• Smart Structures and Systems
• /
• 제14권6호
• /
• pp.1221-1245
• /
• 2014

Real-time hybrid simulation (RTHS) is a promising cyber-physical technique used in the experimental evaluation of civil infrastructure systems subject to dynamic loading. In RTHS, the response of a structural system is simulated by partitioning it into physical and numerical substructures, and coupling at the interface is achieved by enforcing equilibrium and compatibility in real-time. The choice of partitioning parameters will influence the overall success of the experiment. In addition, due to the dynamics of the transfer system, communication and computation delays, the feedback force signals are dependent on the system state subject to delay. Thus, the transfer system dynamics must be accommodated by appropriate actuator controllers. In light of this, guidelines should be established to facilitate successful RTHS and clearly specify: (i) the minimum requirements of the transfer system control, (ii) the minimum required sampling frequency, and (iii) the most effective ways to stabilize an unstable simulation due to the limitations of the available transfer system. The objective of this paper is to establish a stability switch criterion due to systematic experimental errors. The RTHS stability switch criterion will provide a basis for the partitioning and design of successful RTHS.

• 동력기계공학회지
• /
• 제5권3호
• /
• pp.104-113
• /
• 2001

This paper describes a precise position synchronous control of two axes rotating system using BLDC motors and a cooperative control based on decoupling technique and PI control law. The system is required performances both good speed following and minimum position synchronous errors simultaneously. To accomplish these goals, the three kinds of controllers are designed. At first, the current and speed controller are designed very simply to compensate the influences of disturbances and to follow up speed references quickly. Especially, the two degree of freedom PI controller is used considering both good tracking for speed reference input and quick rejection of disturbances in speed controller. Finally, a position synchronous controller is designed as a simple proportional controller to minimize position synchronous errors. The validity of the proposed method is confirmed through some numerical simulations. Moreover, the results are compared to the conventional master-slave control ones to show the effectiveness of the proposed system.

• 한국전산응용수학회:학술대회논문집
• /
• 한국전산응용수학회 2003년도 KSCAM 학술발표회 프로그램 및 초록집
• /
• pp.6-6
• /
• 2003

In this work we consider the mathematical formulation and numerical resolution of the linear feedback control problem for Boussinesq equations. The controlled Boussinesq equations is given by $$\frac{{\partial}u}{{\partial}t}-{\nu}{\Delta}u+(u{\cdot}{\nabla}u+{\nabla}p={\beta}{\theta}g+f+F\;\;in\;(0,\;T){\times}\;{\Omega}$$, $${\nabla}{\cdot}u=0\;\;in\;(0,\;T){\times}{\Omega}$$, $$u|_{{\partial}{\Omega}=0,\;u(0,x)=\;u_0(x)$$ $$\frac{{\partial}{\theta}}{{\partial}t}-k{\Delta}{\theta}+(u{\cdot}){\theta}={\tau}+T,\;\;in(0,\;T){\times}{\Omega}$$ $${\theta}|_{{\partial}{\Omega}=0,\;\;{\theta}(0,X)={\theta}_0(X)$$, where $\Omega$ is a bounded open set in $R^{n}$, n=2 or 3 with a $C^{\infty}$ boundary ${\partial}{\Omega}$. The control is achieved by means of a linear feedback law relating the body forces to the velocity and temperature field, i.e., $$f=-{\gamma}_1(u-U),\;\;{\tau}=-{\gamma}_2({\theta}-{\Theta}}$$ where (U,$\Theta$) are target velocity and temperature. We show that the unsteady solutions to Boussinesq equations are stabilizable by internal controllers with exponential decaying property. In order to compute (approximations to) solution, semi discrete-in-time and full space-time discrete approximations are also studied. We prove that the difference between the solution of the discrete problem and the target solution decay to zero exponentially for sufficiently small time step.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2002년도 춘계학술대회 논문집
• /
• pp.387-392
• /
• 2002

This paper presents a new scheme of neural network controller to improve the robustuous of robot manipulator using digital signal processors. Digital signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. During past decade it was proposed the well-established theorys for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. Perforating of the proposed controller is illustrated. This paper describes a new approach to the design of adaptive controller and implementation of real-time control for assembling robotic manipulator using digital signal processor. Digital signal processors used in implementing real time adaptive control algorithm are TMS320C50 series made in TI'Co..

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2001년도 추계학술대회(한국공작기계학회)
• /
• pp.134-139
• /
• 2001

This paper presents a new scheme of neural network controller to improve the robustuous of robot manipulator using digital signal processors. Digital signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. During past decade it was proposed the well-established theorys for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. Perforating of the proposed controller is illustrated. This paper describes a new approach to the design of adaptive controller and implementation of real-time control for assembling robotic manipulator using digital signal processor. Digital signal processors used in implementing real time adaptive control algorithm are TMS320C50 series made in TI'Co..

• Earthquakes and Structures
• /
• 제10권5호
• /
• pp.1067-1087
• /
• 2016

In this paper, a decoupled proportional-integral-derivative (PID) control approach for seismic control of smart structures is presented. First, the state space equation of a structure is transformed into modal coordinates and parameters of the modal PID control are separately designed in a reduced modal space. Then, the feedback gain matrix of the controller is obtained based on the contribution of modal responses to the structural responses. The performance of the controller is investigated to adjust control force of piezoelectric friction dampers (PFDs) in a benchmark base isolated building. In order to tune the modal feedback gain of the controller, a suitable trade-off among the conflicting objectives, i.e., the reduction of maximum modal base displacement and the maximum modal floor acceleration of the smart base isolated structure, as well as the maximum modal control force, is created using a multi-objective cuckoo search (MOCS) algorithm. In terms of reduction of maximum base displacement and story acceleration, numerical simulations show that the proposed method performs better than other reported controllers in the literature. Moreover, simulation results show that the PFDs are able to efficiently dissipate the input excitation energy and reduce the damage energy of the structure. Overall, the proposed control strategy provides a simple strategy to tune the control forces and reduces the number of sensors of the control system to the number of controlled stories.

• Smart Structures and Systems
• /
• 제12권6호
• /
• pp.595-617
• /
• 2013

Semi-active control equipments are used to effectually enhance the seismic behavior of structures. Magneto-rheological (MR) dampers are semi-active devices that can be utilized to control the response of structures during seismic loads and have received voracious attention for response suppression. They supply the adaptability of active devices and stability and reliability of passive devices. This paper presents an optimal fuzzy logic control scheme for vibration mitigation of buildings using magneto-rheological dampers subjected to near-fault ground motions. Near-fault features including a directivity pulse in the fault-normal direction and a fling step in the fault-parallel direction are considered in the requisite ground motion records. The membership functions and fuzzy rules of fuzzy controller were optimized by genetic algorithm (GA). Numerical study is performed to analyze the influences of near-fault ground motions on a building that is equipped with MR dampers. Considering the uncontrolled system response as the base line, the proposed method is scrutinized by analogy with that of a conventional maximum dissipation energy (MED) controller to accentuate the effectiveness of the fuzzy logic algorithm. Results reveal that the fuzzy logic controllers can efficiently improve the structural responses and MR dampers are quite promising for reducing seismic responses during near-fault earthquakes.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2503-2508
• /
• 2005

In this paper, we propose a new discrete-time predictive current controller for a PMSM(Permanent Magnet Synchronous Motor). The main objectives of the current controllers are to ensure that the measured stator currents tract the command values accurately and to shorten the transient interval as much as possible, in order to obtain high-performance of ac drive system. The conventional predictive current controller is hard to implement in full digital current controller since a finite calculation time causes a delay between the current sensing time and the time that it takes to apply the voltage to motor. A new control strategy in this paper is seen the scheme that gets the fast adaptation of transient current change, the fast transient response tracking. Moreover, the validity of the proposed method is demonstrated by numerical simulations and the simulation results will present the improvements of predictive controller and accuracy of the current controller.

• International Journal of Control, Automation, and Systems
• /
• 제5권5호
• /
• pp.547-558
• /
• 2007

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1997년도 춘계학술대회 논문집
• /
• pp.751-755
• /
• 1997

This paper presents a new scheme of neural network controller to improve to improve the robustuous of robot manipulator using digital signal processors. Digital processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithms can be defined as sums and producrs of measured variables, thus it can be programmed and executed through DSPs. In addition, DSPs are as fist in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. During past decade it was proposed the well-established theorys for the adaptive control of linear systems, but there exits relativly little gensral theoral for the adaptive control of nonlinear systems. Perforating of the proposed controller is illustrated. This paper describes a new approach to the design of adaptive controller and implementation of real-time control for assembling robotic manipulator using digital signal processor. Digital signal processors used in implementing real time adaptive control algorithm are TMS320C50 series made in TI'Co..