Advanced control designs for output tracking of hydrostatic transmissions

The work addresses simple but efficient model descriptions in a combination with advanced control and estimation approaches to achieve an accurate tracking of the desired trajectories. The proposed control designs are capable of fully exploiting the wide operation range of HSTs within the system configuration limits. A new trajectory planning scheme for the output tracking that uses both the primary and secondary control inputs was developed. Simple models or even purely data-driven models are envisaged and deployed to develop several advanced control approaches for HST systems

A Multilayer Feed Forward Small-World Neural Network Controller and Its Application on Electrohydraulic Actuation System

Being difficult to attain the precise mathematical models, traditional control methods such as proportional integral (PI) and proportional integral differentiation (PID) cannot meet the demands for real time and robustness when applied in some nonlinear systems. The neural network controller is a good replacement to overcome these shortcomings. However, the performance of neural network controller is directly determined by neural network model. In this paper, a new neural network model is constructed with a structure topology between the regular and random connection modes based on complex network, which simulates the brain neural network as far as possible, to design a better neural network controller. Then, a new controller is designed under small-world neural network model and is investigated in both linear and nonlinear systems control. The simulation results show that the new controller basing on small-world network model can improve the control precision by 30% in the case of system with random disturbance. Besides the good performance of the new controller in tracking square wave signals, which is demonstrated by the experiment results of direct drive electro-hydraulic actuation position control system, it works well on anti-interference performance

Data-Driven Virtual Flow Rate Sensor Development for Leakage Monitoring at the Cradle Bearing in an Axial Piston Pump

The leakage of the tribological contact in axial piston pumps significantly impacts the pump efficiency. Leakage observations can be used to optimize the pump design and monitor the behavior of the tribological contact. However, due to assembly limitations, it is not always feasible to observe the leakage of each tribological contact individually with a flow rate sensor. This work developed a data-driven virtual flow rate sensor for monitoring the leakage of cradle bearings in axial piston pumps under different operating conditions and recess pressures. The performance of neural network, support vector regression, and Gaussian regression methods for developing the virtual flow rate sensor was systematically investigated. In addition, the effect of the number of datasets and label distribution on the performance of the virtual flow sensor were systematically studied. The findings are verified using a data-driven virtual flow rate sensor to observe the leakage. In addition, they show that the distribution of labels significantly impacts the model’s performance when using support vector regression and Gaussian regression. Neural network is relatively robust to the distribution of labeled data. Moreover, the datasets also influence model performance but are not as significant as the label distribution

Sensor-less maximum power extraction control of a hydrostatic tidal turbine based on adaptive extreme learning machine

In this paper, a hydrostatic tidal turbine (HTT) is designed and modelled, which uses more reliable hydrostatic transmission to replace existing fixed ratio gearbox transmission. The HTT dynamic model is derived by integrating governing equations of all the components of the hydraulic machine. A nonlinear observer is proposed to predict the turbine torque and tidal speeds in real time based on extreme learning machine (ELM). A sensor-less double integral sliding mode controller is then designed for the HTT to achieve the maximum power extraction in the presence of large parametric uncertainties and nonlinearities. Simscape design experiments are conducted to verify the proposed design, model and control system, which show that the proposed control system can efficiently achieve the maximum power extraction and has much better performance than conventional control. Unlike the existing works on ELM, the weights and biases in the ELM are updated online continuously. Furthermore, the overall stability of the controlled HTT system including the ELM is proved and the selection criteria for ELM learning rates is derived. The proposed sensor-less control system has prominent advantages in robustness and accuracy, and is also easy to implement in practice

Black-box modeling of nonlinear system using evolutionary neural NARX model

Nonlinear systems with uncertainty and disturbance are very difficult to model using mathematic approach. Therefore, a black-box modeling approach without any prior knowledge is necessary. There are some modeling approaches have been used to develop a black box model such as fuzzy logic, neural network, and evolution algorithms. In this paper, an evolutionary neural network by combining a neural network and a modified differential evolution algorithm is applied to model a nonlinear system. The feasibility and effectiveness of the proposed modeling are tested on a piezoelectric actuator SISO system and an experimental quadruple tank MIMO system

Feasibility assessment of a Kalman filter approach to fault detection and fault-tolerance in a highly unstable system: The RIT heart pump

The purpose of this project is to assess the feasibility of a Kalman Filter approach for fault detection in a highly unstable system, specifically the heart pump currently under development at RIT. Simulations and experimental work were completed to determine the effects of possible position sensor fault conditions on the system; that information was then used in conjunction with a pair of Kalman filters to create a method of detecting faults and providing fault-tolerant operation. The heart pump system was modeled using Simulink and then the fault diagnosis and tolerance system was added to the model and tested via simulation in SIMULINK TM. The simulations showed the filters were able to calculate and remove bias caused by any type of position sensor error, provided the estimated plant model is nearly identical to the actual plant model. Sensitivity analysis showed that the fault detection/fault-tolerance method is extremely sensitive to discrepancies between the estimated plant model and actual pump behavior. Because of this, it is considered unfeasible for implementation on a real system. Experimental results confirmed these findings, demonstrating the drawbacks of model-based fault detection and tolerance methods

Greater response variability in adolescents is associated with increased white matter development.

Adolescence is a period of learning, exploration, and continuous adaptation to fluctuating environments. Response variability during adolescence is an important, understudied, and developmentally appropriate behavior. The purpose of this study was to identify the association between performance on a dynamic risky decision making task and white matter microstructure in a sample of 48 adolescents (14-16 years). Individuals with the greatest response variability on the task obtained the widest range of experience with potential outcomes to risky choice. When compared with their more behaviorally consistent peers, adolescents with greater response variability rated real-world examples of risk taking behaviors as less risky via self-report. Tract-Based Spatial Statistics (TBSS) were used to examine fractional anisotropy (FA) and mean diffusivity (MD). Greater FA in long-range, late-maturing tracts was associated with higher response variability. Greater FA and lower MD were associated with lower riskiness ratings of real-world risky behaviors. Results suggest that response variability and lower perceived risk attitudes of real-world risk are supported by neural maturation in adolescents

Reports about 8 selected benchmark cases of model hierarchies : Deliverable number: D5.1 - Version 0.1

Based on the multitude of industrial applications, benchmarks for model hierarchies will be created that will form a basis for the interdisciplinary research and for the training programme. These will be equipped with publically available data and will be used for training in modelling, model testing, reduced order modelling, error estimation, efficiency optimization in algorithmic approaches, and testing of the generated MSO/MOR software. The present document includes the description about the selection of (at least) eight benchmark cases of model hierarchies.EC/H2020/765374/EU/Reduced Order Modelling, Simulation and Optimization of Coupled Systems/ROMSO

Artificial neural network for predicting values of residuary resistance per unit weight of displacement

This paper proposes the usage of an Artificial neural network (ANN) to predict the values of the residuary resistance per unit weight of displacement from the variables describing ship’s dimensions. For this purpose, a Multilayer perceptron (MLP) regressor ANN is used, with the grid search technique being applied to determine the appropriate properties of the model. After the model training, its quality is determined using R2 value and a Bland-Altman (BA) graph which shows a majority of values predicted falling within the 95% confidence interval. The best model has four hidden layers with ten, twenty, twenty and ten nodes respectively, uses a relu activation function with a constant learning rate of 0.01 and the regularization parameter L2 value of 0.001. The achieved model shows a high regression quality, lacking precision in the higher value range due to the lack of data

Neurofuzzy controller based full vehicle nonlinear active suspension systems

To design a robust controller for active suspension systems is very important for guaranteeing the riding comfort for passengers and road handling quality for a vehicle. In this thesis, the mathematical model of full vehicle nonlinear active suspension systems with hydraulic actuators is derived to take into account all the motions of the vehicle and the nonlinearity behaviours of the active suspension system and hydraulic actuators. Four robust control types are designed and the comparisons among the robustness of those controllers against different disturbance types are investigated to select the best controller among them. The MATLAB SIMULINK toolboxes are used to simulate the proposed controllers with the controlled model and to display the responses of the controlled model under different types of disturbance. The results show that the neurofuzzy controller is more effective and robust than the other controller types. The implementation of the neurofuzzy controller using FPGA boards has been investigated in this work. The Xilinx ISE program is employed to synthesis the VHDL codes that describe the operation of the neurofuzzy controller and to generate the configuration file used to program the FPGA. The ModelSim program is used to simulate the operation of the VHDL codes and to obtain the expected output data of the FPGA boards. To confirm that FPGA the board used as the neurofuzzy controller system operated as expected, a MATLAB script file is used to compare the set of data obtained from the ModelSim program and the set of data obtained from the MATLAB SIMULINK model. The results show that the FPGA board is effective to be used as a neurofuzzy controller for full vehicle nonlinear active suspension systems. The active suspension system has a great performance for vibration isolation. However the main drawback of the active suspension is that it is high energy consumptive. Therefore, to use this suspension system in the proposed model, this drawback should be solved. Electromagnetic actuators are used to convert the vibration energy that arises from the rough road to useful electrical energy to reduce the energy consumption by the active suspension systems. The results show that the electromagnetic devices act as a power generator, i.e. the vibration energy excited by the rough road surface has been converted to a useful electrical energy supply for the actuators. Furthermore, when the nonlinear damper models are replaced by the electromagnetic actuators, riding comfort and the road handling quality are improved. As a result, two targets have been achieved by using hydraulic actuators with electromagnetic suspension systems: increasing fuel economy and improving the vehicle performance