Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
권호 표지
DOI QR코드

DOI QR Code

Velocity Controller Design for Fish Sorting Belt Conveyor System using M-MRAC and Projection Operator

  • Nguyen, Huy Hung (Department of Mechanical Design Engineering, Pukyong National University) ;
  • Tran, Minh Thien (Department of Mechanical Design Engineering, Pukyong National University) ;
  • Kim, Dae Hwan (Department of Mechanical Design Engineering, Pukyong National University) ;
  • Kim, Hak Kyeong (Department of Mechanical Design Engineering, Pukyong National University) ;
  • Kim, Sang Bong (Department of Mechanical Design Engineering, College of Engineering, Pukyong National University)
  • Received : 2017.05.26
  • Accepted : 2017.08.03
  • Published : 2017.08.31
Download PDF
⟨ Previous Next ⟩

Abstract

A velocity controller using a modified model reference adaptive controller (M-MRAC) and a projection operator for a fish sorting belt conveyor system with uncertainty parameters, input saturation and bounded disturbances is proposed in this paper. To improve the tracking performance and robustness of the proposed controller in the presence of bounded disturbances, the followings are done. Firstly, the reference model for the conventional model reference adaptive controller (CMRAC) is replaced by a modified reference model for a M-MRAC to reduce unexpected high frequency oscillation in control input signal when the adaptation rate is increased. Secondly, estimated parameters in an adaptive law are varied smoothly under bounded external disturbances and a projection operator is utilized in an adaptive law for the proposed M-MRAC controller to be robust. Thirdly, an auxiliary error vector is introduced for compensating the error dynamics of the system when the saturation input occurs. Finally, the experimental results are shown to verify the better effectiveness and performance of the proposed controller under the bounded disturbance and saturated input than that of a CMRAC.

Keywords

References

  1. K. J. Astromn and B. Wittenmark, 2008, "Adaptive Control", 2nd ed. Dover publication, INC.
  2. A. M. D. Tran and Y. B. Kim, 2016, "Dynamics Identification and Robust Control Performance Evaluation of Towing Rope under Rope Length Variation", Journal of the Korean Society for Power System Engineering, Vol. 20, No. 2, pp. 56-65.
  3. T. T. Nestorovic, H. Koppe, and U. Gabbert, 2008, "Direct Model Reference Adaptive Control (MRAC) Design and Simulation for the Vibration Suppression of Piezoelectric Smart Structures", Communications in Nonlinear Science and Numerical Simulation, Vol. 13, No. 9, pp. 1896-1909. https://doi.org/10.1016/j.cnsns.2007.03.025
  4. S. Karason and A. Annaswamy, 1994, "Adaptive Control in the Presence of Input Constraints", IEEE Transactions on Automatic Control, Vol. 39, No. 11, pp. 2325-2330. https://doi.org/10.1109/9.333787
  5. D. J. Wagg, 1994, "Transient Bounds for Adaptive Control Systems", IEEE Transactions on Automatic Control, Vol. 39, No. 1, pp. 171-175. https://doi.org/10.1109/9.273360
  6. D. Y. Abramovitch, and G. F. Franklin, 1990, "On the Stability of Adaptive Pole-Placement Controllers with a Saturating Actuator", IEEE Trans. on Automatic Control, Vol. 35, No. 3, pp. 303-306. https://doi.org/10.1109/9.50341
  7. W. Sun, H. Gao and O. Kaynak, 2015, "Vibration Isolation for Active Suspensions with Performance Constraints and Actuator Saturation", IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, pp. 675-683. https://doi.org/10.1109/TMECH.2014.2319355
  8. V. Stepanyan and K. Kalmanje, 2010, "Input and Output Performance of M-MRAC in the Presence of Bounded Disturbances", In: AIAA Guidance, Navigation, and Control Conference, pp. 2-5.
  9. T. Gibson, A. Annaswamy and E. Lavretsky, 2013, "Adaptive Systems with Closed-Loop Reference Models, Part I: Transient Performance", In: American Control Conf., pp. 3376-3383.
  10. V. T. Duong et al., 2016, "Modified Model Reference Adaptive Controller for a Nonlinear SISO System with External Disturbance and Input Constraint", Lecture Notes in Electrical Engineering, Vol. 415, pp. 118-128.
  11. E. Lavretsky, T. Gibson and A. Annaswamy, 2012, "Projection Operator in Adaptive Systems", arXiv e-Prints, arXiv:1112.4232v6.