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Linear quadratic optimal controller for cable-driven parallel robots

Saeed ABDOLSHAH,Erfan SHOJAEI BARJUEI

《机械工程前沿（英文）》 2015年第10卷第4期页码 344-351 doi: 10.1007/s11465-015-0364-8

摘要：

In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large workspace, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional-integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.

关键词： accuracy cable-driven parallel robot linear quadratic optimal control

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A linear quadratic regulator control of a stand-alone PEM fuel cell power plant

Amar BENAISSA, Boualaga RABHI, Ammar MOUSSI, Dahmani AISSA

《能源前沿（英文）》 2014年第8卷第1期页码 62-72 doi: 10.1007/s11708-013-0291-5

摘要： This paper introduces a technique based on linear quadratic regulator (LQR) to control the output voltage at the load point versus load variation from a stand-alone proton exchange membrane (PEM) fuel cell power plant (FCPP) for a group housing use. The controller modifies the optimal gains by minimizing a cost function, and the phase angle of the AC output voltage to control the active and reactive power output from an FCPP to match the terminal load. The control actions are based on feedback signals from the terminal load, output voltage and fuel cell feedback current. The topology chosen for the simulation consists of a 45 kW proton exchange membrane fuel cell (PEMFC), boost type DC/DC converter, a three-phase DC/AC inverter followed by an LC filter. Simulation results show that the proposed control strategy operated at low commutation frequency (2 kHz) offers good performances versus load variations with low total harmonic distortions (THD) , which is very useful for high power applications.

关键词： modeling of proton exchange membrane fuel cell (PEMFC) controlling of PEMFC linear quadratic regulator (LQR) DC/DC converter DC/AC inverter

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New decentralized control technique based on substructure and LQG approaches

Ying LEI, Ying LIN,

《机械工程前沿（英文）》 2009年第4卷第4期页码 386-392 doi: 10.1007/s11465-009-0041-x

摘要： Decentralized control is more suitable for structural control of large-scale structures. In this paper, a new decentralized control technique is proposed based on the linear quadratic Gaussian (LQG) and substructure approaches. A large-scale structure is divided into a set of smaller substructures. Each substructure is controlled by its own local controller with interaction forces at substructural interfaces, which are considered as “unknown external inputs” to the substructure concerned. An algorithm of recursive least squares estimation for the unknown excitation is proposed. A numerical example of the decentralized control of a tall building is studied to illustrate the new proposed algorithm. Simulation results show that the proposed decentralized control provides satisfactory control performance when comparing with the conventional centralized LQG control algorithm and is viable for the future structural control of large-scale structures.

关键词： substructures decentralized control linear quadratic Gaussian (LQG) Kalman filter unknown input least-squares estimation

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Load shedding scheme for the two-area system with linear quadratic regulator

D. TYAGI, Ashwani KUMAR, Saurabh CHANANA

《能源前沿（英文）》 2013年第7卷第1期页码 90-102 doi: 10.1007/s11708-012-0224-8

摘要： The power system is prone to many emergency conditions which may lead to emergency state of operation with decay in the system frequency. The dramatic change in the frequency can result in cascaded failure of the system. In order to avoid power system collapse, load shedding (LS) schemes are adopted with the optimal amount of load shed. This paper proposed a methodology in a two-area thermal-thermal system for finding the required amount of load to be shed for setting the frequency of the system within minimum allowable limits. The LS steps have been obtained based on the rate of change of frequency with the increase in load in steps. A systematic study has been conducted for three scenarios: the scheme with a conventional integral controller; the scheme with a linear quadratic regulator (LQR); and the scheme with an LQR and superconducting magnetic energy storage devices (SMES). A comparison of the results has been presented on the two-area system.

关键词： critical load frequency response load shedding (LS) multi-area system rate of change of frequency linear quadratic regulator (LQR) superconducting magnetic energy storage devices (SMES)

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Neural network control for earthquake structural vibration reduction using MRD

Khaled ZIZOUNI, Leyla FALI, Younes SADEK, Ismail Khalil BOUSSERHANE

《结构与土木工程前沿（英文）》 2019年第13卷第5期页码 1171-1182 doi: 10.1007/s11709-019-0544-4

摘要： Structural safety of building particularly that are intended for exposure to strong earthquake loads are designed and equipped with high technologies of control to ensure as possible as its protection against this brutal load. One of these technologies used in the protection of structures is the semi-active control using a Magneto Rheological Damper device. But this device need an adequate controller with a robust algorithm of current or tension adjustment to operate which is further discussed in the following of this paper. In this study, a neural network controller is proposed to control the MR damper to eliminate vibrations of 3-story scaled structure exposed to Tōhoku 2011 and Boumerdès 2003 earthquakes. The proposed controller is derived from a linear quadratic controller designed to control an MR damper installed in the first floor of the structure. Equipped with a feedback law the proposed control is coupled to a clipped optimal algorithm to adapt the current tension required to the MR damper adjustment. To evaluate the performance control of the proposed design controller, two numerical simulations of the controlled structure and uncontrolled structure are illustrated and compared.

关键词： MR damper semi-active control earthquake vibration neural network linear quadratic control

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基于随机鲁棒性分析的吸气式高超声速飞行器线性二次调节器设计 Article

Lin CAO, Shuo TANG, Dong ZHANG

《信息与电子工程前沿（英文）》 2017年第18卷第7期页码 882-897 doi: 10.1631/FITEE.1601363

摘要：本文介绍了一种改进的基于随机鲁棒性分析的线性二次调节器（linear-quadratic regulator, LQR）设计方法，用于AHV的纵向飞行控制器设计。

关键词：吸气式高超声速飞行器；随机鲁棒性分析；二次线性调节器；粒子群优化；改进混合粒子群算法

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Precision control system of two-DOF stage with linear ultrasonic motor

ZHANG Hanlei, SHI Yunlai, ZHAO Chunsheng

《机械工程前沿（英文）》 2008年第3卷第4期页码 421-425 doi: 10.1007/s11465-008-0063-9

摘要： Using an appropriate control method, linear ultrasonic motors can be used in applications requiring high position accuracy. In this paper, a closed loop PI control system is designed to achieve high position accuracy during the control of a two-DOF stage driven by linear ultrasonic motors. Two ultrasonic motors are mounted on the stage to generate motion in two orthogonal directions. The PI control algorithm is used to increase the stability and accuracy of position control. The -axis mover covers 30 mm forward and backward in less than 0.3 s settling time and the -axis mover in less than 0.4 s. Experimental results denote that the control strategy proposed in this paper appears to have high efficiency, quick response, and high accuracy.

关键词： settling position accuracy PI control control algorithm orthogonal

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铰接车辆的主动转向控制策略研究 Article

Kyong-il KIM,Hsin GUAN,Bo WANG,Rui GUO,Fan LIANG

《信息与电子工程前沿（英文）》 2016年第17卷第6期页码 576-586 doi: 10.1631/FITEE.1500211

摘要：为了提高铰接车辆的机动性及高速稳定性，基于线性二次型最优控制理论提出了一种用于拖车和挂车的主动转向控制策略。首先建立了3自由度的带挂车主动转向的拖挂车简化模型。运用基于模拟退火的粒子群优化算法对简化模型在特定速度和方向盘角度下的车辆关键参数进行辨识，简化模型的参数可通过当前车辆工况查表和插值获得。仿真结果表明简化模型的输出结果与TruckSim一致性较好，这样简化模型可准确为控制器提供理想的横摆角速度。设计了基于线性二次型最优控制的主动转向控制器。控制器时刻跟踪理想的横摆角速度并同时尽量降低拖车和挂车的质心侧偏角。最后，基于TruckSim-Simulink联合仿真分别进行了低速和高速试验。仿真试验结果表明主动转向控制策略能显著改善拖挂车低速的机动性和高速稳定性。控制策略不仅适用于弯度不大的转弯路况，还适用于急转弯路况。

关键词：铰接车辆；急转弯；侧向稳定性；线性二次型控制

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基于线性二次最优化的多智能体编队控制

Chang-bin Yu, Yin-qiu Wang, Jin-liang Shao,brad.yu@anu.edu.au,wh6508@gmail.com,jinliangshao@126.com

《信息与电子工程前沿（英文）》 2016年第17卷第2期页码 96-109 doi: 10.1631/FITEE.1500490

摘要：目的：随着空间技术和计算机技术的发展，空间飞行器协作控制越来越受到重视。多智能体编队控制是研究这一类问题的基础。本文研究了三种情况下单积分器多智能体系统基于线性二次最优性能指标的编队控制问题，并设计相应的控制算法保证多智能体系统在完成编队的基础上使所定义的性能指标达到最优。创新点：针对三种不同的单积分器多智能体最优编队情况，分别提出相应的网络连接拓扑以及局部反馈矩阵；不同于其他论文不能给出网络拓扑以及局部最优反馈矩阵的具体解析解，本文给出相应的解析解，并且证明解析解与实际物理系统完全相符。方法：应用代数图论以及矩阵理论的相关知识，针对无物理耦合的多智能体系统，通过求解代数里卡蒂方程，设计智能体之间的网络连接拓扑以及局部反馈矩阵，保证多智能体系统在完成编队的同时相应的LQR指标最优。针对有物理耦合的多智能体系统，同样通过求解代数里卡蒂方程，得到相应的网络连接拓扑以及局部反馈矩阵，保证多智能体系统在完成编队的基础上使相应的LQR指标最优；针对有物理耦合但无法设计网络拓扑的多智能体系统，将最优指标写成局部反馈增益的函数，通过求最优指标的导数，得到最优局部反馈增益。结论：对于无物理耦合单积分器多智能体的编队问题与有物理耦合单积分器多智能体的编队问题，分别设计网络连接拓扑以及局部反馈矩阵，在多智能体系统完成编队的基础上保证相应的性能指标达到最优。对于有物理耦合但无法改变通讯网络拓扑的单积分器多智能体系统编队问题，设计最优局部反馈增益，在多智能体系统完成编队的同时保证性能指标最优。

关键词：线性二次最优；编队控制；代数里卡蒂方程；最优控制；多智能体系统

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Research on the control systems of a precision linear motor drive device

YAN Han, WANG Xian-kui, DUAN Guang-hong

《机械工程前沿（英文）》 2006年第1卷第3期页码 260-264 doi: 10.1007/s11465-006-0036-9

摘要： The model of a precision linear motor drive device (PLMDD) and its control requirements are analyzed. In order to enhance the tracking and anti-disturbance performance of the system, its third-order model is established, and disturbance-observer based input revising feedforward error compensation robust control algorithm, combined with integral-separated proportional integral derivative (PID) control algorithm is proposed. This includes feedback control algorithm and feedforward control algorithm. The feedback controller improves system tracking performance and suppresses load and mechanical disturbance while the feedforward controller compensates phase hysteresis introduced by feedback control. Theoretical analyses, simulations and experiments show that this control method increases the tracking precision of PLMDD from ±5 μm to ±2 μm and dramatically improves its anti-disturbance ability.

关键词： feedforward tracking ±5 anti-disturbance performance algorithm

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System construction of a four-side primary permanent-magnet linear motor drive mechanical press

Jintao LIANG, Zhengfeng MING, Peida LI

《机械工程前沿（英文）》 2020年第15卷第4期页码 600-609 doi: 10.1007/s11465-020-0597-z

摘要： A primary permanent-magnet linear motor (PPMLM) has a robust secondary structure and high force density and is appropriate for direct-drive mechanical press. The structure of a four-side PPMLM drive press is presented based on our previous research. The entire press control system is constructed to realize various flexible forming processes. The control system scheme is determined in accordance with the mathematical model of PPMLM, and active disturbance rejection control is implemented in the servo controller. Field-circuit coupling simulation is applied to estimate the system’s performance. Then, a press prototype with 6 kN nominal force is fabricated, and the hardware platform of the control system is constructed for experimental study. Punch strokes with 0.06 m displacement are implemented at trapezoidal speeds of 0.1 and 0.2 m/s; the dynamic position tracking errors are less than 0.45 and 0.82 mm, respectively. Afterward, continuous reciprocating strokes are performed, and the positioning errors at the bottom dead center are less than 0.015 mm. Complex pulse trajectories are also achieved. The proposed PPMLM drive press exhibits a fast dynamic response and favorable tracking precision and is suitable for various forming processes.

关键词： mechanical press direct drive primary permanent-magnet linear motor (PPMLM) servo system active disturbance rejection control (ADRC) prototype experiment

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A new type of quadratic acceleration method

Changqing LI, Menglin LOU,

《结构与土木工程前沿（英文）》 2010年第4卷第3期页码 302-310 doi: 10.1007/s11709-010-0026-1

摘要： The polynomial acceleration method for time history analysis is presented, in which accelerations between several equal neighboring time steps were assumed to be a polynomial function of time interval. With a higher order polynomial used, a higher accuracy can be obtained, but the stability field of the method becomes narrower. When stability field and computational accuracy are taken into account at the same time, the quadratic acceleration method is superior to linear and cubic acceleration methods in choosing the maximum acceptable time step size. It is also shown that the quadratic acceleration method has desirable arithmetic damp, amplitude decay rate and period elongation rate, though its conditional stability restricts its application in stiff structures.

关键词： polynomial acceleration method convergence stability square acceleration method

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An experimental study of a single-piston free piston linear generator

Jin XIAO, Yingdong CHENG, Jinlong WANG, Chengwei ZHU, Zhen HUANG

《能源前沿（英文）》 2022年第16卷第6期页码 916-930 doi: 10.1007/s11708-022-0838-4

摘要： Free piston linear generator (FPLG) is a promising range extender for the electrical vehicle with unparallel advantages, such as compact structure, higher system efficiency, and reduced maintenance cost. However, due to the lack of the mechanic crankshaft, the related piston motion control is a challenge for the FPLG which causes problems such as misfire and crash and limits its widespread commercialization. Aimed at resolving the problems as misfire, a single-piston FPLG prototype has been designed and manufactured at Shanghai Jiao Tong University (SJTU). In this paper, the development process and experimental validation of the related control strategies were detailed. From the experimental studies, significant misfires were observed at first, while the FPLG operated in natural-aspiration conditions. The root cause of this misfire was then identified as the poor scavenging process, and a compressed air source was leveraged to enhance the related scavenging pressure. Afterward, optimal control parameters, in terms of scavenging pressure, air-fuel equivalence ratio, and ignition position, were then calibrated in this charged-scavenging condition. Eventually, the FPLG prototype has achieved a continuous stable operation of over 1000 cycles with an ignition rate of 100% and a cycle-to-cycle variation of less than 0.8%, produced an indicated power of 2.8 kW with an indicated thermal efficiency of 26% and an electrical power of 2.5 kW with an overall efficiency of 23.2%.

关键词： free piston linear generator (FPLG) charged scavenging engine control misfire stable operation

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单边直线感应电机纵向边缘效应的研究

徐伟,孙广生

《中国工程科学》 2007年第9卷第3期页码 21-27

摘要：

单边直线感应电机（SLIM）因结构简单牢固，直接产生前进的电磁推力，在交通中得到广泛应用。由于其磁路断续，电机运行中存在横向和纵向边缘效应；次级的入口和出口因气隙磁链守恒原理会产生涡流，并随速度上升而加大。边缘效应和涡流大小对直线电机气隙磁链产生重要影响，造成气隙有效磁通和牵引力系数降低。探讨直线电机工作特点，得到了电机d－q轴等效电路，通过d轴互感和电阻变化来实时反应第二纵向边缘效应和次级涡流的影响。结合旋转电机转子磁场矢量控制方法，建立了对应的SLIM控制方程。采用转子磁链、速度和电流三个调节器，提出了uds，uqs，iqs实时在线解耦补偿控制方法，对SLIM的推力、d－q轴电压、d－q轴磁链等进行调节和控制，对d轴互感大小进行限制。结果表明，该方法在电机速度突变时减小了力矩脉动，定子电流过渡平滑，速度平稳，改善了SLIM的运行性能，为电机实际运行分析提供了理论依据。

关键词：单边直线感应电机转子磁场定向控制边缘效应解耦补偿

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Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

Guisheng ZHAI, Masayuki NAKA, Tomoaki KOBAYASHI, Joe IMAE

《机械工程前沿（英文）》 2012年第7卷第1期页码 16-22 doi: 10.1007/s11465-012-0316-5

摘要：

This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled electric vehicles. The control problem is reduced to constructing a servo system tracking appropriate reference input, where the tracking is realized in the framework of ?∞ control. To deal with time-varying vehicle velocity for practical purpose, a gain scheduling strategy is developed to obtain the controller, where the lower and upper bounds of the velocity are used to obtain a polytopic range for the parameters in the system coefficient matrices. A numerical example is given to show validity of the proposed approach.

关键词： four-wheeled electric vehicles neutral steer sideslip reduction servo system ?∞ control&sortBy=weightDesc"> ?∞ control')" href="#">?∞ control gain scheduling linear matrix inequality (LMI)