EPE Association: EPE-PEMC 2000 - Topic 10a: Control of Electromechanical Systems

EPE-PEMC 2000 - Topic 10a: Control of Electromechanical Systems
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2000 - Conference > EPE-PEMC 2000 - Topic 10: Mechatronic Systems > EPE-PEMC 2000 - Topic 10a: Control of Electromechanical Systems

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   Control of Swing-up and Stabilization for an Inverted Pendulum
By Yang R., Chai L., Zhao X. [View]
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Abstract: Modern control theory is now developed to provide an authentic design techniques for synthesizing practical control systems. In particular, the lack of appropriated friction nonlinear model for the pendulum makes interesting the task of design a robust controller. In this paper, both design methods ( LQR/LTR and HY ) are illustrated by simulation with a inverted pendulum case. The differences of performance between these two methods are compared and investigated according to the simulation results. To find a good trade-off between the multi-objective specification ( mixed H2 and HY ), a optimal multi-objective controller based on the LMI theory is designed via the simulation using MATLAB LMI toolbox. The good controller's parameters coming from the simulation are used into the practical experiment and its performance is verified. A strategy of energy control for swinging up a pendulum from its stable downward position to its upright position is illustrated at the end of this paper. The experimental result shows the whole successful procedure of swinging up a pendulum and balancing it at its steady-state upright position.

   Identification and Adaptive Control of a Class of Non-linear Mechatronic Systems
By Rau M., Schroder D. [View]
[Download]

Abstract: In this paper, a general approach of observer and control design for a class of nonlinear mechatronic systems is presented. It is assumed, that the system is separable into a known linear part and an unknown static nonlinearity. This combination is called system with an isolated nonlinearity. The observer starts from the known linear part and is extended by a neural network to approximate the nonlinearity. This leads to a mathematically proven stable identi_cation and observation method that provides information about all system states and the nonlinearity. The presented control concept is based on the nonlinear controllable canonical form (NCCF). It is implemented as a nonlinear state feedback law, which, due to the observer, does not require full state measurement. The result is a globally linearized system where free pole placement is possible. Compared to input{output{linearization the relative degree of the system does not a_ect the design procedure. Furthermore, only the linear part of the system has to be known in advance, the nonlinearity is supposed to be unknown.

   Implementation of a Fuzzy Controller for Vibration Suppression - Application for Flexible Structures
By Forrai A., Hashimoto S., Funato H., Kamiyama K. [View]
[Download]

Abstract: The paper deals with vibration suppression control of flexible structures applying a fuzzy controller. Due to the complexity of the mathematical model related to the flexible structures, due to the restriction imposed by actuators (force stroke limitation) as well as economical aspects, a fuzzy logic based approach of the control system is proposed. The experimental results using a fuzzy controller are compared with those obtained in case of conventional or traditional control.

   Pointing and Tracking Position Control System for Electrical Drives with Elastic Transmission
By Deur J., Periæ N. [View]
[Download]

Abstract: The design of a cascade position control system for electrical drives with considerable transmission elasticity is presented. Two types of inner speed controller are considered: a full-order state controller and a polynomial controller with motor or load speed feedback. The speed control loop is designed according to the damping optimum with the main task to damp drive torsional vibrations. The superimposed position control system is realized by utilizing a proportional position controller. A simple analytical method of the position controller tuning is proposed for the cases of motor and load position feedback. For the application in tracking systems, the position control loop is extended by a feedforward controller located in the position reference branch. The feedforward controller of arbitrary order is designed according to the magnitude optimum. The behavior of the designed pointing and tracking position control system is experimentally examined for different stifnesses of drive transmission.

   Position Control of Levitation Electromagnet and Magnetic Bearings
By Patoèka M., Huták P., Feiler Z. [View]
[Download]

Abstract: This paper deals with the synthesis of the electromagnet's control for the magnetic levitation and magnetic bearings. The optimal control structure for the position regulation has been designed on the base of the electromagnet 's mathematical model. This control has been successfully optimised and simulated in MATLAB-SIMULINK. This problem is solved as a part of the project CEZ J22/98:26 22 000 10

EPE-PEMC 2000 - Topic 10a: Control of Electromechanical Systems
You are here: EPE Documents > 04 - EPE-PEMC Conference Proceedings > EPE-PEMC 2000 - Conference > EPE-PEMC 2000 - Topic 10: Mechatronic Systems > EPE-PEMC 2000 - Topic 10a: Control of Electromechanical Systems
	[return to parent folder]

	Control of Swing-up and Stabilization for an Inverted Pendulum By Yang R., Chai L., Zhao X.	[View] [Download]
Abstract: Modern control theory is now developed to provide an authentic design techniques for synthesizing practical control systems. In particular, the lack of appropriated friction nonlinear model for the pendulum makes interesting the task of design a robust controller. In this paper, both design methods ( LQR/LTR and HY ) are illustrated by simulation with a inverted pendulum case. The differences of performance between these two methods are compared and investigated according to the simulation results. To find a good trade-off between the multi-objective specification ( mixed H2 and HY ), a optimal multi-objective controller based on the LMI theory is designed via the simulation using MATLAB LMI toolbox. The good controller's parameters coming from the simulation are used into the practical experiment and its performance is verified. A strategy of energy control for swinging up a pendulum from its stable downward position to its upright position is illustrated at the end of this paper. The experimental result shows the whole successful procedure of swinging up a pendulum and balancing it at its steady-state upright position.

	Identification and Adaptive Control of a Class of Non-linear Mechatronic Systems By Rau M., Schroder D.	[View] [Download]
Abstract: In this paper, a general approach of observer and control design for a class of nonlinear mechatronic systems is presented. It is assumed, that the system is separable into a known linear part and an unknown static nonlinearity. This combination is called system with an isolated nonlinearity. The observer starts from the known linear part and is extended by a neural network to approximate the nonlinearity. This leads to a mathematically proven stable identi_cation and observation method that provides information about all system states and the nonlinearity. The presented control concept is based on the nonlinear controllable canonical form (NCCF). It is implemented as a nonlinear state feedback law, which, due to the observer, does not require full state measurement. The result is a globally linearized system where free pole placement is possible. Compared to input{output{linearization the relative degree of the system does not a_ect the design procedure. Furthermore, only the linear part of the system has to be known in advance, the nonlinearity is supposed to be unknown.

	Implementation of a Fuzzy Controller for Vibration Suppression - Application for Flexible Structures By Forrai A., Hashimoto S., Funato H., Kamiyama K.	[View] [Download]
Abstract: The paper deals with vibration suppression control of flexible structures applying a fuzzy controller. Due to the complexity of the mathematical model related to the flexible structures, due to the restriction imposed by actuators (force stroke limitation) as well as economical aspects, a fuzzy logic based approach of the control system is proposed. The experimental results using a fuzzy controller are compared with those obtained in case of conventional or traditional control.

	Pointing and Tracking Position Control System for Electrical Drives with Elastic Transmission By Deur J., Periæ N.	[View] [Download]
Abstract: The design of a cascade position control system for electrical drives with considerable transmission elasticity is presented. Two types of inner speed controller are considered: a full-order state controller and a polynomial controller with motor or load speed feedback. The speed control loop is designed according to the damping optimum with the main task to damp drive torsional vibrations. The superimposed position control system is realized by utilizing a proportional position controller. A simple analytical method of the position controller tuning is proposed for the cases of motor and load position feedback. For the application in tracking systems, the position control loop is extended by a feedforward controller located in the position reference branch. The feedforward controller of arbitrary order is designed according to the magnitude optimum. The behavior of the designed pointing and tracking position control system is experimentally examined for different stifnesses of drive transmission.

	Position Control of Levitation Electromagnet and Magnetic Bearings By Patoèka M., Huták P., Feiler Z.	[View] [Download]
Abstract: This paper deals with the synthesis of the electromagnet's control for the magnetic levitation and magnetic bearings. The optimal control structure for the position regulation has been designed on the base of the electromagnet 's mathematical model. This control has been successfully optimised and simulated in MATLAB-SIMULINK. This problem is solved as a part of the project CEZ J22/98:26 22 000 10