used to calculate both feedback gain matrix and observer gain matrix whereas SIMULINK is applied to build state space block. Results show that those observers work effectively and fit observer theories. This work may motivate to continue to other steps of observer designs, observer designs for halfcar and full car passive suspension.
Mechatronics design of ball and beam system education and researchAlexander Decker
This document describes the proposed design of a mechatronics ball and beam system for educational and research purposes. The system aims to test and analyze various control strategies by using a servo motor to continuously adjust the angle of a beam to stabilize a rolling ball. It discusses the requirements, conceptual design, and concurrent selection and integration of subsystems including the mechanical design, sensors, actuators, and control algorithm. Preliminary block diagrams and component layouts are presented and the mechanical system parts are listed. The design is intended to help users visualize and experiment with different control methods on a precise and cost-effective experimental unit.
Speed and Torque Control of Mechanically Coupled Permanent Magnet Direct Curr...IDES Editor
A new controller is designed for speed and torque
control of a Permanent Magnet DC motor based on
measurements of speed and current. This research work
focuses on investigating the effects of control of the speed and
torque of two brushless dc motors that are mechanically
coupled. Two controller design methods: the Root Locus
method and Bode Plot method as well as two controllers:
Proportional-Integral-Derivative (PID) and Proportional-
Integral (PI) are used to obtain the control objectives of speed
control and torque control. The simulation is performed using
MATLAB/SIMULINK software. The effects of varying the
controller gains on the system performance is studied and
quantified. The simulation results show that the speed control
objectives of the motor are satisfied even in the case of torque
disturbance from the other motor.
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects because it provides a straight motion directly without mediate mechanical actuators. Some control methods for PLM based on Rotational Motor are applied to obtain several good performances, but position and velocity constraints which are important in real systems are ignored. In this paper, we analysis control problem of tracking position in PLM under state-independent disturbances via min-max model predictive control. The proposed controller brings tracking position error converge to zero and satisfies state including position and velocity and input constraints. The simulation results validity a good efficiency of the proposed controller.
This document summarizes a paper presented at the International Conference on Mechatronics in Kumamoto, Japan in May 2007. The paper presents analysis and implementation of exact model knowledge and direct adaptive control schemes for a 4th order ball and beam system. Two controllers are designed - one using the exact model and one using direct adaptive control. Experimental results show that both controllers can track constant and sinusoidal references for the ball position asymptotically on a physical ball and beam system.
A Novel Hybrid Approach for Stability Analysis of SMIB using GA and PSOINFOGAIN PUBLICATION
This document presents a hybrid approach for stability analysis of a single machine infinite bus system (SMIB) using a generic power system stabilizer (GPSS), proportional-integral-derivative (PID) controller, and genetic algorithm (GA) or particle swarm optimization (PSO). It first describes the mathematical models and equations for modeling an SMIB system. It then discusses GPSS and PID controllers for stabilizing an SMIB. A hybrid approach is proposed that uses both GPSS and PID to reduce spikes in the GPSS output. Simulation results show the rotor and phase angle deviations for different controllers, and compare the proposed hybrid GA and PSO approaches to other methods.
On tracking control problem for polysolenoid motor model predictive approach IJECEIAES
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects due to its functions, in which a straight motion is provided directly without mediate mechanical actuators. Recently, with several commons on mathematic model, some control methods for PLM based on Rotational Motor have been applied, but position, velocity and current constraints which are important in real systems have been ignored. In this paper, position tracking control problem for PLM was considered under state-independent disturbances via min-max model predictive control. The proposed controller forces tracking position errors converge to small region of origin and satisfies state including position, velocity and currents constraints. Further, a numerical simulation was implemented to validate the performance of the proposed controller.
We focus a modern methodology in this paper for adding the fuzzy logic control as well as sliding model control. This combination can enhance the MLS position control robustness and enhanced performance of it.In the start, for an application in an area to control the loops placement and position for the synchronous motor what has permanent magnetic linearity we tend to control the fuzzy sliding mode control. To resolve the chattering issues a designed controller is investigated and, in this way, steady state motion in sliding with higher accuracy is obtained. In this case, method of online tuning with the help of fuzzy logic is used in order to adjust the thickness of boundary layer and switching gains.For the suggested scheme technique, the outcomes of simulation suggest that with the classical SMC the accurate state and good dynamic performance is compared due to force chattering resistance, response by quick dynamic force and external disturbance elements and robustness against them.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
Model Validation and Control of an In-Wheel DC Motor Prototype for Hybrid El...Scientific Review SR
In this paper, a mathematical model and a controller for a DC motor are developed for the
construction of an in-wheel motor. In-wheel motors can be used in hybrid electric vehicles to provide traction
force of front or rear wheels. The model identification is achieved using a simple and low cost data acquisition
system. An Arduino Uno embedded board system is used to collect data from sensors to a computer and for
control purposes. Data processing is performed using Matlab/Simulink. Validations of the devel oped
mathematical model and controller performance are carried out by comparing simulation and experimental results.
The results obtained show that the mathematical model is accurate enough to assist in speed controller design and
implementation.
This document proposes a fuzzy sliding mode controller for speed control of induction motors. It begins with an abstract that summarizes the proposed control scheme using fuzzy logic techniques to dynamically control the sliding mode control equivalent action. It then provides background on induction motor modeling, field oriented control, and sliding mode control. The document describes developing a fuzzy sliding mode controller where fuzzy logic controllers replace the inequalities that determine the sliding mode control parameters. Simulation results show the proposed fuzzy sliding mode controller provides good performance, disturbance rejection, and robustness to parameter variations compared to classical sliding mode control.
PID Controller Design for a Real Time Ball and Beam System – A Double Integra...idescitation
In this paper, the authors have discussed and shown
how to tune the PID controller in closed loop with time-delay
for the double integrator systems for a particular stability
margins. In math model it is assumed that time delay (ô) of
the plant is known. As a case study the authors have consid-
ered the mathematical model of the real-time beam and ball
system and analyzed the simulation and real time response.
A simplified method of designing a phase lead compensator to improve the m-s-...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
This document summarizes a research paper that proposes a new control technique for a Doubly Fed Induction Generator (DFG) used in variable speed wind turbines. The technique uses a nonlinear sliding mode control approach with an exponential reaching law (ERL) to control the active and reactive powers generated by the wind turbine. Simulation results show that this sliding mode control with ERL is more robust and improves power quality and stability compared to traditional sliding mode control approaches. It reduces chattering phenomenon while also accelerating the system response for better tracking of the desired control objectives.
Comparative Study of the Success of PI and PI-Fuzzy Controller for Induction ...inventionjournals
Asynchronous motors have a wide range of applications in the industry.Therefore, speed control of asynchronous motors is of great importance.Speed control of asynchronous motors based on vector control techniques to achieve high performance.The vector control technique, motor flux and moment variables can be controlled independently of each other.Because of the nonlinear and complex model of asynchronous motors, the speed control applications of these motors are not provided with great efficiency by classical control methods.Fuzzy logic controllers (FLC), which were successful in many areas, present great performance in speed control of an asynchronous motor.In this study, a simulation study regarding speed control of a threephase squirrel cage asynchronous motor was carried out with a PI-Fuzzy type FLC and a conventional PI type controller.The data obtained by simulation are evaluated and the performances of the control methods are compared.
This document discusses different control methods for vehicle lateral control, including classical control theory, modern control theory, fuzzy logic, sliding mode control, and neural networks. It develops a 2DOF bicycle model of a vehicle and uses pole placement control to design a lateral controller. Simulation results show the vehicle can track a reference input but with large overshoots in yaw rate and velocity. An improved controller is designed with slower response but smaller state variable fluctuations. Future work involves implementing the controller with an observer and designing longitudinal control.
Reliability Analysis of a 3-Machine Power Station Using State Space ApproachIJERA Editor
With the advent of high-integrity fault-tolerant systems, the ability to account for repairs of partially failed (but still operational) systems become increasingly important. This paper presents a systemic method of determining the reliability of a 3-machine electric power station, taking into consideration the failure rates and repair rates of the individual component (machine) that make up the system. A state-space transition process for a 3-machine with 23 states was developed and consequently, steady state equations were generated based on Markov mathematical modeling of the power station. Important reliability components were deduced from this analysis. This research simulation was achieved with codes written in Excel®-VBA programming environment. System reliability using state space approach proofs to be a viable and efficient technique of reliability prediction as it is able to predict the state of the system under consideration. For the purpose of neatness and easy entry of data, Graphic User Interface (GUI) was designed.
Comparative analysis of observer-based LQR and LMI controllers of an inverted...journalBEEI
An inverted pendulum is a multivariable, unstable, nonlinear system that is used as a yardstick in control engineering laboratories to study, verify and confirm innovative control techniques. To implement a simple control algorithm, achieve upright stabilization and precise tracking control under external disturbances constitutes a serious challenge. Observer-based linear quadratic regulator (LQR) controller and linear matrix inequality (LMI) are proposed for the upright stabilization of the system. Simulation studies are performed using step input magnitude, and the results are analyzed. Time response specifications, integral square error (ISE), integral absolute error (IAE) and mean absolute error (MAE) were employed to investigate the performances of the proposed controllers. Based on the comparative analysis, the upright stabilization of the pendulum was achieved within the shortest possible time with both controllers however, the LMI controller exhibits better performances in both stabilization and robustness. Moreover, the LMI control scheme is effective and simple.
Multi-Machine Stability Using Dynamic Inversion Technique IJECEIAES
Stability studies of multi machine system are a major concern to power system engineers due to the increasing complexity involved. This paper deals with the application of a nonlinear technique called Dynamic Inversion, to TCSC for the improvement of stability of multi-machine system. The transient stability studies for various cases: without any controller, with 75% line compensation and with Dynamic Inversion technique, are compared. The critical clearing time as well as the maximum loading ability is also discussed. The result for the nonlinear controller is found to be better than all the other cases.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
Comparison of a triple inverted pendulum stabilization using optimal control ...Mustefa Jibril
In this paper, modelling design and analysis of a triple inverted pendulum have been done using
Matlab/Script toolbox. Since a triple inverted pendulum is highly nonlinear, strongly unstable
without using feedback control system. In this paper an optimal control method means a linear
quadratic regulator and pole placement controllers are used to stabilize the triple inverted
pendulum upside. The impulse response simulation of the open loop system shows us that the
pendulum is unstable. The comparison of the closed loop impulse response simulation of the
pendulum with LQR and pole placement controllers results that both controllers have stabilized
the system but the pendulum with LQR controllers have a high overshoot with long settling time
than the pendulum with pole placement controller. Finally the comparison results prove that the
pendulum with pole placement controller improve the stability of the system.
Control of Wind Energy Conversion System and Power Quality Improvement in the...ijeei-iaes
This document summarizes a research paper that proposes using extremum seeking (ES) control to maximize power extraction from a wind turbine in the sub-rated region between cut-in and rated wind speeds. ES is a non-model based approach that tunes the turbine speed for maximum power. An inner loop provides field-oriented control of the induction generator for improved transient response. Simulation results show the ES algorithm keeps the power coefficient close to its optimal value during fast changing winds, demonstrating maximum power point tracking. The closed-loop response time of 20ms is 25 times faster than an open loop system without inner loop control.
This document presents a transient stability analysis of a power system modelled in MATLAB/Simulink. It summarizes the modeling of a IEEE nine bus system with three generators in Simulink. Transient stability analysis is performed by applying three-phase faults at different buses and varying the fault clearing time. The results from the Simulink model are found to be more accurate than models simulated in other programs for electromagnetic transients.
Evaluation of the stability enhancement of the conventional sliding mode cont...nooriasukmaningtyas
The proposed work is an attempt to investigate the stability of the nonlinear
system by using a whale optimization algorithm as of one of the metaheuristic optimization methods, and this investigation was conducted on a
single inverted pendulum as a study model. The evaluation measures which
were used in this article values of gain and sliding surface of the
conventional sliding mode controller to illustrate the extent of the system`s
stability. Furthermore, control action, the relationship between error and its
derivative, desired, and actual position in addition to sliding response
graphically showed the feasibility of the proposed solution. The attained
results illustrated considerable improvement in the settling time and
minimizing the impact of chattering behavior.
1) The document discusses using a sliding mode controller for speed control of a two phase induction motor.
2) Sliding mode control is an efficient technique for speed control due to its robustness and insensitivity to parameter variations.
3) A sliding mode controller is designed for the speed control of a two phase induction motor. The controller design involves choosing a sliding surface, establishing convergence conditions, and determining the control law. Chattering reduction is also addressed.
In this paper, the tracking control scheme is presented using the framework of finite-time sliding mode control (SMC) law and high-gain observer for disturbed/uncertain multi-motor driving systems under the consideration multi-output systems. The convergence time of sliding mode control is estimated in connection with linear matrix inequalities (LMIs). The input state stability (ISS) of proposed controller was analyzed by Lyapunov stability theory. Finally, the extensive simulation results are given to validate the advantages of proposed control design.
A Novel Hybrid Approach for Stability Analysis of SMIB using GA and PSOINFOGAIN PUBLICATION
This document presents a hybrid approach for stability analysis of a single machine infinite bus system (SMIB) using a generic power system stabilizer (GPSS), proportional-integral-derivative (PID) controller, and genetic algorithm (GA) or particle swarm optimization (PSO). It first describes the mathematical models and equations for modeling an SMIB system. It then discusses GPSS and PID controllers for stabilizing an SMIB. A hybrid approach is proposed that uses both GPSS and PID to reduce spikes in the GPSS output. Simulation results show the rotor and phase angle deviations for different controllers, and compare the proposed hybrid GA and PSO approaches to other methods.
On tracking control problem for polysolenoid motor model predictive approach IJECEIAES
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects due to its functions, in which a straight motion is provided directly without mediate mechanical actuators. Recently, with several commons on mathematic model, some control methods for PLM based on Rotational Motor have been applied, but position, velocity and current constraints which are important in real systems have been ignored. In this paper, position tracking control problem for PLM was considered under state-independent disturbances via min-max model predictive control. The proposed controller forces tracking position errors converge to small region of origin and satisfies state including position, velocity and currents constraints. Further, a numerical simulation was implemented to validate the performance of the proposed controller.
We focus a modern methodology in this paper for adding the fuzzy logic control as well as sliding model control. This combination can enhance the MLS position control robustness and enhanced performance of it.In the start, for an application in an area to control the loops placement and position for the synchronous motor what has permanent magnetic linearity we tend to control the fuzzy sliding mode control. To resolve the chattering issues a designed controller is investigated and, in this way, steady state motion in sliding with higher accuracy is obtained. In this case, method of online tuning with the help of fuzzy logic is used in order to adjust the thickness of boundary layer and switching gains.For the suggested scheme technique, the outcomes of simulation suggest that with the classical SMC the accurate state and good dynamic performance is compared due to force chattering resistance, response by quick dynamic force and external disturbance elements and robustness against them.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
Model Validation and Control of an In-Wheel DC Motor Prototype for Hybrid El...Scientific Review SR
In this paper, a mathematical model and a controller for a DC motor are developed for the
construction of an in-wheel motor. In-wheel motors can be used in hybrid electric vehicles to provide traction
force of front or rear wheels. The model identification is achieved using a simple and low cost data acquisition
system. An Arduino Uno embedded board system is used to collect data from sensors to a computer and for
control purposes. Data processing is performed using Matlab/Simulink. Validations of the devel oped
mathematical model and controller performance are carried out by comparing simulation and experimental results.
The results obtained show that the mathematical model is accurate enough to assist in speed controller design and
implementation.
This document proposes a fuzzy sliding mode controller for speed control of induction motors. It begins with an abstract that summarizes the proposed control scheme using fuzzy logic techniques to dynamically control the sliding mode control equivalent action. It then provides background on induction motor modeling, field oriented control, and sliding mode control. The document describes developing a fuzzy sliding mode controller where fuzzy logic controllers replace the inequalities that determine the sliding mode control parameters. Simulation results show the proposed fuzzy sliding mode controller provides good performance, disturbance rejection, and robustness to parameter variations compared to classical sliding mode control.
PID Controller Design for a Real Time Ball and Beam System – A Double Integra...idescitation
In this paper, the authors have discussed and shown
how to tune the PID controller in closed loop with time-delay
for the double integrator systems for a particular stability
margins. In math model it is assumed that time delay (ô) of
the plant is known. As a case study the authors have consid-
ered the mathematical model of the real-time beam and ball
system and analyzed the simulation and real time response.
A simplified method of designing a phase lead compensator to improve the m-s-...eSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
This document summarizes a research paper that proposes a new control technique for a Doubly Fed Induction Generator (DFG) used in variable speed wind turbines. The technique uses a nonlinear sliding mode control approach with an exponential reaching law (ERL) to control the active and reactive powers generated by the wind turbine. Simulation results show that this sliding mode control with ERL is more robust and improves power quality and stability compared to traditional sliding mode control approaches. It reduces chattering phenomenon while also accelerating the system response for better tracking of the desired control objectives.
Comparative Study of the Success of PI and PI-Fuzzy Controller for Induction ...inventionjournals
Asynchronous motors have a wide range of applications in the industry.Therefore, speed control of asynchronous motors is of great importance.Speed control of asynchronous motors based on vector control techniques to achieve high performance.The vector control technique, motor flux and moment variables can be controlled independently of each other.Because of the nonlinear and complex model of asynchronous motors, the speed control applications of these motors are not provided with great efficiency by classical control methods.Fuzzy logic controllers (FLC), which were successful in many areas, present great performance in speed control of an asynchronous motor.In this study, a simulation study regarding speed control of a threephase squirrel cage asynchronous motor was carried out with a PI-Fuzzy type FLC and a conventional PI type controller.The data obtained by simulation are evaluated and the performances of the control methods are compared.
This document discusses different control methods for vehicle lateral control, including classical control theory, modern control theory, fuzzy logic, sliding mode control, and neural networks. It develops a 2DOF bicycle model of a vehicle and uses pole placement control to design a lateral controller. Simulation results show the vehicle can track a reference input but with large overshoots in yaw rate and velocity. An improved controller is designed with slower response but smaller state variable fluctuations. Future work involves implementing the controller with an observer and designing longitudinal control.
Reliability Analysis of a 3-Machine Power Station Using State Space ApproachIJERA Editor
With the advent of high-integrity fault-tolerant systems, the ability to account for repairs of partially failed (but still operational) systems become increasingly important. This paper presents a systemic method of determining the reliability of a 3-machine electric power station, taking into consideration the failure rates and repair rates of the individual component (machine) that make up the system. A state-space transition process for a 3-machine with 23 states was developed and consequently, steady state equations were generated based on Markov mathematical modeling of the power station. Important reliability components were deduced from this analysis. This research simulation was achieved with codes written in Excel®-VBA programming environment. System reliability using state space approach proofs to be a viable and efficient technique of reliability prediction as it is able to predict the state of the system under consideration. For the purpose of neatness and easy entry of data, Graphic User Interface (GUI) was designed.
Comparative analysis of observer-based LQR and LMI controllers of an inverted...journalBEEI
An inverted pendulum is a multivariable, unstable, nonlinear system that is used as a yardstick in control engineering laboratories to study, verify and confirm innovative control techniques. To implement a simple control algorithm, achieve upright stabilization and precise tracking control under external disturbances constitutes a serious challenge. Observer-based linear quadratic regulator (LQR) controller and linear matrix inequality (LMI) are proposed for the upright stabilization of the system. Simulation studies are performed using step input magnitude, and the results are analyzed. Time response specifications, integral square error (ISE), integral absolute error (IAE) and mean absolute error (MAE) were employed to investigate the performances of the proposed controllers. Based on the comparative analysis, the upright stabilization of the pendulum was achieved within the shortest possible time with both controllers however, the LMI controller exhibits better performances in both stabilization and robustness. Moreover, the LMI control scheme is effective and simple.
Multi-Machine Stability Using Dynamic Inversion Technique IJECEIAES
Stability studies of multi machine system are a major concern to power system engineers due to the increasing complexity involved. This paper deals with the application of a nonlinear technique called Dynamic Inversion, to TCSC for the improvement of stability of multi-machine system. The transient stability studies for various cases: without any controller, with 75% line compensation and with Dynamic Inversion technique, are compared. The critical clearing time as well as the maximum loading ability is also discussed. The result for the nonlinear controller is found to be better than all the other cases.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
The peer-reviewed International Journal of Engineering Inventions (IJEI) is started with a mission to encourage contribution to research in Science and Technology. Encourage and motivate researchers in challenging areas of Sciences and Technology.
Comparison of a triple inverted pendulum stabilization using optimal control ...Mustefa Jibril
In this paper, modelling design and analysis of a triple inverted pendulum have been done using
Matlab/Script toolbox. Since a triple inverted pendulum is highly nonlinear, strongly unstable
without using feedback control system. In this paper an optimal control method means a linear
quadratic regulator and pole placement controllers are used to stabilize the triple inverted
pendulum upside. The impulse response simulation of the open loop system shows us that the
pendulum is unstable. The comparison of the closed loop impulse response simulation of the
pendulum with LQR and pole placement controllers results that both controllers have stabilized
the system but the pendulum with LQR controllers have a high overshoot with long settling time
than the pendulum with pole placement controller. Finally the comparison results prove that the
pendulum with pole placement controller improve the stability of the system.
Control of Wind Energy Conversion System and Power Quality Improvement in the...ijeei-iaes
This document summarizes a research paper that proposes using extremum seeking (ES) control to maximize power extraction from a wind turbine in the sub-rated region between cut-in and rated wind speeds. ES is a non-model based approach that tunes the turbine speed for maximum power. An inner loop provides field-oriented control of the induction generator for improved transient response. Simulation results show the ES algorithm keeps the power coefficient close to its optimal value during fast changing winds, demonstrating maximum power point tracking. The closed-loop response time of 20ms is 25 times faster than an open loop system without inner loop control.
This document presents a transient stability analysis of a power system modelled in MATLAB/Simulink. It summarizes the modeling of a IEEE nine bus system with three generators in Simulink. Transient stability analysis is performed by applying three-phase faults at different buses and varying the fault clearing time. The results from the Simulink model are found to be more accurate than models simulated in other programs for electromagnetic transients.
Evaluation of the stability enhancement of the conventional sliding mode cont...nooriasukmaningtyas
The proposed work is an attempt to investigate the stability of the nonlinear
system by using a whale optimization algorithm as of one of the metaheuristic optimization methods, and this investigation was conducted on a
single inverted pendulum as a study model. The evaluation measures which
were used in this article values of gain and sliding surface of the
conventional sliding mode controller to illustrate the extent of the system`s
stability. Furthermore, control action, the relationship between error and its
derivative, desired, and actual position in addition to sliding response
graphically showed the feasibility of the proposed solution. The attained
results illustrated considerable improvement in the settling time and
minimizing the impact of chattering behavior.
1) The document discusses using a sliding mode controller for speed control of a two phase induction motor.
2) Sliding mode control is an efficient technique for speed control due to its robustness and insensitivity to parameter variations.
3) A sliding mode controller is designed for the speed control of a two phase induction motor. The controller design involves choosing a sliding surface, establishing convergence conditions, and determining the control law. Chattering reduction is also addressed.
In this paper, the tracking control scheme is presented using the framework of finite-time sliding mode control (SMC) law and high-gain observer for disturbed/uncertain multi-motor driving systems under the consideration multi-output systems. The convergence time of sliding mode control is estimated in connection with linear matrix inequalities (LMIs). The input state stability (ISS) of proposed controller was analyzed by Lyapunov stability theory. Finally, the extensive simulation results are given to validate the advantages of proposed control design.
This document discusses using PI and PID controllers to control shaking in a bus suspension system. It first describes modeling a quarter-model of the bus suspension as a mass-spring-damper system. The open-loop response shows oscillations and long settling time. PI and PID controllers are then designed and applied in closed-loop control simulations in MATLAB to improve the response by reducing oscillations and shortening settling time. The PI controller uses proportional and integral terms, while the PID adds a derivative term. Both controllers are evaluated and compared based on time and frequency response characteristics.
Improvements the direct torque control performance for an induction machine u...IJECEIAES
This article examines a solution to the major problems of induction machine control in order to achieve superior dynamic performance. Conventional direct torque control and indirect control with flux orientation have some drawbacks, such as current harmonics, torque ripples, flux ripples, and rise time. In this article, we propose a comparative analysis between previous approaches and the one using fuzzy logic. Results from the simulation show that the direct torque control method using fuzzy logic is more effective in providing a precise and fast response without overshooting, and it eliminates torque and flux fluctuations at low switching frequencies. The demonstrated improvements in dynamic performance contribute to increased operational efficiency and reliability in industrial applications.
Iaetsd modelling of one link flexible arm manipulator usingIaetsd Iaetsd
This document describes a two-stage controller for controlling an uncertain flexible robotic arm. In the first stage, an outer loop controller is designed to track a desired tip position trajectory, assuming the motor dynamics are negligible. This outer loop controller uses a generalized proportional integral (GPI) design. In the second stage, an inner loop controller is designed to force the motor position to track the trajectory determined by the outer loop controller, despite unknown friction and parameters in the motor dynamics. The two-stage GPI controller provides robust tracking of the tip position trajectory without requiring online estimation of system parameters.
Speed Sensorless Sliding Mode Control of Induction Motor Using SimulinkIOSR Journals
This document summarizes a research paper that proposes a new sliding mode control method for sensorless operation of induction motors at low speeds. The paper first provides background on induction motors and challenges in their control. It then introduces sliding mode control as a novel nonlinear control technique that can provide robust performance despite parameter variations or load disturbances. The paper describes the control principle of sliding mode control, where the system response is forced to track a predetermined trajectory through switching feedback modes. Simulation results using MATLAB/Simulink show that the proposed sliding mode observer allows sensorless induction motor control at low speeds.
Modified Chattering Free Sliding Mode Control of DC MotorIJMER
This document discusses the design of a modified sliding mode controller for position control of a DC motor. It begins with an introduction to PID controllers and sliding mode controllers. It then provides the mathematical modeling of a DC motor and describes the conventional sliding mode control approach. It discusses some issues with chattering in sliding mode control and proposes a modified approach using a boundary layer. The document also describes tuning a PID controller using the Ziegler-Nichols method. It aims to compare the performance of the modified sliding mode controller to PID controllers for position control of a DC motor.
Experimental verification of SMC with moving switching lines applied to hoisti...ISA Interchange
In this paper we propose sliding mode control strategies for the point-to-point motion control of a hoisting crane. The strategies employ time-varying switching lines (characterized by a constant angle of inclination) which move either with a constant deceleration or a constant velocity to the origin of the error state space. An appropriate design of these switching lines results in non-oscillatory convergence of the regulation error in the closed-loop system. Parameters of the lines are selected optimally in the sense of two criteria, i.e. integral absolute error (IAE) and integral of the time multiplied by the absolute error (ITAE). Furthermore, the velocity and acceleration constraints are explicitly taken into account in the optimization process. Theoretical considerations are verified by experimental tests conducted on a laboratory scale hoisting crane.
This document discusses the theoretical and experimental study of dynamics and control of a two-link flexible robot arm. It presents the following:
1) A linear dynamic model of the robot arm is constructed using Ritz's approach and validated experimentally.
2) Three active control schemes are designed using pole placement technique for path tracking and vibration suppression, and tested via simulation.
3) A discrete-time state variable feedback control scheme is presented and designed to control the robot arm's motion using three sensors for position and curvature feedback.
Sliding mode control-based system for the two-link robot armIJECEIAES
In this research, the author presents the model of the two-link robot arm and its dynamic equations. Based on these dynamic equations, the author builds the sliding mode controller for each joint of the robot. The tasks of the controllers are controlling the Torque in each Joint of the robot in order that the angle coordinates of each link coincide with the desired values. The proposed algorithm and robot model are built on Matlab-Simulink to investigate the system quality. The results show that the quality of the control system is very high: the response angles of each link quickly reach the desired values, and the static error equal to zero.
Abstract— This paper describes the design of feedback li.docxdaniahendric
Abstract— This paper describes the design of feedback
linearization and fuzzy PI controllers for the maglev guiding
system of linear elevator. The controllers so designed based on
the nonlinear control techniques are applied to control the gap
of permanent magnet synchronous linear motor (PMLSM)
with the aim of improving the vertical thrust and control the
horizontal vibration and noise in the process of elevator
operation. Matlab modeling of this system is used in this paper.
The simulation result of the entire system are presented in this
paper.
Key words: Maglev Guiding System, Fuzzy PI Control,
Nonlinear control, Linear Elevator, Feedback Linearization
I. INTRODUCTION
ONIENTIONAL elevators consist of an elevator car in
a shaft operated by a rope, which is mounted on a
traction sheave. The mechanical guiding of such
elevators is well-known. Usually, slideways or roller guides
are used. However, compared with non-contact solutions,
the conventional lead frame has many disadvantages. Since
more and more high- rise buildings occur in world, the
efficiency of passenger transport become more important.
The higher the speed is, the more deteriorated the effect is.
Conventional rail require lubrication and regular
maintenance. The improved non-contact rail can get higher
comfort through subtractive the audible noise and
controlling the oriented stiffness[1][2].
The conventional elevator guide shoes prone to car
vibration when the elevator is running at high-speed. The
elevator vibration is one of the concerns in engineering
circles, it should be said that mechanical and electrical
reasons can be individually or jointly caused the vibration of
elevator system. Suspension technologies has brought the
technological innovations, the planform and stereogram of
placement for the maglev guiding device can been seen as in
Fig.1and Fig.2.
The elevator external disturbances and non-linear friction
for elevator guide shoes has a larger impact, such as, when
the elevator is running at low speed, such as leveling or
maintenance parking, a slow-fast phenomena will be occur
This work is supported by Liaoning Province Education Department
Fund #L2010404.
Qing Hu is with the School of Electrical Engineering, Shenyang
University of Technology, China (e-mail: [email protected]).
Mingliang Hao is with the School of Electrical Engineering, Shenyang
University of Technology, China (e-mail: [email protected]).
Hao Liu is with the School of Electrical Engineering, Shenyang
University of Technology, China (e-mail: [email protected]).
sometimes, in severe cases, even a high-frequency vibration
and vibration noise will appear, this time it has led to
elevator car panels resonance in fact, which the comfort of
the elevator riding is seriously affected. Therefore, magnetic
levitation technology is applied to elevator guide shoes to
restrain the car disturbance and vibratio ...
This document presents a novel adaptive PID control scheme for flexible joint robot manipulators with known upper bounds on external disturbances. The control law combines PID feedback control with robust adaptive compensation of disturbances and unknown parameters. Lyapunov stability theory and Barbalat's lemma are used to prove global asymptotic stability of the closed-loop system. Simulation results on a two-degree-of-freedom flexible joint robot illustrate the effectiveness of the proposed controller in improving trajectory tracking accuracy and dynamic performance compared to existing adaptive PD control methods.
Effect of stability indices on robustness and system response in coefficient ...eSAT Journals
Abstract
In Control systems, designing a robust controller such that a desired system response is obtained despite plant parameter
variations is ubiquitous problem. In this context, Coefficient diagram method is an effective method and one of the recent design
methods based on the polynomial approach introduced by Shunji Manabe. In CDM, stability indices, stability limits and time
constant are the main design parameters. The stability indices and stability limits are indicative of stability and equivalent time
constant is indicative of speed of system response. A semi-log diagram known as coefficient diagram is the design tool using
which one can analyse the important features of a design such as stability, speed of response and robustness, all in one diagram.
The right choice of the stability indices is of paramount importance in the controller design. This paper deals with the effect of
variation in the stability indices upon the system response and robustness. A type 2 fourth order plant has been considered as an
example to analyse the effects of stability indices. The stability indices are varied one by one relative to the standard Manabe form
and in each case response is observed. The transient response of the system is sensitive to lower order indices. Also, robustness in
the design is analysed by coefficient diagrams of the perturbed plant.
Keywords: Coefficient Diagram Method (CDM), robustness; Stability Indices, Coefficient Diagram
In this paper, a detail design and description of a predictive current control scheme are adopted for three-phase grid-connected two-level inverter and its application in wind energy conversion systems. Despite its advantages, the predictive current controller is very sensitive to parameter variations which could eventually affected on system stability. To solve this problem, an estimation technique proposed to identify the value of harmonic filter parameter based on Model reference adaptive system (MRAS). Lyapunov stability theory is selected to guarantee a robust adaptation and stable response over large system parameter variation. The simulation results shows the efficiency of the proposed techniques to improve the current tracking performance.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
2-DOF Block Pole Placement Control Application To: Have-DASH-IIBITT MissileZac Darcy
In a multivariable servomechanism design, it is required that the output vector tracks a certain reference
vector while satisfying some desired transient specifications, for this purpose a 2DOF control law
consisting of state feedback gain and feedforward scaling gain is proposed. The control law is designed
using block pole placement technique by assigning a set of desired Block poles in different canonical forms.
The resulting control is simulated for linearized model of the HAVE DASH II BTT missile; numerical
results are analyzed and compared in terms of transient response, gain magnitude, performance
robustness, stability robustness and tracking. The suitable structure for this case study is then selected.
1) A novel gearshift system is introduced comprising a 2 degree-of-freedom electromagnetic actuator to simplify structure, increase efficiency, and improve shift quality of automated manual transmissions.
2) The gearshift process is divided into non-synchronization and synchronization phases, with different control algorithms designed for each. Extended state observer based inverse system method is used for non-synchronization, while active disturbance rejection controller is used for synchronization.
3) Comparative simulations and experiments demonstrate the effectiveness of the proposed control method in achieving good gearshift performance for the novel system. The control strategy provides a new solution for automated manual transmission applications.
The document describes a project to create a quasi-equilibrium state pendulum using a DC motor attached to a rod. The motor drives a propeller to allow the rod to swing. Angular position is measured by a potentiometer. The system is modeled and controlled using Scilab/Xcos. Initial PID tuning is done using Ziegler-Nichols method. Future work proposed includes expanding the controllable angle range and implementing advanced controllers like adaptive control to improve response. The appendix lists components used and conclusions reiterate the potential applications and limitations of PID control for this system.
Similar to Chen2016 article robust_adaptivecross-couplingpo (20)
International Conference on NLP, Artificial Intelligence, Machine Learning an...gerogepatton
International Conference on NLP, Artificial Intelligence, Machine Learning and Applications (NLAIM 2024) offers a premier global platform for exchanging insights and findings in the theory, methodology, and applications of NLP, Artificial Intelligence, Machine Learning, and their applications. The conference seeks substantial contributions across all key domains of NLP, Artificial Intelligence, Machine Learning, and their practical applications, aiming to foster both theoretical advancements and real-world implementations. With a focus on facilitating collaboration between researchers and practitioners from academia and industry, the conference serves as a nexus for sharing the latest developments in the field.
A SYSTEMATIC RISK ASSESSMENT APPROACH FOR SECURING THE SMART IRRIGATION SYSTEMSIJNSA Journal
The smart irrigation system represents an innovative approach to optimize water usage in agricultural and landscaping practices. The integration of cutting-edge technologies, including sensors, actuators, and data analysis, empowers this system to provide accurate monitoring and control of irrigation processes by leveraging real-time environmental conditions. The main objective of a smart irrigation system is to optimize water efficiency, minimize expenses, and foster the adoption of sustainable water management methods. This paper conducts a systematic risk assessment by exploring the key components/assets and their functionalities in the smart irrigation system. The crucial role of sensors in gathering data on soil moisture, weather patterns, and plant well-being is emphasized in this system. These sensors enable intelligent decision-making in irrigation scheduling and water distribution, leading to enhanced water efficiency and sustainable water management practices. Actuators enable automated control of irrigation devices, ensuring precise and targeted water delivery to plants. Additionally, the paper addresses the potential threat and vulnerabilities associated with smart irrigation systems. It discusses limitations of the system, such as power constraints and computational capabilities, and calculates the potential security risks. The paper suggests possible risk treatment methods for effective secure system operation. In conclusion, the paper emphasizes the significant benefits of implementing smart irrigation systems, including improved water conservation, increased crop yield, and reduced environmental impact. Additionally, based on the security analysis conducted, the paper recommends the implementation of countermeasures and security approaches to address vulnerabilities and ensure the integrity and reliability of the system. By incorporating these measures, smart irrigation technology can revolutionize water management practices in agriculture, promoting sustainability, resource efficiency, and safeguarding against potential security threats.
Using recycled concrete aggregates (RCA) for pavements is crucial to achieving sustainability. Implementing RCA for new pavement can minimize carbon footprint, conserve natural resources, reduce harmful emissions, and lower life cycle costs. Compared to natural aggregate (NA), RCA pavement has fewer comprehensive studies and sustainability assessments.
Advanced control scheme of doubly fed induction generator for wind turbine us...IJECEIAES
This paper describes a speed control device for generating electrical energy on an electricity network based on the doubly fed induction generator (DFIG) used for wind power conversion systems. At first, a double-fed induction generator model was constructed. A control law is formulated to govern the flow of energy between the stator of a DFIG and the energy network using three types of controllers: proportional integral (PI), sliding mode controller (SMC) and second order sliding mode controller (SOSMC). Their different results in terms of power reference tracking, reaction to unexpected speed fluctuations, sensitivity to perturbations, and resilience against machine parameter alterations are compared. MATLAB/Simulink was used to conduct the simulations for the preceding study. Multiple simulations have shown very satisfying results, and the investigations demonstrate the efficacy and power-enhancing capabilities of the suggested control system.
Literature Review Basics and Understanding Reference Management.pptxDr Ramhari Poudyal
Three-day training on academic research focuses on analytical tools at United Technical College, supported by the University Grant Commission, Nepal. 24-26 May 2024
Redefining brain tumor segmentation: a cutting-edge convolutional neural netw...IJECEIAES
Medical image analysis has witnessed significant advancements with deep learning techniques. In the domain of brain tumor segmentation, the ability to
precisely delineate tumor boundaries from magnetic resonance imaging (MRI)
scans holds profound implications for diagnosis. This study presents an ensemble convolutional neural network (CNN) with transfer learning, integrating
the state-of-the-art Deeplabv3+ architecture with the ResNet18 backbone. The
model is rigorously trained and evaluated, exhibiting remarkable performance
metrics, including an impressive global accuracy of 99.286%, a high-class accuracy of 82.191%, a mean intersection over union (IoU) of 79.900%, a weighted
IoU of 98.620%, and a Boundary F1 (BF) score of 83.303%. Notably, a detailed comparative analysis with existing methods showcases the superiority of
our proposed model. These findings underscore the model’s competence in precise brain tumor localization, underscoring its potential to revolutionize medical
image analysis and enhance healthcare outcomes. This research paves the way
for future exploration and optimization of advanced CNN models in medical
imaging, emphasizing addressing false positives and resource efficiency.
Electric vehicle and photovoltaic advanced roles in enhancing the financial p...IJECEIAES
Climate change's impact on the planet forced the United Nations and governments to promote green energies and electric transportation. The deployments of photovoltaic (PV) and electric vehicle (EV) systems gained stronger momentum due to their numerous advantages over fossil fuel types. The advantages go beyond sustainability to reach financial support and stability. The work in this paper introduces the hybrid system between PV and EV to support industrial and commercial plants. This paper covers the theoretical framework of the proposed hybrid system including the required equation to complete the cost analysis when PV and EV are present. In addition, the proposed design diagram which sets the priorities and requirements of the system is presented. The proposed approach allows setup to advance their power stability, especially during power outages. The presented information supports researchers and plant owners to complete the necessary analysis while promoting the deployment of clean energy. The result of a case study that represents a dairy milk farmer supports the theoretical works and highlights its advanced benefits to existing plants. The short return on investment of the proposed approach supports the paper's novelty approach for the sustainable electrical system. In addition, the proposed system allows for an isolated power setup without the need for a transmission line which enhances the safety of the electrical network
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Batteries -Introduction – Types of Batteries – discharging and charging of battery - characteristics of battery –battery rating- various tests on battery- – Primary battery: silver button cell- Secondary battery :Ni-Cd battery-modern battery: lithium ion battery-maintenance of batteries-choices of batteries for electric vehicle applications.
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2. Chen W, et al. Sci China Tech Sci April (2016) Vol.59 No.4 681
control [18] and fuzzy control [19] to improve the syn-
chronous accuracy.
The stability and synchronous performance of biaxial
CCC system are hard to be balanced. Aiming at this prob-
lem, this paper proposes a robust adaptive cross coupling
control (RACCC) strategy. The property of CCC system is
fully analyzed, and then a synchronous error converting
system (SECS) is established to study the destabilizing fac-
tors in biaxial system. Based on Narendra adaptive control
theory, RACCC strategy designs a reference model and a
robust adaptive law for dual axes to suppress these destabi-
lizing factors. Thus the stability and synchronous perfor-
mance can both be improved. The stability analysis of pro-
posed strategy is conducted using Lyapunov stability theory
in Appendix A. Finally, simulations and experiments are
performed and some results are illustrated to validate the
effectiveness of RACCC strategy.
2 Synchronous error of biaxial system
In biaxial system, the outputs of motor systems are rotor
positions. Two motors are linked by a sliding table or other
mechanical structure to convert rotor positions into the dis-
placement of X axis and Y axis. And then, planar motion of
the object can be achieved.
Figure 1 shows the model of synchronous error. P*
=[P1
*
P2
*
]T
is reference position of the object; P=[P1 P2]T
is actual
position; 0 is the angle of position trajectory; e1, e2 are
tracking errors; is synchronous error.
Under ideal conditions, the object can track reference
trajectory accurately. However, due to the limit of control
accuracy and uncertain disturbances, actual position trajec-
tory of the object usually deviates from reference trajectory.
According to Figure 1, the tracking error and synchronous
error can be defined as
T
T
1 2 1 1 2 2
e e P P P P
e P P
, (1)
1 0 2 0
sin cos
e e
L e , (2)
where L=[sin0 cos0] is a transfer matrix.
Figure 1 Model of synchronous error.
3 Biaxial CCC system
3.1 Synchronous error of CCC system
In biaxial CCC system, the tracking errors of individual axis
are changed into synchronous error and then be used to
modify the position command. Biaxial synchronous error
can be reduced by considering the mutual effects of both
axes. Figure 2(a) shows the block diagram of CCC system.
In Figure 2(a), 1
*
, 1 and 2
*
, 2 are the input and output
speed signals of motor control systems in X axis and Y axis,
respectively. c is synchronous error. C is coupling control-
ler; Gp1(s), F1(s), Gp2(s) and F2(s) are position feedback and
feedforward controller of X axis and Y axis, respectively.
The individual axis system employs typical servo system as
shown in Figure 2(b), which consists of position feedback
controller, feedforward controller and motor speed control
system.
In Figure 2(b), J, B and Kt are rotational inertia, viscous
coefficient and torque constant, respectively. The motor
speed control system is a traditional double closed-loop PI
system. Considering the fast response of current loop, its
transfer function can be approximated by 1. The velocity
controller is of PI type, where Gv1(s)=kv+ki/s. The expres-
sions of feedback controller and feedforward controller are
Gp1(s)=kp and F1(s)=s. Thus the closed-loop transfer func-
tion of X axis system can be derived as
2
v i p v p i
1
3 2
v i p v p i
t t
( )
( ) .
( )
k s k k k s k k
M s
J B
s k s k k k s k k
K K
(3)
Y axis employs the same control structure as X axis. So
the nominal models of Y axis and X axis are the same. Only
when the parameters of their motors or controllers are dif-
ferent, the model coefficients have differences.
Figure 2 Cross coupling control system.
3. 682 Chen W, et al. Sci China Tech Sci April (2016) Vol.59 No.4
Figure 3 shows the simplified block diagrams of biaxial
system with and without cross coupling part. The Figure 3(a)
and (b) is uncoupled system and CCC system, respectively.
In Figure 3, M=diag (M1, M2); o is the synchronous error of
uncoupled system; coupling controller C is of P type, where
C=kc.
The tracking error and synchronous error of uncoupled
system can be expressed as
( )
e I M P
, (4)
o ( )
L I M P
, (5)
where I is a unit matrix.
The synchronous error in CCC system can be derived as
T 1
c c
( ) ( )
k
L I ML L I M P
. (6)
The matrix inversion lemma is applied in
T 1 T 1 T
c c c
( ) ( )
k k k
I ML L I M I L LM L L . (7)
Substituting eq. (5) and eq. (7) into eq. (6) yields
T 1 T
c c c o
[ ( ) ]
k k
I LM I L LM L . (8)
Applying the matrix inversion lemma again, eq. (8) can
be simplified as
c o
F , (9)
where F=(1 + LMLT
kc)1
.
Eq. (9) depicts the relation of synchronous errors be-
tween the coupled and uncoupled system. F is defined as
synchronous error transfer function which can be used in
performance analysis as a sensitivity function of CCC sys-
tem. If the gain of F is decreased, the c will reduce along
with it.
3.2 Performance analysis of CCC system
In CCC system, synchronous performance can be improved
by decreasing the gain of F through the proper choice of
controller C. However, the stability of biaxial system often
decreases at the same time. Effects of controller C on CCC
system are discussed as follows.
The actual math models of X axis and Y axis can be re-
spectively expressed as
1 1 1
[1 ( )]
M M s
, (10)
Figure 3 Control system diagram.
2 2 2
[1 ( )]
M M s
, (11)
and let
2 1 3
[1 ( )]
M M s
, (12)
where 1(s), 2(s) and 3(s) are rational fractions. 1(s) and
2(s) include model errors and uncertain disturbances of X
axis and Y axis, respectively. 3(s) represents the model
differences between dual axes when their motors or con-
trollers are different.
Eq. (3) can be simplified as
2
2 1 0
1 3 2
2 1 0
b s b s b
M
s a s a s a
. (13)
Replacing the nominal models M1 and M2 with actual
models 1
M and 2
M , from eqs. (10)–(12), we have
T
1
= [1 ( )]
M s
LML , (14)
where (s)=[2(s)+3(s)+2(s)3(s)]cos2
0+1(s)sin2
0.
0 is decided by the input position trajectory. Thus, (s)
is determined only by 1(s), 2(s) and 3(s).
Substituting eq. (14) into eq. (9) yields
3 2
2 1 0
c o
3 2
2 2 1 1 0 0
( ) ( )
s a s a s a
s a Db s a Db s a Db
, (15)
where
c[1 ( )]
D k s
. (16)
Eq. (9) can be regarded as a control system whose input
is o and output is c. The system can be defined as a syn-
chronous error converting system (SECS). Its transfer func-
tion is F, controller is D. Thus, the design of C in CCC sys-
tem is equivalent to design of D in SECS. The design goals
are to reduce c and keep SECS stabilized simultaneously.
Effects of controller D on SECS are discussed as follows.
3.2.1 (s)=0
If (s)=0, from eq. (16), we have D=kc=C. The routh chart
of SECS can be listed as shown in Table 1.
According to routh criterion, for SECS, the necessary
and sufficient condition of its stability is that all the ele-
ments in the first column of Table 1 are positive. As the pa-
rameters of motors and controllers in Figure 2 are positive,
Table 1 Routh chart of SECS
First column Second column
s3
1 a1+Db1
s2
a2+Db2 a0+Db0
s1
(a1a2+Da2b1+Da1b2+D2
b1b2–a0–Db0)/(a0+Db2)
s0
a0+Db0
4. Chen W, et al. Sci China Tech Sci April (2016) Vol.59 No.4 683
the coefficients of M1 and D are certainly positive. Thus the
elements in the first, second and forth lines are all positive.
We only need to discuss the element in the third line.
From routh criterion, if X axis system can run steadily,
the coefficients of M1 should satisfy the following rule
0 1 2
a a a
. (17)
By comparing eq. (3) with eq. (13), the following equa-
tions can be obtained: a0=b0, a1=b1. Combining them with
eq. (17), we have
2
1 2 2 1 1 2 1 2 0 0
0 2
0
a a Da b Da b D b b a Db
a Db
. (18)
Eq. (18) always holds which means that SECS is steady
whatever the parameter of controller D is.
According to the final value theorem and eq. (15), the
steady-state output of SECS is derived as
3 2
2 1 0
3 2
0
2 2 1 1 0 0
c
1
lim
( ) ( )
1 1
.
1 1
s
s a s a s a
s
s s a Db s a Db s a Db
D k
(19)
It can be seen the larger D is, the smaller c is. Because
the value of D has no effect on the stability of SECS, in-
creasing kc can improve synchronous performance effec-
tively without deteriorating the stability of CCC system.
3.2.2 (s)≠0
When (s)≠0, we have D≠kc. It’s not difficult to find from
eq. (16) that (s) is included in controller D and the effect
of (s) on SECS increases with the increase of kc. Thus, the
stability of SECS is hard to be guaranteed and the conclu-
sion above is no longer correct. This means the increasing
of kc has unpredictable effect on CCC system, especially on
synchronous error transfer function F. The result is that
steady operation of CCC system cannot be guaranteed.
In practical applications, the assumption (s)=0 usually
cannot be satisfied. The nominal models of X axis and Y
axis differ when their motors or controllers are not the same
totally. On the other hand, the model errors and uncertain
disturbances cannot be ignored either. The reason why sta-
bility and synchronous performance of CCC system are
hard to be improved simultaneously is that the effect of (s)
becomes more serious with the increase of kc.
Due to the existence of (s), the value of kc has to be de-
creased in order to guarantee steady operation of the system
with the sacrifice of synchronous performance. Thus, the
effect of (s) must be suppressed in order to achieve better
synchronous performance.
4 Robust adaptive CCC system
Narendra adaptive control theory is a model reference adap-
tive control scheme which neednot the precise math model
of controlled system. It can generate adaptive control varia-
ble only based on the input and output signals [20,21].
As can be seen in eq. (14), (s) is composed of 1(s),
2(s) and 3(s). In practical applications, the position feed-
back and feedforward controller of X axis and Y axis are
usually the same. That is to say Gp1(s)=Gp2(s), F1(s)=F2(s).
So the model differences lie mainly between the motor
speed control systems of X axis and Y axis. 1(s) and 2(s)
can also be equivalent to model errors and uncertain dis-
turbances of motor speed control systems.
The RACCC strategy retains the cross coupling part and
designs speed control system for individual axis as shown in
Figure 4. To suppress model differences, the motor speed
control systems of dual axes with different nominal models
are forced to track the same reference model. A robust pa-
rameters adaptive law is designed. It can make sure that the
controlled system can track reference model accurately even
with the existence of model errors and uncertain disturb-
ances.
The robust adaptive speed control system of X axis is
shown in Figure 4. The shaded part is double closed-loop
system whose nominal model is G0(s). Gm(s) is reference
model; m is the output of Gm(s); e is the difference
between m and 1; k0, d1, d2, d0 are all adjustable parame-
ters; F1 and F2 are auxiliary signal generators.
By applying Narendra adaptive theory, the adaptive con-
trol variable u can be generated based on input and output
signals of the double closed-loop system. The design pro-
cedures are as follows.
1) G0(s) can be expressed as
v t i v
0 2
v t i t
/
( )
( )
k k s k k
G s
J s B k k s J k k J
. (20)
Gm(s) should have the same structure as G0(s)
m
m m m 2
m 1 0
( )
( )
( )
N s s n
G s k k
D s s h s h
, (21)
where km is the gain of Gm(s), Nm(s) and Dm(s) are both
monic polynomials, Gm(s) must be a positive real function.
From the definition of positive real function, coefficients
of Gm(s) should satisfy the following rule.
Figure 4 X axis robust adaptive speed control system.
5. 684 Chen W, et al. Sci China Tech Sci April (2016) Vol.59 No.4
1
h n
. (22)
As Gm(s) and G0(s) have the same structure, we have
m 0
k n h
. (23)
The bandwidth and damping coefficient of Gm(s) can be
obtained as
0
1 0
,
/ 2 ,
f n h
h h
(24)
where f and need to be designed according to dynamic
performance requirements.
Eqs. (22)–(24) are the constraint conditions of Gm(s).
2) The state equations of F1 and F2 can be established as
1 1
v v u
G g , (25)
2 2 1
v v
G g , (26)
where G and g are first order matrices, v1 and v2 areauxilia-
ry signals. Eqs. (25)–(26) should satisfy: sG=Nm(s).
When =[1
*
v1 v2 1]T
, =[k0 d1 d2 d0]T
, the adaptive
control variable u can be determined as
T
0 1 1 2 2 0 1=
u k d v d v d
. (27)
3) The model error and uncertain disturbances of double
closed-loop system can be represented as 1(s). is a pa-
rameter. The actual model of motor speed control system
Gp(s) can be defined as
p 0 1
( ) ( )[1 ( )]
G s G s s
. (28)
From eq. (10) and Figure 2(b), the relation between 1(s)
and 1(s) can be described as
1
1
p 0 1
( )
( )
( )[1 ( )]
s s
s
s k G s s
. (29)
It can be seen in eq. (29), the suppression of 1(s) is
equivalent to suppression of 1(s). The design goal of
adaptive law is that the double closed-loop system can track
Gm(s) accurately even if 1(s)≠0.
Due to e=1m, the adaptive law can be designed as
0 c 0
0 c 0 0 c 1
0 1 0 c 1
( )
( )
e
E
k E E E
k E E E
(30)
where , 0 and k are positive real numbers, is positive
definite diagonal matrix, is a correction parameter, E0 and
E1 are threshold values.
The steps above compose the design procedure of robust
adaptive speed control system of X axis. The speed control
system of Y axis is the same as the one of X axis in order to
achieve the suppression of 3(s).
Eq. (30) adds a correction term to the adaptive law in
Narendra adaptive theory. This is because the original adap-
tive law is an integration adaptive law based on Lyapunov
stability theory. If 1(s)≠0, the negative definite of Lya-
punov function’s derivative cannot be guaranteed. To make
approach desired value and guarantee the steady operation
of system, it is necessary to add a correction term . If
1(s) is small, a big correction term will lead to steady
state error between the output of Gp(s) and Gm(s). To avoid
this phenomenon, the correction term should be adjusted
according to c. It should stay smaller to reduce the steady
state error when 1(s) is small, and become bigger to add
the stability margin when 1(s) is big. The dual axes both
employ this adaptive law to restrict 1(s) and 2(s).
To sum up, RACCC strategy suppresses the effects of
(s) on biaxial system from the root. Steady operation of
biaxial system can be guaranteed even if kc increases. Thus,
the stability and synchronous performance can be improved
simultaneously. The stability analysis of RACCC is shown
in Appendix A.
5 Simulation and experiment analysis
5.1 Simulation analysis
In order to research the performance of RACCC with dif-
ferent coupling controller gain kc, the proposed system has
been implemented in the Matlab/Simulink programming
environment. The parameters of PMSMs in biaxial system
are given in Table B1 in Appendix B. In the simulation,
reference trajectory is a ramp signal whose angle 0 is 45°.
Feed rates of X axis and Y axis are both 100 mm/s. The
bandwidth and damping coefficient of Gm(s) are 100 rad/s
and 1, respectively. The motors started with no load at first.
Load torque of Y axis steps from 0 to 5 Nm at 2 s. Syn-
chronous performance and stability of biaxial system with
load disturbance can be tested. Coupling controller gain kc is
chosen as 20, 40 and 80. The corresponding simulation re-
sults are shown as Figure 5, respectively.
Figure 5(a) and (b) is the simulation results of CCC and
RACCC strategy when kc=20. As shown in the output tra-
jectory waveform, when system starts up and load steps,
synchronous error of RACCC system is smaller than CCC
system. The synchronous performance of biaxial system is
improved effectively by RACCC. From the position track-
ing responses of individual axis we can see that the tracking
error of RACCC system is decreased when load steps. The
reason is that RACCC strategy provides sufficient stability
margin for system to overcome uncertain disturbance.
Figure 5(c) and (d) is the simulation results when kc=40.
Compared with the results when kc=20, the synchronous
errors of CCC and RACCC system are both decreased. It
6. Chen W, et al. Sci China Tech Sci April (2016) Vol.59 No.4 685
Figure 5 (Color online) Cross coupling controller kc=20: (a) CCC; (b) RACCC. kc=40: (c) CCC; (d) RACCC. kc=80: (e) CCC; (f) RACCC.
proves that synchronous error will decrease as coupling
controller gain kc increases.
Figure 5(e) and (f) shows the simulation results when
kc=80. As synchronous error waveforms of CCC system
depicted, the synchronous performance is deteriorated. Due
to the influences of (s), drastic position fluctuation appears
in CCC system which leads to the instability of dual axes. It
means that the CCC strategy can no longer guarantee the
operation performance of biaxial system when kc=80. In
contrast, RACCC system can still run steady and synchro-
nous error c is further decreased than Figure 5(a)–(d).
In order to illustrate the effect of coupling controller gain
kc, we conduct a histogram to describe the simulation results
above. Figure 6 depicts the synchronous errors of CCC and
RACCC system with different kc when system starts up and
load steps.
7. 686 Chen W, et al. Sci China Tech Sci April (2016) Vol.59 No.4
In Figure 6, we can clearly find that c of both CCC and
RACCC system decrease along with the increasing of kc.
The phenomenon coincides with the theoretical analysis.
In conclusion, as said in Section 3 of manuscript, in-
creasing coupling controller gain kc is beneficial to decreas-
ing c. However, as kc increases to some extent, CCC strat-
egy can no longer guarantee steady state performance. In
contrast, whatever the value of kc, the c of RACCC system
is always less than CCC system. The comparison of per-
formance measures verifies the favorable control perfor-
mance of RACCC strategy clearly.
5.2 Experiment analysis
To test the feasibility and validity of RACCC, a biaxial po-
sition control experiment platform is set up as shown in
Figure 7. There are two permanent magnet synchronous
motors (PMSMs) driving mechanical arms to achieve planar
motion. The parameters are given in Table B1 in Appendix
B. The control chip is chosen to be TMS320F28335 pro-
duced by TI, whose clock frequency being 150 MHz.
Switching frequency of the IPM is 5 kHz. The sampling
time of the control loop is 200 s.
5.2.1 Synchronous performance comparison experiment
In this experiment, the reference trajectory is a broken line,
whose initial angle 0 is 45°. The trajectory turns at 6 s, 0
becomes 45°. The feed rate is 125 mm/s. The bandwidth
and damping coefficient of Gm(s) are 100 rad/s and 1, re-
spectively. The motors started with no load at first. Load
Figure 6 Histogram of simulation results. (a) Start up; (b) load step.
Figure 7 (Color online) Biaxial position control experiment platform.
Figure 8 Cross coupling control. (a) Position trajectory; (b) synchronous
error; (c) position of X axis; (d) position of Y axis; (e) tracking errors.
torque of X axis steps from 0 to 5 Nm at 2 s. The load re-
duces to 0 Nm at 8 s. Synchronous performance of biaxial
system with load disturbance can be tested. Figure 6 shows
the experimental results of CCC strategy when kc=40.
It can be seen from Figure 8 that synchronous error c is
2.8 mm when system starts up. When the load torque in-
creases suddenly at 2 s, c is 2.2 mm. At 6 s, the trajectory
turns and c becomes 4.5 mm. When the load torque steps
8. Chen W, et al. Sci China Tech Sci April (2016) Vol.59 No.4 687
back to zero at 8 s, c is 2.8 mm. The tracking responses of
X axis and Y axis are depicted as Figure 8(c) and (d). Figure
8(e) shows the tracking errors of individual axis. It can be
seen that tracking errors are sensitive to load disturbance
and hard to approach zero in a short time.
If kc is increased to 60, the CCC system will close down
because of overcurrent protection. It means that CCC sys-
tem cannot operate steadily when kc=60. Compared with
CCC system, RACCC system still can operate steadily
when kc=80, the experimental results are shown in Figure 9.
In Figure 9, synchronous error c becomes 1.5 mm
when system starts up. c is 0.2, 1.7 and 0.2 mm at 2, 6,
8 s, respectively. Tracking errors are robust to load disturb-
ance and can approach zero in a certain time.
By comparing Figure 9 with Figure 8, we can see that
RACCC strategy can effectively improve synchronous per-
formance of biaxial system, especially when load disturb-
ance appears. From the position tracking responses of indi-
vidual axis, tracking errors are reduced and can rapidly ap-
proach zero in RACCC system. What’s more, because of
the suppression of (s), steady operation of biaxial system
is guaranteed when kc adds. It means RACCC can improve
synchronous performance and stability simultaneously.
5.2.2 Performance of RACCC with different reference model
The performance of RACCC strategy is influenced by ref-
erence model Gm(s). If bandwidth f is determined, reference
models with different damping coefficients can be de-
signed applying the constraint conditions in section 4. Fig-
ure 10 shows the Bode plots of different reference models
with f=100 rad/s, =0.5, 1 and 1.5.
As Gm(s) is a positive real function, cannot be less than
0.5. It can be seen from amplitude-frequency curve that
there is resonance in system when =0.5, which may deteri-
orate the stability. When =1.5, the bandwidth narrows
down which may decrease the response speed.
Figure 11 shows the experimental results when is 0.5, 1,
and 1.5, respectively. The input of biaxial system is a ramp
trajectory. The feed rate is 125 mm/s, 0 is 45°.
Performance of RACCC strategy with different reference
models are compared in Figure 11. Comparing Figure 11(a)
with Figure 11(b), we can see that an unstable segment ap-
pears and c, e1, e2 are all bigger when =0.5. The reason is
that resonance is bad for the system stability. As increases
from 1 to 1.5, c remains unchanged, but e1 and e2 increases.
It is because the shorter bandwidth decreases the response
speed and enlarges the tracking errors. Considering these
factors above, ξ should be chosen around 1.
6 Conclusion
In biaxial CCC motion system, model differences between
X axis and Y axis, model errors and uncertain disturbances
Figure 9 Robust adaptive cross coupling control. (a) Position trajectory;
(b) synchronous error; (c) position of X axis; (d) position of Y axis; (e)
tracking errors.
will decrease the synchronous performance and deteriorate
system stability. By analyzing the model and characteristics
of CCC system and studying effects of the factors above,
RACCC strategy is proposed. To suppress the model dif-
ferences, X axis and Y axis are forced to track the same ref-
erence model. A robust parameters adaptive law is proposed
to suppress model errors and uncertain disturbances and
make sure that individual axis can track reference model
accurately. The stability analysis of RACCC strategy is
9. 688 Chen W, et al. Sci China Tech Sci April (2016) Vol.59 No.4
Figure 10 Bode plot of reference model.
Figure 11 Experimental results of different damping factors. (a) =0.5;
(b) =1; (c) =1.5.
conducted applying Lyapunov stability theory. Experi-
mental results prove that compared with CCC strategy, the
RACCC strategy can improve synchronous performance
and stability simultaneously. In addition, if a suitable syn-
chronous error model and transfer matrix L can be defined,
the RACCC strategy is suitable to triaxial system and mul-
tiaxial system.
This work was supported by the National Basic Research Program of Chi-
na (“973” Project) (Grant No. 2013CB035600), and the National Natural
Science Foundation of China (Grant No. 51377121).
Supporting Information
The supporting information is available online at tech.scichina.com and
www.springerlink.com. The supporting materials are published as submit-
ted, without typesetting or editing. The responsibility for scientific accura-
cy and content remains entirely with the authors.
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