Adaptive sliding mode control of tri-layer conjugated polymer actuators

International Nuclear Information System (INIS)

Wang, Xiangjiang; Alici, Gursel; Nguyen, Chuc Huu

2013-01-01

This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances. (paper)

Real time MHD mode control using ECCD in KSTAR: Plan and requirements

Energy Technology Data Exchange (ETDEWEB)

Joung, M.; Woo, M. H.; Jeong, J. H.; Hahn, S. H.; Yun, S. W.; Lee, W. R.; Bae, Y. S.; Oh, Y. K.; Kwak, J. G.; Yang, H. L. [National Fusion Research Institute, 52 Eoeun-dong, Yuseong-gu, Daejeon (Korea, Republic of); Namkung, W.; Park, H.; Cho, M. H. [Department of Physics, POSTECH, Hyoja-dong, Nam-gu, Pohang, Gyeongangbuk-do (Korea, Republic of); Kim, M. H.; Kim, K. J.; Na, Y. S. [Department of Nuclear Engineering, Seoul National University, Daehak-dong, Gwanak-gu, Seoul (Korea, Republic of); Hosea, J.; Ellis, R. [Princeton Plasma Physics Laboratory, Princeton (United States)

2014-02-12

For a high-performance, advanced tokamak mode in KSTAR, we have been developing a real-time control system of MHD modes such as sawtooth and Neo-classical Tearing Mode (NTM) by ECH/ECCD. The active feedback control loop will be also added to the mirror position and the real-time detection of the mode position. In this year, for the stabilization of NTM that is crucial to plasma performance we have implemented open-loop ECH antenna control system in KSTAR Plasma Control System (PCS) for ECH mirror movement during a single plasma discharge. KSTAR 170 GHz ECH launcher which was designed and fabricated by collaboration with PPPL and POSTECH has a final mirror of a poloidally and toroidally steerable mirror. The poloidal steering motion is only controlled in the real-time NTM control system and its maximum steering speed is 10 degree/sec by DC motor. However, the latency of the mirror control system and the return period of ECH antenna mirror angle are not fast because the existing launcher mirror control system is based on PLC which is connected to the KSTAR machine network through serial to LAN converter. In this paper, we present the design of real time NTM control system, ECH requirements, and the upgrade plan.

Active control of multiple resistive wall modes

International Nuclear Information System (INIS)

Brunsell, P. R.; Yadikin, D.; Gregoratto, D.; Paccagnella, R.; Liu, Y. Q.; Bolzonella, T.; Cecconello, M.; Drake, J. R.; Kuldkepp, M.; Manduchi, G.; Marchiori, G.; Marrelli, L.; Partin, P.; Menmuir, S.; Ortolani, S.; Rachlew, E.; Spizzo, S.; Zanca, P.

2005-01-01

Active magnetic feedback suppression of resistive wall modes is of common interest for several fusion concepts relying on close conducting walls for stabilization of ideal magnetohydrodynamic (MHD) modes. In the advanced tokamak without plasma rotation the kink mode is not completely stabilized, but rather converted into an unstable resistive wall mode (RWM) with a growth time comparable to the wall magnetic flux penetration time. The reversed field pinch (RFP) is similar to the advanced tokamak in the sense that it uses a conducting wall for kink mode stabilization. Also both configurations are susceptible to resonant field error amplification of marginally stable modes. However, the RFP has a different RWM spectrum and, in general, a range of modes is unstable. Hence, the requirement for simultaneous feedback stabilization of multiple independent RWMs arises for the RFP configuration. Recent experiments on RWM feedback stabilization, performed in the RFP device EXTRAP T2R [1], are presented. The experimental results obtained are the first demonstration of simultaneous feedback control of multiple independent RWMs [2]. Using an array of active magnetic coils, a reproducible suppression of several RWMs is achieved for the duration of the discharge, 3-5 wall times, through feedback action. An array with 64 active saddle coils at 4 poloidal times 16 toroidal positions is used. The important issues of side band generation by the active coil array and the accompanying coupling of different unstable modes through the feedback action are addressed in this study. Open loop control experiments have been carried out to quantitatively study resonant field error amplification. (Author)

Performance and Usability of Various Robotic Arm Control Modes from Human Force Signals

Directory of Open Access Journals (Sweden)

Sébastien Mick

2017-10-01

Full Text Available Elaborating an efficient and usable mapping between input commands and output movements is still a key challenge for the design of robotic arm prostheses. In order to address this issue, we present and compare three different control modes, by assessing them in terms of performance as well as general usability. Using an isometric force transducer as the command device, these modes convert the force input signal into either a position or a velocity vector, whose magnitude is linearly or quadratically related to force input magnitude. With the robotic arm from the open source 3D-printed Poppy Humanoid platform simulating a mobile prosthesis, an experiment was carried out with eighteen able-bodied subjects performing a 3-D target-reaching task using each of the three modes. The subjects were given questionnaires to evaluate the quality of their experience with each mode, providing an assessment of their global usability in the context of the task. According to performance metrics and questionnaire results, velocity control modes were found to perform better than position control mode in terms of accuracy and quality of control as well as user satisfaction and comfort. Subjects also seemed to favor quadratic velocity control over linear (proportional velocity control, even if these two modes did not clearly distinguish from one another when it comes to performance and usability assessment. These results highlight the need to take into account user experience as one of the key criteria for the design of control modes intended to operate limb prostheses.

Mode Selection Rules for a Two-Delay System with Positive and Negative Feedback Loops

Science.gov (United States)

Takahashi, Kin'ya; Kobayashi, Taizo

2018-04-01

The mode selection rules for a two-delay system, which has negative feedback with a short delay time t1 and positive feedback with a long delay time t2, are studied numerically and theoretically. We find two types of mode selection rules depending on the strength of the negative feedback. When the strength of the negative feedback |α1| (α1 0), 2m + 1-th harmonic oscillation is well sustained in a neighborhood of t1/t2 = even/odd, i.e., relevant condition. In a neighborhood of the irrelevant condition given by t1/t2 = odd/even or t1/t2 = odd/odd, higher harmonic oscillations are observed. However, if |α1| is slightly less than α2, a different mode selection rule works, where the condition t1/t2 = odd/even is relevant and the conditions t1/t2 = odd/odd and t1/t2 = even/odd are irrelevant. These mode selection rules are different from the mode selection rule of the normal two-delay system with two positive feedback loops, where t1/t2 = odd/odd is relevant and the others are irrelevant. The two types of mode selection rules are induced by individually different mechanisms controlling the Hopf bifurcation, i.e., the Hopf bifurcation controlled by the "boosted bifurcation process" and by the "anomalous bifurcation process", which occur for |α1| below and above the threshold value αth, respectively.

Impedance Control of the Rehabilitation Robot Based on Sliding Mode Control

Science.gov (United States)

Zhou, Jiawang; Zhou, Zude; Ai, Qingsong

As an auxiliary treatment, the 6-DOF parallel robot plays an important role in lower limb rehabilitation. In order to improve the efficiency and flexibility of the lower limb rehabilitation training, this paper studies the impedance controller based on the position control. A nonsingular terminal sliding mode control is developed to ensure the trajectory tracking precision and in contrast to traditional PID control strategy in the inner position loop, the system will be more stable. The stability of the system is proved by Lyapunov function to guarantee the convergence of the control errors. Simulation results validate the effectiveness of the target impedance model and show that the parallel robot can adjust gait trajectory online according to the human-machine interaction force to meet the gait request of patients, and changing the impedance parameters can meet the demands of different stages of rehabilitation training.

A robust H∞ control-based hierarchical mode transition control system for plug-in hybrid electric vehicle

Science.gov (United States)

Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng

2018-01-01

To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.

Implementation of a sliding-mode-based position sensorless drive for high-speed micro permanent-magnet synchronous motors.

Science.gov (United States)

Chi, Wen-Chun; Cheng, Ming-Yang

2014-03-01

Due to issues such as limited space, it is difficult if it is not impossible to employ a position sensor in the drive control of high-speed micro PMSMs. In order to alleviate this problem, this paper analyzes and implements a simple and robust position sensorless field-oriented control method of high-speed micro PMSMs based on the sliding-mode observer. In particular, the angular position and velocity of the rotor of the high-speed micro PMSM are estimated using the sliding-mode observer. This observer is able to accurately estimate rotor position in the low speed region and guarantee fast convergence of the observer in the high speed region. The proposed position sensorless control method is suitable for electric dental handpiece motor drives where a wide speed range operation is essential. The proposed sensorless FOC method is implemented using a cost-effective 16-bit microcontroller and tested in a prototype electric dental handpiece motor. Several experiments are performed to verify the effectiveness of the proposed method. © 2013 ISA. Published by Elsevier Ltd. All rights reserved.

Sun Safe Mode Controller Design for LADEE

Science.gov (United States)

Fusco, Jesse C.; Swei, Sean S. M.; Nakamura, Robert H.

2015-01-01

This paper presents the development of sun safe controllers which are designed to keep the spacecraft power positive and thermally balanced in the event an anomaly is detected. Employed by NASA's Lunar Atmosphere and Dust Environment Explorer (LADEE), the controllers utilize the measured sun vector and the spacecraft body rates for feedback control. To improve the accuracy of sun vector estimation, the least square minimization approach is applied to process the sensor data, which is proven to be effective and accurate. To validate the controllers, the LADEE spacecraft model engaging the sun safe mode was first simulated and then compared with the actual LADEE orbital fight data. The results demonstrated the applicability of the proposed sun safe controllers.

Time and positioning characteristics of the SQS mode

International Nuclear Information System (INIS)

Fraga, F.A.F. de; Ferreira Marques, R.; Policarpo, A.J.P.L.; Coimbra Univ.; Coimbra Univ.

1989-01-01

Previous results on the azimuthal localization of punctual interactions using the self-quenching streamer (SQS) mode, as given by the direction of the SQS avalanche, have shown a marked improvement in resolution when the current pulses are integrated for short times. In this work, data concerning the position resolution along the wire in the SQS mode for the argon-48% isobutane mixture, using a 55 Fe source, are presented. Essentially the same effect was detected: The FWHM, larger than 500 μm for the total signal duration, is reduced to about 300 μm for a 10 ns gate. This improvement in position resolution is practically independent of the anode voltage, all along the plateau. (orig.)

Feedback control of plasma position in the HL-1 tokamak

International Nuclear Information System (INIS)

Yuan Baoshan; Jiao Boliang; Yang Kailing

1991-01-01

In the HL-1 tokamak with a thick copper shell, the control of plasma position is successfully performed by a feedback-feedforward system with dual mode regulator and the equilibrium field coils outside the shell. The plasma position can be controlled within ±2 mm in both vertical and horizontal directions under the condition that the iron core of transformer is not saturated

On decentralized adaptive full-order sliding mode control of multiple UAVs.

Science.gov (United States)

Xiang, Xianbo; Liu, Chao; Su, Housheng; Zhang, Qin

2017-11-01

In this study, a novel decentralized adaptive full-order sliding mode control framework is proposed for the robust synchronized formation motion of multiple unmanned aerial vehicles (UAVs) subject to system uncertainty. First, a full-order sliding mode surface in a decentralized manner is designed to incorporate both the individual position tracking error and the synchronized formation error while the UAV group is engaged in building a certain desired geometric pattern in three dimensional space. Second, a decentralized virtual plant controller is constructed which allows the embedded low-pass filter to attain the chattering free property of the sliding mode controller. In addition, robust adaptive technique is integrated in the decentralized chattering free sliding control design in order to handle unknown bounded uncertainties, without requirements for assuming a priori knowledge of bounds on the system uncertainties as stated in conventional chattering free control methods. Subsequently, system robustness as well as stability of the decentralized full-order sliding mode control of multiple UAVs is synthesized. Numerical simulation results illustrate the effectiveness of the proposed control framework to achieve robust 3D formation flight of the multi-UAV system. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive Sliding Mode Robust Control for Virtual Compound-Axis Servo System

Directory of Open Access Journals (Sweden)

Yan Ren

2013-01-01

Full Text Available A structure mode of virtual compound-axis servo system is proposed to improve the tracking accuracy of the ordinary optoelectric tracking platform. It is based on the structure and principles of compound-axis servo system. A hybrid position control scheme combining the PD controller and feed-forward controller is used in subsystem to track the tracking error of the main system. This paper analyzes the influences of the equivalent disturbance in main system and proposes an adaptive sliding mode robust control method based on the improved disturbance observer. The sliding mode technique helps this disturbance observer to deal with the uncompensated disturbance in high frequency by making use of the rapid switching control value, which is based on the subtle error of disturbance estimation. Besides, the high-frequency chattering is alleviated effectively in this proposal. The effectiveness of the proposal is confirmed by experiments on optoelectric tracking platform.

Neural Adaptive Sliding-Mode Control of a Vehicle Platoon Using Output Feedback

Directory of Open Access Journals (Sweden)

Maode Yan

2017-11-01

Full Text Available This paper investigates the output feedback control problem of a vehicle platoon with a constant time headway (CTH policy, where each vehicle can communicate with its consecutive vehicles. Firstly, based on the integrated-sliding-mode (ISM technique, a neural adaptive sliding-mode control algorithm is developed to ensure that the vehicle platoon is moving with the CTH policy and full state measurement. Then, to further decrease the measurement complexity and reduce the communication load, an output feedback control protocol is proposed with only position information, in which a higher order sliding-mode observer is designed to estimate the other required information (velocities and accelerations. In order to avoid collisions among the vehicles, the string stability of the whole vehicle platoon is proven through the stability theorem. Finally, numerical simulation results are provided to verify its effectiveness and advantages over the traditional sliding-mode control method in vehicle platoons.

Position and attitude tracking control for a quadrotor UAV.

Science.gov (United States)

Xiong, Jing-Jing; Zheng, En-Hui

2014-05-01

A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Advanced control of piezoelectric micro-nano-positioning systems

CERN Document Server

Xu, Qingsong

2016-01-01

This book explores emerging methods and algorithms that enable precise control of micro-/nano-positioning systems. The text describes three control strategies: hysteresis-model-based feedforward control and hysteresis-model-free feedback control based on and free from state observation. Each paradigm receives dedicated attention within a particular part of the text. Readers are shown how to design, validate and apply a variety of new control approaches in micromanipulation: hysteresis modelling, discrete-time sliding-mode control and model-reference adaptive control. Experimental results are provided throughout and build up to a detailed treatment of practical applications in the fourth part of the book. The applications focus on control of piezoelectric grippers. Advanced Control of Piezoelectric Micro-/Nano-Positioning Systems will assist academic researchers and practising control and mechatronics engineers interested in suppressing sources of nonlinearity such as hysteresis and drift when combining positi...

Continuous, saturation, and discontinuous tokamak plasma vertical position control systems

Energy Technology Data Exchange (ETDEWEB)

Mitrishkin, Yuri V., E-mail: y_mitrishkin@hotmail.com [M. V. Lomonosov Moscow State University, Faculty of Physics, Moscow 119991 (Russian Federation); Pavlova, Evgeniia A., E-mail: janerigoler@mail.ru [M. V. Lomonosov Moscow State University, Faculty of Physics, Moscow 119991 (Russian Federation); Kuznetsov, Evgenii A., E-mail: ea.kuznetsov@mail.ru [Troitsk Institute for Innovation and Fusion Research, Moscow 142190 (Russian Federation); Gaydamaka, Kirill I., E-mail: k.gaydamaka@gmail.com [V. A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences, Moscow 117997 (Russian Federation)

2016-10-15

Highlights: • Robust new linear state feedback control system for tokamak plasma vertical position. • Plasma vertical position relay control system with voltage inverter in sliding mode. • Design of full models of multiphase rectifier and voltage inverter. • First-order unit approximation of full multiphase rectifier model with high accuracy. • Wider range of unstable plant parameters of stable control system with multiphase rectifier. - Abstract: This paper is devoted to the design and comparison of unstable plasma vertical position control systems in the T-15 tokamak with the application of two types of actuators: a multiphase thyristor rectifier and a transistor voltage inverter. An unstable dynamic element obtained by the identification of plasma-physical DINA code was used as the plasma model. The simplest static feedback state space control law was synthesized as a linear combination of signals accessible to physical measurements, namely the plasma vertical displacement, the current, and the voltage in a horizontal field coil, to solve the pole placement problem for a closed-loop system. Only one system distinctive parameter was used to optimize the performance of the feedback system, viz., a multiple real pole. A first-order inertial unit was used as the rectifier model in the feedback. A system with a complete rectifier model was investigated as well. A system with the voltage inverter model and static linear controller was brought into a sliding mode. As this takes place, real time delays were taken into account in the discontinuous voltage inverter model. The comparison of the linear and sliding mode systems showed that the linear system enjoyed an essentially wider range of the plant model parameters where the feedback system was stable.

Continuous, saturation, and discontinuous tokamak plasma vertical position control systems

International Nuclear Information System (INIS)

Mitrishkin, Yuri V.; Pavlova, Evgeniia A.; Kuznetsov, Evgenii A.; Gaydamaka, Kirill I.

2016-01-01

Highlights: • Robust new linear state feedback control system for tokamak plasma vertical position. • Plasma vertical position relay control system with voltage inverter in sliding mode. • Design of full models of multiphase rectifier and voltage inverter. • First-order unit approximation of full multiphase rectifier model with high accuracy. • Wider range of unstable plant parameters of stable control system with multiphase rectifier. - Abstract: This paper is devoted to the design and comparison of unstable plasma vertical position control systems in the T-15 tokamak with the application of two types of actuators: a multiphase thyristor rectifier and a transistor voltage inverter. An unstable dynamic element obtained by the identification of plasma-physical DINA code was used as the plasma model. The simplest static feedback state space control law was synthesized as a linear combination of signals accessible to physical measurements, namely the plasma vertical displacement, the current, and the voltage in a horizontal field coil, to solve the pole placement problem for a closed-loop system. Only one system distinctive parameter was used to optimize the performance of the feedback system, viz., a multiple real pole. A first-order inertial unit was used as the rectifier model in the feedback. A system with a complete rectifier model was investigated as well. A system with the voltage inverter model and static linear controller was brought into a sliding mode. As this takes place, real time delays were taken into account in the discontinuous voltage inverter model. The comparison of the linear and sliding mode systems showed that the linear system enjoyed an essentially wider range of the plant model parameters where the feedback system was stable.

Vibration Control of Flexible Mode for a Beam-Type Substrate Transport Robot

Directory of Open Access Journals (Sweden)

Cheol Hoon Park

2013-07-01

Full Text Available Beam-type substrate transport robots are widely used to handle substrates, especially in the solar cell manufacturing process. To reduce the takt time and increase productivity, accurate position control becomes increasingly important as the size of the substrate increases. However, the vibration caused by the flexible forks in beam-type robots interferes with accurate positioning, which results in long takt times in the manufacturing process. To minimize the vibration and transport substrates on the fork as fast as possible, the trajectories should be prevented from exciting the flexible modes of the forks. For this purpose, a fifth-order polynomial trajectory generator and input shaping were incorporated into the controller of the beam-type robot in this study. The flexible modes of the forks were identified by measuring the frequency response function (FRF, and the input shaping was designed so as not to excite the flexible modes. The controller was implemented by using MATLAB/xPC Target. In this paper, the design procedure of input shaping and its effectiveness for vibration attenuation in both “no load” and “load” cases is presented.

Applications of sliding mode control in science and engineering

CERN Document Server

Lien, Chang-Hua

2017-01-01

Gathering 20 chapters contributed by respected experts, this book reports on the latest advances in and applications of sliding mode control in science and engineering. The respective chapters address applications of sliding mode control in the broad areas of chaos theory, robotics, electrical engineering, physics, chemical engineering, memristors, mechanical engineering, environmental engineering, finance, and biology. Special emphasis has been given to papers that offer practical solutions, and which examine design and modeling involving new types of sliding mode control such as higher order sliding mode control, terminal sliding mode control, super-twisting sliding mode control, and integral sliding mode control. This book serves as a unique reference guide to sliding mode control and its recent applications for graduate students and researchers with a basic knowledge of electrical and control systems engineering.

Sensorless sliding mode torque control of an IPMSM drive based on active flux concept

Directory of Open Access Journals (Sweden)

A.A. Hassan

2012-03-01

Full Text Available This paper investigates a novel direct torque control of a sensorless interior permanent magnet synchronous motor based on a sliding mode technique. The speed and position of the interior permanent magnet synchronous motor are estimated online based on active flux concept. To overcome the large ripple content associated with the direct torque, a torque/flux sliding mode controller has been employed. Two integral surface functions are used to construct the sliding mode controller. The command voltage is estimated from the torque and flux errors based on the two switching functions. The idea of the total sliding mode is used to eliminate the problem of reaching phase stability. The space vector modulation is combined with the sliding mode controller to ensure minimum torque and flux ripples and provides high resolution voltage control. The proposed scheme has the advantages of simple implementation, and does not require an external signal injection. In addition, it combines the merits of the direct torque control, sliding mode controller, and space vector modulation besides to the sensorless control. Simulation works are carried out to demonstrate the ability of the proposed scheme at different operating conditions. The results confirm the high performance of the proposed scheme at standstill, low and high speeds including load disturbance and parameters variation.

Automated bead-positioning system for measuring impedances of R-F cavity modes

International Nuclear Information System (INIS)

Goldberg, D.A.; Rimmer, R.A.

1993-05-01

We describe a fully automated bead puller system which uses stepping motors to position the bead, and an HP-8510 network analyzer to measure the resulting frequency shifts, both devices being under computer control. Longitudinal motion of the bead is used for measurement of cavity shunt impedance. In addition, azimuthal scans at fixed longitudinal position aid in determining the multipole character of higher-order modes. High sensitivity/accuracy is made possible by measuring phase shifts at the unperturbed resonant frequencies (rather than frequency shifts themselves), thereby permitting averaging factors of > 500 with only modest increases in data acquisition time. Sample measurements will be presented. A comprehensive analysis of the experimental results is presented in an accompanying paper

Chaos control using sliding-mode theory

International Nuclear Information System (INIS)

Nazzal, Jamal M.; Natsheh, Ammar N.

2007-01-01

Chaos control means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, a nonlinear Sliding-Mode Controller (SMC) is presented. Two nonlinear chaotic systems are chosen to be our case study in this paper, the well known Chua's circuit and Lorenz system. The study shows the effectiveness of the designed nonlinear Sliding-Mode Controller

Friction-resilient position control for machine tools—Adaptive and sliding-mode methods compared

DEFF Research Database (Denmark)

Papageorgiou, Dimitrios; Blanke, Mogens; Niemann, Hans Henrik

2018-01-01

Robust trajectory tracking and increasing demand for high-accuracy tool positioning have motivated research in advanced control design for machine tools. State-of-the-art industry solutions employ cascades of Proportional (P) and Proportional-Integral (PI) controllers for closed-loop servo contro...

DETERMINATION OF BRAKING OPTIMAL MODE OF CONTROLLED CUT OF DESIGN GROUP

Directory of Open Access Journals (Sweden)

A. S. Dorosh

2015-06-01

Full Text Available Purpose. The application of automation systems of breaking up process on the gravity hump is the efficiency improvement of their operation, absolute provision of trains breaking up safety demands, as well as improvement of hump staff working conditions. One of the main tasks of the indicated systems is the assurance of cuts reliable separation at all elements of their rolling route to the classification track. This task is a sophisticated optimization problem and has not received a final decision. Therefore, the task of determining the cuts braking mode is quite relevant. The purpose of this research is to find the optimal braking mode of control cut of design group. Methodology. In order to achieve the purpose is offered to use the direct search methods in the work, namely the Box complex method. This method does not require smoothness of the objective function, takes into account its limitations and does not require calculation of the function derivatives, and uses only its value. Findings. Using the Box method was developed iterative procedure for determining the control cut optimal braking mode of design group. The procedure maximizes the smallest controlled time interval in the group. To evaluate the effectiveness of designed procedure the series of simulation experiments of determining the control cut braking mode of design group was performed. The results confirmed the efficiency of the developed optimization procedure. Originality. The author formalized the task of optimizing control cut braking mode of design group, taking into account the cuts separation of design group at all elements (switches, retarders during cuts rolling to the classification track. The problem of determining the optimal control cut braking mode of design group was solved. The developed braking mode ensures cuts reliable separation of the group not only at the switches but at the retarders of brake position. Practical value. The developed procedure can be

Consensus positive position feedback control for vibration attenuation of smart structures

Science.gov (United States)

Omidi, Ehsan; Nima Mahmoodi, S.

2015-04-01

This paper presents a new network-based approach for active vibration control in smart structures. In this approach, a network with known topology connects collocated actuator/sensor elements of the smart structure to one another. Each of these actuators/sensors, i.e., agent or node, is enhanced by a separate multi-mode positive position feedback (PPF) controller. The decentralized PPF controlled agents collaborate with each other in the designed network, under a certain consensus dynamics. The consensus constraint forces neighboring agents to cooperate with each other such that the disagreement between the time-domain actuation of the agents is driven to zero. The controller output of each agent is calculated using state-space variables; hence, optimal state estimators are designed first for the proposed observer-based consensus PPF control. The consensus controller is numerically investigated for a flexible smart structure, i.e., a thin aluminum beam that is clamped at its both ends. Results demonstrate that the consensus law successfully imposes synchronization between the independently controlled agents, as the disagreements between the decentralized PPF controller variables converge to zero in a short time. The new consensus PPF controller brings extra robustness to vibration suppression in smart structures, where malfunctions of an agent can be compensated for by referencing the neighboring agents’ performance. This is demonstrated in the results by comparing the new controller with former centralized PPF approach.

A Sliding Mode Control-based on a RBF Neural Network for Deburring Industry Robotic Systems

OpenAIRE

Tao, Yong; Zheng, Jiaqi; Lin, Yuanchang

2016-01-01

A sliding mode control method based on radial basis function (RBF) neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC) has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network par...

Higher-order-mode damper as beam-position monitors; Higher-Order-Mode Daempfer als Stahllagemonitore

Energy Technology Data Exchange (ETDEWEB)

Peschke, C.

2006-03-15

In the framework of this thesis a beam-position monitor was developed, which can only because of the signals from the HOM dampers of a linear-accelerator structure determine the beam position with high accuracy. For the unique determination of the beam position in the plane a procedure was developed, which uses the amplitudes and the start-phase difference between a dipole mode and a higher monopole mode. In order tocheck the suitability of the present SBLC-HOM damper as beam position monitor three-dimensional numerical field calculations in the frequency and time range and measurements on the damper cell were performed. For the measurements without beam a beam simulator was constructed, which allows computer-driven measurements with variable depositions of the simulated beam with a resolution of 1.23 {mu}m. Because the complete 6 m long, 180-cell accelerator structure was not available for measurements and could also with the available computers not be three-dimensionally simulated simulated, a one-dimensional equivalent-circuit based model of the multi-cell was studied. The equivalent circuits with 879 concentrated components regards the detuning from cell to cell, the cell losses, the damper losses, and the beam excitation in dependence on the deposition. the measurements and simulations let a resolution of the ready beam-position monitor on the 180-cell in the order of magnitude of 1-10 {mu}m and a relative accuracy smaller 6.2% be expected.

Control rod position control device

International Nuclear Information System (INIS)

Ubukata, Shinji.

1997-01-01

The present invention provides a control rod position control device which stores data such as of position signals and driving control rod instruction before and after occurrence of abnormality in control for the control rod position for controlling reactor power and utilized the data effectively for investigating the cause of abnormality. Namely, a plurality of individual control devices have an operation mismatching detection circuit for outputting signals when difference is caused between a driving instruction given to the control rod position control device and the control rod driving means and signals from a detection means for detecting an actual moving amount. A general control device collectively controls the individual control devices. In addition, there is also disposed a position storing circuit for storing position signals at least before and after the occurrence of the control rod operation mismatching. With such procedures, the cause of the abnormality can be determined based on the position signals before and after the occurrence of control rod mismatching operation stored in the position storing circuit. Accordingly, the abnormality cause can be determined to conduct restoration in an early stage. (I.S.)

Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

DEFF Research Database (Denmark)

Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

2005-01-01

This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...

A multi-mode operation control strategy for flexible microgrid based on sliding-mode direct voltage and hierarchical controls.

Science.gov (United States)

Zhang, Qinjin; Liu, Yancheng; Zhao, Youtao; Wang, Ning

2016-03-01

Multi-mode operation and transient stability are two problems that significantly affect flexible microgrid (MG). This paper proposes a multi-mode operation control strategy for flexible MG based on a three-layer hierarchical structure. The proposed structure is composed of autonomous, cooperative, and scheduling controllers. Autonomous controller is utilized to control the performance of the single micro-source inverter. An adaptive sliding-mode direct voltage loop and an improved droop power loop based on virtual negative impedance are presented respectively to enhance the system disturbance-rejection performance and the power sharing accuracy. Cooperative controller, which is composed of secondary voltage/frequency control and phase synchronization control, is designed to eliminate the voltage/frequency deviations produced by the autonomous controller and prepare for grid connection. Scheduling controller manages the power flow between the MG and the grid. The MG with the improved hierarchical control scheme can achieve seamless transitions from islanded to grid-connected mode and have a good transient performance. In addition the presented work can also optimize the power quality issues and improve the load power sharing accuracy between parallel VSIs. Finally, the transient performance and effectiveness of the proposed control scheme are evaluated by theoretical analysis and simulation results. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

High-Order Sliding Mode-Based Synchronous Control of a Novel Stair-Climbing Wheelchair Robot

Directory of Open Access Journals (Sweden)

Juanxiu Liu

2015-01-01

Full Text Available For the attitude control of a novel stair-climbing wheelchair with inertial uncertainties and external disturbance torques, a new synchronous control method is proposed via combing high-order sliding mode control techniques with cross-coupling techniques. For this purpose, a proper controller is designed, which can improve the performance of the system under conditions of uncertainties and torque perturbations and also can guarantee the synchronization of the system. Firstly, a robust high-order sliding mode control law is designed to track the desired position trajectories effectively. Secondly, considering the coordination of the multiple joints, a high-order sliding mode synchronization controller is designed to reduce the synchronization errors and tracking errors based on the controller designed previously. Stability of the closed-loop system is proved by Lyapunov theory. The simulation is performed by MATLAB to verify the effectiveness of the proposed controller. By comparing the simulation results of two controllers, it is obvious that the proposed scheme has better performance and stronger robustness.

Sliding Mode Control of a Slewing Flexible Beam

Science.gov (United States)

Wilson, David G.; Parker, Gordon G.; Starr, Gregory P.; Robinett, Rush D., III

1997-01-01

An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

Sliding Mode Control of Induction Motor Phase Currents

DEFF Research Database (Denmark)

Hansen, R.B.; Hattel, T.; Bork, J

1995-01-01

Sliding mode control of induction motor phase currents are investigated through development of two control concepts.......Sliding mode control of induction motor phase currents are investigated through development of two control concepts....

A modern automatic Carriage-Trolley Position Control System for Dhruva fuelling machine

International Nuclear Information System (INIS)

Agrawal, Ankit; Hari Balakrishna; Narvekar, J.P.; Sanadhya, Vivek

2014-01-01

A fully automatic absolute encoder based position control system has been designed developed implemented and commissioned for the Dhruva Fuelling Machine A (FM/A). This supports both the coarse and fine positioning modes. Provision for fully manual positioning as a standby system has been retained. This system replaces the ageing peg counting based incremental positioner used briefly during the early period after the Dhruva FM/A was commissioned. The older system suffered from peg detection skipping problems; hence it was not being used. Only full manual positioning was being carried out. This paper describes the automatic Carriage Trolley Position Control System (CTPCS). (author)

On spacecraft maneuvers control subject to propellant engine modes.

Science.gov (United States)

Mazinan, A H

2015-09-01

The paper attempts to address a new control approach to spacecraft maneuvers based upon the modes of propellant engine. A realization of control strategy is now presented in engine on mode (high thrusts as well as further low thrusts), which is related to small angle maneuvers and engine off mode (specified low thrusts), which is also related to large angle maneuvers. There is currently a coarse-fine tuning in engine on mode. It is shown that the process of handling the angular velocities are finalized via rate feedback system in engine modes, where the angular rotations are controlled through quaternion based control (QBCL)strategy in engine off mode and these ones are also controlled through an optimum PID (OPIDH) strategy in engine on mode. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

Second order sliding mode control for a quadrotor UAV.

Science.gov (United States)

Zheng, En-Hui; Xiong, Jing-Jing; Luo, Ji-Liang

2014-07-01

A method based on second order sliding mode control (2-SMC) is proposed to design controllers for a small quadrotor UAV. For the switching sliding manifold design, the selection of the coefficients of the switching sliding manifold is in general a sophisticated issue because the coefficients are nonlinear. In this work, in order to perform the position and attitude tracking control of the quadrotor perfectly, the dynamical model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. For the former, a sliding manifold is defined by combining the position and velocity tracking errors of one state variable, i.e., the sliding manifold has two coefficients. For the latter, a sliding manifold is constructed via a linear combination of position and velocity tracking errors of two state variables, i.e., the sliding manifold has four coefficients. In order to further obtain the nonlinear coefficients of the sliding manifold, Hurwitz stability analysis is used to the solving process. In addition, the flight controllers are derived by using Lyapunov theory, which guarantees that all system state trajectories reach and stay on the sliding surfaces. Extensive simulation results are given to illustrate the effectiveness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Implementation and flight-test of a multi-mode rotorcraft flight-control system for single-pilot use in poor visibility

Science.gov (United States)

Hindson, William S.

1987-01-01

A flight investigation was conducted to evaluate a multi-mode flight control system designed according to the most recent recommendations for handling qualities criteria for new military helicopters. The modes and capabilities that were included in the system are those considered necessary to permit divided-attention (single-pilot) lowspeed and hover operations near the ground in poor visibility conditions. Design features included mode-selection and mode-blending logic, the use of an automatic position-hold mode that employed precision measurements of aircraft position, and a hover display which permitted manually-controlled hover flight tasks in simulated instrument conditions. Pilot evaluations of the system were conducted using a multi-segment evaluation task. Pilot comments concerning the use of the system are provided, and flight-test data are presented to show system performance.

Hysteresis Analysis and Positioning Control for a Magnetic Shape Memory Actuator

Science.gov (United States)

Lin, Jhih-Hong; Chiang, Mao-Hsiung

2015-01-01

Magnetic shape memory alloys (MSM alloys), a new kind of smart materials, have become a potential candidate in many engineering fields. MSMs have the advantage of bearing a huge strain, much larger than other materials. In addition, they also have fast response. These characteristics make MSM a good choice in micro engineering. However, MSMs display the obvious hysteresis phenomenon of nonlinear behavior. Thus the difficulty in using the MSM element as a positioning actuator is increased due to the hysteresis. In this paper, the hysteresis phenomenon of the MSM actuator is analyzed, and the closed-loop positioning control is also implemented experimentally. For that, a modified fuzzy sliding mode control (MFSMC) is proposed. The MFSMC and the PID control are used to design the controllers for realizing the positioning control. The experimental results are compared under different experimental conditions, such as different frequency, amplitude, and loading. The experimental results show that the precise positioning control of MFSMC can be achieved satisfactorily. PMID:25853405

Emotional modulation of control dilemmas: the role of positive affect, reward, and dopamine in cognitive stability and flexibility.

Science.gov (United States)

Goschke, Thomas; Bolte, Annette

2014-09-01

Goal-directed action in changing environments requires a dynamic balance between complementary control modes, which serve antagonistic adaptive functions (e.g., to shield goals from competing responses and distracting information vs. to flexibly switch between goals and behavioral dispositions in response to significant changes). Too rigid goal shielding promotes stability but incurs a cost in terms of perseveration and reduced flexibility, whereas too weak goal shielding promotes flexibility but incurs a cost in terms of increased distractibility. While research on cognitive control has long been conducted relatively independently from the study of emotion and motivation, it is becoming increasingly clear that positive affect and reward play a central role in modulating cognitive control. In particular, evidence from the past decade suggests that positive affect not only influences the contents of cognitive processes, but also modulates the balance between complementary modes of cognitive control. In this article we review studies from the past decade that examined effects of induced positive affect on the balance between cognitive stability and flexibility with a focus on set switching and working memory maintenance and updating. Moreover, we review recent evidence indicating that task-irrelevant positive affect and performance-contingent rewards exert different and sometimes opposite effects on cognitive control modes, suggesting dissociations between emotional and motivational effects of positive affect. Finally, we critically review evidence for the popular hypothesis that effects of positive affect may be mediated by dopaminergic modulations of neural processing in prefrontal and striatal brain circuits, and we refine this "dopamine hypothesis of positive affect" by specifying distinct mechanisms by which dopamine may mediate effects of positive affect and reward on cognitive control. We conclude with a discussion of limitations of current research, point to

From the doctor's workshop to the iron cage? Evolving modes of physician control in US health systems.

Science.gov (United States)

Kitchener, Martin; Caronna, Carol A; Shortell, Stephen M

2005-03-01

As national health systems pursue the common goals of containing expenditure growth and improving quality, many have sought to replace autonomous modes (systems) of physician control that rely on initial professional training and subsequent peer review. A common approach has involved extending bureaucratic modes of physician control that employ techniques such as hierarchical coordination and salaried positions. This paper applies concepts from studies of professional work to frame an empirical analysis of emergent bureaucratic modes of physician control in US hospital-based systems. Conceptually, we draw from recent studies to update Scott's (Health Services Res. 17(3) (1982) 213) typology to specify three bureaucratic modes of physician control: heteronomous, conjoint, and custodial. Empirically, we use case study evidence from eight US hospital-based systems to illustrate the heterogeneity of bureaucratic modes of physician control that span each of the ideal types. The findings indicate that some influential analysts perpetuate a caricature of bureaucratic organization which underplays its capacity to provide multiple modes of physician control that maintain professional autonomy over the content of work, and present opportunities for aligning practice with social goals.

Implementation Of Automatic Wiper Speed Control And Headlight Modes Control Systems Using Fuzzy Logic

OpenAIRE

ThetKoKo; ZawMyoTun; Hla Myo Tun

2015-01-01

Abstract This research paper describes the design and simulation of the automatic wiper speed and headlight modes controllers using fuzzy logic. This proposed system consists of a fuzzy logic controller to control a cars wiper speed and headlight modes. The automatic wiper system detects the rain and its intensity. And according to the rain intensity the wiper speed is automatically controlled. Headlight modes automatically changes either from low beam mode to high beam mode or form high beam...

Sliding-Mode Control of PEM Fuel Cells

CERN Document Server

Kunusch, Cristian; Mayosky, Miguel

2012-01-01

Recent advances in catalysis technologies and new materials make fuel cells an economically appealing and clean energy source with massive market potential in portable devices, home power generation and the automotive industry. Among the more promising fuel-cell technologies are proton exchange membrane fuel cells (PEMFCs). Sliding-Mode Control of PEM Fuel Cells demonstrates the application of higher-order sliding-mode control to PEMFC dynamics. Fuel-cell dynamics are often highly nonlinear and the text shows the advantages of sliding modes in terms of robustness to external disturbance, modelling error and system-parametric disturbance using higher-order control to reduce chattering. Divided into two parts, the book first introduces the theory of fuel cells and sliding-mode control. It begins by contextualising PEMFCs both in terms of their development and within the hydrogen economy and today’s energy production situation as a whole. The reader is then guided through a discussion of fuel-cell operation pr...

Fuzzy Backstepping Sliding Mode Control for Mismatched Uncertain System

Directory of Open Access Journals (Sweden)

H. Q. Hou

2014-06-01

Full Text Available Sliding mode controllers have succeeded in many control problems that the conventional control theories have difficulties to deal with; however it is practically impossible to achieve high-speed switching control. Therefore, in this paper an adaptive fuzzy backstepping sliding mode control scheme is derived for mismatched uncertain systems. Firstly fuzzy sliding mode controller is designed using backstepping method based on the Lyapunov function approach, which is capable of handling mismatched problem. Then fuzzy sliding mode controller is designed using T-S fuzzy model method, it can improve the performance of the control systems and their robustness. Finally this method of control is applied to nonlinear system as a case study; simulation results are also provided the performance of the proposed controller.

Sliding mode control on electro-mechanical systems

Directory of Open Access Journals (Sweden)

Vadim I. Utkin

2002-01-01

Full Text Available The first sliding mode control application may be found in the papers back in the 1930s in Russia. With its versatile yet simple design procedure the methodology is proven to be one of the most powerful solutions for many practical control designs. For the sake of demonstration this paper is oriented towards application aspects of sliding mode control methodology. First the design approach based on the regularization is generalized for mechanical systems. It is shown that stability of zero dynamics should be taken into account when the regular form consists of blocks of second-order equations. Majority of applications in the paper are related to control and estimation methods of automotive industry. New theoretical methods are developed in the context of these studies: sliding made nonlinear observers, observers with binary measurements, parameter estimation in systems with sliding mode control.

Investigation on the Development of a Sliding Mode Controller for Constant Power Loads in Microgrids

Directory of Open Access Journals (Sweden)

Eklas Hossain

2017-07-01

Full Text Available To implement renewable energy resources, microgrid systems have been adopted and developed into the technology of choice to assure mass electrification in the next decade. Microgrid systems have a number of advantages over conventional utility grid systems, however, they face severe instability issues due to the continually increasing constant power loads. To improve the stability of the entire system, the load side compensation technique is chosen because of its robustness and cost effectiveness. In this particular occasion, a sliding mode controller is developed for a microgrid system in the presence of constant power loads to assure a certain control objective of keeping the output voltage constant at 480 V. After that, a robustness analysis of the sliding mode controller against parametric uncertainties was performed and the sliding mode controller’s robustness against parametric uncertainties, frequency variations, and additive white Gaussian noise (AWGN are presented. Later, the performance of the proportional integral derivative (PID and sliding mode controller are compared in the case of nonlinearity, parameter uncertainties, and noise rejection to justify the selection of the sliding mode controller over the PID controller. All the necessary calculations are reckoned mathematically and results are verified in a virtual platform such as MATLAB/Simulink with a positive outcome.

Hysteresis Compensation and Sliding Mode Control with Perturbation Estimation for Piezoelectric Actuators

Directory of Open Access Journals (Sweden)

Bingxiao Ding

2018-05-01

Full Text Available Based on the background of atomic force microscope (AFM driven by piezoelectric actuators (PEAs, this paper proposes a sliding mode control coupled with an inverse Bouc–Wen (BW hysteresis compensator to improve the positioning performance of PEAs. The intrinsic hysteresis and creep characteristics degrade the performance of the PEA and cause accuracy loss. Although creep effect can be eliminated by the closed-loop control approach, hysteresis effects need to be compensated and alleviated by hysteresis compensators. For the purpose of dealing with the estimation errors, unmodeled vibration, and disturbances, a sliding mode control with perturbation estimation (SMCPE method is adopted to enhance the performance and robustness of the system. In order to validate the feasibility and performance of the proposed method, experimental studies are carried out, and the results show that the proposed controller performs better than a proportional-integral-derivative (PID controller at 1 and 2 Hz, reducing error to 1.2% and 1.4%, respectively.

Electro-Pneumatic Control System with Hydraulically Positioning Actuator Motor

Directory of Open Access Journals (Sweden)

V. N. Pilgunov

2016-01-01

factors, which determine operation conditions of the pneumatic cylinder, have the impact on it. Experimental investigation of piston landing was conducted using the pneumatic cylinder with piston and rod diameters of 32 and 16 mm, respectively, at operating pressure of 0.8 MPa. With a vertical arrangement of the pneumatic cylinder axis, the control weights of a dead-weight pressure-gauge tester created a constant component of the load and its variation, and an indicator with resolution of 0.05 mm estimated a landing value. The article shows the calculated data of piston landing, which are in good compliance with the experimental results.To substantially reduce the piston landing for the holding period of the load varying in value and sign was designed a hydraulic positioner of pneumatic cylinder piston, and its operation quality is studied on the physical layout of electro-pneumatic control system operating in the discrete and tracking modes.For control system service, work programs of the programmable logic controller integrated in the control circuit of the hydraulic positioner in discrete mode, and, as a digital discriminator, in tracking mode are developed. In conclusion as a result of the research activities the article estimates the impact of factors on the quality of the load position at the time of its hold and notes a high efficiency of the hydraulic positioner of pneumatic cylinder piston both in discrete mode and in tracking one.

Higher order mode spectra and the dependence of localized dipole modes on the transverse beam position in third harmonic superconducting cavities at FLASH

Energy Technology Data Exchange (ETDEWEB)

Zhang, Pei [Manchester Univ. (United Kingdom); Deutsches Elektronen-Synchrotron (DESY), Hamburg (Germany); Baboi, Nicoleta [Deutsches Elektronen-Synchrotron (DESY), Hamburg (Germany); Jones, Roger M. [The Cockcroft Institute, Daresbury (United Kingdom)

2012-06-15

An electron beam entering an accelerating cavity excites a wakefield. This wakefield can be decomposed into a series of multi-poles or modes. The dominant component of the transverse wakefield is dipole. This report summarizes the higher order mode (HOM) signals of the third harmonic cavities of FLASH measured at various stages: transmission measurements in the single cavity test stand at Fermilab, at CMTB (Cryo- Module Test Bench) and at FLASH, and beam-excited measurements at FLASH. Modes in the first two dipole bands and the fifth dipole band have been identified using a global Lorentzian fit technique. The beam-pipe modes at approximately 4 GHz and some modes in the fifth dipole band have been observed as localized modes, while the first two dipole bands, containing some strong coupling cavity modes, propagate. This report also presents the dependence of the localized dipole modes on the transverse beam position. Linear dependence for various modes has been observed. This makes them suitable for beam position diagnostics. These modes, together with some propagating, strong coupling modes, have been considered in the design of a dedicated electronics for beam diagnostics with HOMs for the third harmonic cavities.

Control system of neoclassical tearing modes in real time on HL-2A tokamak

Science.gov (United States)

Yan, Longwen; Ji, Xiaoquan; Song, Shaodong; Xia, Fan; Xu, Yuan; Ye, Jiruo; Jiang, Min; Chen, Wenjin; Sun, Tengfei; Liang, Shaoyong; Ling, Fei; Ma, Rui; Huang, Mei; Qu, Hongpeng; Song, Xianming; Yu, Deliang; Shi, Zhongbin; Liu, Yi; Yang, Qingwei; Xu, Min; Duan, Xuru; Liu, Yong

2017-11-01

The stability and performance of tokamak plasmas are routinely limited by various magneto-hydrodynamic instabilities, such as neoclassical tearing modes (NTMs). This paper presents a rather simple method to control the NTMs in real time (RT) on a tokamak, including the control principle of a feedback approach for RT suppression and stabilization for the NTMs. The control system combines Mirnov, electron cyclotron emission, and soft X-ray diagnostics used for determining the NTM positions. A methodology for fast detection of 2/1 or 3/2 NTM positions with 129 × 129 grid reconstruction is elucidated. The forty poloidal angles for steering the electron cyclotron resonance heating (ECRH)/electron cyclotron current drive launcher are used to establish the alignment of antenna mirrors with the center of the NTM and to ensure launcher emission intersecting with the rational surface of a magnetic island. Pilot experiments demonstrate the RT control capability to trace the conventional tearing modes (CTMs) in the HL-2A tokamak. The 2/1 CTMs have been suppressed or stabilized by the ECRH power deposition on site or with the steerable launcher.

Sensorless Vector Control of AC Induction Motor Using Sliding-Mode Observer

Directory of Open Access Journals (Sweden)

Phuc Thinh Doan

2013-06-01

Full Text Available This paper develops a sensorless vector controlled method for AC induction motor using sliding-mode observer. For developing the control algorithm, modeling of AC induction motor is presented. After that, a sliding mode observer is proposed to estimate the motor speed, the rotor flux, the angular position of the rotor flux and the motor torque from monitored stator voltages and currents. The use of the nonlinear sliding mode observer provides very good performance for both low and high speed motor operation. Furthermore, the proposed system is robust in motor losses and load variations. The convergence of the proposed observer is obtained using the Lyapunov theory. Hardware and software for simulation and experiment of the AC induction motor drive are introduced. The hardware consists of a 1.5kw AC induction motor connected in series with a torque sensor and a powder brake. A controller is developed based on DSP TMS320F28355. The simulation and experimental results illustrate that fast torque and speed response with small torque ripples can be achieved. The proposed control scheme is suitable to the application fields that require high performance of torque response such as electric vehicles. doi:http://dx.doi.org/10.12777/ijse.4.2.2013.39-43 [How to cite this article: Doan, P. T., Nguyen, T. T., Jeong, S. K., Oh, S. J., & Kim, S. B. (2013. Sensorless Vector Control of AC Induction Motor Using Sliding-Mode Observer. INTERNATIONAL JOURNAL OF SCIENCE AND ENGINEERING, 4(2, 39-43; doi: http://dx.doi.org/10.12777/ijse.4.2.2013.39-43

Performance experiments with alternative advanced teleoperator control modes for a simulated solar maximum satellite repair

Science.gov (United States)

Das, H.; Zak, H.; Kim, W. S.; Bejczy, A. K.; Schenker, P. S.

1992-01-01

Experiments are described which were conducted at the JPL Advanced Teleoperator Lab to demonstrate and evaluate the effectiveness of various teleoperator control modes in the performance of a simulated Solar Max Satellite Repair (SMSR) task. THe SMSR was selected as a test because it is very rich in performance capability requirements and it actually has been performed by two EVA astronauts in the Space Shuttle Bay in 1984. The main subtasks are: thermal blanket removal; installation of a hinge attachment for electrical panel opening; opening of electrical panel; removal of electrical connectors; relining of cable bundles; replacement of electrical panel; securing parts and cables; re-mate electrical connectors; closing of electrical panel; and reinstating thermal blanket. The current performance experiments are limited to thermal blanket cutting, electrical panel unbolting and handling electrical bundles and connectors. In one formal experiment even different control modes were applied to the unbolting and reinsertion of electrical panel screws subtasks. The seven control modes are alternative combinations of manual position and rate control with force feedback and remote compliance referenced to force-torque sensor information. Force-torque sensor and end effector position data and task completion times were recorded for analysis and quantification of operator performance.

Automation of Aditya tokamak plasma position control DC power supply

Energy Technology Data Exchange (ETDEWEB)

Arambhadiya, Bharat, E-mail: bharat@ipr.res.in; Raj, Harshita; Tanna, R.L.; Edappala, Praveenlal; Rajpal, Rachana; Ghosh, Joydeep; Chattopadhyay, P.K.; Kalal, M.B.

2016-11-15

Highlights: • Plasma position control is very essential for obtaining repeatable high temperature, high-density discharges of longer durations in tokomak. • The present capacitor bank has limitations of maximum current capacity and position control beyond 200 ms. • The installation of a separate set of coils and a DC power supply can control the plasma position beyond 200 ms. • A high power thyristor (T588N1200) triggers for DC current pulse of 300 A fires precisely at required positions to modify plasma position. • The commissioning is done for the automated in-house, quick and reliable solution. - Abstract: Plasma position control is essential for obtaining repeatable high temperature, high-density discharges of longer duration in tokamaks. Recently, a set of external coils is installed in the vertical field mode configuration to control the radial plasma position in ADITYA tokamak. The existing capacitor bank cannot provide the required current pulse beyond 200 ms for position control. This motivated to have a DC power supply of 500 A to provide current pulse beyond 200 ms for the position control. The automatization of the DC power supply mandated interfaces with the plasma control system, Aditya Pulse Power supply, and Data acquisition system for coordinated discharge operation. A high current thyristor circuit and a timer circuit have been developed for controlling the power supply automatically for charging vertical field coils of Aditya tokamak. Key protection interlocks implemented in the development ensure machine and occupational safety. Fiber-optic trans-receiver isolates the power supply with other subsystems, while analog channel is optically isolated. Commissioning and testing established proper synchronization of the power supply with tokamak operation. The paper discusses the automation of the DC power supply with main circuit components, timing control, and testing results.

Discrete-time nonlinear sliding mode controller

African Journals Online (AJOL)

user

Keywords: Discrete-time delay system, Sliding mode control, nonlinear sliding ... of engineering systems such as chemical process control, delay in the actuator ...... instrumentation from Motilal Nehru National Institute of Technology (MNNIT),.

Multi-Mode Electric Actuator Dynamic Modelling for Missile Fin Control

Directory of Open Access Journals (Sweden)

Bhimashankar Gurav

2017-06-01

Full Text Available Linear first/second order fin direct current (DC actuator model approximations for missile applications are currently limited to angular position and angular velocity state variables. Furthermore, existing literature with detailed DC motor models is decoupled from the application of interest: tail controller missile lateral acceleration (LATAX performance. This paper aims to integrate a generic DC fin actuator model with dual-mode feedforward and feedback control for tail-controlled missiles in conjunction with the autopilot system design. Moreover, the characteristics of the actuator torque information in relation to the aerodynamic fin loading for given missile trim velocities are also provided. The novelty of this paper is the integration of the missile LATAX autopilot states and actuator states including the motor torque, position and angular velocity. The advantage of such an approach is the parametric analysis and suitability of the fin actuator in relation to the missile lateral acceleration dynamic behaviour.

Interactions between default mode and control networks as a function of increasing cognitive reasoning complexity.

Science.gov (United States)

Hearne, Luke; Cocchi, Luca; Zalesky, Andrew; Mattingley, Jason B

2015-07-01

Successful performance of challenging cognitive tasks depends on a consistent functional segregation of activity within the default-mode network, on the one hand, and control networks encompassing frontoparietal and cingulo-opercular areas on the other. Recent work, however, has suggested that in some cognitive control contexts nodes within the default-mode and control networks may actually cooperate to achieve optimal task performance. Here, we used functional magnetic resonance imaging to examine whether the ability to relate variables while solving a cognitive reasoning problem involves transient increases in connectivity between default-mode and control regions. Participants performed a modified version of the classic Wason selection task, in which the number of variables to be related is systematically varied across trials. As expected, areas within the default-mode network showed a parametric deactivation with increases in relational complexity, compared with neural activity in null trials. Critically, some of these areas also showed enhanced connectivity with task-positive control regions. Specifically, task-based connectivity between the striatum and the angular gyri, and between the thalamus and right temporal pole, increased as a function of relational complexity. These findings challenge the notion that functional segregation between regions within default-mode and control networks invariably support cognitive task performance, and reveal previously unknown roles for the striatum and thalamus in managing network dynamics during cognitive reasoning. © 2015 Wiley Periodicals, Inc.

Control of generation spectrum of gyrotron with external reflection in mode of several longitudinal modes

International Nuclear Information System (INIS)

Rozental', R.M.; Ginzburg, N.S.; Zajtsev, N.I.; Ilyakov, E.V.; Kulagin, I.S.

2006-01-01

One studies possibility to control the spectrum of multiparticle generation in a gyrotron due to application of external reflections. It is shown that in self-modulation regimes of generation the radiation spectrum lines may be close to the resonance frequencies throughout electrodynamic system covering a part of output waveguide restricted by a reflector. Under the mentioned conditions variation of distance between mode frequencies and, respectively, period of self-modulation may be reached due to varying of position of the reflector. The theory deductions are supported by the results of experimental investigation into 30 GHz region relativistic gyrotron with external reflections [ru

Implementation Of Automatic Wiper Speed Control And Headlight Modes Control Systems Using Fuzzy Logic

Directory of Open Access Journals (Sweden)

ThetKoKo

2015-07-01

Full Text Available Abstract This research paper describes the design and simulation of the automatic wiper speed and headlight modes controllers using fuzzy logic. This proposed system consists of a fuzzy logic controller to control a cars wiper speed and headlight modes. The automatic wiper system detects the rain and its intensity. And according to the rain intensity the wiper speed is automatically controlled. Headlight modes automatically changes either from low beam mode to high beam mode or form high beam mode to low beam mode depending on the light intensity from the other vehicle coming from the opposite direction. The system comprises of PIC impedance sensor piezoelectric vibration sensor LDR headlamps and a DC motor to accurate the windshield wiper. Piezoelectric sensor is used to detect the rain intensity which is based on the piezoelectric effect. MATLAB software is used to achieve the designed goal.

Measurement of resonance modes causative of beam position monitor signal noise in vacuum chamber of storage ring

Energy Technology Data Exchange (ETDEWEB)

Joo, Youngdo; Hwang, Ilmoon; Park, Sungju [Pohang Accelerator Laboratory, Pohang University of Science and Technology, Pohang 790-784 (Korea, Republic of); Kim, Changbum, E-mail: chbkim@postech.ac.k [Pohang Accelerator Laboratory, Pohang University of Science and Technology, Pohang 790-784 (Korea, Republic of)

2011-05-11

It is known that the position reading obtained from the beam position monitor (BPM) mounted at the storage ring can be corrupted by the resonance mode. We carried out a three dimensional finite-difference time-domain (FDTD) simulation of vacuum chambers of the storage ring of the Pohang Light Source (PLS) without simplified modeling to measure the frequencies of resonance modes excited in the vacuum chamber. The frequencies of resonance modes obtained by the eigenmode simulation are well matched with the peak frequencies of RF transmission scattering matrix (S{sub 21}) graph of sector vacuum chamber measured using a network analyzer. It is found that a transverse electric (TE) resonance mode exists in the operation frequency band of BPM and the vertically oriented electric field of TE resonance mode is linked to the BPM position reading noise. Based on this study, we can easily design a vacuum chamber free from the BPM position reading noise caused by the TE resonance mode.

Measurement of resonance modes causative of beam position monitor signal noise in vacuum chamber of storage ring

International Nuclear Information System (INIS)

Joo, Youngdo; Hwang, Ilmoon; Park, Sungju; Kim, Changbum

2011-01-01

It is known that the position reading obtained from the beam position monitor (BPM) mounted at the storage ring can be corrupted by the resonance mode. We carried out a three dimensional finite-difference time-domain (FDTD) simulation of vacuum chambers of the storage ring of the Pohang Light Source (PLS) without simplified modeling to measure the frequencies of resonance modes excited in the vacuum chamber. The frequencies of resonance modes obtained by the eigenmode simulation are well matched with the peak frequencies of RF transmission scattering matrix (S 21 ) graph of sector vacuum chamber measured using a network analyzer. It is found that a transverse electric (TE) resonance mode exists in the operation frequency band of BPM and the vertically oriented electric field of TE resonance mode is linked to the BPM position reading noise. Based on this study, we can easily design a vacuum chamber free from the BPM position reading noise caused by the TE resonance mode.

Global fast dynamic terminal sliding mode control for a quadrotor UAV.

Science.gov (United States)

Xiong, Jing-Jing; Zhang, Guo-Bao

2017-01-01

A control method based on global fast dynamic terminal sliding mode control (TSMC) technique is proposed to design the flight controller for performing the finite-time position and attitude tracking control of a small quadrotor UAV. Firstly, the dynamic model of the quadrotor is divided into two subsystems, i.e., a fully actuated subsystem and an underactuated subsystem. Secondly, the dynamic flight controllers of the quadrotor are formulated based on global fast dynamic TSMC, which is able to guarantee that the position and velocity tracking errors of all system state variables converge to zero in finite-time. Moreover, the global fast dynamic TSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, the stabilities of two subsystems are demonstrated by Lyapunov theory, respectively. Lastly, the simulation results are given to illustrate the effectiveness and robustness of the proposed control method in the presence of external disturbances. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Control uncertain Genesio-Tesi chaotic system: Adaptive sliding mode approach

International Nuclear Information System (INIS)

Dadras, Sara; Momeni, Hamid Reza

2009-01-01

An adaptive sliding mode control (ASMC) technique is introduced in this paper for a chaotic dynamical system (Genesio-Tesi system). Using the sliding mode control technique, a sliding surface is determined and the control law is established. An adaptive sliding mode control law is derived to make the states of the Genesio-Tesi system asymptotically track and regulate the desired state. The designed control scheme can control the uncertain chaotic behaviors to a desired state without oscillating very fast and guarantee the property of asymptotical stability. An illustrative simulation result is given to demonstrate the effectiveness of the proposed adaptive sliding mode control design.

Digital Sliding Mode Control of Anti-Lock Braking System

Directory of Open Access Journals (Sweden)

MITIC, D. B.

2013-02-01

Full Text Available The control of anti-lock braking system is a great challenge, because of the nonlinear and complex characteristics of braking dynamics, unknown parameters of vehicle environment and system parameter variations. Using some of robust control methods, such as sliding mode control, can be a right solution for these problems. In this paper, we introduce a novel approach to design of ABS controllers, which is based on digital sliding mode control with only input/output measurements. The relay term of the proposed digital sliding mode control is filtered through digital integrator, reducing the chattering phenomenon in that way, and the additional signal of estimated modelling error is introduced into control algorithm to enhance the system steady-state accuracy. The given solution was verified in real experimental framework and the obtained results were compared with the results of implementation of two other digital sliding mode control algorithms. It is shown that it gives better system response, higher steady-state accuracy and smaller chattering.

Tensor Product Model Transformation Based Adaptive Integral-Sliding Mode Controller: Equivalent Control Method

Directory of Open Access Journals (Sweden)

Guoliang Zhao

2013-01-01

Full Text Available This paper proposes new methodologies for the design of adaptive integral-sliding mode control. A tensor product model transformation based adaptive integral-sliding mode control law with respect to uncertainties and perturbations is studied, while upper bounds on the perturbations and uncertainties are assumed to be unknown. The advantage of proposed controllers consists in having a dynamical adaptive control gain to establish a sliding mode right at the beginning of the process. Gain dynamics ensure a reasonable adaptive gain with respect to the uncertainties. Finally, efficacy of the proposed controller is verified by simulations on an uncertain nonlinear system model.

Virtual reality simulation of fuzzy-logic control during underwater dynamic positioning

Science.gov (United States)

Thekkedan, Midhin Das; Chin, Cheng Siong; Woo, Wai Lok

2015-03-01

In this paper, graphical-user-interface (GUI) software for simulation and fuzzy-logic control of a remotely operated vehicle (ROV) using MATLAB™ GUI Designing Environment is proposed. The proposed ROV's GUI platform allows the controller such as fuzzy-logic control systems design to be compared with other controllers such as proportional-integral-derivative (PID) and sliding-mode controller (SMC) systematically and interactively. External disturbance such as sea current can be added to improve the modelling in actual underwater environment. The simulated results showed the position responses of the fuzzy-logic control exhibit reasonable performance under the sea current disturbance.

Adaptive Neural-Sliding Mode Control of Active Suspension System for Camera Stabilization

Directory of Open Access Journals (Sweden)

Feng Zhao

2015-01-01

Full Text Available The camera always suffers from image instability on the moving vehicle due to the unintentional vibrations caused by road roughness. This paper presents a novel adaptive neural network based on sliding mode control strategy to stabilize the image captured area of the camera. The purpose is to suppress vertical displacement of sprung mass with the application of active suspension system. Since the active suspension system has nonlinear and time varying characteristics, adaptive neural network (ANN is proposed to make the controller robustness against systematic uncertainties, which release the model-based requirement of the sliding model control, and the weighting matrix is adjusted online according to Lyapunov function. The control system consists of two loops. The outer loop is a position controller designed with sliding mode strategy, while the PID controller in the inner loop is to track the desired force. The closed loop stability and asymptotic convergence performance can be guaranteed on the basis of the Lyapunov stability theory. Finally, the simulation results show that the employed controller effectively suppresses the vibration of the camera and enhances the stabilization of the entire camera, where different excitations are considered to validate the system performance.

Mode switching control of dual-evaporator air-conditioning systems

International Nuclear Information System (INIS)

Lin, J.-L.; Yeh, T.-J.

2009-01-01

Modern air-conditioners incorporate variable-speed compressors and variable-opening expansion valves as the actuators for improving cooling performance and energy efficiency. These actuators have to be properly feedback-controlled; otherwise the systems may exhibit even poorer performance than the conventional machines which use fixed-speed compressors and mechanical expansion valves. Particularly for an air-conditioner with multiple evaporators, there are occasions that the machine is operated in a mode that only selected evaporator(s) is(are) turned on, and switching(s) between modes occurs(occur) during the control process. In this case, one needs to have more carefully designed control and switching strategies to ensure the system performance. In this paper, a framework for mode switching control of the dual-evaporator air-conditioning (DEAC) system is proposed. The framework is basically an integration of a controller and a dynamic compensator. The controller, which possesses the flow-distribution capability and assumes both evaporators are on throughout the control process, is intended to provide nominal performance. While mode switching is achieved by varying the reference settings in the controller, the dynamic compensator is used to improve the transient responses immediately after the switching. Experiments indicate that the proposed framework can achieve satisfactory indoor temperature regulation and provide bumpless switching between different modes of operation.

Research of Compound Control for DC Motor System Based on Global Sliding Mode Disturbance Observer

Directory of Open Access Journals (Sweden)

He Zhang

2014-01-01

Full Text Available Aiming at the problems of modeling errors, parameter variations, and load moment disturbances in DC motor control system, one global sliding mode disturbance observer (GSMDO is proposed based on the global sliding mode (GSM control theory. The output of GSMDO is used as the disturbance compensation in control system, which can improve the robust performance of DC motor control system. Based on the designed GSMDO in inner loop, one compound controller, composed of a feedback controller and a feedforward controller, is proposed in order to realize the position tracking of DC motor system. The gains of feedback controller are obtained by means of linear quadratic regulator (LQR optimal control theory. Simulation results present that the proposed control scheme possesses better tracking properties and stronger robustness against modeling errors, parameter variations, and friction moment disturbances. Moreover, its structure is simple; therefore it is easy to be implemented in engineering.

Enhanced Sleep Mode MAC Control for EPON

DEFF Research Database (Denmark)

Yan, Ying; Dittmann, Lars

2011-01-01

This paper introduces sleep mode operations for EPON. New MAC control functions are proposed to schedule sleep periods. Traffic profiles are considered to optimize energy efficiency and network performances. Simulation results are analyzed in OPNET modeler.......This paper introduces sleep mode operations for EPON. New MAC control functions are proposed to schedule sleep periods. Traffic profiles are considered to optimize energy efficiency and network performances. Simulation results are analyzed in OPNET modeler....

Sliding mode controller for a photovoltaic pumping system

Science.gov (United States)

ElOugli, A.; Miqoi, S.; Boutouba, M.; Tidhaf, B.

2017-03-01

In this paper, a sliding mode control scheme (SMC) for maximum power point tracking controller for a photovoltaic pumping system, is proposed. The main goal is to maximize the flow rate for a water pump, by forcing the photovoltaic system to operate in its MPP, to obtain the maximum power that a PV system can deliver.And this, through the intermediary of a sliding mode controller to track and control the MPP by overcoming the power oscillation around the operating point, which appears in most implemented MPPT techniques. The sliding mode control approach is recognized as one of the efficient and powerful tools for nonlinear systems under uncertainty conditions.The proposed controller with photovoltaic pumping system is designed and simulated using MATLAB/SIMULINK environment. In addition, to evaluate its performances, a classical MPPT algorithm using perturb and observe (P&O) has been used for the same system to compare to our controller. Simulation results are shown.

Advances in sliding mode control concept, theory and implementation

CERN Document Server

Janardhanan, S; Spurgeon, Sarah

2013-01-01

The sliding mode control paradigm has become a mature technique for the design of robust controllers for a wide class of systems including nonlinear, uncertain and time-delayed systems. This book is a collection of plenary and invited talks delivered at the 12th IEEE International Workshop on Variable Structure System held at the Indian Institute of Technology, Mumbai, India in January 2012. After the workshop, these researchers were invited to develop book chapters for this edited collection in order to reflect the latest results and open research questions in the area. The contributed chapters have been organized by the editors to reflect the various themes of sliding mode control which are the current areas of theoretical research and applications focus; namely articulation of the fundamental underpinning theory of the sliding mode design paradigm, sliding modes for decentralized system representations, control of time-delay systems, the higher order sliding mode concept, results applicable to nonlinear an...

Velocity control of a secondary controlled closed-loop hydrostatic transmission system using an adaptive fuzzy sliding mode controller

Energy Technology Data Exchange (ETDEWEB)

Do, Hoang Thinh; Ahn, Kyoung Kwan [University of Ulsan, Ulsan (Korea, Republic of)

2013-03-15

A secondary-controlled hydrostatic transmission system (SC-HST), which considered being an energy-saving system, can recuperate most of the lost vehicle kinetic energy in decelerating and braking time and it shows advantage in fuel economy improvement of vehicle. Almost secondary control units (SCU) in SC-HST inherently contain nonlinear characteristics such as dead-zone input. Therefore, it is difficult to obtain precise position or velocity control by conventional linear controllers. This problem limits the application of SC-HST in industry and mobile vehicle. This paper gives a description of SC-HST and proposes an adaptive fuzzy sliding mode controller (AFSMC) for velocity control of SCU. Experiments were carried out in the condition of disturbance load by using both the proposed controller and PID controller for the comparison and evaluation of the effectiveness of the proposed controller. The experimental results showed that the proposed controller was excellent from the standpoints of performance and stability for the velocity control of SC-HST.

Current Mode Control for LLC Series Resonant DC-to-DC Converters

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Jinhaeng Jang

2015-06-01

Full Text Available Conventional voltage mode control only offers limited performance for LLC series resonant DC-to-DC converters experiencing wide variations in operational conditions. When the existing voltage mode control is employed, the closed-loop performance of the converter is directly affected by unavoidable changes in power stage dynamics. Thus, a specific control design optimized at one particular operating point could become unacceptable when the operational condition is varied. This paper presents a new current mode control scheme which could consistently provide good closed-loop performance for LLC resonant converters for the entire operational range. The proposed control scheme employs an additional feedback from the current of the resonant tank network to overcome the limitation of the existing voltage mode control. The superiority of the proposed current mode control over the conventional voltage mode control is verified using an experimental 150 W LLC series resonant DC-to-DC converter.

Extended Kalman Filter Based Sliding Mode Control of Parallel-Connected Two Five-Phase PMSM Drive System

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Tounsi Kamel

2018-01-01

Full Text Available This paper presents sliding mode control of sensor-less parallel-connected two five-phase permanent magnet synchronous machines (PMSMs fed by a single five-leg inverter. For both machines, the rotor speeds and rotor positions as well as load torques are estimated by using Extended Kalman Filter (EKF scheme. Fully decoupled control of both machines is possible via an appropriate phase transposition while connecting the stator windings parallel and employing proposed speed sensor-less method. In the resulting parallel-connected two-machine drive, the independent control of each machine in the group is achieved by controlling the stator currents and speed of each machine under vector control consideration. The effectiveness of the proposed Extended Kalman Filter in conjunction with the sliding mode control is confirmed through application of different load torques for wide speed range operation. Comparison between sliding mode control and PI control of the proposed two-motor drive is provided. The speed response shows a short rise time, an overshoot during reverse operation and settling times is 0.075 s when PI control is used. The speed response obtained by SMC is without overshoot and follows its reference and settling time is 0.028 s. Simulation results confirm that, in transient periods, sliding mode controller remarkably outperforms its counterpart PI controller.

A Sliding Mode Control-Based on a RBF Neural Network for Deburring Industry Robotic Systems

Directory of Open Access Journals (Sweden)

Yong Tao

2016-01-01

Full Text Available A sliding mode control method based on radial basis function (RBF neural network is proposed for the deburring of industry robotic systems. First, a dynamic model for deburring the robot system is established. Then, a conventional SMC scheme is introduced for the joint position tracking of robot manipulators. The RBF neural network based sliding mode control (RBFNN-SMC has the ability to learn uncertain control actions. In the RBFNN-SMC scheme, the adaptive tuning algorithms for network parameters are derived by a Koski function algorithm to ensure the network convergences and enacts stable control. The simulations and experimental results of the deburring robot system are provided to illustrate the effectiveness of the proposed RBFNN-SMC control method. The advantages of the proposed RBFNN-SMC method are also evaluated by comparing it to existing control schemes.

Few-mode erbium-doped fiber amplifier with photonic lantern for pump spatial mode control

NARCIS (Netherlands)

Lopez-Galmiche, G.; Eznaveh, Z. Sanjabi; Antonio-Lopez, J.E.; Benitez, A. M. Velazquez; Rodriguez-Asomoza, Jorge; Mondragon, J. J. Sanchez; Gonnet, C.; Sillard, P.; Li, G.; Schülzgen, A.; Okonkwo, C.M.; Amezcua Correa, R.

2016-01-01

We demonstrate a few-mode erbium-doped fiber amplifier employing a mode-selective photonic lantern for controlling the modal content of the pump light. Amplification of six spatial modes in a 5 m long erbium-doped fiber to x223C;6.2x2009;x2009;dBm average power is obtained while maintaining high

Mixed-mode reversed phase/positively charged repulsion chromatography for intact protein separation.

Science.gov (United States)

Ding, Ling; Guo, Zhimou; Hu, Zhuo; Liang, Xinmiao

2017-05-10

A mixed-mode reversed phase/positively charged repulsion stationary phase C8PN composed of octyl and amino group has been developed for separation of intact protein. Before the separation of proteins, a set of probe compounds were employed to evaluate the chromatographic properties of C8PN, demonstrating typical reversed phase/positively charged repulsion interaction on this stationary phase as estimated. Then the new C8PN stationary phase was used to separate a standard protein mixture on the reversed phase mode. Compared with a commercial C4 stationary phase, it showed different selectivity for some proteins. In order to better understand the properties of C8PN, the effect of acetonitrile content was investigated based on retention equation. Higher values of the equation parameters on C8PN demonstrated that the protein retentions were more sensitive to the change of acetonitrile content. Besides, the influences of buffer salt additives on the protein retentions were also studied. The retention factors of the proteins got larger with the increase of buffer salt concentration, which confirmed the positively charged repulsion interaction on the column. Finally, the C8PN was further applied to separate oxidized- and reduced- forms of Recombinant Human Growth Hormone. Our study indicated the advantages and application potential of mixed-mode reversed phase/positively charged repulsion stationary phase for intact protein separation. Copyright © 2017 Elsevier B.V. All rights reserved.

Terminal Sliding Mode Tracking Controller Design for Automatic Guided Vehicle

Science.gov (United States)

Chen, Hongbin

2018-03-01

Based on sliding mode variable structure control theory, the path tracking problem of automatic guided vehicle is studied, proposed a controller design method based on the terminal sliding mode. First of all, through analyzing the characteristics of the automatic guided vehicle movement, the kinematics model is presented. Then to improve the traditional expression of terminal sliding mode, design a nonlinear sliding mode which the convergence speed is faster than the former, verified by theoretical analysis, the design of sliding mode is steady and fast convergence in the limited time. Finally combining Lyapunov method to design the tracking control law of automatic guided vehicle, the controller can make the automatic guided vehicle track the desired trajectory in the global sense as well as in finite time. The simulation results verify the correctness and effectiveness of the control law.

Research on Integrated Control of Microgrid Operation Mode

Science.gov (United States)

Cheng, ZhiPing; Gao, JinFeng; Li, HangYu

2018-03-01

The mode switching control of microgrid is the focus of its system control. According to the characteristics of different control, an integrated control system is put forward according to the detecting voltage and frequency deviation after switching of microgrid operating mode. This control system employs master-slave and peer-to-peer control. Wind turbine and photovoltaic(PV) adopt P/Q control, so the maximum power output can be achieved. The energy storage will work under the droop control if the system is grid-connected. When the system is off-grid, whether to employ droop control or P/f control is determined by system status. The simulation has been done and the system performance can meet the requirement.

Plasma position control device

International Nuclear Information System (INIS)

Takase, Haruhiko.

1987-01-01

Purpose: To conduct position control stably to various plasmas and reduce the burden on the control coil power source. Constitution: Among the proportional, integration and differentiation controls, a proportional-differentiation control section and an integration control section are connected in parallel. Then, a signal switching circuit is disposed to the control signal input section for the proportional-differentiation control section such that either a present position of plasmas or deviation between the present plasma position and an aimed value can be selected as a control signal depending on the control procedures or the state of the plasmas. For instance, if a rapid response is required for the control, the deviation between the present plasma position and the aimed value is selected as the input signal to conduct proportional, integration and differentiation controls. While on the other hand, if it is intended to reduce the burden on the control coil power source, it is adapted such that the control signal inputted to the proportional-differentiation control section itself can select the present plasma position. (Yoshihara, H.)

Enhanced Confinement Scenarios Without Large Edge Localized Modes in Tokamaks: Control, Performance, and Extrapolability Issues for ITER

Energy Technology Data Exchange (ETDEWEB)

Maingi, R [PPPL

2014-07-01

Large edge localized modes (ELMs) typically accompany good H-mode confinement in fusion devices, but can present problems for plasma facing components because of high transient heat loads. Here the range of techniques for ELM control deployed in fusion devices is reviewed. The two baseline strategies in the ITER baseline design are emphasized: rapid ELM triggering and peak heat flux control via pellet injection, and the use of magnetic perturbations to suppress or mitigate ELMs. While both of these techniques are moderately well developed, with reasonable physical bases for projecting to ITER, differing observations between multiple devices are also discussed to highlight the needed community R & D. In addition, recent progress in ELM-free regimes, namely Quiescent H-mode, I-mode, and Enhanced Pedestal H-mode is reviewed, and open questions for extrapolability are discussed. Finally progress and outstanding issues in alternate ELM control techniques are reviewed: supersonic molecular beam injection, edge electron cyclotron heating, lower hybrid heating and/or current drive, controlled periodic jogs of the vertical centroid position, ELM pace-making via periodic magnetic perturbations, ELM elimination with lithium wall conditioning, and naturally occurring small ELM regimes.

Failure modes and natural control time for distributed vibrating systems

International Nuclear Information System (INIS)

Reid, R.M.

1994-01-01

The eigenstructure of the Gram matrix of frequency exponentials is used to study linear vibrating systems of hyperbolic type with distributed control. Using control norm as a practical measure of controllability and the vibrating string as a prototype, it is demonstrated that hyperbolic systems have a natural control time, even when only finitely many modes are excited. For shorter control times there are identifiable control failure modes which can be steered to zero only with very high cost in control norm. Both natural control time and the associated failure modes are constructed for linear fluids, strings, and beams, making note of the essential algorithms and Mathematica code, and displaying results graphically

Sliding mode fuzzy control for a once-through stream generator

International Nuclear Information System (INIS)

Zhang Guifeng; Shi Xiaocheng; Sun Tieli; Xiong Jinkui; Zhang Hongguo

2007-01-01

A once-through steam generator is important equipment in nuclear power plant, so its control level is high. A Sliding Mode Fuzzy Controller inherits the robustness property of Sliding Mode Control and the interpolation property of Fuzzy Logic Control. The robustness property of variable structure system makes the control system insensitive for different burthen variety and different outside disturbance. Fuzzy control predigests the device of control system and alleviates the chattering which variable structure system causes. So the control system can be made more ideal. The paper describes the design method of Sliding Mode Fuzzy Controller without its system model for a once-through steam generator. And the simulation results show that satisfying control results can be got. (authors)

Dissociable influences of reward motivation and positive emotion on cognitive control.

Science.gov (United States)

Chiew, Kimberly S; Braver, Todd S

2014-06-01

It is becoming increasingly appreciated that affective and/or motivational influences contribute strongly to goal-oriented cognition and behavior. An unresolved question is whether emotional manipulations (i.e., direct induction of affectively valenced subjective experience) and motivational manipulations (e.g., delivery of performance-contingent rewards and punishments) have similar or distinct effects on cognitive control. Prior work has suggested that reward motivation can reliably enhance a proactive mode of cognitive control, whereas other evidence is suggestive that positive emotion improves cognitive flexibility, but reduces proactive control. However, a limitation of the prior research is that reward motivation and positive emotion have largely been studied independently. Here, we directly compared the effects of positive emotion and reward motivation on cognitive control with a tightly matched, within-subjects design, using the AX-continuous performance task paradigm, which allows for relative measurement of proactive versus reactive cognitive control. High-resolution pupillometry was employed as a secondary measure of cognitive dynamics during task performance. Robust increases in behavioral and pupillometric indices of proactive control were observed with reward motivation. The effects of positive emotion were much weaker, but if anything, also reflected enhancement of proactive control, a pattern that diverges from some prior findings. These results indicate that reward motivation has robust influences on cognitive control, while also highlighting the complexity and heterogeneity of positive-emotion effects. The findings are discussed in terms of potential neurobiological mechanisms.

A dual-mode driver IC with monolithic negative drive-voltage capability and digital current-mode controller for depletion-mode GaN HEMT

NARCIS (Netherlands)

Wen, Y.; Rose, M.; Fernandes, R.; van Otten, R.; Bergveld, H.J.; Trescases, O.

2017-01-01

This work presents a driver and controller integrated circuit (IC) for depletion-mode gallium nitride (GaN) high-electron-mobility transistors (HEMTs). The dual-mode driver can be configured for cascode-drive (CD) or HEMT-drive (HD) mode. In the CD mode, a cascode low-voltage DMOS is driven to

Beam position diagnostics with higher order modes in third harmonic superconducting accelerating cavities

CERN Document Server

Zhang, P; Baboi, Nicoleta

2012-01-01

Higher order modes (HOM) are electromagnetic resonant fields. They can be excited by an electron beam entering an accelerating cavity, and constitute a component of the wakefield. This wakefield has the potential to dilute the beam quality and, in the worst case, result in a beam-break-up instability. It is therefore important to ensure that these fields are well suppressed by extracting energy through special couplers. In addition, the effect of the transverse wakefield can be reduced by aligning the beam on the cavity axis. This is due to their strength depending on the transverse offset of the excitation beam. For suitably small offsets the dominant components of the transverse wakefield are dipole modes, with a linear dependence on the transverse offset of the excitation bunch. This fact enables the transverse beam position inside the cavity to be determined by measuring the dipole modes extracted from the couplers, similar to a cavity beam position monitor (BPM), but requires no additional vacuum instrum...

A Sliding Mode Control for a Sensorless Tracker: Application on a Photovoltaic System

OpenAIRE

Rhif, Ahmed

2012-01-01

The photovoltaic sun tracker allows us to increase the energy production. The sun tracker considered in this study has two degrees of freedom (2-DOF) and especially specified by the lack of sensors. In this way, the tracker will have as a set point the sun position at every second during the day for a period of five years. After sunset, the tracker goes back to the initial position (which of sunrise). The sliding mode control (SMC) will be applied to ensure at best the tracking mechanism and,...

Sensorless Sliding Mode Vector Control of Induction Motor Drives

OpenAIRE

Gouichiche Abdelmadjid; Boucherit Mohamed Seghir; Safa Ahmed; Messlem Youcef

2012-01-01

In this paper we present the design of sliding mode controllers for sensorless field oriented control of induction motor. In order to improve the performance of controllers, the motor speed is controlled by sliding mode regulator with integral sliding surface. The estimated rotor speed used in speed feedback loop is calculated by an adaptive observer based on MRAS (model reference adaptive system) technique .the validity of the proposed scheme is demonstrated by experimental results.

Electromagnetic controllable surfaces based on trapped-mode effect

Directory of Open Access Journals (Sweden)

V. Dmitriev

2012-10-01

Full Text Available In this paper we present some recent results of our theoretical investigations of electromagnetically controllable surfaces. These surfaces are designed on the basis of periodic arrays made of metallic inclusions of special form which are placed on a thin substrate of active material (magnetized ferrite or optically active semiconductor. The main peculiarity of the studied structures is their capability to support the trapped-mode resonance which is a result of the antiphase current oscillations in the elements of a periodic cell. Several effects, namely: tuning the position of passband and the linear and nonlinear (bistable transmission switching are considered when an external static magnetic field or optical excitation are applied. Our numerical calculations are fulfilled in both microwave and optical regions.

Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network

Directory of Open Access Journals (Sweden)

Yundi Chu

2015-01-01

Full Text Available An adaptive global sliding mode control (AGSMC using RBF neural network (RBFNN is proposed for the system identification and tracking control of micro-electro-mechanical system (MEMS gyroscope. Firstly, a new kind of adaptive identification method based on the global sliding mode controller is designed to update and estimate angular velocity and other system parameters of MEMS gyroscope online. Moreover, the output of adaptive neural network control is used to adjust the switch gain of sliding mode control dynamically to approach the upper bound of unknown disturbances. In this way, the switch item of sliding mode control can be converted to the output of continuous neural network which can weaken the chattering in the sliding mode control in contrast to the conventional fixed gain sliding mode control. Simulation results show that the designed control system can get satisfactory tracking performance and effective estimation of unknown parameters of MEMS gyroscope.

New mode switching algorithm for the JPL 70-meter antenna servo controller

Science.gov (United States)

Nickerson, J. A.

1988-01-01

The design of control mode switching algorithms and logic for JPL's 70 m antenna servo controller are described. The old control mode switching logic was reviewed and perturbation problems were identified. Design approaches for mode switching are presented and the final design is described. Simulations used to compare old and new mode switching algorithms and logic show that the new mode switching techniques will significantly reduce perturbation problems.

Active Disturbance Rejection Approach for Robust Fault-Tolerant Control via Observer Assisted Sliding Mode Control

Directory of Open Access Journals (Sweden)

John Cortés-Romero

2013-01-01

Full Text Available This work proposes an active disturbance rejection approach for the establishment of a sliding mode control strategy in fault-tolerant operations. The core of the proposed active disturbance rejection assistance is a Generalized Proportional Integral (GPI observer which is in charge of the active estimation of lumped nonlinear endogenous and exogenous disturbance inputs related to the creation of local sliding regimes with limited control authority. Possibilities are explored for the GPI observer assisted sliding mode control in fault-tolerant schemes. Convincing improvements are presented with respect to classical sliding mode control strategies. As a collateral advantage, the observer-based control architecture offers the possibility of chattering reduction given that a significant part of the control signal is of the continuous type. The case study considers a classical DC motor control affected by actuator faults, parametric failures, and perturbations. Experimental results and comparisons with other established sliding mode controller design methodologies, which validate the proposed approach, are provided.

Tube Model Predictive Control with an Auxiliary Sliding Mode Controller

Directory of Open Access Journals (Sweden)

Miodrag Spasic

2016-07-01

Full Text Available This paper studies Tube Model Predictive Control (MPC with a Sliding Mode Controller (SMC as an auxiliary controller. It is shown how to calculate the tube widths under SMC control, and thus how much the constraints of the nominal MPC have to be tightened in order to achieve robust stability and constraint fulfillment. The analysis avoids the assumption of infinitely fast switching in the SMC controller.

Optimal Sliding Mode Controllers for Attitude Stabilization of Flexible Spacecraft

Directory of Open Access Journals (Sweden)

Chutiphon Pukdeboon

2011-01-01

Full Text Available The robust optimal attitude control problem for a flexible spacecraft is considered. Two optimal sliding mode control laws that ensure the exponential convergence of the attitude control system are developed. Integral sliding mode control (ISMC is applied to combine the first-order sliding mode with optimal control and is used to control quaternion-based spacecraft attitude manoeuvres with external disturbances and an uncertainty inertia matrix. For the optimal control part the state-dependent Riccati equation (SDRE and optimal Lyapunov techniques are employed to solve the infinite-time nonlinear optimal control problem. The second method of Lyapunov is used to guarantee the stability of the attitude control system under the action of the proposed control laws. An example of multiaxial attitude manoeuvres is presented and simulation results are included to verify the usefulness of the developed controllers.

Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft

Directory of Open Access Journals (Sweden)

Yanchao Yin

2017-01-01

Full Text Available A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS is proposed to design a flight controller for performing the attitude tracking control of a quad tilt rotors aircraft (QTRA. Firstly, the attitude dynamic model of the QTRA concerning propeller tension, channel arm, and moment of inertia is formulated, and the equivalent sliding mode control law is stated. Secondly, an adaptive control algorithm is presented to eliminate the approximation error, where a radial basis function (RBF neural network is used to online regulate the equivalent sliding mode control law, and the novel M-CBDCS algorithm is developed to uniformly update the unknown neural network weights and essential model parameters adaptively. The nonlinear approximation error is obtained and serves as a novel leakage term in the adaptations to guarantee the sliding surface convergence and eliminate the chattering phenomenon, which benefit the overall attitude control performance for QTRA. Finally, the appropriate comparisons among the novel adaptive neural network sliding mode control, the classical neural network sliding mode control, and the dynamic inverse PID control are examined, and comparative simulations are included to verify the efficacy of the proposed control method.

Design and Demonstration of Emergency Control Modes for Enhanced Engine Performance

Science.gov (United States)

Liu, Yuan; Litt, Jonathan S.; Guo, Ten-Huei

2013-01-01

A design concept is presented for developing control modes that enhance aircraft engine performance during emergency flight scenarios. The benefits of increased engine performance to overall vehicle survivability during these situations may outweigh the accompanied elevated risk of engine failure. The objective involves building control logic that can consistently increase engine performance beyond designed maximum levels based on an allowable heightened probability of failure. This concept is applied to two previously developed control modes: an overthrust mode that increases maximum engine thrust output and a faster response mode that improves thrust response to dynamic throttle commands. This paper describes the redesign of these control modes and presents simulation results demonstrating both enhanced engine performance and robust maintenance of the desired elevated risk level.

Fatigue Evaluation of Recycled Asphalt Mixture Based on Energy-Controlled Mode

Directory of Open Access Journals (Sweden)

Tao Ma

2017-01-01

Full Text Available The fatigue properties of asphalt mixtures are important inputs for mechanistic-empirical pavement design. To understand the fatigue properties of asphalt mixtures better and to predict the fatigue life of asphalt mixtures more precisely, the energy-controlled test mode was introduced. Based on the implementation theory, the laboratory practice for the energy-controlled mode was realized using a four-point-bending fatigue test with multiple-step loading. In this mode, the fatigue performance of typical AC-20 asphalt specimens with various reclaimed asphalt pavement (RAP contents was tested and evaluated. Results show that the variation regulation of the dissipated energy and accumulative energy is compatible with the loading control principle, which proves the feasibility of the method. In addition, the fatigue life of the asphalt mixture in the energy-controlled mode was between that for the stress-controlled and strain-controlled modes. The specimen with a higher RAP content has a longer fatigue life and better fatigue performance.

Passive hybrid force-position control for tele-operation based on real-time simulation of a virtual mechanism

International Nuclear Information System (INIS)

Joly, L.; Andriot, C.

1995-01-01

Hybrid force-position control aims at controlling position and force in separate directions. It is particularly useful to perform certain robotic tasks. In tele-operation context, passivity is important because it ensures stability when the system interacts with any passive environment. In this paper, we propose an original approach to hybrid force-position control of a force reflecting tele-robot system. It is based on real-time simulation of a virtual mechanism corresponding to the task. the resulting control law is passive. Experiments on a 6 degrees of freedom tele-operation system consisting in following a bent pipe under several control modes validate the approach. (authors). 12 refs., 6 figs

A remote handling rate-position controller for telemanipulating in a large workspace

International Nuclear Information System (INIS)

Barrio, Jorge; Ferre, Manuel; Suárez-Ruiz, Francisco; Aracil, Rafael

2014-01-01

This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task

A remote handling rate-position controller for telemanipulating in a large workspace

Energy Technology Data Exchange (ETDEWEB)

Barrio, Jorge, E-mail: jordi.barrio@upm.es; Ferre, Manuel, E-mail: m.ferre@upm.es; Suárez-Ruiz, Francisco, E-mail: fa.suarez@upm.es; Aracil, Rafael, E-mail: rafael.aracil@upm.es

2014-01-15

This paper presents a new haptic rate-position controller, which allows manipulating a slave robot in a large workspace using a small haptic device. This control algorithm is very effective when the master device is much smaller than the slave device. Haptic information is displayed to the user so as to be informed when a change in the operation mode occurs. This controller allows performing tasks in a large remote workspace by using a haptic device with a reduced workspace such as Phantom. Experimental results have been carried out using a slave robot from Kraft Telerobotics and a commercial haptic interface as a master device. A curvature path following task has been simulated using the proposed controller which was compared with the force-position control algorithm. Results obtained show that higher accuracy is obtained when the proposed method is used, spending a similar amount of time to perform the task.

Preventive Security-Constrained Optimal Power Flow Considering UPFC Control Modes

Directory of Open Access Journals (Sweden)

Xi Wu

2017-08-01

Full Text Available The successful application of the unified power flow controller (UPFC provides a new control method for the secure and economic operation of power system. In order to make the full use of UPFC and improve the economic efficiency and static security of a power system, a preventive security-constrained power flow optimization method considering UPFC control modes is proposed in this paper. Firstly, an iterative method considering UPFC control modes is deduced for power flow calculation. Taking into account the influence of different UPFC control modes on the distribution of power flow after N-1 contingency, the optimization model is then constructed by setting a minimal system operation cost and a maximum static security margin as the objective. Based on this model, the particle swarm optimization (PSO algorithm is utilized to optimize power system operating parameters and UPFC control modes simultaneously. Finally, a standard IEEE 30-bus system is utilized to demonstrate that the proposed method fully exploits the potential of static control of UPFC and significantly increases the economic efficiency and static security of the power system.

Photonic lantern adaptive spatial mode control in LMA fiber amplifiers.

Science.gov (United States)

Montoya, Juan; Aleshire, Chris; Hwang, Christopher; Fontaine, Nicolas K; Velázquez-Benítez, Amado; Martz, Dale H; Fan, T Y; Ripin, Dan

2016-02-22

We demonstrate adaptive-spatial mode control (ASMC) in few-moded double-clad large mode area (LMA) fiber amplifiers by using an all-fiber-based photonic lantern. Three single-mode fiber inputs are used to adaptively inject the appropriate superposition of input modes in a multimode gain fiber to achieve the desired mode at the output. By actively adjusting the relative phase of the single-mode inputs, near-unity coherent combination resulting in a single fundamental mode at the output is achieved.

Two-Link Flexible Manipulator Control Using Sliding Mode Control Based Linear Matrix Inequality

Science.gov (United States)

Zulfatman; Marzuki, Mohammad; Alif Mardiyah, Nur

2017-04-01

Two-link flexible manipulator is a manipulator robot which at least one of its arms is made of lightweight material and not rigid. Flexible robot manipulator has some advantages over the rigid robot manipulator, such as lighter, requires less power and costs, and to result greater payload. However, suitable control algorithm to maintain the two-link flexible robot manipulator in accurate positioning is very challenging. In this study, sliding mode control (SMC) was employed as robust control algorithm due to its insensitivity on the system parameter variations and the presence of disturbances when the system states are sliding on a sliding surface. SMC algorithm was combined with linear matrix inequality (LMI), which aims to reduce the effects of chattering coming from the oscillation of the state during sliding on the sliding surface. Stability of the control algorithm is guaranteed by Lyapunov function candidate. Based on simulation works, SMC based LMI resulted in better performance improvements despite the disturbances with significant chattering reduction. This was evident from the decline of the sum of squared tracking error (SSTE) and the sum of squared of control input (SSCI) indexes respectively 25.4% and 19.4%.

Sliding-mode control combined with improved adaptive feedforward for wafer scanner

Science.gov (United States)

Li, Xiaojie; Wang, Yiguang

2018-03-01

In this paper, a sliding-mode control method combined with improved adaptive feedforward is proposed for wafer scanner to improve the tracking performance of the closed-loop system. Particularly, In addition to the inverse model, the nonlinear force ripple effect which may degrade the tracking accuracy of permanent magnet linear motor (PMLM) is considered in the proposed method. The dominant position periodicity of force ripple is determined by using the Fast Fourier Transform (FFT) analysis for experimental data and the improved feedforward control is achieved by the online recursive least-squares (RLS) estimation of the inverse model and the force ripple. The improved adaptive feedforward is given in a general form of nth-order model with force ripple effect. This proposed method is motivated by the motion controller design of the long-stroke PMLM and short-stroke voice coil motor for wafer scanner. The stability of the closed-loop control system and the convergence of the motion tracking are guaranteed by the proposed sliding-mode feedback and adaptive feedforward methods theoretically. Comparative experiments on a precision linear motion platform can verify the correctness and effectiveness of the proposed method. The experimental results show that comparing to traditional method the proposed one has better performance of rapidity and robustness, especially for high speed motion trajectory. And, the improvements on both tracking accuracy and settling time can be achieved.

Fault Tolerant Flight Control Using Sliding Modes and Subspace Identification-Based Predictive Control

KAUST Repository

Siddiqui, Bilal A.; El-Ferik, Sami; Abdelkader, Mohamed

2016-01-01

In this work, a cascade structure of a time-scale separated integral sliding mode and model predictive control is proposed as a viable alternative for fault-tolerant control. A multi-variable sliding mode control law is designed as the inner loop of the flight control system. Subspace identification is carried out on the aircraft in closed loop. The identified plant is then used for model predictive controllers in the outer loop. The overall control law demonstrates improved robustness to measurement noise, modeling uncertainties, multiple faults and severe wind turbulence and gusts. In addition, the flight control system employs filters and dead-zone nonlinear elements to reduce chattering and improve handling quality. Simulation results demonstrate the efficiency of the proposed controller using conventional fighter aircraft without control redundancy.

Fault Tolerant Flight Control Using Sliding Modes and Subspace Identification-Based Predictive Control

KAUST Repository

Siddiqui, Bilal A.

2016-07-26

In this work, a cascade structure of a time-scale separated integral sliding mode and model predictive control is proposed as a viable alternative for fault-tolerant control. A multi-variable sliding mode control law is designed as the inner loop of the flight control system. Subspace identification is carried out on the aircraft in closed loop. The identified plant is then used for model predictive controllers in the outer loop. The overall control law demonstrates improved robustness to measurement noise, modeling uncertainties, multiple faults and severe wind turbulence and gusts. In addition, the flight control system employs filters and dead-zone nonlinear elements to reduce chattering and improve handling quality. Simulation results demonstrate the efficiency of the proposed controller using conventional fighter aircraft without control redundancy.

Analysis and Improvement of Control Algorithm for Operation Mode Transition due to Input Channel Trouble in Control Systems

International Nuclear Information System (INIS)

Ahn, Myunghoon; Kim, Woogoon; Yim, Hyeongsoon

2016-01-01

The PI (Proportional plus Integral) controller, which is the essential functional block in control systems, can automatically perform the stable control of an important plant process while reducing the steady state error and improving the transient response. However, if the received input PV (Process Variable) is not normal due to input channel trouble, it will be difficult to control the system automatically. For this reason, many control systems are implemented to change the operation mode from automatic to manual mode in the PI controller when the failed input PV is detected. If the PI controller is in automatic mode for all the time, the control signal varies as the change of the input PV is continuously reflected in the control algorithm. In the other cases, since the controller changes into the manual mode at t=0, the control signal is fixed at the last PI controller output and thus the feedback control is not performed anymore until the operator takes an action such as the operation mode change. As a result of analysis and simulations for the controller’s operation modes in all the cases of input channel trouble, we discovered that it is more appropriate to maintain the automatic mode despite the bad quality in the PV. Therefore, we improved the control system algorithm reflecting the analysis results for the operator’s convenience and the stability of a control system

Analysis and Improvement of Control Algorithm for Operation Mode Transition due to Input Channel Trouble in Control Systems

Energy Technology Data Exchange (ETDEWEB)

Ahn, Myunghoon; Kim, Woogoon; Yim, Hyeongsoon [KEPCO Engineering and Construction Co., Deajeon (Korea, Republic of)

2016-10-15

The PI (Proportional plus Integral) controller, which is the essential functional block in control systems, can automatically perform the stable control of an important plant process while reducing the steady state error and improving the transient response. However, if the received input PV (Process Variable) is not normal due to input channel trouble, it will be difficult to control the system automatically. For this reason, many control systems are implemented to change the operation mode from automatic to manual mode in the PI controller when the failed input PV is detected. If the PI controller is in automatic mode for all the time, the control signal varies as the change of the input PV is continuously reflected in the control algorithm. In the other cases, since the controller changes into the manual mode at t=0, the control signal is fixed at the last PI controller output and thus the feedback control is not performed anymore until the operator takes an action such as the operation mode change. As a result of analysis and simulations for the controller’s operation modes in all the cases of input channel trouble, we discovered that it is more appropriate to maintain the automatic mode despite the bad quality in the PV. Therefore, we improved the control system algorithm reflecting the analysis results for the operator’s convenience and the stability of a control system.

Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm

Directory of Open Access Journals (Sweden)

Ismail Ben Abdallah

2016-01-01

Full Text Available Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case or trajectory generation based on feedback sensors (active robots case. However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE, a developed human-machine-interface (HMI allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

Science.gov (United States)

Long, Yi; Du, Zhi-jiang; Wang, Wei-dong; Dong, Wei

2016-01-01

A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user's intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC) with a cerebellar model articulation controller (CMAC) neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA) is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC) is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA), and SMC with CMAC compensation (SMC_CMAC), all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA) data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems. PMID:27069353

The choice of foreign entry modes in a control perspective

DEFF Research Database (Denmark)

Dyhr Ulrich, Anna Marie; Boyd, Britta; Hollensen, Svend

The aim of this article is to investigate the choice of entry modes for international markets in a control perspective. A survey from The Confederation of Danish Industry with 234 Danish small- and medium sized enterprises served as a data base. The entry modes are categorized into three groups...... depending on the control that the company has over its activities abroad. The paper examines selected factors that influence the ‘entry modes’ of Danish SMEs in different strategic settings. Results show that the most deciding factor for the choice of high control entry mode (subsidiary) was the factor...

Resistive wall mode active control physics design for KSTAR

International Nuclear Information System (INIS)

Park, Y. S.; Sabbagh, S. A.; Bialek, J. M.; Berkery, J. W.; Bak, J. G.; Lee, S. G.; Oh, Y. K.

2014-01-01

As KSTAR H-mode operation approaches the region where the resistive wall mode (RWM) can be unstable, an important issue for future long pulse, high beta plasma operation is to evaluate RWM active feedback control performance using a planned active/passive RWM stabilization system on the device. In particular, an optimal design of feedback sensors allows mode stabilization up to the highest achievable β N close to the ideal with-wall limit, β N wall , with reduced control power requirements. The computed ideal n = 1 mode structure from the DCON code has been input to the VALEN-3D code to calculate the projected performance of an active RWM control system in the KSTAR three-dimensional conducting structure device geometry. Control performance with the midplane locked mode detection sensors, off-midplane saddle loops, and magnetic pickup coils is examined. The midplane sensors measuring the radial component of the mode perturbation is found to be strongly affected by the wall eddy current. The off-axis saddle loops with proper compensation of the prompt applied field are computed to provide stabilization at β N up to 86% of β N wall but the low RWM amplitude computed in the off-axis regions near the sensors can produce a low signal-to-noise ratio. The required control power and bandwidth are also estimated with varied noise levels in the feedback sensors. Further improvements have been explored by examining a new RWM sensor design motivated by the off-midplane poloidal magnetic field sensors in NSTX. The new sensors mounted off of the copper passive stabilizer plates near the device midplane show a clear advantage in control performance corresponding to achieving 99% of β N wall without the need of compensation of the prompt field. The result shows a significant improvement of RWM feedback stabilization using the new sensor set which motivates a future feedback sensor upgrade

Robust sliding mode control for uncertain servo system using friction observer and recurrent fuzzy neural networks

International Nuclear Information System (INIS)

Han, Seong Ik; Jeong, Chan Se; Yang, Soon Yong

2012-01-01

A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme

Robust sliding mode control for uncertain servo system using friction observer and recurrent fuzzy neural networks

Energy Technology Data Exchange (ETDEWEB)

Han, Seong Ik [Pusan National University, Busan (Korea, Republic of); Jeong, Chan Se; Yang, Soon Yong [University of Ulsan, Ulsan (Korea, Republic of)

2012-04-15

A robust positioning control scheme has been developed using friction parameter observer and recurrent fuzzy neural networks based on the sliding mode control. As a dynamic friction model, the LuGre model is adopted for handling friction compensation because it has been known to capture sufficiently the properties of a nonlinear dynamic friction. A developed friction parameter observer has a simple structure and also well estimates friction parameters of the LuGre friction model. In addition, an approximation method for the system uncertainty is developed using recurrent fuzzy neural networks technology to improve the precision positioning degree. Some simulation and experiment provide the verification on the performance of a proposed robust control scheme.

Accurate Sliding-Mode Control System Modeling for Buck Converters

DEFF Research Database (Denmark)

Høyerby, Mikkel Christian Wendelboe; Andersen, Michael Andreas E.

2007-01-01

This paper shows that classical sliding mode theory fails to correctly predict the output impedance of the highly useful sliding mode PID compensated buck converter. The reason for this is identified as the assumption of the sliding variable being held at zero during sliding mode, effectively...... approach also predicts the self-oscillating switching action of the sliding-mode control system correctly. Analytical findings are verified by simulation as well as experimentally in a 10-30V/3A buck converter....

Improvement of burst-mode control of piezoelectric transformer based DC/DC converter

International Nuclear Information System (INIS)

Vasic, Dejan; Liu, Yuan-Ping; Costa, François; Schwander, Denis; Wu, Wen-Jong

2013-01-01

Burst-mode operation is adopted sometimes in piezoelectric transformer based converters for two major purposes: (1) to achieve voltage regulation in DC/DC converters and (2) to achieve dimming control in backlight inverters. Burst-mode control enables the converter to operate at a constant switching frequency as well as to maintain good efficiency at light load conditions. However, in practice, the piezoelectric transformer cannot instantly stop vibrating in the burst-mode due to its high quality factor. The delay in the output voltage change resulting from this behavior influences the accuracy of the regulation. This paper proposes a control strategy to make the piezoelectric transformer stop more quickly so as to enhance the accuracy of burst-mode control. The proposed method only modifies the control signal of the burst-mode driving circuit. The proposed control strategy is verified by experiments in a step-down 9 W DC/DC converter. (paper)

Edge localized modes control: experiment and theory

International Nuclear Information System (INIS)

Bedoulet, M.; Huysmans, G.; Thomas, P.; Joffrin, E.; Rimini, F.; Monier-Garbet, P.; Grosman, A.; Ghendrih, P.; Parail, V.; Lomas, P.; Matthews, G.; Wilson, H.; Gryaznevich, M.; Gonsell, G.; Loarte, A.; Saibene, G.; Sartori, R.; Leonard, A.; Snyder, P.; Evans, T.; Gohil, P.; Burell, H.; Moyer, R.; Kamada, Y.; Oyama, N.; Hatae, T.; Degeling, A.; Martin, Y.; Lister, J.; Rapp, J.; Perez, C.; Lang, P.; Chankin, A.; Eich, T.; Sips, A.; Stober, J.; Horton, L.; Kallenbach, A.; Suttrop, W.; Saarelma, S.; Cowley, S.; Lonnroth, J.; Kamiya, K.; Shimada, M.; Polevoi, A.; Federici, G.

2004-01-01

The paper reviews recent theoretical and experimental results focusing on the identification of the key factors controlling ELM (energy localized mode) energy and particle losses both in natural ELMs and in the presence of external controlling mechanisms. The theoretical description of the most studied Type-I ELMs is progressing from linear MHD stability analysis for peeling and ballooning modes to the non-linear explosive models and transport codes. Present theories cannot predict the ELM size self-consistently, however they pointed out the benefit of the high plasma shaping, high q 95 and high pedestal density in reducing the ELM affected area. The experimental data also suggest that the conductive energy losses in Type-I ELM can be controlled by working in specific plasma conditions. In particular, the existence of purely convective small Type-I ELMs regimes at high q 95 (>4.5) with ΔW ELM /W ped <5% was demonstrated in high triangularity (δ ∼ 0.5) plasmas in JET. Small benign ELMs regimes in present machines (EDA, HRS, Type-II, grassy, QH, Type-III in impurity seeded discharges at high δ and their relevance for ITER parameters are reviewed briefly. The absence of already developed ITER relevant high confinement scenarios with acceptable ELMs has motivated recent intensive experimental and theoretical studies of active control of ELMs. The possibility of suppression of Type-I ELMs in H-mode scenarios at constant confinement was demonstrated in DIII-D experiments with a stochastic boundary created by external coils. It has been demonstrated in AUG that small pellets can trigger Type-I ELMs with a frequency imposed by the pellet injector. Pellet induced ELMs are similar to the intrinsic Type-I ELMs with the same frequency. At the same time the confinement degradation due to the fuelling can be minimized with pellets small as compared to the gas injection. Recent plasma current ramp experiments (JET, COMPASS-D) and modelling (JETTO) demonstrated that the edge

Edge localized modes control: experiment and theory

Energy Technology Data Exchange (ETDEWEB)

Bedoulet, M.; Huysmans, G.; Thomas, P.; Joffrin, E.; Rimini, F.; Monier-Garbet, P.; Grosman, A.; Ghendrih, P. [Association Euratom-CEA, Centre d' Etudes de Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee; Parail, V.; Lomas, P.; Matthews, G.; Wilson, H.; Gryaznevich, M.; Gonsell, G.; Loarte, A.; Saibene, G.; Sartori, R.; Leonard, A.; Snyder, P.; Evans, T.; Gohil, P.; Burell, H.; Moyer, R.; Kamada, Y.; Oyama, N.; Hatae, T.; Degeling, A.; Martin, Y.; Lister, J.; Rapp, J.; Perez, C.; Lang, P.; Chankin, A.; Eich, T.; Sips, A.; Stober, J.; Horton, L.; Kallenbach, A.; Suttrop, W.; Saarelma, S.; Cowley, S.; Lonnroth, J.; Kamiya, K.; Shimada, M.; Polevoi, A.; Federici, G

2004-07-01

The paper reviews recent theoretical and experimental results focusing on the identification of the key factors controlling ELM (energy localized mode) energy and particle losses both in natural ELMs and in the presence of external controlling mechanisms. The theoretical description of the most studied Type-I ELMs is progressing from linear MHD stability analysis for peeling and ballooning modes to the non-linear explosive models and transport codes. Present theories cannot predict the ELM size self-consistently, however they pointed out the benefit of the high plasma shaping, high q{sub 95} and high pedestal density in reducing the ELM affected area. The experimental data also suggest that the conductive energy losses in Type-I ELM can be controlled by working in specific plasma conditions. In particular, the existence of purely convective small Type-I ELMs regimes at high q{sub 95} (>4.5) with {delta}W{sub ELM}/W{sub ped}<5% was demonstrated in high triangularity ({delta} {approx} 0.5) plasmas in JET. Small benign ELMs regimes in present machines (EDA, HRS, Type-II, grassy, QH, Type-III in impurity seeded discharges at high {delta} and their relevance for ITER parameters are reviewed briefly. The absence of already developed ITER relevant high confinement scenarios with acceptable ELMs has motivated recent intensive experimental and theoretical studies of active control of ELMs. The possibility of suppression of Type-I ELMs in H-mode scenarios at constant confinement was demonstrated in DIII-D experiments with a stochastic boundary created by external coils. It has been demonstrated in AUG that small pellets can trigger Type-I ELMs with a frequency imposed by the pellet injector. Pellet induced ELMs are similar to the intrinsic Type-I ELMs with the same frequency. At the same time the confinement degradation due to the fuelling can be minimized with pellets small as compared to the gas injection. Recent plasma current ramp experiments (JET, COMPASS-D) and

Adaptive slope compensation for high bandwidth digital current mode controller

DEFF Research Database (Denmark)

Taeed, Fazel; Nymand, Morten

2015-01-01

An adaptive slope compensation method for digital current mode control of dc-dc converters is proposed in this paper. The compensation slope is used for stabilizing the inner current loop in peak current mode control. In this method, the compensation slope is adapted with the variations...... in converter duty cycle. The adaptive slope compensation provides optimum controller operation in term of bandwidth over wide range of operating points. In this paper operation principle of the controller is discussed. The proposed controller is implemented in an FPGA to control a 100 W buck converter...

Mode control in a high-gain relativistic klystron amplifier

Science.gov (United States)

Li, Zheng-Hong; Zhang, Hong; Ju, Bing-Quan; Su, Chang; Wu, Yang

2010-05-01

Middle cavities between the input and output cavity can be used to decrease the required input RF power for the relativistic klystron amplifier. Meanwhile higher modes, which affect the working mode, are also easy to excite in a device with more middle cavities. In order for the positive feedback process for higher modes to be excited, a special measure is taken to increase the threshold current for such modes. Higher modes' excitation will be avoided when the threshold current is significantly larger than the beam current. So a high-gain S-band relativistic klystron amplifier is designed for the beam of current 5 kA and beam voltage 600 kV. Particle in cell simulations show that the gain is 1.6 × 105 with the input RF power of 6.8 kW, and that the output RF power reaches 1.1 GW.

Simplex sliding mode control for nonlinear uncertain systems via chaos optimization

International Nuclear Information System (INIS)

Lu, Zhao; Shieh, Leang-San; Chen, Guanrong; Coleman, Norman P.

2005-01-01

As an emerging effective approach to nonlinear robust control, simplex sliding mode control demonstrates some attractive features not possessed by the conventional sliding mode control method, from both theoretical and practical points of view. However, no systematic approach is currently available for computing the simplex control vectors in nonlinear sliding mode control. In this paper, chaos-based optimization is exploited so as to develop a systematic approach to seeking the simplex control vectors; particularly, the flexibility of simplex control is enhanced by making the simplex control vectors dependent on the Euclidean norm of the sliding vector rather than being constant, which result in both reduction of the chattering and speedup of the convergence. Computer simulation on a nonlinear uncertain system is given to illustrate the effectiveness of the proposed control method

Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm

Science.gov (United States)

Gao, Qing; Liu, Jinguo; Tian, Tongtong; Li, Yangmin

2017-09-01

Space robots can perform some tasks in harsh environment as assistants of astronauts or substitutions of astronauts. Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely.

PSO based neuro fuzzy sliding mode control for a robot manipulator

Directory of Open Access Journals (Sweden)

M. Vijay

2017-05-01

Full Text Available This paper presents the control strategy of two degrees of freedom (2DOF rigid robot manipulator based on the coupling of artificial neuro fuzzy inference system (ANFIS with sliding mode control (SMC. Initially SMC with proportional integral derivative (PID sliding surface is adapted to control the robot manipulator. The parameters of the sliding surface are obtained by minimizing a quadratic performance indices using particle swarm optimization (PSO. Variations of SMC i.e. boundary sliding mode control (BSMC and boundary sliding mode control with PID sliding surface (PIDBSMC are developed for optimized performance index. Finally an ANFIS adaptive controller is proposed to generate the adaptive control signal and found to be more robust with regard to disturbances in input torque.

ICRF Mode Conversion Current Drive for Plasma Stability Control in Tokamaks

International Nuclear Information System (INIS)

Grekov, D.; Kock, R.; Lyssoivan, A.; Noterdaeme, J. M.; Ongena, J.

2007-01-01

There is a substantial incentive for the International Thermonuclear Experimental Reactor (ITER) to operate at the highest attainable beta (plasma pressure normalized to magnetic pressure), a point emphasized by requirements of attractive economics in a reactor. Recent experiments aiming at stationary high beta discharges in tokamak plasmas have shown that maximum achievable beta value is often limited by the onset of instabilities at rational magnetic surfaces (neoclassical tearing modes). So, methods of effective control of these instabilities have to be developed. One possible way for neoclassical tearing modes control is an external current drive in the island to locally replace the missing bootstrap current and thus to suppress the instability. Also, a significant control of the sawtooth behaviour was demonstrated when the magnetic shear was modified by driven current at the magnetic surface where safety factor equals to 1. In the ion cyclotron range of frequencies (ICRF), the mode conversion regime can be used to drive the local external current near the position of the fast-to-slow wave conversion layer, thus providing an efficient means of plasma stability control. The slow wave energy is effectively absorbed in the vicinity of mode conversion layer by electrons with such parallel to confining magnetic field velocities that the Landau resonance condition is satisfied. For parameters of present day tokamaks and for ITER parameters the slow wave phase velocity is rather low, so the large ratio of momentum to energy content would yield high current drive efficiency. In order to achieve noticeable current drive effect, it is necessary to create asymmetry in the ICRF power absorption between top and bottom parts of the plasma minor cross-section. Such asymmetric electron heating may be realized using: - shifted from the torus midplane ICRF antenna in TEXTOR tokamak; - plasma displacement in vertical direction that is feasible in ASDEX-Upgrade; - the

Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator

Directory of Open Access Journals (Sweden)

Ji-Hwan Hwang

2017-01-01

Full Text Available In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

Robust Sliding Mode Control Based on GA Optimization and CMAC Compensation for Lower Limb Exoskeleton

Directory of Open Access Journals (Sweden)

Yi Long

2016-01-01

Full Text Available A lower limb assistive exoskeleton is designed to help operators walk or carry payloads. The exoskeleton is required to shadow human motion intent accurately and compliantly to prevent incoordination. If the user’s intention is estimated accurately, a precise position control strategy will improve collaboration between the user and the exoskeleton. In this paper, a hybrid position control scheme, combining sliding mode control (SMC with a cerebellar model articulation controller (CMAC neural network, is proposed to control the exoskeleton to react appropriately to human motion intent. A genetic algorithm (GA is utilized to determine the optimal sliding surface and the sliding control law to improve performance of SMC. The proposed control strategy (SMC_GA_CMAC is compared with three other types of approaches, that is, conventional SMC without optimization, optimal SMC with GA (SMC_GA, and SMC with CMAC compensation (SMC_CMAC, all of which are employed to track the desired joint angular position which is deduced from Clinical Gait Analysis (CGA data. Position tracking performance is investigated with cosimulation using ADAMS and MATLAB/SIMULINK in two cases, of which the first case is without disturbances while the second case is with a bounded disturbance. The cosimulation results show the effectiveness of the proposed control strategy which can be employed in similar exoskeleton systems.

The high beta tokamak-extended pulse magnetohydrodynamic mode control research program

International Nuclear Information System (INIS)

Maurer, D A; Bialek, J; Byrne, P J; De Bono, B; Levesque, J P; Li, B Q; Mauel, M E; Navratil, G A; Pedersen, T S; Rath, N; Shiraki, D

2011-01-01

The high beta tokamak-extended pulse (HBT-EP) magnetohydrodynamic (MHD) mode control research program is studying ITER relevant internal modular feedback control coil configurations and their impact on kink mode rigidity, advanced digital control algorithms and the effects of plasma rotation and three-dimensional magnetic fields on MHD mode stability. A new segmented adjustable conducting wall has been installed on the HBT-EP and is made up of 20 independent, movable, wall shell segments instrumented with three distinct sets of 40 saddle coils, totaling 120 in-vessel modular feedback control coils. Each internal coil set has been designed with varying toroidal angular coil coverage of 5, 10 and 15 0 , spanning the toroidal angle range of an ITER port plug based internal coil to test resistive wall mode (RWM) interaction and multimode MHD plasma response to such highly localized control fields. In addition, we have implemented 336 new poloidal and radial magnetic sensors to quantify the applied three-dimensional fields of our control coils along with the observed plasma response. This paper describes the design and implementation of the new control shell incorporating these control and sensor coils on the HBT-EP, and the research program plan on the upgraded HBT-EP to understand how best to optimize the use of modular feedback coils to control instability growth near the ideal wall stabilization limit, answer critical questions about the role of plasma rotation in active control of the RWM and the ferritic resistive wall mode, and to improve the performance of MHD control systems used in fusion experiments and future burning plasma systems.

Advances and applications in sliding mode control systems

CERN Document Server

Zhu, Quanmin

2015-01-01

This book describes the advances and applications in Sliding mode control (SMC) which is widely used as a powerful method to tackle uncertain nonlinear systems. The book is organized into 21 chapters which have been organised by the editors to reflect the various themes of sliding mode control. The book provides the reader with a broad range of material from first principles up to the current state of the art in the area of SMC and observation presented in a clear, matter-of-fact style. As such it is appropriate for graduate students with a basic knowledge of classical control theory and some knowledge of state-space methods and nonlinear systems. The resulting design procedures are emphasized using Matlab/Simulink software.    

Sliding mode control for uncertain unified chaotic systems with input nonlinearity

International Nuclear Information System (INIS)

Chiang, T.-Y.; Hung, M.-L.; Yan, J.-J.; Yang, Y.-S.; Chang, J.-F.

2007-01-01

This paper investigates the stabilization problem for a class of unified chaotic systems subject to uncertainties and input nonlinearity. Using the sliding mode control technique, a robust control law is established which stabilizes the uncertain unified chaotic systems even when the nonlinearity in the actuators is present. A novel adaptive switching surface is introduced to simplify the task of assigning the stability of the closed-loop system in the sliding mode motion. An illustrative example is given to demonstrate the effectiveness of the proposed sliding mode control design

Frequency-shaped and observer-based discrete-time sliding mode control

CERN Document Server

Mehta, Axaykumar

2015-01-01

It is well established that the sliding mode control strategy provides an effective and robust method of controlling the deterministic system due to its well-known invariance property to a class of bounded disturbance and parameter variations. Advances in microcomputer technologies have made digital control increasingly popular among the researchers worldwide. And that led to the study of discrete-time sliding mode control design and its implementation. This brief presents, a method for multi-rate frequency shaped sliding mode controller design based on switching and non-switching type of reaching law. In this approach, the frequency dependent compensator dynamics are introduced through a frequency-shaped sliding surface by assigning frequency dependent weighing matrices in a linear quadratic regulator (LQR) design procedure. In this way, the undesired high frequency dynamics or certain frequency disturbance can be eliminated. The states are implicitly obtained by measuring the output at a faster rate than th...

Nonsingular Terminal Sliding Mode Control of Uncertain Second-Order Nonlinear Systems

Directory of Open Access Journals (Sweden)

Minh-Duc Tran

2015-01-01

Full Text Available This paper presents a high-performance nonsingular terminal sliding mode control method for uncertain second-order nonlinear systems. First, a nonsingular terminal sliding mode surface is introduced to eliminate the singularity problem that exists in conventional terminal sliding mode control. By using this method, the system not only can guarantee that the tracking errors reach the reference value in a finite time with high-precision tracking performance but also can overcome the complex-value and the restrictions of the exponent (the exponent should be fractional number with an odd numerator and an odd denominator in traditional terminal sliding mode. Then, in order to eliminate the chattering phenomenon, a super-twisting higher-order nonsingular terminal sliding mode control method is proposed. The stability of the closed-loop system is established using the Lyapunov theory. Finally, simulation results are presented to illustrate the effectiveness of the proposed method.

Resistive Wall Mode Stability and Control in the Reversed Field Pinch

International Nuclear Information System (INIS)

Yadikin, Dmitriy

2006-03-01

Control of MHD instabilities using a conducting wall together with external magnetic fields is an important route to improved performance and reliability in fusion devices. Active control of MHD modes is of interest for both the Advanced Tokamak and the Reversed Field Pinch (RFP) configurations. A wide range of unstable, current driven MHD modes is present in the RFP. An ideally conducting wall facing the plasma can in principle provide stabilization to these modes. However, a real, resistive wall characterized by a wall field diffusion time, cannot stabilize the ideal MHD modes unless they rotate with Alfvenic velocity, which is usually not the case. With a resistive wall, the ideal modes are converted into resistive wall modes (RWM) with growth rates comparable to the inverse wall time. Resistive wall modes have been studied in the EXTRAP T2R thin shell RFP device. Growth rates have been measured and found in agreement with linear MHD stability calculations. An advanced system for active control has been developed and installed on the EXTRAP T2R device. The system includes an array of 128 active saddle coils, fully covering the torus surface. Experiments on EXTRAP T2R have for the first time demonstrated simultaneous active suppression of multiple independent RWMs. In experiments with a partial array, coupling of different modes due to the limited number of feedback coils has been observed, in agreement with theory. Different feedback strategies, such as the intelligent shell, the rotating shell, and mode control have been studied. Further, feedback operation with different types of magnetic field sensors, measuring either the radial or the toroidal field components have been compared

Chattering-free fuzzy sliding-mode control strategy for uncertain chaotic systems

International Nuclear Information System (INIS)

Yau, H.-T.; Chen, C.-L.

2006-01-01

This paper proposes a chattering-free fuzzy sliding-mode control (FSMC) strategy for uncertain chaotic systems. A fuzzy logic control is used to replace the discontinuous sign function of the reaching law in traditional sliding-mode control (SMC), and hence a control input without chattering is obtained in the chaotic systems with uncertainties. Base on the Lyapunov stability theory, we address the design schemes of integration fuzzy sliding-mode control, where the reaching law is proposed by a set of linguistic rules and the control input is chattering free. The Genesio chaotic system is used to test the proposed control strategy and the simulation results show the FSMC not only can control the uncertain chaotic behaviors to a desired state without oscillator very fast, but also the switching function is smooth without chattering. This result implies that this strategy is feasible and effective for chaos control

Experimental and theoretical studies of active control of resistive wall mode growth in the EXTRAP T2R reversed-field pinch

International Nuclear Information System (INIS)

Drake, J.R.; Brunsell, P.R.; Yadikin, D.; Cecconello, M.; Malmberg, J.A.; Gregoratto, D.; Paccagnella, R.; Bolzonella, T.; Manduchi, G.; Marrelli, L.; Ortolani, S.; Spizzo, G.; Zanca, P.; Bondeson, A.; Liu, Y.Q.

2005-01-01

Active feedback control of resistive wall modes (RWMs) has been demonstrated on the EXTRAP T2R reversed-field pinch experiment. The control system includes a sensor consisting of an array of magnetic coils (measuring mode harmonics) and an actuator consisting of a saddle coil array (producing control harmonics). Closed-loop (feedback) experiments using a digital controller based on a real time Fourier transform of sensor data have been studied for cases where the feedback gain was constant and real for all harmonics (intelligent-shell) and cases where the feedback gain could be set for selected harmonics, with both real or complex values (targeted-harmonics). The growth of the dominant RWMs can be suppressed by feedback for both the intelligent-shell and targeted-harmonic control systems. Because the number of toroidal positions of saddle coils in the array is half the number of sensors, it is predicted and observed experimentally that the control harmonic spectrum has sidebands. As a result, each control harmonic has to control simultaneously two mode harmonics. Real gains can stabilize non-rotating RWMs, while complex gains give better results for (slowly) rotating RWMs. In addition open loop experiments have been used to observe the effects of resonant field errors applied to unstable, marginally stable and robustly stable modes. The observed effects of field errors are consistent with the thin-wall model, where mode growth is proportional to the resonant field error amplitude and the wall penetration time for that mode harmonic. (author)

Finite-Time Reentry Attitude Control Using Time-Varying Sliding Mode and Disturbance Observer

Directory of Open Access Journals (Sweden)

Xuzhong Wu

2015-01-01

Full Text Available This paper presents the finite-time attitude control problem for reentry vehicle with redundant actuators in consideration of planet uncertainties and external disturbances. Firstly, feedback linearization technique is used to cancel the nonlinearities of equations of motion to construct a basic mode for attitude controller. Secondly, two kinds of time-varying sliding mode control methods with disturbance observer are integrated with the basic mode in order to enhance the control performance and system robustness. One method is designed based on boundary layer technique and the other is a novel second-order sliding model control method. The finite-time stability analyses of both resultant closed-loop systems are carried out. Furthermore, after attitude controller produces the torque commands, an optimization control allocation approach is introduced to allocate them into aerodynamic surface deflections and on-off reaction control system thrusts. Finally, the numerical simulation results demonstrate that both of the time-varying sliding mode control methods are robust to uncertainties and disturbances without chattering phenomenon. Moreover, the proposed second-order sliding mode control method possesses better control accuracy.

Nonlinear adaptive observer-based sliding mode control for LAMOST mount driving

International Nuclear Information System (INIS)

Zhou Wangping; Guo Wei; Yu Li; Yang Changsong; Zheng Yi

2010-01-01

Heavy disturbances caused mainly by wind and friction in the mount drive system greatly impair the pointing accuracy of the Large Sky Area Multi-Object Fiber Spectroscopic Telescope (LAMOST). To overcome this negative effect, a third order Higher Order Sliding Mode (HOSM) controller is proposed. The key part of this approach is to design an appropriate observer which obtains the acceleration state. A nonlinear adaptive observer is proposed in which a novel polynomial model is applied to estimate the internal disturbances of the mount drive system. Theoretical analysis demonstrates the stability of the proposed observer. Simulation results show that this nonlinear adaptive observer can obtain a high precision acceleration signal which completes the HOSM controller. Furthermore, the HOSM approach can easily satisfy the position tracking requirements of the LAMOST mount drive system.

Generalized Predictive Control of Dynamic Systems with Rigid-Body Modes

Science.gov (United States)

Kvaternik, Raymond G.

2013-01-01

Numerical simulations to assess the effectiveness of Generalized Predictive Control (GPC) for active control of dynamic systems having rigid-body modes are presented. GPC is a linear, time-invariant, multi-input/multi-output predictive control method that uses an ARX model to characterize the system and to design the controller. Although the method can accommodate both embedded (implicit) and explicit feedforward paths for incorporation of disturbance effects, only the case of embedded feedforward in which the disturbances are assumed to be unknown is considered here. Results from numerical simulations using mathematical models of both a free-free three-degree-of-freedom mass-spring-dashpot system and the XV-15 tiltrotor research aircraft are presented. In regulation mode operation, which calls for zero system response in the presence of disturbances, the simulations showed reductions of nearly 100%. In tracking mode operations, where the system is commanded to follow a specified path, the GPC controllers produced the desired responses, even in the presence of disturbances.

Application and Evaluation of Control Modes for Risk-Based Engine Performance Enhancements

Science.gov (United States)

Liu, Yuan; Litt, Jonathan S.; Sowers, T. Shane; Owen, A. Karl; Guo, Ten-Huei

2015-01-01

The engine control system for civil transport aircraft imposes operational limits on the propulsion system to ensure compliance with safety standards. However, during certain emergency situations, aircraft survivability may benefit from engine performance beyond its normal limits despite the increased risk of failure. Accordingly, control modes were developed to improve the maximum thrust output and responsiveness of a generic high-bypass turbofan engine. The algorithms were designed such that the enhanced performance would always constitute an elevation in failure risk to a consistent predefined likelihood. This paper presents an application of these risk-based control modes to a combined engine/aircraft model. Through computer and piloted simulation tests, the aim is to present a notional implementation of these modes, evaluate their effects on a generic airframe, and demonstrate their usefulness during emergency flight situations. Results show that minimal control effort is required to compensate for the changes in flight dynamics due to control mode activation. The benefits gained from enhanced engine performance for various runway incursion scenarios are investigated. Finally, the control modes are shown to protect against potential instabilities during propulsion-only flight where all aircraft control surfaces are inoperable.

PID Controller of Sprayer Chassis by Sliding Mode

Directory of Open Access Journals (Sweden)

Hua Zhang

2017-01-01

Full Text Available In order to solve the straight line drive coordinated control problem of the four-wheel independent drive sprayer chassis, the dynamic model of sprayer chassis and electromagnetic proportional valve controlled hydraulic motor model are established. The additional yaw moment is designed to rectify the deviation with sliding mode variable structure control. PID control strategy is used to calculate the control voltage adjustment of the electromagnetic proportional valve. The simulation results show that the accumulative deviation of the chassis is 0.2 m out of 100 m when the coordinated control strategy is adopted on different adhesive coefficient pavement, which is much smaller than the value without control. The test results of test prototype show that the yaw acceleration of the chassis can be as low as −0.0132 m/s2 on different adhesive coefficient pavement with coordinated control, which is smaller than the value without control, and the straight line drive requirements are met. It is feasible to combine sliding mode variable structure with PID control and use the electromagnetic proportional control technology in the straight line drive coordinated control of sprayer chassis by adding the yaw moment to rectify the deviation of chassis based on the yaw acceleration detection.

Design of permanent magnet synchronous motor speed loop controller based on sliding mode control algorithm

Science.gov (United States)

Qiang, Jiang; Meng-wei, Liao; Ming-jie, Luo

2018-03-01

Abstract.The control performance of Permanent Magnet Synchronous Motor will be affected by the fluctuation or changes of mechanical parameters when PMSM is applied as driving motor in actual electric vehicle,and external disturbance would influence control robustness.To improve control dynamic quality and robustness of PMSM speed control system, a new second order integral sliding mode control algorithm is introduced into PMSM vector control.The simulation results show that, compared with the traditional PID control,the modified control scheme optimized has better control precision and dynamic response ability and perform better with a stronger robustness facing external disturbance,it can effectively solve the traditional sliding mode variable structure control chattering problems as well.

Physics and Control of Locked Modes in the DIII-D Tokamak

International Nuclear Information System (INIS)

Volpe, Francesco

2017-01-01

This Final Technical Report summarizes an investigation, carried out under the auspices of the DOE Early Career Award, of the physics and control of non-rotating magnetic islands (''locked modes'') in tokamak plasmas. Locked modes are one of the main causes of disruptions in present tokamaks, and could be an even bigger concern in ITER, due to its relatively high beta (favoring the formation of Neoclassical Tearing Mode islands) and low rotation (favoring locking). For these reasons, this research had the goal of studying and learning how to control locked modes in the DIII-D National Fusion Facility under ITER-relevant conditions of high pressure and low rotation. Major results included: the first full suppression of locked modes and avoidance of the associated disruptions; the demonstration of error field detection from the interaction between locked modes, applied rotating fields and intrinsic errors; the analysis of a vast database of disruptive locked modes, which led to criteria for disruption prediction and avoidance.

Real-time determination of magnetic island location for neoclassical tearing mode control in DIII-D

International Nuclear Information System (INIS)

Park, Y S; Welander, A S

2006-01-01

Accurate measurement of island location is crucial for efficient suppression of the neoclassical tearing mode by electron cyclotron current drive (ECCD). In the control system on DIII-D the contour of the resonant q-surface is measured in real time based on real-time magnetohydrodynamic reconstructions, EFITs, that include motional Stark effect measurements of pitch angle in the analysis. A new method for determination of the radial position of the q-surface using a 40 channel electron cyclotron emission radiometer has been developed. This method analyses localized temperature fluctuations caused by motion of the island and can be used by the plasma control system as a complementary measurement of the radial position of the q-surface contour for faster and more accurate alignment of the ECCD

Mode transition coordinated control for a compound power-split hybrid car

Science.gov (United States)

Wang, Chen; Zhao, Zhiguo; Zhang, Tong; Li, Mengna

2017-03-01

With a compound power-split transmission directly connected to the engine in hybrid cars, dramatic fluctuations in engine output torque result in noticeable jerks when the car is in mode transition from electric drive mode to hybrid drive mode. This study designed a mode transition coordinated control strategy, and verified that strategy's effectiveness with both simulations and experiments. Firstly, the mode transition process was analyzed, and ride comfort issues during the mode transition process were demonstrated. Secondly, engine ripple torque was modeled using the measured cylinder pumping pressure when the engine was not in operation. The complete dynamic plant model of the power-split hybrid car was deduced, and its effectiveness was validated by a comparison of experimental and simulation results. Thirdly, a coordinated control strategy was designed to determine the desired engine torque, motor torque, and the moment of fuel injection. Active damping control with two degrees of freedom, based on reference output shaft speed estimation, was designed to mitigate driveline speed oscillations. Carrier torque estimation based on transmission kinematics and dynamics was used to suppress torque disturbance during engine cranking. The simulation and experimental results indicate that the proposed strategy effectively suppressed vehicle jerks and improved ride comfort during mode transition.

Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

OpenAIRE

Ammar Al-Jodah; Laith Khames

2018-01-01

In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs). A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compar...

Zigbee networking technology and its application in Lamost optical fiber positioning and control system

Science.gov (United States)

Jin, Yi; Zhai, Chao; Gu, Yonggang; Zhou, Zengxiang; Gai, Xiaofeng

2010-07-01

4,000 fiber positioning units need to be positioned precisely in LAMOST(Large Sky Area Multi-object Optical Spectroscopic Telescope) optical fiber positioning & control system, and every fiber positioning unit needs two stepper motors for its driven, so 8,000 stepper motors need to be controlled in the entire system. Wireless communication mode is adopted to save the installing space on the back of the focal panel, and can save more than 95% external wires compared to the traditional cable control mode. This paper studies how to use the ZigBee technology to group these 8000 nodes, explores the pros and cons of star network and tree network in order to search the stars quickly and efficiently. ZigBee technology is a short distance, low-complexity, low power, low data rate, low-cost two-way wireless communication technology based on the IEEE 802.15.4 protocol. It based on standard Open Systems Interconnection (OSI): The 802.15.4 standard specifies the lower protocol layers-the physical layer (PHY), and the media access control (MAC). ZigBee Alliance defined on this basis, the rest layers such as the network layer and application layer, and is responsible for high-level applications, testing and marketing. The network layer used here, based on ad hoc network protocols, includes the following functions: construction and maintenance of the topological structure, nomenclature and associated businesses which involves addressing, routing and security and a self-organizing-self-maintenance functions which will minimize consumer spending and maintenance costs. In this paper, freescale's 802.15.4 protocol was used to configure the network layer. A star network and a tree network topology is realized, which can build network, maintenance network and create a routing function automatically. A concise tree network address allocate algorithm is present to assign the network ID automatically.

Realization of Current Mode Universal Filter and a Dual-Mode Single Resistance Controlled Quadrature Oscillator Employing VDCC and Only Grounded Passive Elements

Directory of Open Access Journals (Sweden)

Manish Gupta

2017-01-01

Full Text Available The manuscript presents a circuit that can act as a universal filter as well as a single resistence controlled oscillator by unpretentiously changing the switch positions. The circuit employs only two active devices and all grounded passive elements. The utilization of only grounded passive components makes this circuit a better choice for integrated circuit implementation. The current mode biquadratic filter offers all the five basic responses along with independent tunability of its quality factor. The dual-mode quadrature sinusoidal oscillator offers explicit current outputs along with voltage outputs. The circuit also offers a simple and uncoupled condition of oscillation and frequency of oscillation. The typical analysis such as non-ideal, sensitivity and parasitic analysis along with the regular simulation results as well as experimental results are exposed here, to strengthen the design idea.

Digital control of high-frequency switched-mode power converters

CERN Document Server

Corradini, Luca; Mattavelli, Paolo; Zane, Regan

This book is focused on the fundamental aspects of analysis, modeling and design of digital control loops around high-frequency switched-mode power converters in a systematic and rigorous manner Comprehensive treatment of digital control theory for power converters Verilog and VHDL sample codes are provided Enables readers to successfully analyze, model, design, and implement voltage, current, or multi-loop digital feedback loops around switched-mode power converters Practical examples are used throughout the book to illustrate applications of the techniques developed Matlab examples are also

Hierarchical sliding mode control for under-actuated cranes design, analysis and simulation

CERN Document Server

Qian, Dianwei

2015-01-01

This book reports on the latest developments in sliding mode overhead crane control, presenting novel research ideas and findings on sliding mode control (SMC), hierarchical SMC and compensator design-based hierarchical sliding mode. The results, which were previously scattered across various journals and conference proceedings, are now presented in a systematic and unified form. The book will be of interest to researchers, engineers and graduate students in control engineering and mechanical engineering who want to learn the methods and applications of SMC.

Mode Adaptive Droop Control with Virtual Output Impedances for an Inverter-Based Flexible AC Microgrid

DEFF Research Database (Denmark)

Kim, Jaehong; Guerrero, Josep M.; Rodriguez, Pedro

2011-01-01

A decentralized power control method in a singlephase flexible acmicrogrid is proposed in this paper. Droop control is widely considered to be a good choice for managing the power flows between microgrid converters in a decentralized manner. In this work, to enhance the power loop dynamics, droop...... control combined with a derivative controller is used in islanded mode. In grid-connected mode, to strictly control the power factor in the point of common coupling (PCC), a droop method combined with an integral controller is adopted. Small-signal analysis of the proposed control is shown both...... in islanded and grid-connected mode. The proposed control scheme does not need any mode switching action. Thus, it is relatively simple in control for full mode of operation. Smooth transitions between the operation modes and the effectiveness of the proposed control scheme are evaluated through simulation...

Sliding mode control of a "Soft" 2-DOF Planar Pneumatic Manipulator

Science.gov (United States)

Van Damme, M.; Vanderborght, B.; Beyl, P.; Versluys, R.; Vanderniepen, I.; Van Ham, R.; Cherelle, P.; Daerden, F.; Lefeber, D.

2008-10-01

This paper presents a sliding mode controller for a "Soft" 2-DOF Planar Pneumatic Manipulator actuated by pleated pneumatic artificial muscle actuators. Since actuator dynamics is not negligible, an approximate model for pressure dynamics was taken into account, which made it necessary to perform full input-output feedback linearization in order to design a sliding mode controller. The design of the controller is presented in detail, and experimental results obtained by implementing the controller are discussed

Nonlinear disturbance observer based sliding mode control of a cable-driven rehabilitation robot.

Science.gov (United States)

Niu, Jie; Yang, Qianqian; Chen, Guangtao; Song, Rong

2017-07-01

This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller is compared with a PID controller and a traditional sliding mode controller. Results show that the proposed controller can effectively improve the tracking performance as compared with the other two controllers and cause lower chattering as compared with a traditional sliding mode controller.

Physics and Control of Locked Modes in the DIII-D Tokamak

Energy Technology Data Exchange (ETDEWEB)

Volpe, Francesco [Columbia Univ., New York, NY (United States). Dept. of Applied Physics and Applied Mathematics

2017-01-30

This Final Technical Report summarizes an investigation, carried out under the auspices of the DOE Early Career Award, of the physics and control of non-rotating magnetic islands (“locked modes”) in tokamak plasmas. Locked modes are one of the main causes of disruptions in present tokamaks, and could be an even bigger concern in ITER, due to its relatively high beta (favoring the formation of Neoclassical Tearing Mode islands) and low rotation (favoring locking). For these reasons, this research had the goal of studying and learning how to control locked modes in the DIII-D National Fusion Facility under ITER-relevant conditions of high pressure and low rotation. Major results included: the first full suppression of locked modes and avoidance of the associated disruptions; the demonstration of error field detection from the interaction between locked modes, applied rotating fields and intrinsic errors; the analysis of a vast database of disruptive locked modes, which led to criteria for disruption prediction and avoidance.

Current Mode Control for LLC Series Resonant DC-to-DC Converters

OpenAIRE

Jinhaeng Jang; Syam Kumar Pidaparthy; Byungcho Choi

2015-01-01

Conventional voltage mode control only offers limited performance for LLC series resonant DC-to-DC converters experiencing wide variations in operational conditions. When the existing voltage mode control is employed, the closed-loop performance of the converter is directly affected by unavoidable changes in power stage dynamics. Thus, a specific control design optimized at one particular operating point could become unacceptable when the operational condition is varied. This paper presents a...

Gray mode control or a device with added manoeuvrability: a new fine control system for pressurized water reactors

International Nuclear Information System (INIS)

Guilmin, J.

1983-01-01

The present fine control system for pressurized water reactors (the so-called ''A'' mode) cannot meet the requirements of a variable output in all respects. For this reason specialists are now developing a new fine control system, called gray mode control which is better suited to rapid load variations. The basic principles for control of pressurized water reactors are summarized and, then gray mode control or the device with added manoeuvrability is described. The series of tests carried out in 1981 and 1982 on stage 3 of the Tricastin power station are analyzed and the satisfactory results obtained are presented [fr

Discrete-time sliding mode control for MR vehicle suspension system

Energy Technology Data Exchange (ETDEWEB)

Sohn, J W; Choi, S B [Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University, Incheon 402-751 (Korea, Republic of); Wereley, N M [Smart Structures Laboratory, Department of Aerospace Engineering, University of Maryland, College Park, MD 20742 (United States)], E-mail: seungbok@inha.ac.kr

2009-02-01

This paper presents control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers via a discrete-time sliding mode control algorithm (DSMC). A cylindrical MR damper is designed by incorporating Bingham model of the MR fluid and the field-dependent damping characteristics of the MR damper are evaluated. A full-vehicle suspension model installed with independent four MR dampers is constructed and the governing equations which include vertical, pitch and roll motion are derived. A discrete-time control model is established with considering system uncertainties and a discrete-time sliding mode controller which has inherent robustness to model uncertainty and external disturbance is formulated. Vibration control performances under bump excitation are evaluated and presented.

Discrete-time sliding mode control for MR vehicle suspension system

International Nuclear Information System (INIS)

Sohn, J W; Choi, S B; Wereley, N M

2009-01-01

This paper presents control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers via a discrete-time sliding mode control algorithm (DSMC). A cylindrical MR damper is designed by incorporating Bingham model of the MR fluid and the field-dependent damping characteristics of the MR damper are evaluated. A full-vehicle suspension model installed with independent four MR dampers is constructed and the governing equations which include vertical, pitch and roll motion are derived. A discrete-time control model is established with considering system uncertainties and a discrete-time sliding mode controller which has inherent robustness to model uncertainty and external disturbance is formulated. Vibration control performances under bump excitation are evaluated and presented.

Two-Dimensional Fuzzy Sliding Mode Control of a Field-Sensed Magnetic Suspension System

Directory of Open Access Journals (Sweden)

Jen-Hsing Li

2014-01-01

Full Text Available This paper presents the two-dimensional fuzzy sliding mode control of a field-sensed magnetic suspension system. The fuzzy rules include both the sliding manifold and its derivative. The fuzzy sliding mode control has advantages of the sliding mode control and the fuzzy control rules are minimized. Magnetic suspension systems are nonlinear and inherently unstable systems. The two-dimensional fuzzy sliding mode control can stabilize the nonlinear systems globally and attenuate chatter effectively. It is adequate to be applied to magnetic suspension systems. New design circuits of magnetic suspension systems are proposed in this paper. ARM Cortex-M3 microcontroller is utilized as a digital controller. The implemented driver, sensor, and control circuits are simpler, more inexpensive, and effective. This apparatus is satisfactory for engineering education. In the hands-on experiments, the proposed control scheme markedly improves performances of the field-sensed magnetic suspension system.

A Study on Mode Confusions in Adaptive Cruise Control Systems

Energy Technology Data Exchange (ETDEWEB)

Ahn, Dae Ryong; Yang, Ji Hyun; Lee, Sang Hun [Kookmin University, Seoul (Korea, Republic of)

2015-05-15

Recent development in science and technology has enabled vehicles to be equipped with advanced autonomous functions. ADAS (Advanced Driver Assistance Systems) are examples of such advanced autonomous systems added. Advanced systems have several operational modes and it has been observed that drivers could be unaware of the mode they are in during vehicle operation, which can be a contributing factor of traffic accidents. In this study, possible mode confusions in a simulated environment when vehicles are equipped with an adaptive cruise control system were investigated. The mental model of the system was designed and verified using the formal analysis method. Then, the user interface was designed on the basis of those of the current cruise control systems. A set of human-in-loop experiments was conducted to observe possible mode confusions and redesign the user interface to reduce them. In conclusion, the clarity and transparency of the user interface was proved to be as important as the correctness and compactness of the mental model when reducing mode confusions.

A Study on Mode Confusions in Adaptive Cruise Control Systems

International Nuclear Information System (INIS)

Ahn, Dae Ryong; Yang, Ji Hyun; Lee, Sang Hun

2015-01-01

Recent development in science and technology has enabled vehicles to be equipped with advanced autonomous functions. ADAS (Advanced Driver Assistance Systems) are examples of such advanced autonomous systems added. Advanced systems have several operational modes and it has been observed that drivers could be unaware of the mode they are in during vehicle operation, which can be a contributing factor of traffic accidents. In this study, possible mode confusions in a simulated environment when vehicles are equipped with an adaptive cruise control system were investigated. The mental model of the system was designed and verified using the formal analysis method. Then, the user interface was designed on the basis of those of the current cruise control systems. A set of human-in-loop experiments was conducted to observe possible mode confusions and redesign the user interface to reduce them. In conclusion, the clarity and transparency of the user interface was proved to be as important as the correctness and compactness of the mental model when reducing mode confusions

Robust synchronization of drive-response chaotic systems via adaptive sliding mode control

International Nuclear Information System (INIS)

Li, W.-L.; Chang, K.-M.

2009-01-01

A robust adaptive sliding control scheme is developed in this study to achieve synchronization for two identical chaotic systems in the presence of uncertain system parameters, external disturbances and nonlinear control inputs. An adaptation algorithm is given based on the Lyapunov stability theory. Using this adaptation technique to estimate the upper-bounds of parameter variation and external disturbance uncertainties, an adaptive sliding mode controller is then constructed without requiring the bounds of parameter and disturbance uncertainties to be known in advance. It is proven that the proposed adaptive sliding mode controller can maintain the existence of sliding mode in finite time in uncertain chaotic systems. Finally, numerical simulations are presented to show the effectiveness of the proposed control scheme.

Charge Inversion of Phospholipids by Dimetal Complexes for Positive Ion-Mode Electrospray Ionization Mass Spectrometry Analysis

DEFF Research Database (Denmark)

Svane, Simon; Gorshkov, Vladimir; Kjeldsen, Frank

2015-01-01

charges per phosphate group. Three different phosphoinositide phosphates (mono-, di-, and triphosphorylated inositides), a phosphatidic acid, a phosphatidylcholine, a phosphatidylethanolamine, and a phosphatidylglycerol were investigated. The intensities obtained in positive ion-mode of phosphoinositide...... phosphates and phosphatidic acid bound to {LGa2}(5+) were between 2.5- and 116-fold higher than that of the unmodified lipids in the negative ion-mode. Native phosphoinositide ions yielded upon CID in the negative ion-mode predominantly product ions due to losses of H3PO4, PO3(-) and H2O. In comparison, CID...

Travel path and transport mode identification method using ''less-frequently-detected'' position data

International Nuclear Information System (INIS)

Shimizu, T; Yamaguchi, T; Ai, H; Katagiri, Y; Kawase, J

2014-01-01

This study aims to seek method on travel path and transport mode identification in case positions of travellers are detected in low frequency. The survey in which ten test travellers with GPS logger move around Tokyo city centre was conducted. Travel path datasets of each traveller in which position data are selected every five minutes are processed from our survey data. Coverage index analysis based on the buffer analysis using GIS software is conducted. The condition and possibility to identify a path and a transport mode used are discussed

Nonlinear Predictive Sliding Mode Control for Active Suspension System

Directory of Open Access Journals (Sweden)

Dazhuang Wang

2018-01-01

Full Text Available An active suspension system is important in meeting the requirements of the ride comfort and handling stability for vehicles. In this work, a nonlinear model of active suspension system and a corresponding nonlinear robust predictive sliding mode control are established for the control problem of active suspension. Firstly, a seven-degree-of-freedom active suspension model is established considering the nonlinear effects of springs and dampers; and secondly, the dynamic model is expanded in the time domain, and the corresponding predictive sliding mode control is established. The uncertainties in the controller are approximated by the fuzzy logic system, and the adaptive controller reduces the approximation error to increase the robustness of the control system. Finally, the simulation results show that the ride comfort and handling stability performance of the active suspension system is better than that of the passive suspension system and the Skyhook active suspension. Thus, the system can obviously improve the shock absorption performance of vehicles.

Robust output LQ optimal control via integral sliding modes

CERN Document Server

Fridman, Leonid; Bejarano, Francisco Javier

2014-01-01

Featuring original research from well-known experts in the field of sliding mode control, this monograph presents new design schemes for implementing LQ control solutions in situations where the output system is the only information provided about the state of the plant. This new design works under the restrictions of matched disturbances without losing its desirable features. On the cutting-edge of optimal control research, Robust Output LQ Optimal Control via Integral Sliding Modes is an excellent resource for both graduate students and professionals involved in linear systems, optimal control, observation of systems with unknown inputs, and automatization. In the theory of optimal control, the linear quadratic (LQ) optimal problem plays an important role due to its physical meaning, and its solution is easily given by an algebraic Riccati equation. This solution turns out to be restrictive, however, because of two assumptions: the system must be free from disturbances and the entire state vector must be kn...

Adaptive Sliding Mode Control Method Based on Nonlinear Integral Sliding Surface for Agricultural Vehicle Steering Control

Directory of Open Access Journals (Sweden)

Taochang Li

2014-01-01

Full Text Available Automatic steering control is the key factor and essential condition in the realization of the automatic navigation control of agricultural vehicles. In order to get satisfactory steering control performance, an adaptive sliding mode control method based on a nonlinear integral sliding surface is proposed in this paper for agricultural vehicle steering control. First, the vehicle steering system is modeled as a second-order mathematic model; the system uncertainties and unmodeled dynamics as well as the external disturbances are regarded as the equivalent disturbances satisfying a certain boundary. Second, a transient process of the desired system response is constructed in each navigation control period. Based on the transient process, a nonlinear integral sliding surface is designed. Then the corresponding sliding mode control law is proposed to guarantee the fast response characteristics with no overshoot in the closed-loop steering control system. Meanwhile, the switching gain of sliding mode control is adaptively adjusted to alleviate the control input chattering by using the fuzzy control method. Finally, the effectiveness and the superiority of the proposed method are verified by a series of simulation and actual steering control experiments.

SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

International Nuclear Information System (INIS)

Podder, T

2016-01-01

Purpose: In medical interventional procedures such as brachytherapy, ablative therapies and biopsy precise steering and accurate placement of needles are very important for anatomical obstacle avoidance and accurate targeting. This study presents the efficacy of a sliding mode controller for Shape Memory Alloy (SMA) actuated flexible needle for medical procedures. Methods: Second order system dynamics of the SMA actuated active flexible needle was used for deriving the sliding mode control equations. Both proportional-integral-derivative (PID) and adaptive PID sliding mode control (APIDSMC) algorithms were developed and implemented. The flexible needle was attached at the end of a 6 DOF robotic system. Through LabView programming environment, the control commands were generated using the PID and APIDSMC algorithms. Experiments with artificial tissue mimicking phantom were performed to evaluate the performance of the controller. The actual needle tip position was obtained using an electromagnetic (EM) tracking sensor (Aurora, NDI, waterloo, Canada) at a sampling period of 1ms. During experiment, external disturbances were created applying force and thermal shock to investigate the robustness of the controllers. Results: The root mean square error (RMSE) values for APIDSMC and PID controllers were 0.75 mm and 0.92 mm, respectively, for sinusoidal reference input. In the presence of external disturbances, the APIDSMC controller showed much smoother and less overshooting response compared to that of the PID controller. Conclusion: Performance of the APIDSMC was superior to the PID controller. The APIDSMC was proved to be more effective controller in compensating the SMA uncertainties and external disturbances with clinically acceptable thresholds.

SU-F-J-10: Sliding Mode Control of a SMA Actuated Active Flexible Needle for Medical Procedures

Energy Technology Data Exchange (ETDEWEB)

Podder, T [University Hospitals Case Medical Center, Cleveland, OH (United States)

2016-06-15

Purpose: In medical interventional procedures such as brachytherapy, ablative therapies and biopsy precise steering and accurate placement of needles are very important for anatomical obstacle avoidance and accurate targeting. This study presents the efficacy of a sliding mode controller for Shape Memory Alloy (SMA) actuated flexible needle for medical procedures. Methods: Second order system dynamics of the SMA actuated active flexible needle was used for deriving the sliding mode control equations. Both proportional-integral-derivative (PID) and adaptive PID sliding mode control (APIDSMC) algorithms were developed and implemented. The flexible needle was attached at the end of a 6 DOF robotic system. Through LabView programming environment, the control commands were generated using the PID and APIDSMC algorithms. Experiments with artificial tissue mimicking phantom were performed to evaluate the performance of the controller. The actual needle tip position was obtained using an electromagnetic (EM) tracking sensor (Aurora, NDI, waterloo, Canada) at a sampling period of 1ms. During experiment, external disturbances were created applying force and thermal shock to investigate the robustness of the controllers. Results: The root mean square error (RMSE) values for APIDSMC and PID controllers were 0.75 mm and 0.92 mm, respectively, for sinusoidal reference input. In the presence of external disturbances, the APIDSMC controller showed much smoother and less overshooting response compared to that of the PID controller. Conclusion: Performance of the APIDSMC was superior to the PID controller. The APIDSMC was proved to be more effective controller in compensating the SMA uncertainties and external disturbances with clinically acceptable thresholds.

Automatic positioning control device for automatic control rod exchanger

International Nuclear Information System (INIS)

Nasu, Seiji; Sasaki, Masayoshi.

1982-01-01

Purpose: To attain accurate positioning for a control rod exchanger. Constitution: The present position for an automatic control rod exchanger is detected by a synchro generator. An aimed stopping position for the exchanger, a stop instruction range depending on the distantial operation delay in the control system and the inertia-running distance of the mechanical system, and a coincidence confirmation range depending on the required positioning accuracy are previously set. If there is a difference between the present position and the aimed stopping position, the automatic exchanger is caused to run toward the aimed stopping position. A stop instruction is generated upon arrival at the position within said stop instruction range, and a coincidence confirmation signal is generated upon arrival at the position within the coincidence confirmation range. Since uncertain factors such as operation delay in the control system and the inertia-running distance of the mechanical system that influence the positioning accuracy are made definite by the method of actual measurement or the like and the stop instruction range and the coincidence confirmation range are set based on the measured data, the accuracy for the positioning can be improved. (Ikeda, J.)

The Resistive Wall Mode Feedback Control System on DIII-D

International Nuclear Information System (INIS)

J.T. Scoville; D.H. Kellman; S.G.E. Pronko; A. Nerem; R. Hatcher; D. O'Neill; G. Rossi; M. Bolha

1999-01-01

One of the primary instabilities limiting the performance of the plasma in advanced tokamak operating regimes is the resistive wall mode (RWM) [1]. The most common RWM seen in the DIII-D tokamak is originated by an n=1 ideal external kink mode which, in the presence of a resistive wall, is converted to a slowly growing RWM. The mode causes a reduction in plasma rotation, a loss of stored energy, and sometimes leads to plasma disruption. It routinely limits the performance of a tokamak operating near reactor relevant parameter levels. A system designed to actively control the RWM has recently been installed on the DIII-D tokamak for the control of low m n=1 modes. In initial experiments, the control system has been capable of delaying the onset of RWMs in energetic discharges for several hundred milliseconds. The feedback control system consists of detector coils connected via control software to high power current amplifiers driving the excitation coils. The three pairs of excitation coils are each driven by a current amplifier and a DC power supply. The control signal is derived from a set of six sensor coils that measure radial flux as low as one Gauss. The signals are digitally processed by realtime software in the DIII-D Plasma Control System (PCS) to create a command that is sent to the current amplifier, with a cycle time of approximately 100 micros. The amplifiers, designed and fabricated by Robicon Corporation to a specification developed by PPPL and GA, are bipolar devices capable of ±5 kA at 300 V, with an operating bandwidth of approximately 800 Hz (-3 dB)

Beyond the intelligent-shell concept. The clean-mode-control for tearing perturbations

International Nuclear Information System (INIS)

Zanca, Paolo

2010-01-01

The Intelligent Shell scheme, where a grid of active coils counteracts in a feedback scheme the measurements provided by an identical grid of sensors, has shown some limitations in the control of the dynamo tearing modes in RFX-mod. The origin of the problem is the aliasing on the measurements coming from the high periodicity sideband harmonics produced by the discrete nature of the active coils. A more efficient feedback on tearing modes is obtained by removing the sidebands from the measurements, thereby counteracting the true tearing Fourier modes. In this scheme, named Clean-Mode-Control, the sidebands are computed in real time from the coils currents using the cylindrical geometry approximation. The Clean-Mode-Control significantly alleviates the wall-locking of tearing modes in RFX-mod, giving the possibility of operating at a plasma current (1.5 MA) never reached before in a RFP machine. These features are well explained by a MHD model describing the tearing mode dynamic under the viscous torque due to the fluid motion and the electromagnetic torques produced by the feedback, the conductive structures surrounding the plasma and the non-linear interaction between the different modes. Here some new results obtained with this model are discussed. In particular we will show that the edge radial field control improves by reducing the ratio between the delay introduced by the digital acquisition of the measurements and the time constant of the shell that contains the plasma. In this formulation the active coils are assumed to be located outside the shell. (author)

The Dynamics and Sliding Mode Control of Multiple Cooperative Welding Robot Manipulators

Directory of Open Access Journals (Sweden)

Bin Zi

2012-08-01

Full Text Available This paper deals with the design, dynamic modelling and sliding mode control of multiple cooperative welding robot manipulators (MWRMs. The MWRMs can handle complex tasks that are difficult or even impossible for a single manipulator. The kinematics and dynamics of the MWRMs are studied on the basis of the Denavit-Hartenberg and Lagrange method. Following that, considering the MWRM system with nonlinear and unknown disturbances, a non-singular terminal sliding mode control strategy is designed. By means of the Lyapunov function, the stability of the controller is proved. Simulation results indicate that the good control performance of the MWRMs is achieved by the non-singular terminal sliding mode controller, which also illustrates the correctness of the dynamic modelling and effectiveness of the proposed control strategy.

On Application of Second Order Sliding Mode Control to Electro-Hydraulic Systems

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

2014-01-01

This paper discusses the application of second order mode controls to hydraulic valve-cylinder drives with a special focus on the limitations resulting from nonlinear dynamic effects in flow control valves. Second order sliding mode algorithms appear highly attractive in the successive...

Experimental and theoretical studies of active control of resistive wall mode growth in the EXTRAP T2R reversed-field pinch

Science.gov (United States)

Drake, J. R.; Brunsell, P. R.; Yadikin, D.; Cecconello, M.; Malmberg, J. A.; Gregoratto, D.; Paccagnella, R.; Bolzonella, T.; Manduchi, G.; Marrelli, L.; Ortolani, S.; Spizzo, G.; Zanca, P.; Bondeson, A.; Liu, Y. Q.

2005-07-01

Active feedback control of resistive wall modes (RWMs) has been demonstrated in the EXTRAP T2R reversed-field pinch experiment. The control system includes a sensor consisting of an array of magnetic coils (measuring mode harmonics) and an actuator consisting of a saddle coil array (producing control harmonics). Closed-loop (feedback) experiments using a digital controller based on a real time Fourier transform of sensor data have been studied for cases where the feedback gain was constant and real for all harmonics (corresponding to an intelligent-shell) and cases where the feedback gain could be set for selected harmonics, with both real and complex values (targeted harmonics). The growth of the dominant RWMs can be reduced by feedback for both the intelligent-shell and targeted-harmonic control systems. Because the number of toroidal positions of the saddle coils in the array is half the number of the sensors, it is predicted and observed experimentally that the control harmonic spectrum has sidebands. Individual unstable harmonics can be controlled with real gains. However if there are two unstable mode harmonics coupled by the sideband effect, control is much less effective with real gains. According to the theory, complex gains give better results for (slowly) rotating RWMs, and experiments support this prediction. In addition, open loop experiments have been used to observe the effects of resonant field errors applied to unstable, marginally stable and robustly stable modes. The observed effects of field errors are consistent with the thin-wall model, where mode growth is proportional to the resonant field error amplitude and the wall penetration time for that mode harmonic.

Experimental and theoretical studies of active control of resistive wall mode growth in the EXTRAP T2R reversed-field pinch

International Nuclear Information System (INIS)

Drake, J.R.; Brunsell, P.R.; Yadikin, D.

2005-01-01

Active feedback control of resistive wall modes (RWMs) has been demonstrated in the EXTRAP T2R reversed-field pinch experiment. The control system includes a sensor consisting of an array of magnetic coils (measuring mode harmonics) and an actuator consisting of a saddle coil array (producing control harmonics). Closed-loop (feedback) experiments using a digital controller based on a real time Fourier transform of sensor data have been studied for cases where the feedback gain was constant and real for all harmonics (corresponding to an intelligent-shell) and cases where the feedback gain could be set for selected harmonics, with both real and complex values (targeted harmonics). The growth of the dominant RWMs can be reduced by feedback for both the intelligent-shell and targeted-harmonic control systems. Because the number of toroidal positions of the saddle coils in the array is half the number of the sensors, it is predicted and observed experimentally that the control harmonic spectrum has sidebands. Individual unstable harmonics can be controlled with real gains. However if there are two unstable mode harmonics coupled by the sideband effect, control is much less effective with real gains. According to the theory, complex gains give better results for (slowly) rotating RWMs, and experiments support this prediction. In addition, open loop experiments have been used to observe the effects of resonant field errors applied to unstable, marginally stable and robustly stable modes. The observed effects of field errors are consistent with the thin-wall model, where mode growth is proportional to the resonant field error amplitude and the wall penetration time for that mode harmonic

Second Order Sliding Mode Controller Design for Pneumatic Artificial Muscle

Directory of Open Access Journals (Sweden)

Ammar Al-Jodah

2018-01-01

Full Text Available In this paper, first and second order sliding mode controllers are designed for a single link robotic arm actuated by two Pneumatic Artificial Muscles (PAMs. A new mathematical model for the arm has been developed based on the model of large scale pneumatic muscle actuator model. Uncertainty in parameters has been presented and tested for the two controllers. The simulation results of the second-order sliding mode controller proves to have a low tracking error and chattering effect as compared to the first order one. The verification has been done by using MATLAB and Simulink software.

Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision

Directory of Open Access Journals (Sweden)

Linhui Li

2013-01-01

Full Text Available The lateral control of intelligent vehicle is studied in this paper, with the intelligent vehicle DLUIV-1 based on visual navigation as the object of research. Firstly, the lateral control model based on visual preview is established. The kinematics model based on visual preview, including speed and other factors, is used to calculate the lateral error and direction error. Secondly, according to the characteristics of lateral control, an efficient strategy of intelligent vehicle lateral mode is proposed. The integration of the vehicle current lateral error and direction error is chosen as the parameter of the sliding mode switching function to design the sliding surface. The control variables are adjusted according to the fuzzy control rules to ensure that they meet the existence and reaching condition. The sliding mode switching function is regarded as the control objective, to ensure the stability of the steering wheel rotation. Simulation results show that the lateral controller can guarantee high path-tracking accuracy and strong robustness for the change of model parameters.

Chaos Control and Synchronization of a Hyperchaotic Zhou System by Integral Sliding Mode control

Directory of Open Access Journals (Sweden)

Yashar Toopchi

2014-12-01

Full Text Available In this paper, an adaptive integral sliding mode control scheme is proposed for synchronization of hyperchaotic Zhou systems. In the proposed scheme, an integral sliding mode control is designed to stabilize a hyperchaotic Zhou system with known parameters to its unstable equilibrium at the origin. The control is then applied to the synchronization of two identical systems, i.e., a slave and a master hyperchaotic Zhou system with unknown parameters. The adaptive control mechanism introduced synchronizes the systems by estimating the unknown parameters. Simulation results have shown that the proposed method has an excellent convergence from both speed and accuracy points of view, and it outperforms Vaidyanathan’s scheme, which is a well-recognized scheme in this area.

Sliding Mode Attitude Control for Magnetic Actuated Satellite

DEFF Research Database (Denmark)

Wisniewski, Rafal

1998-01-01

control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis attitude control. This paper deals with three-axis stabilization of a low earth orbit satellite. The problem of controlling...... the spacecraft attitude using only magnetic torquing is realized in the form of the sliding mode control. A three dimensional sliding manifold is proposed, and it is shown that the satellite motion on the sliding manifold is asymptotically stable...

Torque Coordination Control during Braking Mode Switch for a Plug-in Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Yang Yang

2017-10-01

Full Text Available Hybrid vehicles usually have several braking systems, and braking mode switches are significant events during braking. It is difficult to coordinate torque fluctuations caused by mode switches because the dynamic characteristics of braking systems are different. In this study, a new type of plug-in hybrid vehicle is taken as the research object, and braking mode switches are divided into two types. The control strategy of type one is achieved by controlling the change rates of clutch hold-down and motor braking forces. The control strategy of type two is achieved by simultaneously changing the target braking torque during different mode switch stages and controlling the motor to participate in active coordination control. Finally, the torque coordination control strategy is modeled in MATLAB/Simulink, and the results show that the proposed control strategy has a good effect in reducing the braking torque fluctuation and vehicle shocks during braking mode switches.

Beam position diagnostics with higher order modes in third harmonic superconducting accelerating cavities

International Nuclear Information System (INIS)

Zhang, Pei

2013-02-01

Higher order modes (HOM) are electromagnetic resonant fields. They can be excited by an electron beam entering an accelerating cavity, and constitute a component of the wakefield. This wakefield has the potential to dilute the beam quality and, in the worst case, result in a beam-break-up instability. It is therefore important to ensure that these fields are well suppressed by extracting energy through special couplers. In addition, the effect of the transverse wakefield can be reduced by aligning the beam on the cavity axis. This is due to their strength depending on the transverse offset of the excitation beam. For suitably small offsets the dominant components of the transverse wakefield are dipole modes, with a linear dependence on the transverse offset of the excitation bunch. This fact enables the transverse beam position inside the cavity to be determined by measuring the dipole modes extracted from the couplers, similar to a cavity beam position monitor (BPM), but requires no additional vacuum instrumentation. At the FLASH facility in DESY, 1.3 GHz (known as TESLA) and 3.9 GHz (third harmonic) cavities are installed. Wakefields in 3.9 GHz cavities are significantly larger than in the 1.3 GHz cavities. It is therefore important to mitigate the adverse effects of HOMs to the beam by aligning the beam on the electric axis of the cavities. This alignment requires an accurate beam position diagnostics inside the 3.9 GHz cavities. It is this aspect that is focused on in this thesis. Although the principle of beam diagnostics with HOM has been demonstrated on 1.3 GHz cavities, the realization in 3.9 GHz cavities is considerably more challenging. This is due to the dense HOM spectrum and the relatively strong coupling of most HOMs amongst the four cavities in the third harmonic cryo-module. A comprehensive series of simulations and HOM spectra measurements have been performed in order to study the modal band structure of the 3.9 GHz cavities. The dependencies of

Beam position diagnostics with higher order modes in third harmonic superconducting accelerating cavities

Energy Technology Data Exchange (ETDEWEB)

Zhang, Pei

2013-02-15

Higher order modes (HOM) are electromagnetic resonant fields. They can be excited by an electron beam entering an accelerating cavity, and constitute a component of the wakefield. This wakefield has the potential to dilute the beam quality and, in the worst case, result in a beam-break-up instability. It is therefore important to ensure that these fields are well suppressed by extracting energy through special couplers. In addition, the effect of the transverse wakefield can be reduced by aligning the beam on the cavity axis. This is due to their strength depending on the transverse offset of the excitation beam. For suitably small offsets the dominant components of the transverse wakefield are dipole modes, with a linear dependence on the transverse offset of the excitation bunch. This fact enables the transverse beam position inside the cavity to be determined by measuring the dipole modes extracted from the couplers, similar to a cavity beam position monitor (BPM), but requires no additional vacuum instrumentation. At the FLASH facility in DESY, 1.3 GHz (known as TESLA) and 3.9 GHz (third harmonic) cavities are installed. Wakefields in 3.9 GHz cavities are significantly larger than in the 1.3 GHz cavities. It is therefore important to mitigate the adverse effects of HOMs to the beam by aligning the beam on the electric axis of the cavities. This alignment requires an accurate beam position diagnostics inside the 3.9 GHz cavities. It is this aspect that is focused on in this thesis. Although the principle of beam diagnostics with HOM has been demonstrated on 1.3 GHz cavities, the realization in 3.9 GHz cavities is considerably more challenging. This is due to the dense HOM spectrum and the relatively strong coupling of most HOMs amongst the four cavities in the third harmonic cryo-module. A comprehensive series of simulations and HOM spectra measurements have been performed in order to study the modal band structure of the 3.9 GHz cavities. The dependencies of

Simulation and design of feedback control on resistive wall modes in Keda Torus eXperiment

International Nuclear Information System (INIS)

Li, Chenguang; Liu, Wandong; Li, Hong

2014-01-01

The feedback control of resistive wall modes (RWMs) in Keda Torus eXperiment (KTX) (Liu et al., Plasma Phys. Controlled Fusion 56, 094009 (2014)) is investigated by simulation. A linear model is built to describe the growth of the unstable modes in the absence of feedback and the resulting mode suppression due to feedback, given the typical reversed field pinch plasma equilibrium. The layout of KTX with two shell structures (the vacuum vessel and the stabilizing shell) is taken into account. The feedback performance is explored both in the scheme of “clean mode control” (Zanca et al., Nucl. Fusion 47, 1425 (2007)) and “raw mode control.” The discrete time control model with specific characteristic times will mimic the real feedback control action and lead to the favored control cycle. Moreover, the conceptual design of feedback control system is also presented, targeting on both RWMs and tearing modes

Sliding Mode Tracking Control of a Wire-Driven Upper-Limb Rehabilitation Robot with Nonlinear Disturbance Observer

Directory of Open Access Journals (Sweden)

Jie Niu

2017-12-01

Full Text Available Robot-aided rehabilitation has become an important technology to restore and reinforce motor functions of patients with extremity impairment, whereas it can be extremely challenging to achieve satisfactory tracking performance due to uncertainties and disturbances during rehabilitation training. In this paper, a wire-driven rehabilitation robot that can work over a three-dimensional space is designed for upper-limb rehabilitation, and sliding mode control with nonlinear disturbance observer is designed for the robot to deal with the problem of unpredictable disturbances during robot-assisted training. Then, simulation and experiments of trajectory tracking are carried out to evaluate the performance of the system, the position errors, and the output forces of the designed control scheme are compared with those of the traditional sliding mode control (SMC scheme. The results show that the designed control scheme can effectively reduce the tracking errors and chattering of the output forces as compared with the traditional SMC scheme, which indicates that the nonlinear disturbance observer can reduce the effect of unpredictable disturbances. The designed control scheme for the wire-driven rehabilitation robot has potential to assist patients with stroke in performing repetitive rehabilitation training.

Control study of pulmonary surfactant combined with CPAP and BIPAP ventilation modes respectively in treatment of neonatal NRDS

Directory of Open Access Journals (Sweden)

Yao Liu

2016-04-01

Full Text Available Objective: To analyze the differences in effect of pulmonary surfactant combined with CPAP and BIPAP ventilation modes respectively in treatment of neonatal NRDS. Methods: A total of 50 cases of children with neonatal respiratory distress syndrome (NRDS born and receiving treatment in our hospital from August 2012 to January 2015 were selected as research subjects and randomly divided into observation group and control group, each with 25 cases. Control group received pulmonary surfactant combined with CPAP ventilation mode treatment, observation group received pulmonary surfactant combined with BIPAP ventilation mode treatment, and then differences in blood gas indicators and mechanical ventilation parameters, pulmonary artery pressure, endothelin and nitric oxide levels, blood coagulation and anticoagulation indicators and protein expression levels of CD24, TNF-α, IL-6 and IL-17A of two groups after treatment were compared. Results: PaO2, PH value and oxygenation index of observation group after treatment were higher than those of control group, and PaCO2, positive end-expiratory pressure, peak inspiratory pressure and inspired oxygen concentration were lower than those of control group; pulmonary artery pressure and EF-1 level of observation group after treatment were lower than those of control group, and NO level was higher than that of control group; PC, TPS and AT-Ⅲ levels of observation group after treatment were higher than those of control group, and D-D and vWF levels were lower than those of control group; protein expression of CD24 and IL-6 of observation group after treatment were lower than those of control group, and protein expression of TNF-α and IL-17A were higher than those of control group. Conclusion: Pulmonary surfactant combined with BIPAP ventilation mode treatment of children with NRDS can effectively optimize ventilation function and realize homeostasis, and it has active clinical significance.

A Novel Sliding Mode Control Technique for Indirect Current Controlled Active Power Filter

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Juntao Fei

2012-01-01

Full Text Available A novel sliding mode control (SMC method for indirect current controlled three-phase parallel active power filter is presented in this paper. There are two designed closed loops in the system: one is the DC voltage controlling loop and the other is the reference current tracking loop. The first loop with a PI regulator is used to control the DC voltage approximating to the given voltage of capacitor, and the output of PI regulator through a low-pass filter is applied as the input of the power supply reference currents. The second loop implements the tracking of the reference currents using integral sliding mode controller, which can improve the harmonic treating performance. Compared with the direct current control technique, it is convenient to be implemented with digital signal processing system because of simpler system structure and better harmonic treating property. Simulation results verify that the generated reference currents have the same amplitude with the load currents, demonstrating the superior harmonic compensating effects with the proposed shunt active power filter compared with the hysteresis method.

An Investigation of Digital Instrumentation and Control System Failure Modes

International Nuclear Information System (INIS)

Korsah, Kofi; Cetiner, Mustafa Sacit; Muhlheim, Michael David; Poore, Willis P. III

2010-01-01

A study sponsored by the Nuclear Regulatory Commission study was conducted to investigate digital instrumentation and control (DI and C) systems and module-level failure modes using a number of databases both in the nuclear and non-nuclear industries. The objectives of the study were to obtain relevant operational experience data to identify generic DI and C system failure modes and failure mechanisms, and to obtain generic insights, with the intent of using results to establish a unified framework for categorizing failure modes and mechanisms. Of the seven databases studied, the Equipment Performance Information Exchange database was found to contain the most useful data relevant to the study. Even so, the general lack of quality relative to the objectives of the study did not allow the development of a unified framework for failure modes and mechanisms of nuclear I and C systems. However, an attempt was made to characterize all the failure modes observed (i.e., without regard to the type of I and C equipment under consideration) into common categories. It was found that all the failure modes identified could be characterized as (a) detectable/preventable before failures, (b) age-related failures, (c) random failures, (d) random/sudden failures, or (e) intermittent failures. The percentage of failure modes characterized as (a) was significant, implying that a significant reduction in system failures could be achieved through improved online monitoring, exhaustive testing prior to installation, adequate configuration control or verification and validation, etc.

Synchronizing Spatiotemporal Chaos via a Composite Disturbance Observer-Based Sliding Mode Control

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Congyan Chen

2014-01-01

Full Text Available The sliding mode control schemes are investigated to synchronize two spatiotemporal chaotic systems, which are two arrays of a large number of coupled chaotic oscillators. Firstly, sliding mode manifolds with the desired performance are designed. The asymptotic convergence to the origin of the synchronization errors is also proved. However, the terms from parameter fluctuations in equivalent controls are usually impossible to be measured directly. So we regard them as lumped disturbances, but, for practical application, it is difficult to obtain the upper bound of lumped disturbances in advance which often results in a conservative sliding mode control law with large control effort, causing a large amount of chattering. To reduce the chattering and improve the performance of the system, a disturbance observer is designed to estimate the lumped disturbances. A composite synchronization controller that consists of a sliding mode feedback part and a feedforward compensation part based on disturbance observer is developed. The numerical simulation results are presented to show the effectiveness of the proposed methods.

Flight Simulator Evaluation of Enhanced Propulsion Control Modes for Emergency Operation

Science.gov (United States)

Litt, Jonathan, S; Sowers, T.; Owen, A., Karl; Fulton, Christopher, E.; Chicatelli, Amy, K.

2012-01-01

This paper describes piloted evaluation of enhanced propulsion control modes for emergency operation of aircraft. Fast Response and Overthrust modes were implemented to assess their ability to help avoid or mitigate potentially catastrophic situations, both on the ground and in flight. Tests were conducted to determine the reduction in takeoff distance achievable using the Overthrust mode. Also, improvements in Dutch roll damping, enabled by using yaw rate feedback to the engines to replace the function of a stuck rudder, were investigated. Finally, pilot workload and ability to handle the impaired aircraft on approach and landing were studied. The results showed that improvement in all aspects is possible with these enhanced propulsion control modes, but the way in which they are initiated and incorporated is important for pilot comfort and perceived benefit.

Fuzzy sliding mode control for maximum power point tracking of a photovoltaic pumping system

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Sabah Miqoi

2017-03-01

Full Text Available In this paper a new maximum power point tracking method based on fuzzy sliding mode control is proposed, and employed in a PV water pumping system based on a DC-DC boost converter, to produce maximum power from the solar panel hence more speed in the DC motor and more water quantity. This method combines two different tracking techniques sliding mode control and fuzzy logic; our controller is based on sliding mode control, then to give better stability and enhance the power production a fuzzy logic technique was added. System modeling, sliding method definition and the new control method presentation are represented in this paper. The results of the simulation that are compared to both sliding mode controller and perturbation and observation method demonstrate effectiveness and robustness of the proposed controller.

Chaos control in delayed chaotic systems via sliding mode based delayed feedback

Energy Technology Data Exchange (ETDEWEB)

Vasegh, Nastaran [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)], E-mail: vasegh@eetd.kntu.ac.ir; Sedigh, Ali Khaki [Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed Khandan Bridge, Shariati St. 16314, P.O. Box 16315-1355, Tehran (Iran, Islamic Republic of)

2009-04-15

This paper investigates chaos control for scalar delayed chaotic systems using sliding mode control strategy. Sliding surface design is based on delayed feedback controller. It is shown that the proposed controller can achieve stability for an arbitrary unstable fixed point (UPF) or unstable periodic orbit (UPO) with arbitrary period. The chaotic system used in this study to illustrate the theoretical concepts is the well known Mackey-Glass model. Simulation results show the effectiveness of the designed nonlinear sliding mode controller.

Chaos control in delayed chaotic systems via sliding mode based delayed feedback

International Nuclear Information System (INIS)

Vasegh, Nastaran; Sedigh, Ali Khaki

2009-01-01

This paper investigates chaos control for scalar delayed chaotic systems using sliding mode control strategy. Sliding surface design is based on delayed feedback controller. It is shown that the proposed controller can achieve stability for an arbitrary unstable fixed point (UPF) or unstable periodic orbit (UPO) with arbitrary period. The chaotic system used in this study to illustrate the theoretical concepts is the well known Mackey-Glass model. Simulation results show the effectiveness of the designed nonlinear sliding mode controller.

Influences of multiple low-n modes on n=1 resistive wall mode identification and feedback control

International Nuclear Information System (INIS)

In, Y.; Kim, J.; Kim, J. S.; Garofalo, A. M.; Jackson, G. L.; La Haye, R. J.; Strait, E. J.; Okabayashi, M.; Reimerdes, H.

2008-01-01

It is well known in theory that even after the n=1 resistive wall mode (RWM) is suppressed, the other low-n modes, such as n=2 or 3, can appear sequentially, as β increases. In recent DIII-D experiments [J. L. Luxon, Nucl. Fusion 42, 614 (2002)], we found such an example that supports the theoretical prediction: while the n=1 mode was suppressed, an n=3 mode grew dominant, leading to a β collapse. The n=1 RWM suppression was likely due to a combination of rotational stabilization and n=1 RWM feedback. The multiple RWM identification was performed using an expanded matched filter, where n=1 and n=3 RWM basis vectors are simultaneously considered. Taking advantage of the expanded matched filter, we found that an n=3 mode following an edge-localized-mode burst grew almost linearly for several milliseconds without being hindered. This n=3 mode appeared responsible for the β collapse (down to the n=3 no-wall limit), as well as for a drop in toroidal rotation. A preliminary analysis suggests that the identity of the n=3 mode could be related to the n=3 RWM (possibly the first observation in tokamak experiments), while the impact of the n=3 mode was not as destructive as that of n=1 RWM. A numerical postprocessing of Mirnov probes showed that the n=2 mode was also unstable, consistent with the theoretical prediction. In practice, since the presence of an n=3 mode can interfere with the existing n=1 RWM identification, multiple low-n mode identification is deemed essential not only to detect n>1 mode, but also to provide accurate n=1 RWM identification and feedback control.

Harmonic mode-locking and sub-round-trip time nonlinear dynamics of electro-optically controlled solid state laser

Science.gov (United States)

Gorbunkov, M. V.; Maslova, Yu Ya; Petukhov, V. A.; Semenov, M. A.; Shabalin, Yu V.; Tunkin, V. G.

2018-03-01

Harmonic mode-locking in a solid state laser due to optoelectronic control is studied numerically on the basis of two methods. The first one is detailed numeric simulation taking into account laser radiation fine time structure. It is shown that optimally chosen feedback delay leads to self-started mode-locking with generation of desired number of pulses in the laser cavity. The second method is based on discrete maps for short laser pulse energy. Both methods show that the application of combination of positive and negative feedback loops allows to reduce the period of regular nonlinear dynamics down to a fraction of a laser cavity round trip time.

Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

Science.gov (United States)

Frost, Susan A.; Balas, Mark J.

2011-01-01

Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

Robust synchronization of unified chaotic systems via sliding mode control

International Nuclear Information System (INIS)

Yan Junjuh; Yang Yisung; Chiang Tsungying; Chen Chingyuan

2007-01-01

This paper investigates the chaos synchronization problem for a class of uncertain master-slave unified chaotic systems. Based on the sliding mode control technique, a robust control scheme is established which guarantees the occurrence of a sliding motion of error states even when the parameter uncertainty and external perturbation are present. Furthermore, a novel proportional-integral (PI) switching surface is introduced for determining the synchronization performance of systems in the sliding mode motion. Simulation results are proposed to demonstrate the effectiveness of the method

Beam orbit control in TESLA superconducting cavities from dipole mode measurements

International Nuclear Information System (INIS)

Paparella, R.

2006-09-01

The knowledge of the electromagnetic interaction between a beam and the surrounding vacuum chamber is necessary in order to optimize the accelerator performance in terms of stored current. Many instability phenomena may occur in the machine because of the fields produced by the beam and acting back on itself. Basically, these fields, wake-fields, produce an extra voltage, affecting the longitudinal dynamics, and a transverse kick which deflects the beam. In this thesis we present the results of theoretical and experimental investigations to demonstrate the possibility of using the dipolar wake fields of the superconducting accelerating to measure the beam transverse position. After an introduction to the ILC project and to the TESLA technology, of superconducting RF cavities, we will approach the problem from an analytical point of view in chapter 2. The expression of the wake fields in a cylindrical cavity will be investigated and the electromagnetic field modes derived from Maxwell equations in an original way. Graphical solutions of a Matlab program simulating the fields due to a particle passing through a pill-box cavity along a generic path will be shown. The interaction of the beam with higher order modes (HOM) in the TESLA cavities has been studied in the past at the TESLA Test Facility (TTF) in order to determine whether the modes with the highest loss factor are sufficiently damped. Starting from the results obtained before 2003, HOM signals has been better observed and examined in order to use dipole modes to find the electric center of each cavity in the first TTF accelerating module. The results presented in chapter 3 will show that by monitoring the HOM signal amplitude for two polarizations of a dipole mode, one can measure electrical center of the modes with a resolution of 50 μm. Moreover, a misalignment of the first TTF module with respect to the gun axis has been predicted using cavity dipole modes. Alternatives to this method are described in

Modeling and control of distributed energy systems during transition between grid connected and standalone modes

Science.gov (United States)

Arafat, Md Nayeem

Distributed generation systems (DGs) have been penetrating into our energy networks with the advancement in the renewable energy sources and energy storage elements. These systems can operate in synchronism with the utility grid referred to as the grid connected (GC) mode of operation, or work independently, referred to as the standalone (SA) mode of operation. There is a need to ensure continuous power flow during transition between GC and SA modes, referred to as the transition mode, in operating DGs. In this dissertation, efficient and effective transition control algorithms are developed for DGs operating either independently or collectively with other units. Three techniques are proposed in this dissertation to manage the proper transition operations. In the first technique, a new control algorithm is proposed for an independent DG which can operate in SA and GC modes. The proposed transition control algorithm ensures low total harmonic distortion (THD) and less voltage fluctuation during mode transitions compared to the other techniques. In the second technique, a transition control is suggested for a collective of DGs operating in a microgrid system architecture to improve the reliability of the system, reduce the cost, and provide better performance. In this technique, one of the DGs in a microgrid system, referred to as a dispatch unit , takes the additional responsibility of mode transitioning to ensure smooth transition and supply/demand balance in the microgrid. In the third technique, an alternative transition technique is proposed through hybridizing the current and droop controllers. The proposed hybrid transition control technique has higher reliability compared to the dispatch unit concept. During the GC mode, the proposed hybrid controller uses current control. During the SA mode, the hybrid controller uses droop control. During the transition mode, both of the controllers participate in formulating the inverter output voltage but with different

Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

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Farzin Piltan

2013-06-01

Full Text Available Sliding mode controller (SMC is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness.  In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.

A Novel Approach to Sliding Mode Control of Time-Delay Systems

Directory of Open Access Journals (Sweden)

Hongwei Xia

2013-01-01

Full Text Available This paper is concerned with the sliding mode control for a class of linear systems with time-varying delays. By utilizing a novel Lyapunov-Krasovskii functional and combining it with the delay fractioning approach as well as the free-weighting matrix technology, a sufficient condition is established such that the resulting sliding mode dynamics is asymptotically stable. Then, a sliding mode controller for reaching motion is synthesized to guarantee that the trajectories of the resulting closed-loop system can be driven onto a prescribed sliding surface and maintained there for all subsequent time. A numerical example is provided to illustrate the effectiveness of the proposed design approach.

Fractional order sliding-mode control based on parameters auto-tuning for velocity control of permanent magnet synchronous motor.

Science.gov (United States)

Zhang, BiTao; Pi, YouGuo; Luo, Ying

2012-09-01

A fractional order sliding mode control (FROSMC) scheme based on parameters auto-tuning for the velocity control of permanent magnet synchronous motor (PMSM) is proposed in this paper. The control law of the proposed F(R)OSMC scheme is designed according to Lyapunov stability theorem. Based on the property of transferring energy with adjustable type in F(R)OSMC, this paper analyzes the chattering phenomenon in classic sliding mode control (SMC) is attenuated with F(R)OSMC system. A fuzzy logic inference scheme (FLIS) is utilized to obtain the gain of switching control. Simulations and experiments demonstrate that the proposed FROSMC not only achieve better control performance with smaller chatting than that with integer order sliding mode control, but also is robust to external load disturbance and parameter variations. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.

Preventive Methods for ATM Mode Control

OpenAIRE

Ivan Baronak; Robert Trska

2004-01-01

Broadband transfer mode ATM represent one of alternative solutions for growing requirements on transfer capabilities. Its advantage is an effort for provisions of guaranteed quality of transport services with preservations of high transfer rate. This property is covered by several mechanisms, which role is to control not only the traffic of existing connections, but also the admission of new ones and prevent the violation of requirements on transport quality of existing and new connections.

Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System

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Fengjiao Wu

2016-01-01

Full Text Available The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the designed controller has good robustness which could resist external random disturbances. Numerical simulations are employed to verify the effectiveness and superiority of the designed finite-time sliding mode control scheme. The approach proposed in this paper is simple and also provides a reference for relevant hydropower systems.

Sliding Mode Fault Tolerant Control with Adaptive Diagnosis for Aircraft Engines

Science.gov (United States)

Xiao, Lingfei; Du, Yanbin; Hu, Jixiang; Jiang, Bin

2018-03-01

In this paper, a novel sliding mode fault tolerant control method is presented for aircraft engine systems with uncertainties and disturbances on the basis of adaptive diagnostic observer. By taking both sensors faults and actuators faults into account, the general model of aircraft engine control systems which is subjected to uncertainties and disturbances, is considered. Then, the corresponding augmented dynamic model is established in order to facilitate the fault diagnosis and fault tolerant controller design. Next, a suitable detection observer is designed to detect the faults effectively. Through creating an adaptive diagnostic observer and based on sliding mode strategy, the sliding mode fault tolerant controller is constructed. Robust stabilization is discussed and the closed-loop system can be stabilized robustly. It is also proven that the adaptive diagnostic observer output errors and the estimations of faults converge to a set exponentially, and the converge rate greater than some value which can be adjusted by choosing designable parameters properly. The simulation on a twin-shaft aircraft engine verifies the applicability of the proposed fault tolerant control method.

Enhanced Two-Stage Hierarchical Control for a Dual Mode WECS-Based Microgrid

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Rasool M. Imran

2018-05-01

Full Text Available Along with the great benefits of utilizing renewable energy (e.g., wind energy in the power system, there are also some issues, such as increasing the uncertainty and reducing the system inertia. Communication-based centralized control has started to play a significant role in reacting to the aforementioned issues, especially for relatively small systems, such as microgrids. In this context, in this paper, an enhanced communication-based hierarchical control for a dual mode wind energy conversion system-based microgrid is modeled and investigated. The primary stage utilized the P-V/Q-f droop method, which is the preferred droop method to be used in microgrids when the line impedance is mainly resistive. The secondary stage relied on an enhanced methodology for compensating the deviations of voltage and frequency and improving the performance of the microgrid during small and large signal disturbances. Moreover, as this microgrid operates in a dual mode, the mode transition cases from grid-tied mode to autonomous mode and vice versa have been addressed. Thereafter, an improved control scheme for the unplanned outage transition and a modified control scheme for the pre-synchronization and reconnection transition were proposed. Finally, the proposed work was evaluated by the simulation results in MATLAB environment.

Controlling chaos based on a novel intelligent integral terminal sliding mode control in a rod-type plasma torch

International Nuclear Information System (INIS)

Khari, Safa; Rahmani, Zahra; Rezaie, Behrooz

2016-01-01

An integral terminal sliding mode controller is proposed in order to control chaos in a rod-type plasma torch system. In this method, a new sliding surface is defined based on a combination of the conventional sliding surface in terminal sliding mode control and a nonlinear function of the integral of the system states. It is assumed that the dynamics of a chaotic system are unknown and also the system is exposed to disturbance and unstructured uncertainty. To achieve a chattering-free and high-speed response for such an unknown system, an adaptive neuro-fuzzy inference system is utilized in the next step to approximate the unknown part of the nonlinear dynamics. Then, the proposed integral terminal sliding mode controller stabilizes the approximated system based on Lyapunov’s stability theory. In addition, a Bee algorithm is used to select the coefficients of integral terminal sliding mode controller to improve the performance of the proposed method. Simulation results demonstrate the improvement in the response speed, chattering rejection, transient response, and robustness against uncertainties. (paper)

Fractional-Order Control of Pneumatic Position Servosystems

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Cao Junyi

2011-01-01

Full Text Available A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo system is established. The fractional-order controller for pneumatic position servo and its implementation in industrial computer is designed. The experiments with fractional-order controller are carried out under various conditions, which include sine position signal with different frequency and amplitude, step position signal, and variety inertial load. The results show the effectiveness of the proposed scheme and verify their fine control performance for pneumatic position servo system.

Robust Sliding Mode Control of Permanent Magnet Synchronous Generator-Based Wind Energy Conversion Systems

Directory of Open Access Journals (Sweden)

Guangping Zhuo

2016-12-01

Full Text Available The subject of this paper pertains to sliding mode control and its application in nonlinear electrical power systems as seen in wind energy conversion systems. Due to the robustness in dealing with unmodeled system dynamics, sliding mode control has been widely used in electrical power system applications. This paper presents first and high order sliding mode control schemes for permanent magnet synchronous generator-based wind energy conversion systems. The application of these methods for control using dynamic models of the d-axis and q-axis currents, as well as those of the high speed shaft rotational speed show a high level of efficiency in power extraction from a varying wind resource. Computer simulation results have shown the efficacy of the proposed sliding mode control approaches.

Mode Shift Control for a Hybrid Heavy-Duty Vehicle with Power-Split Transmission

Directory of Open Access Journals (Sweden)

Kun Huang

2017-02-01

Full Text Available Given that power-split transmission (PST is considered to be a major powertrain technology for hybrid heavy-duty vehicles (HDVs, the development and application of PST in the HDVs make mode shift control an essential aspect of powertrain system design. This paper presents a shift schedule design and torque control strategy for a hybrid HDV with PST during mode shift, intended to reduce the output torque variation and improve the shift quality (SQ. Firstly, detailed dynamic models of the hybrid HDV are developed to analyze the mode shift characteristics. Then, a gear shift schedule calculation method including a dynamic shift schedule and an economic shift schedule is provided. Based on the dynamic models and the designed shift schedule, a mode shift performance simulator is built using MATLAB/Simulink, and simulations are carried out. Through analysis of the dynamic equations, it is seen that the inertia torques of the motor–generator lead to the occurrence of transition torque. To avoid the unwanted transition torque, we use a mode shift control strategy that coordinates the motor–generator torque to compensate for the transition torque. The simulation and experimental results demonstrate that the output torque variation during mode shift is effectively reduced by the proposed control strategy, thereby improving the SQ.

Adaptive fuzzy sliding-mode control for multi-input multi-output chaotic systems

International Nuclear Information System (INIS)

Poursamad, Amir; Markazi, Amir H.D.

2009-01-01

This paper describes an adaptive fuzzy sliding-mode control algorithm for controlling unknown or uncertain, multi-input multi-output (MIMO), possibly chaotic, dynamical systems. The control approach encompasses a fuzzy system and a robust controller. The fuzzy system is designed to mimic an ideal sliding-mode controller, and the robust controller compensates the difference between the fuzzy controller and the ideal one. The parameters of the fuzzy system, as well as the uncertainty bound of the robust controller, are tuned adaptively. The adaptive laws are derived in the Lyapunov sense to guarantee the asymptotic stability and tracking of the controlled system. The effectiveness of the proposed method is shown by applying it to some well-known chaotic systems.

A New Sliding Mode Controller for DC/DC Converters in Photovoltaic Systems

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M. Sarvi

2013-01-01

Full Text Available DC/DC converters are widely used in many industrial and electrical systems. As DC/DC converters are nonlinear and time-variant systems, the application of linear control techniques for the control of these converters is not suitable. In this paper, a new sliding mode controller is proposed as the indirect control method and compared to a simple direct control method in order to control a buck converter in photovoltaic applications. The solar arrays are dependent power sources with nonlinear voltage-current characteristics under different environmental conditions (insolation and temperature. From this point of view, the DC/DC converter is particularly suitable for the application of the sliding mode control in photovoltaic application, because of its controllable states. Simulations are performed in Matlab/Simulink software. The simulation results are presented for a step change in reference voltage and input voltage as well as step load variations. The simulations results of proposed method are compared with the conventional PID controller. The results show the good performance of the proposed sliding mode controller. The proposed method can be used for the other DC/DC converter.

Shared and disorder-specific task-positive and default mode network dysfunctions during sustained attention in paediatric Attention-Deficit/Hyperactivity Disorder and obsessive/compulsive disorder

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Luke J. Norman

2017-01-01

Full Text Available Patients with Attention-Deficit/Hyperactivity Disorder (ADHD and obsessive/compulsive disorder (OCD share problems with sustained attention, and are proposed to share deficits in switching between default mode and task positive networks. The aim of this study was to investigate shared and disorder-specific brain activation abnormalities during sustained attention in the two disorders. Twenty boys with ADHD, 20 boys with OCD and 20 age-matched healthy controls aged between 12 and 18 years completed a functional magnetic resonance imaging (fMRI version of a parametrically modulated sustained attention task with a progressively increasing sustained attention load. Performance and brain activation were compared between groups. Only ADHD patients were impaired in performance. Group by sustained attention load interaction effects showed that OCD patients had disorder-specific middle anterior cingulate underactivation relative to controls and ADHD patients, while ADHD patients showed disorder-specific underactivation in left dorsolateral prefrontal cortex/dorsal inferior frontal gyrus (IFG. ADHD and OCD patients shared left insula/ventral IFG underactivation and increased activation in posterior default mode network relative to controls, but had disorder-specific overactivation in anterior default mode regions, in dorsal anterior cingulate for ADHD and in anterior ventromedial prefrontal cortex for OCD. In sum, ADHD and OCD patients showed mostly disorder-specific patterns of brain abnormalities in both task positive salience/ventral attention networks with lateral frontal deficits in ADHD and middle ACC deficits in OCD, as well as in their deactivation patterns in medial frontal DMN regions. The findings suggest that attention performance in the two disorders is underpinned by disorder-specific activation patterns.

Flexible Mode Control of Grid Connected Wind Energy Conversion System Using Wavelet

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Bhavna Jain

2015-01-01

Full Text Available Small wind turbine systems offer services to critical loads during grid faults and also connected back to grid in normal condition. The connection of a wind energy conversion system to the grid requires a robust phase locked loop (PLL and continuous monitoring of the grid conditions such as overvoltage, undervoltage, overfrequency, underfrequency, and grid outages. This paper describes a flexible control operation to operate a small wind turbine in both stand-alone mode via planned islanding and grid connected mode as well. In particular, a proper monitoring and control algorithm is required for transition between the modes. A wavelet based energy function is used for detection of grid disturbances as well as recovery of grid so that transition between the modes is made. To obtain good power quality LCL filter is used to reduce ripples. PLL is used for synchronization whenever mode changes from stand-alone to grid connected. Simulation results from a 10 kW wind energy conversion system are included to show the usefulness of the proposed methods. The control method is tested by generated gate pulses for single phase bridge inverter using field programmable gate array (FPGA.

Control system of mutually coupled switched reluctance motor drive of mining machines in generator mode

Science.gov (United States)

Ivanov, A. S.; Kalanchin, I. Yu; Pugacheva, E. E.

2017-09-01

One of the first electric motors, based on the use of electromagnets, was a reluctance motor in the XIX century. Due to the complexities in the implementation of control system the development of switched reluctance electric machines was repeatedly initiated only in 1960 thanks to the development of computers and power electronic devices. The main feature of these machines is the capacity to work both in engine mode and in generator mode. Thanks to a simple and reliable design in which there is no winding of the rotor, commutator, permanent magnets, a reactive gate-inductor electric drive operating in the engine mode is actively being introduced into various areas such as car industry, production of household appliances, wind power engineering, as well as responsible production processes in the oil and mining industries. However, the existing shortcomings of switched reluctance electric machines, such as nonlinear pulsations of electromagnetic moment, the presence of three or four phase supply system and sensor of rotor position prevent wide distribution of this kind of electric machines.

A Fault Tolerant Direct Control Allocation Scheme with Integral Sliding Modes

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Hamayun Mirza Tariq

2015-03-01

Full Text Available In this paper, integral sliding mode control ideas are combined with direct control allocation in order to create a fault tolerant control scheme. Traditional integral sliding mode control can directly handle actuator faults; however, it cannot do so with actuator failures. Therefore, a mechanism needs to be adopted to distribute the control effort amongst the remaining functioning actuators in cases of faults or failures, so that an acceptable level of closed-loop performance can be retained. This paper considers the possibility of introducing fault tolerance even if fault or failure information is not provided to the control strategy. To demonstrate the efficacy of the proposed scheme, a high fidelity nonlinear model of a large civil aircraft is considered in the simulations in the presence of wind, gusts and sensor noise.

Influence of the tip mass and position on the AFM cantilever dynamics: Coupling between bending, torsion and flexural modes

Energy Technology Data Exchange (ETDEWEB)

Mokhtari-Nezhad, F. [Department of Mechanical Engineering, Shahid Bahonar University of Kerman, Kerman (Iran, Islamic Republic of); Saidi, A.R., E-mail: saidi@mail.uk.ac.ir [Department of Mechanical Engineering, Shahid Bahonar University of Kerman, Kerman (Iran, Islamic Republic of); Ziaei-Rad, S. [Department of Mechanical Engineering, Isfahan University of Technology (IUT), Isfahan 84156-83111 (Iran, Islamic Republic of)

2009-08-15

The effects of the geometrical asymmetric related to tip position as a concentrated mass, on the sensitivity of all three vibration modes, lateral excitation (LE), torsional resonance (TR) and vertical excitation (VE), of an atomic force microscopy (AFM) microcantilever have been analyzed. The effects of the tip mass and its position are studied to report the novel results to estimating the vibration behavior of AFM such as resonance frequency and amplitude of the microcantilever. In this way, to achieve more accurate results, the coupled motion in all three modes is considered. In particular, it is investigated that performing the coupled motion in analysis of AFM microcantilever is almost necessary. It is shown that the tip mass and its position have significant effects on vibrational responses. The results show that considering the tip mass decreases the resonance frequencies particularly on high-order modes. However, dislocating of tip position has an inverse effect that causes an increase in the resonance frequencies. In addition, it has been shown that the amplitude of the AFM microcantilever is affected by the influences of tip and its position. These effects are caused by the interaction between flexural and torsional motion due to the moment of inertia of the tip mass.

Influence of the tip mass and position on the AFM cantilever dynamics: Coupling between bending, torsion and flexural modes

International Nuclear Information System (INIS)

Mokhtari-Nezhad, F.; Saidi, A.R.; Ziaei-Rad, S.

2009-01-01

The effects of the geometrical asymmetric related to tip position as a concentrated mass, on the sensitivity of all three vibration modes, lateral excitation (LE), torsional resonance (TR) and vertical excitation (VE), of an atomic force microscopy (AFM) microcantilever have been analyzed. The effects of the tip mass and its position are studied to report the novel results to estimating the vibration behavior of AFM such as resonance frequency and amplitude of the microcantilever. In this way, to achieve more accurate results, the coupled motion in all three modes is considered. In particular, it is investigated that performing the coupled motion in analysis of AFM microcantilever is almost necessary. It is shown that the tip mass and its position have significant effects on vibrational responses. The results show that considering the tip mass decreases the resonance frequencies particularly on high-order modes. However, dislocating of tip position has an inverse effect that causes an increase in the resonance frequencies. In addition, it has been shown that the amplitude of the AFM microcantilever is affected by the influences of tip and its position. These effects are caused by the interaction between flexural and torsional motion due to the moment of inertia of the tip mass.

Cavity mode control in side-coupled periodic waveguides: theory and experiment

DEFF Research Database (Denmark)

Ha, Sangwoo; Sukhorukov, A.; Lavrinenko, Andrei

2010-01-01

We demonstrate that the modes of coupled cavities created in periodic waveguides can depend critically on the longitudinal shift between the cavities. In the absence of such shift, the modes feature symmetric or antisymmetric profiles, and their frequency splitting generally increases...... as the cavities are brought closer. We show that the longitudinal shift enables flexible control over the fundamental modes, whose frequency detuning can be reduced down to zero. Our coupled-mode theory analysis reveals an intrinsic link between the mode tuning and the transformation of slow-light dispersion...... at the photonic band-edge.We illustrate our approach through numerical modeling of cavities created in arrays of dielectric rods, and confirm our predictions with experimental observations....

Sliding Mode Control of a Bidirectional Buck/Boost DC-DC Converter with Constant Switching Frequency

Directory of Open Access Journals (Sweden)

A. Safari

2018-03-01

Full Text Available In this paper, sliding mode control (SMC for a bidirectional buck/boost DC-DC converter (BDC with constant frequency in continuous conduction mode (CCM is discussed. Since the converter is a high-order converter, the reduced-order sliding manifold is exploited. Because of right-half-plan zero (RHPZ in the converter’s duty ratio to output voltage transfer function, sliding mode current controller is used. This controller benefits from various advantages such as fast dynamic response, robustness, stable and small variation of the settling time over a wide range of operation conditions. Because the converter operates in both step-down and step-up modes, two sliding manifold is derived for each mode. The existence and stability conditions are analyzed for both SMC in step-down and step-up modes. Finally, Simulation results are also provided to justify the feasibility of the controller using MATLAB/Simulink.

New information technologies in operative control of modes in regional electrical power systems

OpenAIRE

ANDREY D. TEVJASHEV; TATJANA B. TIMOFEEVA

2003-01-01

The problem of development of software for management of modes in electrical power systems in connection with casual character of a load in network is considered. The stochastic mathematical model of a system for operating control of modes in regional electrical power systems is offered. The methods for problem solving of operating control and operating planning of operational modes in regional electrical power systems are developed. The application of the developed models and methods will al...

Applications of sliding mode control

CERN Document Server

Ghommam, Jawhar; Zhu, Quanmin

2017-01-01

This book presents essential studies and applications in the context of sliding mode control, highlighting the latest findings from interdisciplinary theoretical studies, ranging from computational algorithm development to representative applications. Readers will learn how to easily tailor the techniques to accommodate their ad hoc applications. To make the content as accessible as possible, the book employs a clear route in each paper, moving from background to motivation, to quantitative development (equations), and lastly to case studies/illustrations/tutorials (simulations, experiences, curves, tables, etc.). Though primarily intended for graduate students, professors and researchers from related fields, the book will also benefit engineers and scientists from industry. .

Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System

OpenAIRE

Fengjiao Wu; Junling Ding; Zhengzhong Wang

2016-01-01

The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the d...

Validation of ISTTOK Plasma Position Controller

International Nuclear Information System (INIS)

Valcarcel, D. F.; Carvalho, I. S.; Carvalho, B. B.; Fernandes, H.; Silva, C.; Duarte, P.; Duarte, A.; Carvalho, P. J.; Pereira, T.

2008-01-01

Active control of plasma position on the ISTTOK tokamak is of extreme importance due to the inherent instability caused by an unfavourable curvature of the external equilibrium magnetic field. The consequences of this instability can be suppressed by applying a dynamic equilibrium field. A digital real-time plasma position control system for ISTTOK has been developed to perform this task. This system uses magnetic measurements to determine the plasma position and feeds the control signal to power supplies that generate the equilibrium fields. After commissioning, the results obtained have shown some discrepancies between the magnetic plasma position reconstruction and several other diagnostics, such as tomography. This discrepancy at some extent is due to the effect of the external magnetic fields on the poloidal magnetic measurements. This work presents a study that addresses this issue. In a future work it will lead to the development of a corrected plasma position algorithm, aiming at obtaining improved performance of plasma discharges and controlled plasma column displacements

Plasma position control on Alcator C

International Nuclear Information System (INIS)

Pribyl, P.A.

1981-05-01

The Alcator C MHD equilibrium is investigated from the standpoint of determining the plasma position. A review of equilibrium theory is presented, indicating that the central flux surfaces of the plasma should be displaced about 1 to 2 cm from the outermost. Further, the plasma should have a slightly noncircular cross-section. A comparison is made between the observed and predicted profiles. Flux loops sensitive to plasma position generate the error signal for the feedback control circuit. This measurement agrees with other position-sensitive diagnostics, such as limiter heating, and centroids of density, soft x-ray, and electron cyclotron emission. A linear model is developed for the position control feedback system, including the vertical field SCR supply, plasma, and feedback electronics. Operation of the control system agrees well with that predicted by the model, with acceptable plasma position being maintained for the duration of the discharge. The feedback control system is in daily use for Alcator C runs

Decoupled Sliding Mode Control for a Novel 3-DOF Parallel Manipulator with Actuation Redundancy

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Niu Xuemei

2015-05-01

Full Text Available This paper presents a decoupled nonsingular terminal sliding mode controller (DNTSMC for a novel 3-DOF parallel manipulator with actuation redundancy. According to kinematic analysis, the inverse dynamic model for a novel 3-DOF redundantly actuated parallel manipulator is formulated in the task space using Lagrangian formalism and decoupled into three entirely independent subsystems under generalized coordinates to significantly reduce system complexity. Based on the dynamic model, a decoupled sliding mode control strategy is proposed for the parallel manipulator; the idea behind this strategy is to design a nonsingular terminal sliding mode controller for each subsystem, which can drive states of three subsystems to the original equilibrium points simultaneously by two intermediate variables. Additionally, a RBF neural network is used to compensate the cross-coupling force and gravity to enhance the control precision. Simulation and experimental results show that the proposed DNTSMC can achieve better control performances compared with the conventional sliding mode controller (SMC and the DNTSMC without compensator.

A control approach to cross-coupling compensation of piezotube scanners in tapping-mode atomic force microscope imaging.

Science.gov (United States)

Wu, Ying; Shi, Jian; Su, Chanmin; Zou, Qingze

2009-04-01

In this article, an approach based on the recently developed inversion-based iterative control (IIC) to cancel the cross-axis coupling effect of piezoelectric tube scanners (piezoscanners) in tapping-mode atomic force microscope (AFM) imaging is proposed. Cross-axis coupling effect generally exists in piezoscanners used for three-dimensional (x-y-z axes) nanopositioning in applications such as AFM, where the vertical z-axis movement can be generated by the lateral x-y axes scanning. Such x/y-to-z cross-coupling becomes pronounced when the scanning is at large range and/or at high speed. In AFM applications, the coupling-caused position errors, when large, can generate various adverse effects, including large imaging and topography distortions, and damage of the cantilever probe and/or the sample. This paper utilizes the IIC technique to obtain the control input to precisely track the coupling-caused x/y-to-z displacement (with sign-flipped). Then the obtained input is augmented as a feedforward control to the existing feedback control in tapping-mode imaging, resulting in the cancellation of the coupling effect. The proposed approach is illustrated through two exemplary applications in industry, the pole-tip recession examination, and the nanoasperity measurement on hard-disk drive. Experimental results show that the x/y-to-z coupling effect in large-range (20 and 45 microm) tapping-mode imaging at both low to high scan rates (2, 12.2 to 24.4 Hz) can be effectively removed.

Control rod position detection device

International Nuclear Information System (INIS)

Akita, Haruo; Ogiwara, Sakae.

1996-01-01

The device of the present invention is used in a back-up shut down system of an LMFBR type reactor which is easy for maintenance, has high reliability and can recognize the position of control rods accurately. Namely, a permanent magnet is disposed to a control rod extension tube connected to the lower portion of the control rod. The detector guide tube is disposed in the vicinity of the control rod extension tube. A detector having a detection coil is inserted into a detector tube. With such constitution, the control rod can be detected at one position using the following method. (1) the movement of the magnetic field of the permanent magnet is detected by the detection coil. (2) a plurality of grooves are formed on the control rod extension tube, and the movement of the grooves is detected. In addition, the detection coil is inserted into the detector guide tube, and the signals from the detection coil are inputted to a signal processing circuit disposed at the outside of the reactor vessel using an MI cable to enable the maintenance of the detector. Further, if the detector comprises a detection coil and an excitation coil, the position of a dropped control rod can be recognized at a plurality of points. (I.S.)

Systematic design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak

International Nuclear Information System (INIS)

Hennen, B.A.; Westerhof, E.; De Baar, M.R.; Nuij, P.W.J.M.; Steinbuch, M.

2012-01-01

Suppression of tearing modes is essential for the operation of tokamaks. This paper describes the design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak. The two main control tasks of this feedback control system are the radial alignment of electron cyclotron resonance heating and current drive (ECRH/ECCD) with a tearing mode and the stabilization of a mode at a specific width. In order to simulate these control tasks, the time evolution of a tearing mode subject to suppression by ECRH/ECCD and destabilization by a magnetic perturbation field is modelled using the generalized Rutherford equation. The model includes an equilibrium model and an ECRH/ECCD launcher model. The dynamics and static equilibria of this model are analysed. The model is linearized and based on the linearized model, linear feedback controllers are designed and simulated, demonstrating both alignment and width control of tearing modes in TEXTOR. (paper)

Relative position control design of receiver UAV in flying-boom aerial refueling phase.

Science.gov (United States)

An, Shuai; Yuan, Suozhong

2018-02-01

This paper proposes the design of the relative position-keeping control of the receiver unmanned aerial vehicle (UAV) with the time-varying mass in the refueling phase utilizing an inner-outer loop structure. Firstly, the model of the receiver in the refueling phase is established. And then tank model is set up to analyze the influence of fuel transfer on the receiver. Subsequently, double power reaching law based sliding mode controller is designed to control receiver translational motion relative to tanker aircraft in the outer loop while active disturbance rejection control technique is applied to the inner loop to stabilize the receiver. In addition, the closed-loop stabilities of the subsystems are established, respectively. Finally, an aerial refueling model under various refueling strategies is utilized. Simulations and comparative analysis demonstrate the effectiveness and robustness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive suboptimal second-order sliding mode control for microgrids

Science.gov (United States)

Incremona, Gian Paolo; Cucuzzella, Michele; Ferrara, Antonella

2016-09-01

This paper deals with the design of adaptive suboptimal second-order sliding mode (ASSOSM) control laws for grid-connected microgrids. Due to the presence of the inverter, of unpredicted load changes, of switching among different renewable energy sources, and of electrical parameters variations, the microgrid model is usually affected by uncertain terms which are bounded, but with unknown upper bounds. To theoretically frame the control problem, the class of second-order systems in Brunovsky canonical form, characterised by the presence of matched uncertain terms with unknown bounds, is first considered. Four adaptive strategies are designed, analysed and compared to select the most effective ones to be applied to the microgrid case study. In the first two strategies, the control amplitude is continuously adjusted, so as to arrive at dominating the effect of the uncertainty on the controlled system. When a suitable control amplitude is attained, the origin of the state space of the auxiliary system becomes attractive. In the other two strategies, a suitable blend between two components, one mainly working during the reaching phase, the other being the predominant one in a vicinity of the sliding manifold, is generated, so as to reduce the control amplitude in steady state. The microgrid system in a grid-connected operation mode, controlled via the selected ASSOSM control strategies, exhibits appreciable stability properties, as proved theoretically and shown in simulation.

Automatic Flight Control System Design of Level Change Mode for a Large Aircraft

Directory of Open Access Journals (Sweden)

Huajun Gong

2013-02-01

Full Text Available The level change mode is an essential part of large civil aircraft automatic flight control systems. In cruise, with the decrease of the plane's weight caused by fuel consumption and the influence of bad weather, such as thunderstorms, the level change mode is required to solve this problem. This work establishes a nonlinear model of large aircraft, takes level changed from 9500m to 10100m as an example to design control laws for the level change mode in cruise. The classical engineering method is used to design longitudinal and lateral control laws synthetically. The flight qualities are considered in the design process. Simulation results indicate the control laws can meet design requirements and have a good anti-gust performance.

Operation Modes and Control Schemes for Internet-Based Teleoperation System with Time Delay

Institute of Scientific and Technical Information of China (English)

曾庆军; 宋爱国

2003-01-01

Teleoperation system plays an important role in executing task under hazard environment. As the computer networks such as the Internet are being used as the communication channel of teleoperation system, varying time delay causes the overall system unstable and reduces the performance of transparency. This paper proposed twelve operation modes with different control schemes for teleoperation on the Internet with time delay. And an optimal operation mode with control scheme was specified for teleoperation with time delay, based on the tradeoff between passivity and transparency properties. It experimentally confirmed the validity of the proposed optimal mode and control scheme by using a simple one DOF master-slave manipulator system.

Control and automatic alignment of the output mode cleaner of GEO 600

Energy Technology Data Exchange (ETDEWEB)

Prijatelj, M; Grote, H; Degallaix, J; Hewitson, M; Affeldt, C; Leong, J; Lueck, H; Strain, K A; Wittel, H; Willke, B; Danzmann, K [Max-Planck-Institut fuer Gravitationsphysik (Albert-Einstein-Institut) and Leibniz Universitaet Hannover, Callinstr. 38, 30167 Hannover (Germany); Hild, S; Freise, A, E-mail: mirko.prijatelj@aei.mpg.d [School of Physics and Astronomy, University of Birmingham, Edgbaston, Birmingham, B15 2TT (United Kingdom)

2010-05-01

The implementation of a mode cleaner at the output port of the GEO 600 gravitational wave detector will be part of the upcoming transition from GEO 600 to GEO-HF. Part of the transition will be the move from a heterodyne readout to a DC readout scheme. DC readout performance will be limited by higher order optical modes and control sidebands present at the output port. For optimum performance of DC readout an output mode cleaner (OMC) will clean the output beam of these contributions. Inclusion of an OMC will introduce new noise sources whose magnitudes needed to be estimated and for which new control systems will be needed. In this article we set requirements on the performance of these control systems and investigate the simulated performance of different designs.

Robust synchronization of chaotic systems via adaptive sliding mode control

International Nuclear Information System (INIS)

Yan, J.-J.; Hung, M.-L.; Chiang, T.-Y.; Yang, Y.-S.

2006-01-01

This Letter investigates the synchronization problem for a general class of chaotic systems. Using the sliding mode control technique, an adaptive control law is established to guarantee synchronization of the master and slave systems even when unknown parameters and external disturbances are present. In contrast to the previous works, the structure of slave system is simple and need not be identical to the master system. Furthermore, a novel proportional-integral (PI) switching surface is proposed to simplify the task of assigning the performance of the closed-loop error system in sliding mode. An illustrative example of Chua's circuit is given to demonstrate the effectiveness of the proposed synchronization scheme

Experimental Evaluation of Novel Master-Slave Configurations for Position Control under Random Network Delay and Variable Load for Teleoperation

Directory of Open Access Journals (Sweden)

Ahmet Kuzu

2014-01-01

Full Text Available This paper proposes two novel master-slave configurations that provide improvements in both control and communication aspects of teleoperation systems to achieve an overall improved performance in position control. The proposed novel master-slave configurations integrate modular control and communication approaches, consisting of a delay regulator to address problems related to variable network delay common to such systems, and a model tracking control that runs on the slave side for the compensation of uncertainties and model mismatch on the slave side. One of the configurations uses a sliding mode observer and the other one uses a modified Smith predictor scheme on the master side to ensure position transparency between the master and slave, while reference tracking of the slave is ensured by a proportional-differentiator type controller in both configurations. Experiments conducted for the networked position control of a single-link arm under system uncertainties and randomly varying network delays demonstrate significant performance improvements with both configurations over the past literature.

Sliding Mode Controller and Lyapunov Redesign Controller to Improve Microgrid Stability

DEFF Research Database (Denmark)

Hossain, Eklas; Perez, Ron; Padmanaban, Sanjeevikumar

2017-01-01

technique is used to enhance stability of microgrids. Besides adopting this technique here, Sliding Mode Controller (SMC) and Lyapunov Redesign Controller (LRC), two of the most prominent nonlinear control techniques, are individually implemented to control microgrid system stability with desired robustness....... CPL power is then varied to compare robustness of these two control techniques. This investigation revealed the better performance of the LRC system compared to SMC to retain stability in microgrid with dense CPL load. All the necessary results are simulated in Matlab/Simulink platform for authentic......To mitigate the microgrid instability despite the presence of dense Constant Power Load (CPL) loads in the system, a number of compensation techniques have already been gone through extensive research, proposed, and implemented around the world. In this paper, a storage based load side compensation...

Iaverage current mode (ACM) control for switching power converters

OpenAIRE

2014-01-01

Providing a fast current sensor direct feedback path to a modulator for controlling switching of a switched power converter in addition to an integrating feedback path which monitors average current for control of a modulator provides fast dynamic response consistent with system stability and average current mode control. Feedback of output voltage for voltage regulation can be combined with current information in the integrating feedback path to limit bandwidth of the voltage feedback signal.

Designing adaptive integral sliding mode control for heart rate regulation during cycle-ergometer exercise using bio-feedback.

Science.gov (United States)

Argha, Ahmadreza; Su, Steven W; Nguyen, Hung; Celler, Branko G

2015-01-01

This paper considers our developed control system which aims to regulate the exercising subjects' heart rate (HR) to a predefined profile. The controller would be an adaptive integral sliding mode controller. Here it is assumed that the controller commands are interpreted as biofeedback auditory commands. These commands can be heard and implemented by the exercising subject as a part of the control-loop. However, transmitting a feedback signal while the pedals are not in the appropriate position to efficiently exert force may lead to a cognitive disengagement of the user from the feedback controller. To address this problem this paper will employ a different form of control system regarding as "actuator-based event-driven control system". This paper will claim that the developed event-driven controller makes it possible to effectively regulate HR to a predetermined HR profile.

Mechanisms for the control of two-mode transient stimulated Raman scattering in liquids

International Nuclear Information System (INIS)

Spanner, Michael; Brumer, Paul

2006-01-01

Recent adaptive feedback control experiments demonstrated control of transient (i.e. nonimpulsive) Stokes emission from two closely spaced Raman-active modes in liquid methanol [e.g., B. J. Pearson et al., Phys. Rev. A 63, 063412 (2001)]. Optimally shaped pulses were found that selectively excited one of the two Stokes lines alone, optimized emission from both modes together, or completely suppressed all Stokes emission. Here, two general control mechanisms capable of affecting the ratio of intensities of the Stokes lines are identified. The first is operational when the duration of the pump pulse (t p ) is on the order of the collisional dephasing time (t d ). The ratio of the peak heights of the two Stokes lines can then be controlled by simply varying the duration and/or intensity of the pump pulse. The second operates when 1/t p is on the order of the energy separation of the two Raman modes, and hence when the two Raman modes are coupled due to overlapping nonlinear polarizations that drive the stimulated Raman scattering. In this regime, asymmetry in the spectral amplitudes within the pump pulse can control the asymmetry in the peak heights of the Stokes emission. Both these mechanisms have the same clear physical interpretation: shaping the pump pulse controls the nonlinear optical response of the medium, which in turn controls the stimulated Stokes emission, itself a χ (3) nonlinear effect. In neither mechanism does the ratio of peak heights in the Stokes spectrum reflect directly the ratio of excited-state populations associated with the two Raman modes, as was assumed in the experiments, nor does the control involve coherent quantum interference effects

Design of practical sliding-mode controllers with constant switching frequency for power converters

Energy Technology Data Exchange (ETDEWEB)

Navarro-Lopez, Eva M. [School of Computer Science, Centre for Interdisciplinary Computational and Dynamical Analysis, The University of Manchester, Oxford Road, Kilburn Building, Manchester M13 9PL (United Kingdom); Cortes, Domingo [Seccion de Mecatronica, Departamento de Ingenieria Electrica, CINVESTAV-IPN, Av. IPN 2508, Col. San Pedro Zacatenco, 07360 Mexico City (Mexico); Castro, Christian [Centro de Investigacion en Computacion del IPN, Av. Jose Othon de Mendizabal s/n, Col. Nueva Industrial Vallejo, 07738 Mexico City (Mexico)

2009-05-15

A novel experimentally motivated method in order to design a family of easy-to-implement sliding-mode controllers for power converters is proposed. Two main results are presented. First, the relation between sliding-mode control and average control is reinterpreted so that the limitation of the switching frequency for the closed-loop system is achieved in a more direct way than other methods so far reported in the literature. For this purpose, a class of sliding surfaces which makes the associated equivalent control be the system average control is proposed. Second, the achievement of a constant switching frequency in the controlled system is assured without requiring the sliding-mode-based controller to be modified, unlike most previous works. As a result, the proposed sliding surfaces-type can be directly implemented via a pulse-width modulator. The control methodology is implemented for the voltage control in a boost converter prototype in which the load is considered unknown. Experimental results confirm high performance and robustness under parameters variation. Furthermore, the solution proposed is easy to implement and well-suited for other power converters. (author)

Adaptive Sliding Mode Control of Chaos in Permanent Magnet Synchronous Motor via Fuzzy Neural Networks

Directory of Open Access Journals (Sweden)

Tat-Bao-Thien Nguyen

2014-01-01

Full Text Available In this paper, based on fuzzy neural networks, we develop an adaptive sliding mode controller for chaos suppression and tracking control in a chaotic permanent magnet synchronous motor (PMSM drive system. The proposed controller consists of two parts. The first is an adaptive sliding mode controller which employs a fuzzy neural network to estimate the unknown nonlinear models for constructing the sliding mode controller. The second is a compensational controller which adaptively compensates estimation errors. For stability analysis, the Lyapunov synthesis approach is used to ensure the stability of controlled systems. Finally, simulation results are provided to verify the validity and superiority of the proposed method.

Adaptive proportional–integral–derivative tuning sliding mode control for a shape memory alloy actuator

International Nuclear Information System (INIS)

Tai, Nguyen Trong; Ahn, Kyoung Kwan

2011-01-01

In this paper, a novel adaptive sliding mode control with a proportional–integral–derivative (PID) tuning method is proposed to control a shape memory alloy (SMA) actuator. The goal of the controller is to achieve system robustness against the SMA hysteresis phenomenon, system uncertainties and external disturbances. In the controller, the PID controller is employed to approximate the sliding mode equivalent control along the direction that makes the sliding mode asymptotically stable. Due to the system nonlinearity, the PID control gain parameters are systematically computed online according to the adaptive law. To improve the transient performance, the initial PID gain parameters are optimized by the particle swarm optimization (PSO) method. Simulation and experimental results demonstrate that the controller performs well for the desired trajectory tracking, and the hysteresis phenomenon is compensated for completely. The control results are also compared with the optimized PID controller

Deep learning and model predictive control for self-tuning mode-locked lasers

Science.gov (United States)

Baumeister, Thomas; Brunton, Steven L.; Nathan Kutz, J.

2018-03-01

Self-tuning optical systems are of growing importance in technological applications such as mode-locked fiber lasers. Such self-tuning paradigms require {\\em intelligent} algorithms capable of inferring approximate models of the underlying physics and discovering appropriate control laws in order to maintain robust performance for a given objective. In this work, we demonstrate the first integration of a {\\em deep learning} (DL) architecture with {\\em model predictive control} (MPC) in order to self-tune a mode-locked fiber laser. Not only can our DL-MPC algorithmic architecture approximate the unknown fiber birefringence, it also builds a dynamical model of the laser and appropriate control law for maintaining robust, high-energy pulses despite a stochastically drifting birefringence. We demonstrate the effectiveness of this method on a fiber laser which is mode-locked by nonlinear polarization rotation. The method advocated can be broadly applied to a variety of optical systems that require robust controllers.

Status of higher order mode beam position monitors in 3.9 GHz superconducting accelerating cavities at FLASH

CERN Document Server

Zhang, P; Jones, R M; Flisgen, T; Van Rienen, U; Shinton, I R R

2013-01-01

Higher order mode (HOM) beam position monitors (BPM) are being developed for the 3.9 GHz third harmonic superconducting accelerating cavities at FLASH. The transverse beam position in a cavity can be determined utilizing beam-excited HOMs based on dipole components. The existing couplers used for HOM suppression provide necessary signals. The diagnostics principle is similar to a cavity BPM, but requires no additional vacuum instruments on the linac. The challenges of HOM-BPM for 3.9 GHz cavities lie in the dense HOM spectrum arising from the coupling of the majority HOMs amongst the four cavities in the cryo-module ACC39. HOMs with particularly promising diagnostics features were evaluated using a spectrum analyzer and custom-built test electronics with various data analysis techniques, data reduction was focused on. After careful theoretical and experimental assessment of the HOM spectrum, multi-cavity modes in the region of 5 GHz were chosen to provide a global position over the complete module with superi...

Autonomous Control Strategy of DC Microgrid for Islanding Mode Using Power Line Communication

Directory of Open Access Journals (Sweden)

Dong-Keun Jeong

2018-04-01

Full Text Available This paper proposes a DC-bus signaling (DBS method for autonomous power management in a DC microgrid, used to improve its reliability. Centralized power management systems require communication between the power sources and loads. However, the DBS method operates based on the common DC-bus voltage and does not require communication. Based on the DC-bus voltage band, the DC-bus voltage can be used to inform the status of the DC-bus in various scenarios. The DC microgrid operates independently to maintain the system stably in the DC-bus voltage band. The DC microgrid can be divided into a grid-connected mode and an islanding mode. This paper proposes a control strategy based on power management of various independent components in islanding mode. In addition, the autonomous control method for switching the converter’s operation between grid-connected mode and islanding mode is proposed. A DC microgrid test bed consisting of a grid-connected AC/DC converter, a bidirectional DC/DC converter, a renewable energy simulator, DC home appliances and a DC-bus protector is used to test the proposed control strategy. The proposed autonomous control strategy is experimentally verified using the DC microgrid test bed.

Digital peak current mode control with adaptive slope compensation for DC-DC converters

DEFF Research Database (Denmark)

Andersen, Karsten Holm; Nymand, Morten

2017-01-01

performance and stability of current mode control. The presented method adapt to DC-DC converter operating conditions by estimating the rising and falling inductor current slopes, to apply a current slope compensation value to obtain a constant quality factor. The experimental results verifies the theoretical......This paper presents an adaptive slope compensation method for peak current mode control of digital controlled DC-DC converters, which controls the quality factor of the complex conjugated poles at half the switching frequency. Using quality factor control enables optimization of the dynamic...

Control rod position detector for nuclear reactor

International Nuclear Information System (INIS)

Kudo, Mitsuru; Fujiwara, Hiroshi.

1981-01-01

Purpose: To improve the reliability of a control rod position detector by detecting a reactive code with a combination of control rod position change signals produced from vertical and horizontal axis decoders, generation an error signal and thus simultaneously detecting the operation of more than two lead switches. Constitution: Horizontal and vertical axis position signals responsive to changes in the control rod position are applied from lead switches connected in a predetermined matrix connection corresponding to the notches of the positions of respective position detecting probes, the reactive output from the decoder is detected by a reactive code detecting circuit, which in turn generates a fault signal, and the control rod position code converted in a notch number generating circuit is converted to a predetermined value indicating invalidity. Accordingly, a fault caused by the simultaneous operation of a plurality of failed lead switches can be effectively detected. (Yoshino, Y.)

Synchronization of uncertain time-varying network based on sliding mode control technique

Science.gov (United States)

Lü, Ling; Li, Chengren; Bai, Suyuan; Li, Gang; Rong, Tingting; Gao, Yan; Yan, Zhe

2017-09-01

We research synchronization of uncertain time-varying network based on sliding mode control technique. The sliding mode control technique is first modified so that it can be applied to network synchronization. Further, by choosing the appropriate sliding surface, the identification law of uncertain parameter, the adaptive law of the time-varying coupling matrix element and the control input of network are designed, it is sure that the uncertain time-varying network can synchronize effectively the synchronization target. At last, we perform some numerical simulations to demonstrate the effectiveness of the proposed results.

Novel method to control antenna currents based on theory of characteristic modes

Science.gov (United States)

Elghannai, Ezdeen Ahmed

Characteristic Mode Theory is one of the very few numerical methods that provide a great deal of physical insight because it allows us to determine the natural modes of the radiating structure. The key feature of these modes is that the total induced antenna current, input impedance/admittance and radiation pattern can be expressed as a linear weighted combination of individual modes. Using this decomposition method, it is possible to study the behavior of the individual modes, understand them and therefore control the antennas behavior; in other words, control the currents induced on the antenna structure. This dissertation advances the topic of antenna design by carefully controlling the antenna currents over the desired frequency band to achieve the desired performance specifications for a set of constraints. Here, a systematic method based on the Theory of Characteristic Modes (CM) and lumped reactive loading to achieve the goal of current control is developed. The lumped reactive loads are determined based on the desired behavior of the antenna currents. This technique can also be used to impedance match the antenna to the source/generator connected to it. The technique is much more general than the traditional impedance matching. Generally, the reactive loads that properly control the currents exhibit a combination of Foster and non-Foster behavior. The former can be implemented with lumped passive reactive components, while the latter can be implemented with lumped non-Foster circuits (NFC). The concept of current control is applied to design antennas with a wide band (impedance/pattern) behavior using reactive loads. We successfully applied this novel technique to design multi band and wide band antennas for wireless applications. The technique was developed to match the antenna to resistive and/or complex source impedance and control the radiation pattern at these frequency bands, considering size and volume constraints. A wide band patch antenna was

Direct Torque Control of a Small Wind Turbine with a Sliding-Mode Speed Controller

Science.gov (United States)

Sri Lal Senanayaka, Jagath; Karimi, Hamid Reza; Robbersmyr, Kjell G.

2016-09-01

In this paper. the method of direct torque control in the presence of a sliding-mode speed controller is proposed for a small wind turbine being used in water heating applications. This concept and control system design can be expanded to grid connected or off-grid applications. Direct torque control of electrical machines has shown several advantages including very fast dynamics torque control over field-oriented control. Moreover. the torque and flux controllers in the direct torque control algorithms are based on hvsteretic controllers which are nonlinear. In the presence of a sliding-mode speed control. a nonlinear control system can be constructed which is matched for AC/DC conversion of the converter that gives fast responses with low overshoots. The main control objectives of the proposed small wind turbine can be maximum power point tracking and soft-stall power control. This small wind turbine consists of permanent magnet synchronous generator and external wind speed. and rotor speed measurements are not required for the system. However. a sensor is needed to detect the rated wind speed overpass events to activate proper speed references for the wind turbine. Based on the low-cost design requirement of small wind turbines. an available wind speed sensor can be modified. or a new sensor can be designed to get the required measurement. The simulation results will be provided to illustrate the excellent performance of the closed-loop control system in entire wind speed range (4-25 m/s).

A Robust Control Concept for Hydraulic Drives Based on Second Order Sliding Mode Disturbance Compensation

DEFF Research Database (Denmark)

Schmidt, Lasse; Andersen, Torben O.; Johansen, Per

2017-01-01

, the successful implementation relies heavily on the low-pass filter design where the drive dynamics, sample rate etc. play a significant role. In this paper the utilization of the super twisting algorithm for disturbance compensation is considered. The fact that the discontinuity here is nested in an integral......The application of sliding mode algorithms for control of hydraulic drives has gained increasing interest in recent years due to algorithm simplicity, low number of parameters and possible excellent control performance. Both application of firstand higher order sliding mode control algorithms...... observer based control etc., and several examples of such approaches have been presented in literature. The latter case appear especially interesting as a sliding mode actually takes place, but only the low-pass filtered sliding mode algorithm output is used in the actual control input. However...

Free chattering hybrid sliding mode control for a class of non-linear systems

DEFF Research Database (Denmark)

Khooban, Mohammad Hassan; Niknam, Taher; Blaabjerg, Frede

2016-01-01

In current study, in order to find the control of general uncertain nonlinear systems, a new optimal hybrid control approach called Optimal General Type II Fuzzy Sliding Mode (OGT2FSM) is presented. In order to estimate unknown nonlinear activities in monitoring dynamic uncertainties, the benefits...... on the same topic, which are an Adaptive Interval Type-2 Fuzzy Logic Controller (AGT2FLC) and Conventional Sliding Mode Controller (CSMC), to assess the efficiency of the suggested controller. The suggested control scheme is finally used to the Electric Vehicles type as a case study. Results of simulation...

Quality control in diagnostic immunohistochemistry: integrated on-slide positive controls.

Science.gov (United States)

Bragoni, A; Gambella, A; Pigozzi, S; Grigolini, M; Fiocca, R; Mastracci, L; Grillo, F

2017-11-01

Standardization in immunohistochemistry is a priority in modern pathology and requires strict quality control. Cost containment has also become fundamental and auditing of all procedures must take into account both these principles. Positive controls must be routinely performed so that their positivity guarantees the appropriateness of the immunohistochemical procedure. The aim of this study is to develop a low cost (utilizing a punch biopsy-PB-tool) procedure to construct positive controls which can be integrated in the patient's tissue slide. Sixteen frequently used control blocks were selected and multiple cylindrical samples were obtained using a 5-mm diameter punch biopsy tool, separately re-embedding them in single blocks. For each diagnostic immunoreaction requiring a positive control, an integrated PB-control section (cut from the appropriate PB-control block) was added to the top right corner of the diagnostic slide before immunostaining. This integrated control technique permitted a saving of 4.75% in total direct lab costs and proved to be technically feasible and reliable. Our proposal is easy to perform and within the reach of all pathology labs, requires easily available tools, its application costs is less than using external paired controls and ensures that a specific control for each slide is always available.

Sliding-mode control of single input multiple output DC-DC converter

Science.gov (United States)

Zhang, Libo; Sun, Yihan; Luo, Tiejian; Wan, Qiyang

2016-10-01

Various voltage levels are required in the vehicle mounted power system. A conventional solution is to utilize an independent multiple output DC-DC converter whose cost is high and control scheme is complicated. In this paper, we design a novel SIMO DC-DC converter with sliding mode controller. The proposed converter can boost the voltage of a low-voltage input power source to a controllable high-voltage DC bus and middle-voltage output terminals, which endow the converter with characteristics of simple structure, low cost, and convenient control. In addition, the sliding mode control (SMC) technique applied in our converter can enhance the performances of a certain SIMO DC-DC converter topology. The high-voltage DC bus can be regarded as the main power source to the high-voltage facility of the vehicle mounted power system, and the middle-voltage output terminals can supply power to the low-voltage equipment on an automobile. In the respect of control algorithm, it is the first time to propose the SMC-PID (Proportion Integration Differentiation) control algorithm, in which the SMC algorithm is utilized and the PID control is attended to the conventional SMC algorithm. The PID control increases the dynamic ability of the SMC algorithm by establishing the corresponding SMC surface and introducing the attached integral of voltage error, which endow the sliding-control system with excellent dynamic performance. At last, we established the MATLAB/SIMULINK simulation model, tested performance of the system, and built the hardware prototype based on Digital Signal Processor (DSP). Results show that the sliding mode control is able to track a required trajectory, which has robustness against the uncertainties and disturbances.

Remote Supervision and Control of Air Conditioning Systems in Different Modes

Science.gov (United States)

Rafeeq, Mohammed; Afzal, Asif; Rajendra, Sree

2018-01-01

In the era of automation, most of the application of engineering and science are interrelated with system for optimal operation. To get the efficient result of an operation and desired response, interconnected systems should be controlled by directing, regulating and commanding. Here, air conditioning (AC) system is considered for experimentation, to supervise and control its functioning in both, automated and manual mode. This paper reports the work intended to design and develop an automated and manual AC system working in remote and local mode, to increase the level of comfort, easy operation, reducing human intervention and faults occurring in the system. The Programmable Logical Controller (PLC) and Supervisory Control and Data Acquisition (SCADA) system were used for remote supervision and monitoring of AC systems using series ninety protocol and remote terminal unit modbus protocol as communication module to operate in remote mode. PLC was used as remote terminal for continuous supervision and control of AC system. SCADA software was used as a tool for designing user friendly graphical user interface. The proposed SCADA AC system successfully monitors and controls in accordance within the parameter limits like temperature, pressure, humidity and voltage. With all the features, this designed system is capable of efficient handling of the resources like the compressor, humidifier etc., with all the levels of safety and durability. This system also maintains the temperature and controls the humidity of the remote location and also looks after the health of the compressor.

Design of passive fault-tolerant controllers of a quadrotor based on sliding mode theory

Directory of Open Access Journals (Sweden)

Merheb Abdel-Razzak

2015-09-01

Full Text Available Abstract In this paper, sliding mode control is used to develop two passive fault tolerant controllers for an AscTec Pelican UAV quadrotor. In the first approach, a regular sliding mode controller (SMC augmented with an integrator uses the robustness property of variable structure control to tolerate partial actuator faults. The second approach is a cascaded sliding mode controller with an inner and outer SMC loops. In this configuration, faults are tolerated in the fast inner loop controlling the velocity system. Tuning the controllers to find the optimal values of the sliding mode controller gains is made using the ecological systems algorithm (ESA, a biologically inspired stochastic search algorithm based on the natural equilibrium of animal species. The controllers are tested using SIMULINK in the presence of two different types of actuator faults, partial loss of motor power affecting all the motors at once, and partial loss of motor speed. Results of the quadrotor following a continuous path demonstrated the effectiveness of the controllers, which are able to tolerate a significant number of actuator faults despite the lack of hardware redundancy in the quadrotor system. Tuning the controller using a faulty system improves further its ability to afford more severe faults. Simulation results show that passive schemes reserve their important role in fault tolerant control and are complementary to active techniques

Finite-Time Switched Second-Order Sliding-Mode Control of Nonholonomic Wheeled Mobile Robot Systems

Directory of Open Access Journals (Sweden)

Hao Ce

2018-01-01

Full Text Available A continuous finite-time robust control method for the trajectory tracking control of a nonholonomic wheeled mobile robot (NWMR is presented in this paper. The proposed approach is composed of conventional sliding-mode control (SMC in the internal loop and modified switched second-order sliding-mode (S-SOSM control in the external loop. Sliding-mode controller is equivalently represented as stabilization of the nominal system without uncertainties. An S-SOSM control algorithm is employed to counteract the impact of state-dependent unmodeled dynamics and time-varying external disturbances, and the unexpected chattering has been attenuated significantly. Particularly, state-space partitioning is constructed to obtain the bounds of uncertainty terms and accomplish different control objectives under different requirements. Simulation and experiment results are used to demonstrate the effectiveness and applicability of the proposed approach.

Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

Institute of Scientific and Technical Information of China (English)

TIAN Yan-feng; GUO Qing-ding

2005-01-01

A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

AN INTELLIGENT NEURO-FUZZY TERMINAL SLIDING MODE CONTROL METHOD WITH APPLICATION TO ATOMIC FORCE MICROSCOPE

Directory of Open Access Journals (Sweden)

Seied Yasser Nikoo

2016-11-01

Full Text Available In this paper, a neuro-fuzzy fast terminal sliding mode control method is proposed for controlling a class of nonlinear systems with bounded uncertainties and disturbances. In this method, a nonlinear terminal sliding surface is firstly designed. Then, this sliding surface is considered as input for an adaptive neuro-fuzzy inference system which is the main controller. A proportinal-integral-derivative controller is also used to asist the neuro-fuzzy controller in order to improve the performance of the system at the begining stage of control operation. In addition, bee algorithm is used in this paper to update the weights of neuro-fuzzy system as well as the parameters of the proportinal-integral-derivative controller. The proposed control scheme is simulated for vibration control in a model of atomic force microscope system and the results are compared with conventional sliding mode controllers. The simulation results show that the chattering effect in the proposed controller is decreased in comparison with the sliding mode and the terminal sliding mode controllers. Also, the method provides the advantages of fast convergence and low model dependency compared to the conventional methods.

A Control Strategy for Mode Transition with Gear Shifting in a Plug-In Hybrid Electric Vehicle

Directory of Open Access Journals (Sweden)

Kyuhyun Sim

2017-07-01

Full Text Available The mode transition from electric propulsion mode to hybrid propulsion mode is important with regard to the power management strategy of plug-in hybrid electric vehicles (PHEVs. This is because mode transitions can occur frequently depending on the power management strategies and driving cycles, and because inadequate mode transitions worsen the fuel efficiency and drivability. A pre-transmission parallel PHEV uses a clutch between the internal combustion engine (ICE and the electric motor (EM to connect or disconnect the power source of the ICE for a mode transition. The mode transition requires additional energy consumption for clutch speed synchronization, and is accompanied by a drivetrain shock due to clutch engagement. This paper proposes a control strategy for the mode transition with gear-shifting to resolve the problems of energy consumption and drivetrain shock. Through the development of a PHEV performance simulator, we analyze the mode transition characteristics and propose a control strategy considering the vehicle acceleration and gear state. The control strategy reduces the duration required for the mode transition by moving the start time of the mode transition. This helps to improve energy efficiency while maintaining adequate drivability.

Hopf bifurcation and chaos from torus breakdown in voltage-mode controlled DC drive systems

International Nuclear Information System (INIS)

Dai Dong; Ma Xikui; Zhang Bo; Tse, Chi K.

2009-01-01

Period-doubling bifurcation and its route to chaos have been thoroughly investigated in voltage-mode and current-mode controlled DC motor drives under simple proportional control. In this paper, the phenomena of Hopf bifurcation and chaos from torus breakdown in a voltage-mode controlled DC drive system is reported. It has been shown that Hopf bifurcation may occur when the DC drive system adopts a more practical proportional-integral control. The phenomena of period-adding and phase-locking are also observed after the Hopf bifurcation. Furthermore, it is shown that the stable torus can breakdown and chaos emerges afterwards. The work presented in this paper provides more complete information about the dynamical behaviors of DC drive systems.

Sliding mode control of photoelectric tracking platform based on the inverse system method

Directory of Open Access Journals (Sweden)

Yao Zong Chen

2016-01-01

Full Text Available In order to improve the photoelectric tracking platform tracking performance, an integral sliding mode control strategy based on inverse system decoupling method is proposed. The electromechanical dynamic model is established based on multi-body system theory and Newton-Euler method. The coupled multi-input multi-output (MIMO nonlinear system is transformed into two pseudo-linear single-input single-output (SISO subsystems based on the inverse system method. An integral sliding mode control scheme is designed for the decoupled pseudo-linear system. In order to eliminate system chattering phenomenon caused by traditional sign function in sliding-mode controller, the sign function is replaced by the Sigmoid function. Simulation results show that the proposed decoupling method and the control strategy can restrain the influences of internal coupling and disturbance effectively, and has better robustness and higher tracking accuracy.

Control of the Resistive Wall Mode in Advanced Tokamak Plasmas on DIII-D

International Nuclear Information System (INIS)

Garofalo, A.M.; Strait, E.J.; Bialek, J.; Frederickson, E.; Gryaznevich, M.; Jensen, T.H.; Johnson, L.C.; La Haye, R.J.; Navratil, G.A.; Lazarus, E.A.; Luce, T.C.; Makowski, M.; Okabayashi, M.; Rice, B.W.; Scoville, J.T.; Turnbull, A.D.; Walker, M.L.

1999-01-01

Resistive wall mode (RWM) instabilities are found to be a limiting factor in advanced tokamak (AT) regimes with low internal inductance. Even small amplitude modes can affect the rotation profile and the performance of these ELMing H-mode discharges. Although complete stabilization of the RWM by plasma rotation has not yet been observed, several discharges with increased beam momentum and power injection sustained good steady-state performance for record time extents. The first investigation of active feedback control of the RWM has shown promising results: the leakage of the radial magnetic flux through the resistive wall can be successfully controlled, and the duration of the high beta phase can be prolonged. The results provide a comparative test of several approaches to active feedback control, and are being used to benchmark the analysis and computational models of active control

An experimental randomized study of six different ventilatory modes in a piglet model with normal lungs

DEFF Research Database (Denmark)

Nielsen, J B; Sjöstrand, U H; Henneberg, S W

1991-01-01

A randomized study of 6 ventilatory modes was made in 7 piglets with normal lungs. Using a Servo HFV 970 (prototype system) and a Servo ventilator 900 C the ventilatory modes examined were as follows: SV-20V, i.e. volume-controlled intermittent positive-pressure ventilation (IPPV); SV-20VIosc, i...... ventilatory modes. Also the mean airway pressures were lower with the HFV modes 8-9 cm H2O compared to 11-14 cm H2O for the other modes. The gas distribution was evaluated by N2 wash-out and a modified lung clearance index. All modes showed N2 wash-out according to a two-compartment model. The SV-20P mode had.......e. volume-controlled ventilation (IPPV) with superimposed inspiratory oscillations; and SV-20VEf, i.e. volume-controlled ventilation (IPPV) with expiratory flush of fresh gas; HFV-60 denotes low-compressive high-frequency positive-pressure ventilation (HFPPV) and HVF-20 denotes low-compressive volume...

Design of adaptive sliding mode control for synchronization Genesio–Tesi chaotic system

International Nuclear Information System (INIS)

Ghamati, Mina; Balochian, Saeed

2015-01-01

In this paper two adaptive sliding mode controls for synchronizing the state trajectories of the Genesio–Tesi system with unknown parameters and external disturbance are proposed. A switching surface is introduced and based on this switching surface, two adaptive sliding mode control schemes are presented to guarantee the occurrence of the sliding motion. The stability and robustness of the two proposed schemes are proved using Lyapunov stability theory. The effectiveness of our introduced schemes is provided by numerical simulations

Torque Coordination Control during Braking Mode Switch for a Plug-in Hybrid Electric Vehicle

OpenAIRE

Yang Yang; Chao Wang; Quanrang Zhang; Xiaolong He

2017-01-01

Hybrid vehicles usually have several braking systems, and braking mode switches are significant events during braking. It is difficult to coordinate torque fluctuations caused by mode switches because the dynamic characteristics of braking systems are different. In this study, a new type of plug-in hybrid vehicle is taken as the research object, and braking mode switches are divided into two types. The control strategy of type one is achieved by controlling the change rates of clutch hold-dow...

High Order Sliding Mode Control of Doubly-fed Induction Generator under Unbalanced Grid Faults

DEFF Research Database (Denmark)

Zhu, Rongwu; Chen, Zhe; Wu, Xiaojie

2013-01-01

This paper deals with a doubly-fed induction generator-based (DFIG) wind turbine system under grid fault conditions such as: unbalanced grid voltage, three-phase grid fault, using a high order sliding mode control (SMC). A second order sliding mode controller, which is robust with respect...

Robust control of an industrial boiler system; a comparison between two approaches: Sliding mode control and H∞ technique

International Nuclear Information System (INIS)

Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid

2009-01-01

To achieve a good performance of the utility boiler, dynamic variables such as drum pressure, steam temperature and water level of drum must be controlled. In this paper, a linear time invariant (LTI) model of a boiler system is considered in which the input variables are feed-water and fuel mass rates. However this dynamic model may associate with uncertainties. With considering the uncertainties of the dynamic model, a sliding mode controller is designed. After representation of the uncertain dynamic system in general control configuration and modelling the parametric uncertainties, nominal performance, robust stability and robust performance are analyzed by the concept of structured singular value μ. Using an algorithm for μ-analysis and applying an inversed-base controller, robust stability and nominal performance are guaranteed but robust performance is not satisfied. Finally, an optimal robust controller is designed based on μ-synthesis with DK-iteration algorithm. Both optimal robust and sliding mode controllers guarantee robust performance of the system against the uncertainties and result in desired time responses of the output variables. By applying H ∞ robust control, system tracks the desire reference inputs in a less time and with smoother time responses. However, less control efforts, feedwater and fuel mass rates, are needed when the sliding mode controller is applied.

Control of fibre laser mode-locking by narrow-band Bragg gratings

International Nuclear Information System (INIS)

Laegsgaard, J

2008-01-01

The use of narrow-band high-reflectivity fibre Bragg gratings (FBGs) as end mirrors in a fibre laser cavity with passive mode-locking provided by a semiconductor saturable absorber mirror (SESAM) is investigated numerically. The FBG is found to control the energy range of stable mode-locking, which may be shifted far outside the regime of SESAM saturation by a suitable choice of FBG and cavity length. The pulse shape is controlled by the combined effects of FBG dispersion and self-phase modulation in the fibres, and a few ps pulses can be obtained with standard uniform FBGs

Second-order sliding mode control for DFIG-based wind turbines fault ride-through capability enhancement.

Science.gov (United States)

Benbouzid, Mohamed; Beltran, Brice; Amirat, Yassine; Yao, Gang; Han, Jingang; Mangel, Hervé

2014-05-01

This paper deals with the fault ride-through capability assessment of a doubly fed induction generator-based wind turbine using a high-order sliding mode control. Indeed, it has been recently suggested that sliding mode control is a solution of choice to the fault ride-through problem. In this context, this paper proposes a second-order sliding mode as an improved solution that handle the classical sliding mode chattering problem. Indeed, the main and attractive features of high-order sliding modes are robustness against external disturbances, the grids faults in particular, and chattering-free behavior (no extra mechanical stress on the wind turbine drive train). Simulations using the NREL FAST code on a 1.5-MW wind turbine are carried out to evaluate ride-through performance of the proposed high-order sliding mode control strategy in case of grid frequency variations and unbalanced voltage sags. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

Adaptive Synchronization for Two Different Stochastic Chaotic Systems with Unknown Parameters via a Sliding Mode Controller

Directory of Open Access Journals (Sweden)

Zengyun Wang

2013-01-01

Full Text Available This paper investigates the problem of synchronization for two different stochastic chaotic systems with unknown parameters and uncertain terms. The main work of this paper consists of the following aspects. Firstly, based on the Lyapunov theory in stochastic differential equations and the theory of sliding mode control, we propose a simple sliding surface and discuss the occurrence of the sliding motion. Secondly, we design an adaptive sliding mode controller to realize the asymptotical synchronization in mean squares. Thirdly, we design an adaptive sliding mode controller to realize the almost surely synchronization. Finally, the designed adaptive sliding mode controllers are used to achieve synchronization between two pairs of different stochastic chaos systems (Lorenz-Chen and Chen-Lu in the presence of the uncertainties and unknown parameters. Numerical simulations are given to demonstrate the robustness and efficiency of the proposed robust adaptive sliding mode controller.

Chaos synchronization in noisy environment using nonlinear filtering and sliding mode control

Energy Technology Data Exchange (ETDEWEB)

Behzad, Mehdi [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Postal Code 11365-9567, Azadi Avenue, Tehran (Iran, Islamic Republic of)], E-mail: m_behzad@sharif.edu; Salarieh, Hassan [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Postal Code 11365-9567, Azadi Avenue, Tehran (Iran, Islamic Republic of)], E-mail: salarieh@mech.sharif.edu; Alasty, Aria [Center of Excellence in Design, Robotics, and Automation (CEDRA), Department of Mechanical Engineering, Sharif University of Technology, Postal Code 11365-9567, Azadi Avenue, Tehran (Iran, Islamic Republic of)], E-mail: aalasti@sharif.edu

2008-06-15

This paper presents an algorithm for synchronizing two different chaotic systems, using a combination of the extended Kalman filter and the sliding mode controller. It is assumed that the drive chaotic system has a random excitation with a stochastically chaotic behavior. Two different cases are considered in this study. At first it is assumed that all state variables of the drive system are available, i.e. complete state measurement, and a sliding mode controller is designed for synchronization. For the second case, it is assumed that the output of the drive system does not contain the whole state variables of the drive system, and it is also affected by some random noise. By combination of extended Kalman filter and the sliding mode control, a synchronizing control law is proposed. As a case study, the presented algorithm is applied to the Lur'e-Genesio chaotic systems as the drive-response dynamic systems. Simulation results show the good performance of the algorithm in synchronizing the chaotic systems in presence of noisy environment.

Chaos synchronization in noisy environment using nonlinear filtering and sliding mode control

International Nuclear Information System (INIS)

Behzad, Mehdi; Salarieh, Hassan; Alasty, Aria

2008-01-01

This paper presents an algorithm for synchronizing two different chaotic systems, using a combination of the extended Kalman filter and the sliding mode controller. It is assumed that the drive chaotic system has a random excitation with a stochastically chaotic behavior. Two different cases are considered in this study. At first it is assumed that all state variables of the drive system are available, i.e. complete state measurement, and a sliding mode controller is designed for synchronization. For the second case, it is assumed that the output of the drive system does not contain the whole state variables of the drive system, and it is also affected by some random noise. By combination of extended Kalman filter and the sliding mode control, a synchronizing control law is proposed. As a case study, the presented algorithm is applied to the Lur'e-Genesio chaotic systems as the drive-response dynamic systems. Simulation results show the good performance of the algorithm in synchronizing the chaotic systems in presence of noisy environment

Oxidation mode of pyranose 2-oxidase is controlled by pH.

Science.gov (United States)

Prongjit, Methinee; Sucharitakul, Jeerus; Palfey, Bruce A; Chaiyen, Pimchai

2013-02-26

Pyranose 2-oxidase (P2O) from Trametes multicolor is a flavoenzyme that catalyzes the oxidation of d-glucose and other aldopyranose sugars at the C2 position by using O₂ as an electron acceptor to form the corresponding 2-keto-sugars and H₂O₂. In this study, the effects of pH on the oxidative half-reaction of P2O were investigated using stopped-flow spectrophotometry. The results showed that flavin oxidation occurred via different pathways depending on the pH of the environment. At pH values lower than 8.0, reduced P2O reacts with O₂ to form a C4a-hydroperoxyflavin intermediate, leading to elimination of H₂O₂. At pH 8.0 and higher, the majority of the reduced P2O reacts with O₂ via a pathway that does not allow detection of the C4a-hydroperoxyflavin, and flavin oxidation occurs with decreased rate constants upon the rise in pH. The switching between the two modes of P2O oxidation is controlled by protonation of a group which has a pK(a) of 7.6 ± 0.1. Oxidation reactions of reduced P2O under rapid pH change as performed by stopped-flow mixing were different from the same reactions performed with enzyme pre-equilibrated at the same specified pH values, implying that the protonation of the group which controls the mode of flavin oxidation cannot be rapidly equilibrated with outside solvent. Using a double-mixing stopped-flow experiment, a rate constant for proton dissociation from the reaction site was determined to be 21.0 ± 0.4 s⁻¹.

Integral sliding mode-based formation control of multiple unertain robots via nonlinear disturbane observer

Directory of Open Access Journals (Sweden)

Dianwei Qian

2016-11-01

Full Text Available This article proposes a control scheme for formation of maneuvers of a team of mobile robots. The control scheme integrates the integral sliding mode control method with the nonlinear disturbance observer technique. The leader–follower formation dynamics suffer from uncertainties originated from the individual robots. The uncertainties challenge the formation control of such robots. Assuming that the uncertainties are unknown but bounded, an nonlinear disturbance observer-based observer is utilized to approximate them. The observer outputs feed on an integral sliding mode control-based controller. The controller and observer are integrated into the control scheme to realize formation maneuvers despite uncertainties. The formation stability is analyzed by means of the Lyapunov’s theorem. In the sense of Lyapunov, not only the convergence of the approximation errors is guaranteed but also such a control scheme can asymptotically stabilize the formation system. Compared to the results by the sole integral sliding mode control, some simulations are presented to demonstrate the feasibility and performance of the control scheme.

Active Power Factor Correction Using a Sliding Mode Controller

Directory of Open Access Journals (Sweden)

Korhan KAYIŞLI

2008-03-01

Full Text Available In this paper, a sliding mode controller is designed for active shaping of the input current in the boost converter. Robustness of the designed controller is tested with variable output voltage references, different loads and network voltage variations. For the simulations, MATLAB/Simulink programme is used. From simulation results, the same phase was provided between input current and input voltage and nearly unity power factor was obtained.

Transparent Higher Order Sliding Mode Control for Nonlinear Master-Slave Systems without Velocity Measurement

Directory of Open Access Journals (Sweden)

Luis G. Garcia-Valdovinos

2015-04-01

Full Text Available Transparency has been a major objective in bilateral teleoperation systems, even in the absence of time delay induced by the communication channel, since a high degree of transparency would allow humans to drive the remote teleoperator as if he or she were directly interacting with the remote environment, with the remote teleoperator as a physical and sensorial extension of the operator. When fast convergence of position and force tracking errors are ensured by the control system, then complete transparency is obtained, which would ideally guarantee humans to be tightly kinaesthetically coupled. In this paper a model-free Cartesian second order sliding mode (SOSM PD control scheme for nonlinear master-slave systems is presented. The proposed scheme does not rely on velocity measurements and attains very fast convergence of position trajectories, with bounded tracking of force trajectories, rendering a high degree of transparency with lesser knowledge of the system. The degree of transparency can easily be improved by tuning a feedback gain in the force loop. A unique energy storage function is introduced; such that a similar Cartesian-based controller is implemented in the master and slave sides. The resulting properties of the Cartesian control structure allows the human operator to input directly Cartesian variables, which makes clearer the kinaesthetic coupling, thus the proposed controller becomes a suitable candidate for practical implementation. The performance of the proposed scheme is evaluated in a semi-experimental setup.

Fractional-Order Control of Pneumatic Position Servosystems

OpenAIRE

Junyi, Cao; Binggang, Cao

2011-01-01

A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theory was introduced in many works, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cylinder and the rate of mass flow into the cylinder, the dynamic model of pneumatic position servo ...

A novel mode-locking technique

International Nuclear Information System (INIS)

Chen Shaoh; Chen Youming; Chen Taolue; Si Xiangdong; Yang Yi; Deng Ximing

1993-01-01

A novel mode-locked Nd:YAG oscillator has been developed by using an ultrafast photoconductive feedback controlled loop, and mode-locked pulses with a duration of 100ps have been obtained. The energy instability of the pulse trains is ±5%. In this type of mode-locking technology, a type of deep-level doped GaAs (Cr-doped) photoconductive switch, which has a fast response in time and is free of avalance process, is used to drive a Pockels' cell to realize mode-locking. The dark resistance of this type of photoconductive switch is 6 orders of magnitude higher than that of the intrinsic single-crystal silicon, and it can reach a level as high as 10 9 ohms. Consequently, it is able to withstand longterm operation at several thousand DC volts. By means of the photoconductive ohmic switch characteristics, the authors have designed a positive feedback control network which has a very fast response time, and can couple a voltage of up to a thousand volts. Using this unit in a Nd:YAG laser, they have successfully realized a very stable mode-locked pulse train with pulse width shorter than 100 ps. The operation principle, and the results of the preliminary experiments are presented here. 1 ref., 3 figs

Feedback attitude sliding mode regulation control of spacecraft using arm motion

Science.gov (United States)

Shi, Ye; Liang, Bin; Xu, Dong; Wang, Xueqian; Xu, Wenfu

2013-09-01

The problem of spacecraft attitude regulation based on the reaction of arm motion has attracted extensive attentions from both engineering and academic fields. Most of the solutions of the manipulator’s motion tracking problem just achieve asymptotical stabilization performance, so that these controllers cannot realize precise attitude regulation because of the existence of non-holonomic constraints. Thus, sliding mode control algorithms are adopted to stabilize the tracking error with zero transient process. Due to the switching effects of the variable structure controller, once the tracking error reaches the designed hyper-plane, it will be restricted to this plane permanently even with the existence of external disturbances. Thus, precise attitude regulation can be achieved. Furthermore, taking the non-zero initial tracking errors and chattering phenomenon into consideration, saturation functions are used to replace sign functions to smooth the control torques. The relations between the upper bounds of tracking errors and the controller parameters are derived to reveal physical characteristic of the controller. Mathematical models of free-floating space manipulator are established and simulations are conducted in the end. The results show that the spacecraft’s attitude can be regulated to the position as desired by using the proposed algorithm, the steady state error is 0.000 2 rad. In addition, the joint tracking trajectory is smooth, the joint tracking errors converges to zero quickly with a satisfactory continuous joint control input. The proposed research provides a feasible solution for spacecraft attitude regulation by using arm motion, and improves the precision of the spacecraft attitude regulation.

Reduction of Flight Control System/Structural Mode Interaction, Phase I

Data.gov (United States)

National Aeronautics and Space Administration — A novel approach is proposed for reducing the degree of interaction of a high gain flight control system with the airframe structural vibration modes, representing a...

A fuzzy logic sliding mode controlled electronic differential for a direct wheel drive EV

Science.gov (United States)

Ozkop, Emre; Altas, Ismail H.; Okumus, H. Ibrahim; Sharaf, Adel M.

2015-11-01

In this study, a direct wheel drive electric vehicle based on an electronic differential system with a fuzzy logic sliding mode controller (FLSMC) is studied. The conventional sliding surface is modified using a fuzzy rule base to obtain fuzzy dynamic sliding surfaces by changing its slopes using the global error and its derivative in a fuzzy logic inference system. The controller is compared with proportional-integral-derivative (PID) and sliding mode controllers (SMCs), which are usually preferred to be used in industry. The proposed controller provides robustness and flexibility to direct wheel drive electric vehicles. The fuzzy logic sliding mode controller, electronic differential system and the overall electrical vehicle mechanism are modelled and digitally simulated by using the Matlab software. Simulation results show that the system with FLSMC has better efficiency and performance compared to those of PID and SMCs.

Development of X-Y servo pneumatic-piezoelectric hybrid actuators for position control with high response, large stroke and nanometer accuracy.

Science.gov (United States)

Chiang, Mao-Hsiung

2010-01-01

This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm) and nanometer accuracy (20 nm). In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO) system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

Development of X-Y Servo Pneumatic-Piezoelectric Hybrid Actuators for Position Control with High Response, Large Stroke and Nanometer Accuracy

Directory of Open Access Journals (Sweden)

Mao-Hsiung Chiang

2010-03-01

Full Text Available This study aims to develop a X-Y dual-axial intelligent servo pneumatic-piezoelectric hybrid actuator for position control with high response, large stroke (250 mm, 200 mm and nanometer accuracy (20 nm. In each axis, the rodless pneumatic actuator serves to position in coarse stroke and the piezoelectric actuator compensates in fine stroke. Thus, the overall control systems of the single axis become a dual-input single-output (DISO system. Although the rodless pneumatic actuator has relatively larger friction force, it has the advantage of mechanism for multi-axial development. Thus, the X-Y dual-axial positioning system is developed based on the servo pneumatic-piezoelectric hybrid actuator. In addition, the decoupling self-organizing fuzzy sliding mode control is developed as the intelligent control strategies. Finally, the proposed novel intelligent X-Y dual-axial servo pneumatic-piezoelectric hybrid actuators are implemented and verified experimentally.

Loss Minimization Sliding Mode Control of IPM Synchronous Motor Drives

Directory of Open Access Journals (Sweden)

Mehran Zamanifar

2010-01-01

Full Text Available In this paper, a nonlinear loss minimization control strategy for an interior permanent magnet synchronous motor (IPMSM based on a newly developed sliding mode approach is presented. This control method sets force the speed control of the IPMSM drives and simultaneously ensures the minimization of the losses besides the uncertainties exist in the system such as parameter variations which have undesirable effects on the controller performance except at near nominal conditions. Simulation results are presented to show the effectiveness of the proposed controller.

Combustion mode switching with a turbocharged/supercharged engine

Science.gov (United States)

Mond, Alan; Jiang, Li

2015-09-22

A method for switching between low- and high-dilution combustion modes in an internal combustion engine having an intake passage with an exhaust-driven turbocharger, a crankshaft-driven positive displacement supercharger downstream of the turbocharger and having variable boost controllable with a supercharger bypass valve, and a throttle valve downstream of the supercharger. The current combustion mode and mass air flow are determined. A switch to the target combustion mode is commanded when an operating condition falls within a range of predetermined operating conditions. A target mass air flow to achieve a target air-fuel ratio corresponding to the current operating condition and the target combustion mode is determined. The degree of opening of the supercharger bypass valve and the throttle valve are controlled to achieve the target mass air flow. The amount of residual exhaust gas is manipulated.

A deterministic - approach controller design for electrohydraulic position servo control system

International Nuclear Information System (INIS)

Johari Osman

2000-01-01

This paper is concerned with the design of a tracking controller for controlling electrohydraulic position servo system based on a deterministic approach. The system is treated as an uncertain system with bounded uncertainties where the bounds are assumed known. It will be shown that the electrohydraulic position servo systems with the proposed controller is practically stable and tracks the desired position in spite of the uncertainties and nonlinearities present in the system (author)

Active control of an edge-mode-based plasmon-induced absorption sensor.

Science.gov (United States)

Li, Yong; Su, Yi; Lin, Qi; Zhai, Xiang; Wang, Ling-Ling

2018-04-01

We investigate the formation and evolution of plasmon-induced absorption (PIA) effect in a three-dimensional graphene waveguide structure. The PIA window is formed by near-field coupling of the graphene edge mode, the extremely destructive interference between the radiative mode and sub-radiative mode of graphene nanoribbons. The resonance intensity has a significant dependence on the coupling distance between the graphene nanoribbons. At the same time, it is particularly sensitive to the refractive index of the environment, which is promising for sensing devices. In addition, the resonant wavelength can be actively controlled by changing the Fermi energy of graphene. Moreover, it can be seen that the group time delay of the PIA window reaches -0.28   ps , which is a good candidate for ultrafast light application. Finally, additional graphene nanoribbons can also form a double-channel PIA window. Our work may provide an excellent platform for controlling the optical transmission of highly integrated plasmonic components.

Predictive IP controller for robust position control of linear servo system.

Science.gov (United States)

Lu, Shaowu; Zhou, Fengxing; Ma, Yajie; Tang, Xiaoqi

2016-07-01

Position control is a typical application of linear servo system. In this paper, to reduce the system overshoot, an integral plus proportional (IP) controller is used in the position control implementation. To further improve the control performance, a gain-tuning IP controller based on a generalized predictive control (GPC) law is proposed. Firstly, to represent the dynamics of the position loop, a second-order linear model is used and its model parameters are estimated on-line by using a recursive least squares method. Secondly, based on the GPC law, an optimal control sequence is obtained by using receding horizon, then directly supplies the IP controller with the corresponding control parameters in the real operations. Finally, simulation and experimental results are presented to show the efficiency of proposed scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

OPTIMAL CONTROL OF AUTOCLAVE START MODE IN THE PRODUCTION OF NITRIC ACID

OpenAIRE

Ладієва, Леся Ростиславівна; Ширма, А. В.

2015-01-01

The algorithm of optimal control of autoclave start mode in the production of nitric acid is proposed. By optimality criterion is selected minimum time-autoclave at preset mode with the restriction on the concentration of nitric acid. End time start mode is entered on the terminal part of the cost function. The method of penalties and a gradient procedure is used to solve the problem. The applied algorithm is allowed to bring an autoclave at a given technological regime.Keywords: production o...

Position control device for a control rod

International Nuclear Information System (INIS)

Ono, Takehiko; Kusaka, Shuji.

1976-01-01

Purpose: To reliably prevent dangerous operation in the control of the position of the control rod by checking for abnormal pulse motor coil excitation voltage and, at the time of occurrence of abnormality, immediately holding the control rod stationary lest it should be moved to an unsafe position, this being accomplished excitation from a compensating excitation system. Constitution: In an FBR reactor, a circuit for memorizing the correct output states of individual drive signals at arbitrary instants and consequtively producing the memorized results is provided, and the output of the circuit and the actual drive signal are compared at all times to discriminate whether the drive signal being compared is normal or not. When the actual drive signal is abnormal, a series signal varying after a predetermined pattern is shifted to enable replacement of the actual drive signal, so that irrespective of whether the problem drive signal is ''on'' or ''off'', a drive signal of the correct pattern may be supplied to the pulse motor to hold the control rod and prevent it from being moved toward the dangerous side due to its own weight or other causes. (Horiuchi, T.)

Comparison of Sliding Mode Control and Fuzzy Logic control applied to Variable Speed Wind Energy Conversion Systems

Directory of Open Access Journals (Sweden)

Souhila Rached Zine

2015-08-01

Full Text Available wind energy features prominently as a supplementary energy booster. It does not pollute and is inexhaustible. However, its high cost is a major constraint, especially on the less windy sites. The purpose of wind energy systems is to maximize energy efficiency, and extract maximum power from the wind speed. In This case, the MPPT control becomes important. To realize this control, strategy conventional Proportional and Integral (PI controller is usually used. However, this strategy cannot achieve better performance. This paper proposes other control methods of a turbine which optimizes its production such as fuzzy logic, sliding mode control. These methods improve the quality and energy efficiency. The proposed Sliding Mode Control (SMC strategy and the fuzzy controllers have presented attractive features such as robustness to parametric uncertainties of the turbine, simplicity of its design and good performances. The simulation result under Matlab\\Simulink has validated the performance of the proposed MPPT strategies.

Observations and control of beam instabilities due to higher order modes in Indus-2

International Nuclear Information System (INIS)

Arora, Rajiv K.; Prasad, M.; Lad, M.; Hannurkar, P.R.

2013-01-01

In a synchrotron radiation source (SRS), the interaction between electron beam spectra and Higher Order Modes (HOMs) of RF cavities may give rise to coupled bunch instabilities. These instabilities may limit beam current and beam lifetime. Indus-2 SRS has four RF cavities equipped with precision temperature controller of cooling system and Higher Order Mode Frequency Shifter (HOMFS) to avoid harmful HOMs. Offline (i.e. without beam) and Online (i.e. with beam) measurements, observations and analysis of HOMs have been performed. Some of the Longitudinal modes such as L1 (∼ 950 MHz), L3 (∼ 1432 MHz), L4 (∼ 1521 MHz), L5 (∼1628 MHz) were observed to be quite prominent at specific operating conditions. Based on these studies, harmful HOMs were identified and suitable methods were evolved to avoid these HOMs. Experiments were performed to achieve high beam current in Indus-2. The precision chiller temperatures and HOMFS positions were set as per theoretical estimates and were further optimized in fine steps during experiments. With the optimized settings, beam current around 200 mA at Injection energy (550 MeV) and 157 mA at 2.5 GeV has been successfully achieved. At these settings of RF cavity water temperature and HOMFS, harmful HOMs were within safe limits during regular operation of Indus-2 at 2.5 GeV/100 mA in user mode for more than one year. In this paper, important observations, analysis and experiments to avoid harmful HOMs of RF cavities are presented. (author)

Controlling magnetic and electric dipole modes in hollow silicon nanocylinders.

Science.gov (United States)

van de Haar, Marie Anne; van de Groep, Jorik; Brenny, Benjamin J M; Polman, Albert

2016-02-08

We propose a dielectric nanoresonator geometry consisting of hollow dielectric nanocylinders which support geometrical resonances. We fabricate such hollow Si particles with an outer diameter of 108-251 nm on a Si substrate, and determine their resonant modes with cathodo-luminescence (CL) spectroscopy and optical dark-field (DF) scattering measurements. The scattering behavior is numerically investigated in a systematic fashion as a function of wavelength and particle geometry. We find that the additional design parameter as a result of the introduction of a center gap can be used to control the relative spectral spacing of the resonant modes, which will enable additional control over the angular radiation pattern of the scatterers. Furthermore, the gap offers direct access to the enhanced magnetic dipole modal field in the center of the particle.

Model predictive control of an air suspension system with damping multi-mode switching damper based on hybrid model

Science.gov (United States)

Sun, Xiaoqiang; Yuan, Chaochun; Cai, Yingfeng; Wang, Shaohua; Chen, Long

2017-09-01

This paper presents the hybrid modeling and the model predictive control of an air suspension system with damping multi-mode switching damper. Unlike traditional damper with continuously adjustable damping, in this study, a new damper with four discrete damping modes is applied to vehicle semi-active air suspension. The new damper can achieve different damping modes by just controlling the on-off statuses of two solenoid valves, which makes its damping adjustment more efficient and more reliable. However, since the damping mode switching induces different modes of operation, the air suspension system with the new damper poses challenging hybrid control problem. To model both the continuous/discrete dynamics and the switching between different damping modes, the framework of mixed logical dynamical (MLD) systems is used to establish the system hybrid model. Based on the resulting hybrid dynamical model, the system control problem is recast as a model predictive control (MPC) problem, which allows us to optimize the switching sequences of the damping modes by taking into account the suspension performance requirements. Numerical simulations results demonstrate the efficacy of the proposed control method finally.

Scaled Bilateral Teleoperation Using Discrete-Time Sliding-Mode Controller

NARCIS (Netherlands)

Khan, S.; Sabanovic, A.; Nergiz, A.O.

2009-01-01

In this paper, the design of a discrete-time sliding-mode controller based on Lyapunov theory is presented along with a robust disturbance observer and is applied to a piezostage for high-precision motion. A linear model of a piezostage was used with nominal parameters to compensate the disturbance

A Riding-through Technique for Seamless Transition between Islanded and Grid-Connected Modes of Droop-Controlled Inverters

DEFF Research Database (Denmark)

Hu, Shang-hung; Lee, Tzung-Lin; Kuo, Chun-Yi

2016-01-01

This paper presents a seamless transition method for a droop-controlled inverter. The droop control is suitable to make the inverter work as a voltage source in both islanded and grid-connected modes, however, the transfer between theses modes can result in a big inrush current that may damage...... a smooth transition between them, requiring neither synchronization signals nor grid-side information. The control algorithm and design procedure are presented. Experimental results from a laboratory prototype validate the effectiveness of the proposed method....... the system. The proposed method allows the droop-controlled inverter to improve the transient response when transferring between modes, by detecting the inrush current, activating a current control loop during transients, and then transferring back to droop-controlled mode smoothly by using a virtual...

Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks

Directory of Open Access Journals (Sweden)

Vikas Panwar

2007-01-01

Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.

Adaptive Actor-Critic Design-Based Integral Sliding-Mode Control for Partially Unknown Nonlinear Systems With Input Disturbances.

Science.gov (United States)

Fan, Quan-Yong; Yang, Guang-Hong

2016-01-01

This paper is concerned with the problem of integral sliding-mode control for a class of nonlinear systems with input disturbances and unknown nonlinear terms through the adaptive actor-critic (AC) control method. The main objective is to design a sliding-mode control methodology based on the adaptive dynamic programming (ADP) method, so that the closed-loop system with time-varying disturbances is stable and the nearly optimal performance of the sliding-mode dynamics can be guaranteed. In the first step, a neural network (NN)-based observer and a disturbance observer are designed to approximate the unknown nonlinear terms and estimate the input disturbances, respectively. Based on the NN approximations and disturbance estimations, the discontinuous part of the sliding-mode control is constructed to eliminate the effect of the disturbances and attain the expected equivalent sliding-mode dynamics. Then, the ADP method with AC structure is presented to learn the optimal control for the sliding-mode dynamics online. Reconstructed tuning laws are developed to guarantee the stability of the sliding-mode dynamics and the convergence of the weights of critic and actor NNs. Finally, the simulation results are presented to illustrate the effectiveness of the proposed method.

Sliding-Mode Control Design of a Boost-Buck Switching Converter for AC Signal Generation

OpenAIRE

Biel Solé, Domingo; Guinjoan Gispert, Francisco; Fossas Colet, Enric; Chavarría Roé, Javier

2004-01-01

This paper presents a sliding-mode control design of a boost–buck switching converter for a voltage step-up dc–ac conversion without the use of any transformer. This approach combines the step-up/step-down conversion ratio capability of the converter with the robustness properties of sliding-mode control. The proposed control strategy is based on the design of two slidingcontrol laws, one ensuring the control of a full-bridge buck converter for proper dc–ac conversion, and the other one the c...

Controlling DIII-D QH-Mode Particle and Electron Thermal Transport with ECH

Science.gov (United States)

Ernst, D. R.; Burrell, K. H.; Rhodes, T. L.; Guttenfelder, W.; McKee, G. R.; Grierson, B. A.; Holland, C.; Dimits, A.; Petty, C. C.; Schmitz, L.; Wang, G.; Zeng, L.; Doyle, E. J.; Austin, M. E.

2014-10-01

Quiescent H-mode core particle transport and density peaking are locally controlled by modulated electron cyclotron heating (ECH) at ρ ~ 0 . 2 . Gyrokinetic simulations show density gradient driven trapped electron modes (TEMs) are only unstable in the inner core, where the density profile flattens in response to ECH. Thus α-heating could reduce density peaking, providing burn control. Density fluctuations from Doppler backscattering intensify at TEM wavenumbers kθρs ~ 0 . 8 during ECH, while new quasi-coherent modes are observed with adjacent toroidal mode numbers consistent with TEMs. Separately, ECH at two-deposition locations (r / a ~ ρ = 0 . 5 & 0.7) varied the electron temperature gradient. A jump in ``heat pulse'' diffusivity during the scan indicates a critical gradient was crossed. Work supported by the US DOE under DE-FC02-08ER54966, DE-FC02-04ER54698, DE-FG02-08ER54984, DE-AC02-09CH11466, DE-FG02-89ER53296, DE-FC02-11ER55104, DE-AC52-07NA27344 & DE-FG03-97ER54415.

Upper limb position control in fibromyalgia

Directory of Open Access Journals (Sweden)

Bardal Ellen

2012-09-01

Full Text Available Abstract Background Motor problems are reported by patients with fibromyalgia (FM. However, the mechanisms leading to alterations in motor performance are not well understood. In this study, upper limb position control during sustained isometric contractions was investigated in patients with FM and in healthy controls (HCs. Methods Fifteen female FM patients and 13 HCs were asked to keep a constant upper limb position during sustained elbow flexion and shoulder abduction, respectively. Subjects received real-time visual feedback on limb position and both tasks were performed unloaded and while supporting loads (1, 2, and 3 kg. Accelerations of the dominant upper limb were recorded, with variance (SD of mean position and power spectrum analysis used to characterize limb position control. Normalized power of the acceleration signal was extracted for three frequency bands: 1–3 Hz, 4–7 Hz, and 8–12 Hz. Results Variance increased with load in both tasks (P 0.001 but did not differ significantly between patients and HCs (P > 0.17. Power spectrum analysis showed that the FM patients had a higher proportion of normalized power in the 1–3 Hz band, and a lower proportion of normalized power in the 8–12 Hz band compared to HCs (P 0.05. The results were consistent for all load conditions and for both elbow flexion and shoulder abduction. Conclusion FM patients exhibit an altered neuromuscular strategy for upper limb position control compared to HCs. The predominance of low-frequency limb oscillations among FM patients may indicate a sensory deficit.

Design and Implementation of Digital Current Mode Controller for DC-DC Converters

DEFF Research Database (Denmark)

Taeed, Fazel

to be regulated by a closed-loop controller. The Peak Current Mode Control (PCMC) is one of the most promising control methods for dc-dc converters. It has been known for high bandwidth (speed), and inherent current protection. Increasing the controller bandwidth decreases the output filter size and cost. Analog...

Towards model-based control of RCCI-CDF mode-switching in dual fuel engines

NARCIS (Netherlands)

Indrajuana, Armando; Bekdemir, C.; Feru, E.; Willems, F.P.T.

2018-01-01

The operation of a dual fuel combustion engine using combustion mode-switching offers the benefit of higher thermal efficiency compared to single-mode operation. For various fuel combinations, the engine research community has shown that running dual fuel engines in Reactivity Controlled Compression

Method of Controlling Steering of a Ground Vehicle

Science.gov (United States)

Dawson, Andrew D. (Inventor); Bluethmann, William J. (Inventor); Lee, Chunhao J. (Inventor); Vitale, Robert L. (Inventor); Guo, Raymond (Inventor); Atluri, Venkata Prasad (Inventor)

2016-01-01

A method of controlling steering of a vehicle through setting wheel angles of a plurality of modular electronic corner assemblies (eModules) is provided. The method includes receiving a driving mode selected from a mode selection menu. A position of a steering input device is determined in a master controller. A velocity of the vehicle is determined, in the master controller, when the determined position of the steering input device is near center. A drive mode request corresponding to the selected driving mode to the plurality of steering controllers is transmitted to the master controller. A required steering angle of each of the plurality of eModules is determined, in the master controller, as a function of the determined position of the steering input device, the determined velocity of the vehicle, and the selected first driving mode. The eModules are set to the respective determined steering angles.

Model-based Sliding Mode Controller of Anti-lock Braking System

Science.gov (United States)

Zheng, Lin; Luo, Yue-Gang; Kang, Jing; Shi, Zhan-Qun

2016-05-01

The anti-lock braking system (ABS) used in automobiles is used to prevent wheel from lockup and to maintain the steering ability and stability. The sliding mode controller is able to control nonlinear system steadily. In this research, a one-wheel dynamic model with ABS control is built up using model-based method. Using the sliding model controller, the simulation results by using Matlab/Simulink show qualified data compared with optimal slip rate. By using this method, the ABS brake efficiency is improved efficiently.

Mode-selective symmetry control for indirect-drive inertial confinement fusion hohlraums

International Nuclear Information System (INIS)

Vesey, R. A.; Slutz, S. A.; Herrmann, M. C.; Mehlhorn, T. A.; Campbell, R. B.

2008-01-01

Achieving a high degree of radiation symmetry is a critical feature of target designs for indirect-drive inertial confinement fusion. Typically, the radiation flux incident on the capsule is required to be uniform to 1% or better. It is generally possible to design a hohlraum that provides low values of higher-order asymmetry (Legendre mode P 10 and above) due to geometric averaging effects. Because low-order intrinsic asymmetry (e.g., Legendre modes P 2 and P 4 ) are less strongly reduced by geometric averaging alone, the development of innovative control techniques has been an active area of research in the inertial fusion community over the years. Shields placed inside the hohlraum are one example of a technique that has often been proposed and incorporated into hohlraum target designs. Simple mathematical considerations are presented indicating that radiation shields may be designed to specifically tune lower-order modes (e.g., P 4 ) without deleterious effects on the higher order modes. Two-dimensional view factor and radiation-hydrodynamics simulations confirm these results and support such a path to achieving a highly symmetric x-ray flux. The term ''mode-selective'' is used because these shields, essentially ring structures offset from the capsule, are designed to affect only a specific Legendre mode (or multiple modes) of interest

Systematic design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak

NARCIS (Netherlands)

Hennen, B.A.; Westerhof, E.; Nuij, Pwjm; M.R. de Baar,; Steinbuch, M.

2012-01-01

Suppression of tearing modes is essential for the operation of tokamaks. This paper describes the design and simulation of a tearing mode suppression feedback control system for the TEXTOR tokamak. The two main control tasks of this feedback control system are the radial alignment of electron

Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

Directory of Open Access Journals (Sweden)

Razvan SOLEA

2009-12-01

Full Text Available This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair. The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.

Active Disturbance Rejection with Sliding Mode Control Based Course and Path Following for Underactuated Ships

Directory of Open Access Journals (Sweden)

Ronghui Li

2013-01-01

Full Text Available The compound control of active-disturbance-rejection control (ADRC with sliding mode is proposed to improve the performance of the closed-loop system and deal with the constraint condition problem of a surface ship. The advantages of ADRC with sliding mode were verified by ship course control simulations. Meanwhile, to solve the path-following problem of underactuated surface ships with uncertainties of internal dynamic and external disturbances, the ADRC controller with sliding mode is introduced to steer the ship to follow the desired path. In order to overcome the cross-track error caused by wind and current, drift angle is compensated in the controller by designing a coordinate transformation equation. Simulations were performed on a nonlinear kinematics model of a training ship to validate the stability and excellent robustness of the proposed path-following controller.

Active power filter for harmonic compensation using a digital dual-mode-structure repetitive control approach

DEFF Research Database (Denmark)

Zou, Zhixiang; Wang, Zheng; Cheng, Ming

2012-01-01

This paper presents an digital dual-mode-structure repetitive control approach for the single-phase shunt active power filter (APF), which aims to enhance the tracking ability and eliminate arbitrary order harmonic. The proposed repetitive control scheme blends the characteristics of both odd......-harmonic repetitive control and even-harmonic repetitive control. Moreover, the convergence rate is faster than conventional repetitive controller. Additionally, the parameters have been designed and optimized for the dual-mode structure repetitive control to improve the performance of APF system. Experimental...

PROBABILISTIC APPROACH FOR THE DETERMINATION OF CUTS PERMISSIBLE BRAKING MODES ON THE GRAVITY HUMPS

Directory of Open Access Journals (Sweden)

Volodymyr BOBROVSKYI

2016-03-01

Full Text Available The paper presents the research results of cuts braking modes on the gravity humps. The objective of this paper is developing the methods for assessment of braking modes of cuts under conditions of fuzziness of their rolling properties, as well as selecting the permissible starting speed range of cuts from retardant positions. As a criterion for assessing the modes of target control of cut rolling speed, it was proposed to use an average gap size on a classification track at the established norms of probable exceeding of permissible speed of cars collision and their stop in retarders. As a criterion for evaluating the modes of interval control of cuts rolling speed, using the risk of their non-separation on the switches was proposed. Using the simulation modeling and mathematical statistics, the configuration of the range of permissible speed of cuts coming out from retardant positions has been set. The conducted researches allow simplifying the choice of cut braking modes in systems of automatic control of cut rolling speed.

Fault tolerant control schemes using integral sliding modes

CERN Document Server

Hamayun, Mirza Tariq; Alwi, Halim

2016-01-01

The key attribute of a Fault Tolerant Control (FTC) system is its ability to maintain overall system stability and acceptable performance in the face of faults and failures within the feedback system. In this book Integral Sliding Mode (ISM) Control Allocation (CA) schemes for FTC are described, which have the potential to maintain close to nominal fault-free performance (for the entire system response), in the face of actuator faults and even complete failures of certain actuators. Broadly an ISM controller based around a model of the plant with the aim of creating a nonlinear fault tolerant feedback controller whose closed-loop performance is established during the design process. The second approach involves retro-fitting an ISM scheme to an existing feedback controller to introduce fault tolerance. This may be advantageous from an industrial perspective, because fault tolerance can be introduced without changing the existing control loops. A high fidelity benchmark model of a large transport aircraft is u...

Sliding Mode Control of Fractional-Order Delayed Memristive Chaotic System with Uncertainty and Disturbance

Science.gov (United States)

Ding, Da-Wei; Liu, Fang-Fang; Chen, Hui; Wang, Nian; Liang, Dong

2017-12-01

In this paper, a simplest fractional-order delayed memristive chaotic system is proposed in order to control the chaos behaviors via sliding mode control strategy. Firstly, we design a sliding mode control strategy for the fractional-order system with time delay to make the states of the system asymptotically stable. Then, we obtain theoretical analysis results of the control method using Lyapunov stability theorem which guarantees the asymptotic stability of the non-commensurate order and commensurate order system with and without uncertainty and an external disturbance. Finally, numerical simulations are given to verify that the proposed sliding mode control method can eliminate chaos and stabilize the fractional-order delayed memristive system in a finite time. Supported by the National Nature Science Foundation of China under Grant No. 61201227, Funding of China Scholarship Council, the Natural Science Foundation of Anhui Province under Grant No. 1208085M F93, 211 Innovation Team of Anhui University under Grant Nos. KJTD007A and KJTD001B

Application of divertor cryopumping to H-mode density control in DIII-D

International Nuclear Information System (INIS)

Mahdavi, M.A.; Ferron, J.R.; Hyatt, A.W.

1993-11-01

In this paper we describe the method and the results of experiments where a unique in-vessel cryopump-baffle system was used to control density of H-mode plasmas. We were able to independently regulate current and density of ELMing H-mode plasmas, each over a range of factor two, and measure the H-mode confinement scaling with plasma density and current. With a modest pumping speed of ∼40 kl/s, particle exhaust rates as high as 2 x 10 22 atom/s -1 have been observed

Robust Sliding Mode Control for Tokamaks

Directory of Open Access Journals (Sweden)

I. Garrido

2012-01-01

Full Text Available Nuclear fusion has arisen as an alternative energy to avoid carbon dioxide emissions, being the tokamak a promising nuclear fusion reactor that uses a magnetic field to confine plasma in the shape of a torus. However, different kinds of magnetohydrodynamic instabilities may affect tokamak plasma equilibrium, causing severe reduction of particle confinement and leading to plasma disruptions. In this sense, numerous efforts and resources have been devoted to seeking solutions for the different plasma control problems so as to avoid energy confinement time decrements in these devices. In particular, since the growth rate of the vertical instability increases with the internal inductance, lowering the internal inductance is a fundamental issue to address for the elongated plasmas employed within the advanced tokamaks currently under development. In this sense, this paper introduces a lumped parameter numerical model of the tokamak in order to design a novel robust sliding mode controller for the internal inductance using the transformer primary coil as actuator.

Instantaneous power control of a high speed permanent magnet synchronous generator based on a sliding mode observer and a phase locked loop

Science.gov (United States)

Duan, Jiandong; Fan, Shaogui; Wu, Fengjiang; Sun, Li; Wang, Guanglin

2018-06-01

This paper proposes an instantaneous power control method for high speed permanent magnet synchronous generators (PMSG), to realize the decoupled control of active power and reactive power, through vector control based on a sliding mode observer (SMO), and a phase locked loop (PLL). Consequently, the high speed PMSG has a high internal power factor, to ensure efficient operation. Vector control and accurate estimation of the instantaneous power require an accurate estimate of the rotor position. The SMO is able to estimate the back electromotive force (EMF). The rotor position and speed can be obtained using a combination of the PLL technique and the phase compensation method. This method has the advantages of robust operation, and being resistant to noise when estimating the position of the rotor. Using instantaneous power theory, the relationship between the output active power, reactive power, and stator current of the PMSG is deduced, and the power constraint condition is analysed for operation at the unit internal power factor. Finally, the accuracy of the rotor position detection, the instantaneous power detection, and the control methods are verified using simulations and experiments.

Speed tracking control of pneumatic motor servo systems using observation-based adaptive dynamic sliding-mode control

Science.gov (United States)

Chen, Syuan-Yi; Gong, Sheng-Sian

2017-09-01

This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.

Thrust Vector Control of an Upper-Stage Rocket with Multiple Propellant Slosh Modes

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Jaime Rubio Hervas

2012-01-01

Full Text Available The thrust vector control problem for an upper-stage rocket with propellant slosh dynamics is considered. The control inputs are defined by the gimbal deflection angle of a main engine and a pitching moment about the center of mass of the spacecraft. The rocket acceleration due to the main engine thrust is assumed to be large enough so that surface tension forces do not significantly affect the propellant motion during main engine burns. A multi-mass-spring model of the sloshing fuel is introduced to represent the prominent sloshing modes. A nonlinear feedback controller is designed to control the translational velocity vector and the attitude of the spacecraft, while suppressing the sloshing modes. The effectiveness of the controller is illustrated through a simulation example.

Adaptive Sliding-Mode Control in Bus Voltage for an Islanded DC Microgrid

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Dan Zhang

2017-01-01

Full Text Available The control of bus voltage is a crucial task for the stable operation of islanded DC microgrids. To improve the DC bus voltage control dynamics and stability, this paper proposes an adaptive sliding-mode control method based on large-signal model. The sliding-mode control, adaptive observation, and fix-frequency pulse width modulation technology are adopted and combined efficiently, which guarantee stable bus voltage and the constant switching frequency of closed-loop system, regardless of how the parameters vary with the variable constant-power loads and uncertainties. In addition, the reference values can be quickly tracked by the state variables using the proposed method without any additional sensors/hardware circuits. Therefore, this method is beneficial for the scalability and plug-play of the distributed generators and loads within the DC microgrids. The performance of the proposed control method has been successfully verified in simulation.

Cylinder Position Servo Control Based on Fuzzy PID

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Shibo Cai

2013-01-01

Full Text Available The arbitrary position control of cylinder has always been the hard challenge in pneumatic system. We try to develop a cylinder position servo control method by combining fuzzy PID with the theoretical model of the proportional valve-controlled cylinder system. The pressure differential equation of cylinder, pressure-flow equation of proportional valve, and moment equilibrium equation of cylinder are established. And the mathematical models of the cylinder driving system are linearized. Then fuzzy PID control algorithm is designed for the cylinder position control, including the detail analysis of fuzzy variables and domain, fuzzy logic rules, and defuzzification. The stability of the proposed fuzzy PID controller is theoretically proved according to the small gain theorem. Experiments for targets position of 250 mm, 300 mm, and 350 mm were done and the results showed that the absolute error of the position control is less than 0.25 mm. And comparative experiment between fuzzy PID and classical PID verified the advantage of the proposed algorithm.

Plasma position control in TCABR Tokamak

International Nuclear Information System (INIS)

Galvao, R.M.O.; Kuznetsov, Yu. K.; Nascimento, I.C.; Fonseca, A.M.M.; Silva, R.P. da; Ruchko, L.F.; Tuszel, A.G.; Reis, A.P. dos; Sanada, E.K.

1998-01-01

The plasma control position in the TCABR tokamak is described. The TCA tokamak was transferred from the Centre de Recherches en Physique des Plasmas, Lausanne, to the Institute of Physics of University of Sao Paulo, renamed TCABR (α=0.18 m, R = 0.62 m, B = 1 T,I p = 100 kA). The control system was reconstructed using mainly components obtained from the TCA tokamak. A new method of plasma position determination is used in TCABR to improve its accuracy. A more detailed theoretical analysis of the feed forward and feedback control is performed as compared with. (author)

\\mathscr{H}_2 optimal control techniques for resistive wall mode feedback in tokamaks

Science.gov (United States)

Clement, Mitchell; Hanson, Jeremy; Bialek, Jim; Navratil, Gerald

2018-04-01

DIII-D experiments show that a new, advanced algorithm enables resistive wall mode (RWM) stability control in high performance discharges using external coils. DIII-D can excite strong, locked or nearly locked external kink modes whose rotation frequencies and growth rates are on the order of the magnetic flux diffusion time of the vacuum vessel wall. Experiments have shown that modern control techniques like linear quadratic Gaussian (LQG) control require less current than the proportional controller in use at DIII-D when using control coils external to DIII-D’s vacuum vessel. Experiments were conducted to develop control of a rotating n  =  1 perturbation using an LQG controller derived from VALEN and external coils. Feedback using this LQG algorithm outperformed a proportional gain only controller in these perturbation experiments over a range of frequencies. Results from high βN experiments also show that advanced feedback techniques using external control coils may be as effective as internal control coil feedback using classical control techniques.

Robust motion control of oscillatory-base manipulators h∞-control and sliding-mode-control-based approaches

CERN Document Server

Toda, Masayoshi

2016-01-01

This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researche...

Robust adaptive multivariable higher-order sliding mode flight control for air-breathing hypersonic vehicle with actuator failures

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Peng Li

2016-10-01

Full Text Available This article proposes an adaptive multivariable higher-order sliding mode control for the longitudinal model of an air-breathing vehicle under system uncertainties and actuator failures. Firstly, a fast finite-time control law is designed for a chain of integrators. Secondly, based on the input/output feedback linearization technique, the system uncertainty and external disturbances are modeled as additive certainty and the actuator failures are modeled as multiplicative uncertainty. By using the proposed fast finite-time control law, a robust multivariable higher-order sliding mode control is designed for the air-breathing hypersonic vehicle with actuator failures. Finally, adaptive laws are proposed for the adaptation of the parameters in the robust multivariable higher-order sliding mode control. Thus, the bounds of the uncertainties are not needed in the control system design. Simulation results show the effectiveness of the proposed robust adaptive multivariable higher-order sliding mode control.

Conflict-Triggered Top-Down Control: Default Mode, Last Resort, or No Such Thing?

Science.gov (United States)

Bugg, Julie M.

2014-01-01

The conflict monitoring account posits that globally high levels of conflict trigger engagement of top-down control; however, recent findings point to the mercurial nature of top-down control in high conflict contexts. The current study examined the potential moderating effect of associative learning on conflict-triggered top-down control engagement by testing the Associations as Antagonists to Top-Down Control (AATC) hypothesis. In 4 experiments, list-wide proportion congruence was manipulated, and conflict-triggered top-down control engagement was examined by comparing interference for 50% congruent items across mostly congruent (low conflict) and mostly incongruent (high conflict) lists. Despite the fact that global levels of conflict were varied identically across experiments, evidence of conflict-triggered top-down control engagement was selective to those experiments in which responses could not be predicted on the majority of trials via simple associative learning, consistent with the AATC hypothesis. In a fifth experiment, older adults showed no evidence of top-down control engagement under conditions in which young adults did, a finding that refined the interpretation of the patterns observed in the prior experiments. Collectively, these findings suggest that top-down control engagement in high conflict contexts is neither the default mode nor an unused (or non-existent) strategy. Top-down control is best characterized as a last resort that is engaged when reliance on one’s environment, and in particular associative responding, is unproductive for achieving task goals. PMID:24274385

The effects of CPAP treatment on task positive and default mode networks in obstructive sleep apnea patients: an fMRI study.

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Olga Prilipko

Full Text Available INTRODUCTION: Functional magnetic resonance imaging studies enable the investigation of neural correlates underlying behavioral performance. We investigate the effect of active and sham Continuous Positive Airway Pressure (CPAP treatment on working memory function of patients with Obstructive Sleep Apnea Syndrome (OSAS considering Task Positive and Default Mode networks (TPN and DMN. METHODS: An experiment with 4 levels of visuospatial n-back task was used to investigate the pattern of cortical activation in 17 men with moderate or severe OSAS before and after 2 months of therapeutic (active or sub-therapeutic (sham CPAP treatment. RESULTS: Patients with untreated OSAS had significantly less deactivation in the temporal regions of the DMN as compared to healthy controls, but activation within TPN regions was comparatively relatively preserved. After 2 months of treatment, active and sham CPAP groups exhibited opposite trends of cerebral activation and deactivation. After treatment, the active CPAP group demonstrated an increase of cerebral activation in the TPN at all task levels and of task-related cerebral deactivation in the anterior midline and medial temporal regions of the DMN at the 3-back level, associated with a significant improvement of behavioral performance, whereas the sham CPAP group exhibited less deactivation in the temporal regions of Default Mode Network and less Task Positive Network activation associated to longer response times at the 3-back. CONCLUSION: OSAS has a significant negative impact primarily on task-related DMN deactivation, particularly in the medial temporal regions, possibly due to nocturnal hypoxemia, as well as TPN activation, particularly in the right ventral fronto-parietal network. After 2 months of active nasal CPAP treatment a positive response was noted in both TPN and DMN but without compete recovery of existing behavioral and neuronal deficits. Initiation of CPAP treatment early in the course of the

Recent Advances In Structural Vibration And Failure Mode Control In Mainland China: Theory, Experiments And Applications

International Nuclear Information System (INIS)

Li Hui; Ou Jinping

2008-01-01

A number of researchers have been focused on structural vibration control in the past three decades over the world and fruit achievements have been made. This paper introduces the recent advances in structural vibration control including passive, active and semiactive control in mainland China. Additionally, the co-author extends the structural vibration control to failure mode control. The research on the failure mode control is also involved in this paper. For passive control, this paper introduces full scale tests of buckling-restrained braces conducted to investigate the performance of the dampers and the second-editor of the Code of Seismic Design for Buildings. For active control, this paper introduces the HMD system for wind-induced vibration control of the Guangzhou TV tower. For semiactive control, the smart damping devices, algorithms for semi-active control, design methods and applications of semi-active control for structures are introduced in this paper. The failure mode control for bridges is also introduced

Second Order Sliding Mode Control of the Coupled Tanks System

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Fayiz Abu Khadra

2015-01-01

Full Text Available Four classes of second order sliding mode controllers (2-SMC have been successfully applied to regulate the liquid level in the second tank of a coupled tanks system. The robustness of these classes of 2-SMC is investigated and their performances are compared with a first order controller to show the merits of these controllers. The effectiveness of these controllers is verified through computer simulations. Comparison between the controllers is based on the time domain performance measures such as rise time, settling time, and the integral absolute error. Results showed that controllers are able to regulate the liquid level with small differences in their performance.

Usability Assessment of Two Different Control Modes for the Master Console of a Laparoscopic Surgical Robot

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Xiaoli Zhang

2012-01-01

Full Text Available The objective of this study is to evaluate potential interface control modes for a compact four-degree-of-freedom (4-DOF surgical robot. The goal is to improve robot usability by incorporating a sophisticated haptics-capable interface. Two control modes were developed using a commercially available haptic joystick: (1 a virtually point-constrained interface providing an analog for constrained laparoscopic motion (3-DOF rotation and 1-DOF translation, and (2 an unconstrained Cartesian input interface mapping more directly to the surgical tool tip motions. Subjects (n = 5 successfully performed tissue identification and manipulation tasks in an animal model in point-constrained and unconstrained control modes, respectively, with speed roughly equal to that achieved in similar manual procedures, and without a steep learning curve. The robot control was evaluated through bench-top tests and a subsequent qualitative questionnaire (n = 15. The results suggest that the unconstrained control mode was preferred for both camera guidance and tool manipulations.

Stabilization of an Underactuated Surface Vessel Based on Adaptive Sliding Mode and Backstepping Control

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Fuguang Ding

2013-01-01

Full Text Available The paper studied controlling problem of an underactuated surface vessel with unknown interferences. It proved that the control problem of underactuated surface vessel can be transformed into the stabilization analysis of two small subsystems. This controller was designed by backstepping method and adaptive sliding mode, was suitable for solving the problem of the control of higher systems, can keep the system global asymptotic stability, and can inhibit unknown interference, and boundary layer can weaken the buffeting generated by sliding mode. The unknown interference was estimated by adaptive function. Finally, the simulation results are given to demonstrate the effectiveness of the proposed control laws.

Robust Position Control of Electro-mechanical Systems

OpenAIRE

Rong Mei; Mou Chen

2013-01-01

In this work, the robust position control scheme is proposed for the electro-mechanical system using the disturbance observer and backstepping control method. To the external unknown load of the electro-mechanical system, the nonlinear disturbance observer is given to estimate the external unknown load. Combining the output of the developed nonlinear disturbance observer with backstepping technology, the robust position control scheme is proposed for the electro-mechanical system. The stabili...

Real-time control of tearing modes using a line-of-sight electron cyclotron emission diagnostic

International Nuclear Information System (INIS)

Hennen, B A; Westerhof, E; De Baar, M R; Bongers, W A; Thoen, D J; Nuij, P W J M; Steinbuch, M; Oosterbeek, J W; Buerger, A

2010-01-01

The stability and performance of tokamak plasmas are limited by instabilities such as neoclassical tearing modes. This paper reports on an experimental proof of principle of a feedback control approach for real-time, autonomous suppression and stabilization of tearing modes in a tokamak. The system combines an electron cyclotron emission diagnostic for sensing of the tearing modes in the same sight line with a steerable electron cyclotron resonance heating and current drive (ECRH/ECCD) antenna. A methodology for fast detection of q = m/n = 2/1 tearing modes and retrieval of their location, rotation frequency and phase is presented. Set-points to establish alignment of the ECRH/ECCD deposition location with the centre of the tearing mode are generated in real time and forwarded in closed loop to the steerable launcher and as a modulation pulse train to the gyrotron. Experimental results demonstrate the capability of the control system to track externally perturbed tearing modes in real time.

Optimal Control of Micro Grid Operation Mode Seamless Switching Based on Radau Allocation Method

Science.gov (United States)

Chen, Xiaomin; Wang, Gang

2017-05-01

The seamless switching process of micro grid operation mode directly affects the safety and stability of its operation. According to the switching process from island mode to grid-connected mode of micro grid, we establish a dynamic optimization model based on two grid-connected inverters. We use Radau allocation method to discretize the model, and use Newton iteration method to obtain the optimal solution. Finally, we implement the optimization mode in MATLAB and get the optimal control trajectory of the inverters.

Game-Theory Based Research on Oil-Spill Prevention and Control Modes in Three Gorges Reservoir Area

Science.gov (United States)

Yin, Jie; Xiong, Ting

2018-01-01

Aiming at solving the existing oil pollution in the Three Gorges reservoir, this paper makes research on oil-spill prevention and control mode based on game theory. Regarding the built modes and comparative indicator system, overall efficiency indicator functions are used to compare general effect, overall cost, and overall efficiency, which concludes that the mode combining government and enterprise has the highest overall efficiency in preventing and controlling ship oil spills. The suggested mode together its correspondingly designed management system, has been applied to practice for a year in Three Gorges Reservoir Area and has made evident improvements to the existing oil pollution, meanwhile proved to be quite helpful to the pollution prevention and control in the lower reaches of Yangtze River.

Implementation of fuzzy-sliding mode based control of a grid connected photovoltaic system.

Science.gov (United States)

Menadi, Abdelkrim; Abdeddaim, Sabrina; Ghamri, Ahmed; Betka, Achour

2015-09-01

The present work describes an optimal operation of a small scale photovoltaic system connected to a micro-grid, based on both sliding mode and fuzzy logic control. Real time implementation is done through a dSPACE 1104 single board, controlling a boost chopper on the PV array side and a voltage source inverter (VSI) on the grid side. The sliding mode controller tracks permanently the maximum power of the PV array regardless of atmospheric condition variations, while The fuzzy logic controller (FLC) regulates the DC-link voltage, and ensures via current control of the VSI a quasi-total transit of the extracted PV power to the grid under a unity power factor operation. Simulation results, carried out via Matlab-Simulink package were approved through experiment, showing the effectiveness of the proposed control techniques. Copyright © 2015. Published by Elsevier Ltd.

New Gain Controllable Resistor-less Current-mode First Order Allpass Filter and its Application

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W. Jaikla

2012-04-01

Full Text Available New first order allpass filter (APF in current mode, constructed from 2 CCCCTAs and grounded capacitor, is presented. The current gain and phase shift can be electronically /orthogonally controlled. Low input and high output impedances are achieved which make the circuit to be easily cascaded to the current-mode circuit without additional current buffers. The operation of the proposed filter has been verified through simulation results which confirm the theoretical analysis. The application example as current-mode quadrature oscillator with non-interactive current control for both of oscillation condition and oscillation frequency is included to show the usability of the proposed filter.

HIFU Monitoring and Control with Dual-Mode Ultrasound Arrays

Science.gov (United States)

Casper, Andrew Jacob

The biological effects of high-intensity focused ultrasound (HIFU) have been known and studied for decades. HIFU has been shown capable of treating a wide variety of diseases and disorders. However, despite its demonstrated potential, HIFU has been slow to gain clinical acceptance. This is due, in part, to the difficulty associated with robustly monitoring and controlling the delivery of the HIFU energy. The non-invasive nature of the surgery makes the assessment of treatment progression difficult, leading to long treatment times and a significant risk of under treatment. This thesis research develops new techniques and systems for robustly monitoring HIFU therapies for the safe and efficacious delivery of the intended treatment. Systems and algorithms were developed for the two most common modes of HIFU delivery systems: single-element and phased array applicators. Delivering HIFU with a single element transducer is a widely used technique in HIFU therapies. The simplicity of a single element offers many benefits in terms of cost and overall system complexity. Typical monitoring schemes rely on an external device (e.g. diagnostic ultrasound or MRI) to assess the progression of therapy. The research presented in this thesis explores using the same element to both deliver and monitor the HIFU therapy. The use of a dual-mode ultrasound transducer (DMUT) required the development of an FPGA based single-channel arbitrary waveform generator and high-speed data acquisition unit. Data collected from initial uncontrolled ablations led to the development of monitoring and control algorithms which were implemented directly on the FPGA. Close integration between the data acquisition and arbitrary waveform units allowed for fast, low latency control over the ablation process. Results are presented that demonstrate control of HIFU therapies over a broad range of intensities and in multiple in vitro tissues. The second area of investigation expands the DMUT research to an

A novel position-sensorless control method for brushless DC motors

International Nuclear Information System (INIS)