When consulting the text books on control engineering, state space controllers are described and designed with the help of matrix calculus. This implies good knowledge of linear algebra. Especially ...in Europe many Universities of Applied Sciences have extremely reduced mathematics in their curricula. Here a teaching concept with the help of signal flow graphs can help to explain and design the controller without solving matrix equations. As example, the bidirectional Buck converter is used. The model of the plant is derived and a simple state space controller is designed. The plant model is linearized around a working point. Therefore, the simple state space controller leads to correct results only at this point. Combination with an additional controller or using the error between the desired value and the actual value as a third state variable improves the quality of the control. The signal flow graphs for these concepts are given and the controllers designed. With the help of LTSpice the designs are checked.
The regeneration of highly dynamic driving maneuvers on vehicle test benches is challenging due to several influences, such as power losses, vibrations in the overall system that involves the vehicle ...with the test bench, uncertainties in the model parameterization, and time delays from both the test bench and the measurement systems. In order to improve the dynamic response of the vehicle test bench and to overcome system disturbances, we employed different types of control algorithms for a mechanical multi-mass model. First, those controllers are extensively investigated in the frequency domain to analyze their stability and evaluate the noise rejection quality. Then, the expectations from the frequency analysis are confirmed in a time-domain simulation. Furthermore, sensitivity analysis tests were conducted to evaluate each controller’s robustness against the modeling parameters’ uncertainty. The linear quadratic controller with integral action demonstrated the best compromise between performance and robustness.
In this paper, a generalized state-space controller design for the shaping of the output probability density function (PDF) is presented for non-Gaussian dynamical stochastic systems. A radial basis ...function (RBF) neural network is used to approximate the output PDF of the system. Such a neural network consists of a number of weights and corresponding basis functions. Using such an approximation, the dynamics of the original stochastic system can be expressed as the dynamics between the control input and the weights of the RBF neural network. The task of output PDF control can therefore be reduced to a RBF weight control together with an adaptive tuning of the basis function parameters (i.e., the centers and widths of the basis functions). To achieve this aim, the control horizon is divided into certain intervals hereinafter called batches. Using these definitions, the whole control strategy consists of three stages, namely (a) sub-space parameter identification of the dynamic nonlinear model (that relates the control signal to the weights of the RBF neural network); (b) Weight tracking controller design using an LMI-based convex optimization technique; and (c) RBF basis functions shape tuning in terms of their centers and widths using an iterative learning control (ILC) framework. Among the above stages, the first two are performed within each batch, while stage (c) is carried out between any two adjacent batches. Such an algorithm has the advantage of the batch-by-batch improvement of the closed-loop output PDF tracking performance. Moreover, the controller mentioned in stage (b) is a general controller in a state-space form. Stability analysis has been performed and simulation results are included to show the effectiveness of the proposed method, where encouraging results have been made.
Application of a state space controller for two-mass system has been examined. However, the classical version of the controller was modified in order to improve properties of the whole system. For ...this purpose fuzzy model was implemented as an adaptation element for the parameters. The theoretical description of the control structure, numerical tests and experimental results (using dSPACE1103 card) have been presented.
Zusammenfassung
Im vorliegenden Beitrag wird beschrieben, wie bereits entworfene Zustandsregler für proportional geregelte Systeme ohne Rechentotzeit auf einfache Art und Weise für Systeme mit ...Reglerintegratoren bzw. mit Rechentotzeit erweitert werden können. Das Ziel ist hierbei, den Aufwand zur Ermittlung der Reglermatrix zu reduzieren. Hierbei soll die bereits vorhandene, optimierte Regelkreisdynamik so wenig wie möglich verändert werden, wodurch bei Mehrgrößensystemen hinzukommende Freiheitsgrade sinnvoll festgelegt werden. Die Betrachtungen erfolgen für lineare zeitdiskrete Systeme und werden anhand eines Beispiels aus der elektrischen Antriebstechnik veranschaulicht.
Military tracked vehicle and crew are modelled together in this paper as integrated man-machine lumped parameter model, by integrating the simplified 5 degrees of freedom (DoF) tracked vehicle model, ...including seat and 4 DoF human bio-dynamic model, thus resulting in a 9 DoF simplified vehicle-occupant model. Then the natural frequency of major mass segment namely the chassis mass is obtained through simulation study, for a known road input. The value obtained is compared with that of an earlier research work, for validation of said man-machine model. Then focusing our study locally at crew seat location, parameters of crew seat suspension for ride comfort are optimised using the optimal digital state space controller designed for this purpose by implementing it in a 2 DoF occupant - seat suspension model and its Simulink model constructed. Simulation results illustrate the attainment of the goal by meeting the controller design requirements.
Im vorliegenden Beitrag wird beschrieben, wie bereits entworfene Zustandsregler für proportional geregelte Systeme ohne Rechentotzeit auf einfache Art und Weise für Systeme mit Reglerintegratoren ...bzw. mit Rechentotzeit erweitert werden können. Das Ziel ist hierbei, den Aufwand zur Ermittlung der Reglermatrix zu reduzieren. Hierbei soll die bereits vorhandene, optimierte Regelkreisdynamik so wenig wie möglich verändert werden, wodurch bei Mehrgrößensystemen hinzukommende Freiheitsgrade sinnvoll festgelegt werden. Die Betrachtungen erfolgen für lineare zeitdiskrete Systeme und werden anhand eines Beispiels aus der elektrischen Antriebstechnik veranschaulicht.
In many industrial applications like semiconductor production and optical inspection systems, the availability of positioning systems capable to follow trajectory paths in the range of several ...centimetres, featuring at the same time a nanometre-range precision, is demanding. Pure piezoelectric stages and standard positioning systems with motor and spindle are not able to meet such requirements, because of the small operation range and inadequacies like backlash and friction. One concept for overcoming these problems consists of a hybrid positioning system built through the integration of a DC-drive in series with a piezoelectric actuator. The wide range of potential applications enables a considerable market potential for such an actuator, but due to the high variety of possible positioned objects and dynamic requirements, the required control complexity may be significant. In this paper, a real-time capable state-space control concept for the piezoelectric actuators, embedded in such a hybrid micropositioning system, is presented. The implementation of the controller together with a real-time capable hysteresis compensation measure is performed using a low-budget FPGA-board, whereas the superimposed integrated controller is realized with a dSPACE RCP-system. The advantages of the designed control over a traditional proportional-integral control structure are proven through experimental results using a commercially available hybrid micropositioning system. Positioning results by different dynamic requirements featuring positioning velocities from 1 ?m/s up to 5 cm/s are given.
nema
This paper presents results of continuous development and thesis about the optimization of state space controller for DC motor on FPGA in LabVIEW environment for NI cRIO platform. In the first part, ...the state space model of the given DC motor is presented in Matlab / Simulink and then the position feedback controller with steady-state error elimination and with state observer with error compensation is designed. After that, it continues with transforming the controller to LabVIEW environment where the code is prepared for FPGA use. Next phase is focused on FPGA hardware resources consumption optimization leads to careful work with fixed-point data type. After successful code compilation on target hardware, the real given DC motor was connected and the series of tests were performed. The output of the thesis is working state space controller running on FPGA and the graphical user interface on real-time host cRIO, which enables the user to control the plant and save the data to the disk.
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