Model based control strategies for a class of nonlinear mechanical sub-systems

This paper presents a comparison between various control strategies for a class of mechanical actuators common in heavy-duty industry. Typical actuator components are hydraulic or pneumatic elements with static non-linearities, which are commonly referred to as Hammerstein systems. Such static non-linearities may vary in time as a function of the load and hence classical inverse-model based control strategies may deliver sub-optimal performance. This paper investigates the ability of advanced model based control strategies to satisfy a tolerance interval for position error values, overshoot and settling time specifications. Due to the presence of static non-linearity requiring changing direction of movement, control effort is also evaluated in terms of zero crossing frequency (up-down or left-right movement). Simulation and experimental data from a lab setup suggest that sliding mode control is able to improve global performance parameters

Scaling behaviour of pressure driven micro hydraulic systems

This paper presents a lumped network approach for the modelling and design of micro-hydraulic systems. A hydraulic oscillator has been built consisting of hydraulic resistors, capacitors and transistors (pressure controlled valves). The scaling of micro-hydraulic networks consisting of linear resistors, capacitors and inertances has been studied. An important result is that to make smaller networks faster, driving pressures should increase with reducing size

Comparison of linear control algorithms for a class of nonlinear mechanical actuators

This paper presents a comparison between various control strategies for a class of mechanical actuators common in heavy-duty industry. Typical actuator components are hydraulic or pneumatic elements with static nonlinearities, which are commonly referred to as Hammerstein systems. Such static nonlinearities may vary in time as a function of the load and hence classical inverse-model based control strategies may deliver sub-optimal performance. This paper investigates the ability of classical linear control strategies as lead, P, PI and PID control to satisfy tolerance interval for position error values, overshoot and settling time specifications. Due to the presence of static nonlinearity, control effort is also evaluated in terms of zero crossing frequency (up-down or left-right movement). Simulation and experimental data from a lab setup suggest that advanced control strategies may be needed to improve global performance parameters

Mathematical modelling in the analysis and design of hard and soft measurement systems

This paper briefly looks into the role and extent of mathematical modelling in the design and analysis of measurement systems, especially measurement sub-systems in the form of instruments and instrument elements. These fall within the classical domain of hard measurement (physical, strongly-defined measurement). It also examines the role and use of mathematical modelling in the area of soft measurement (non-physical, weakly defined measurement). These constitute two sub-sets of widely-defined measurement. Based on a number of examples it demonstrates the use of modern modelling techniques in the design and analysis of sub-systems in measurement technology. In doing so, it focuses on the scope and importance of physical modelling at a sub-system level, which ultimately contributes to modelling activities at a global systems level

Bond graph models of DC-DC converters operating in both CCM and DCM

In this paper, Bond Graphs are employed to develop a novel mathematical model of conventional switched-mode DC-DC converters valid for both continuous and discontinuous conduction modes. A unique causality bond graph model of hybrid models is suggested with the operation of the switch and the diode to be represented by a Modulated Transformer with a binary input and a resistor with fixed conductance causality. The operation of the diode is controlled using an if-then function within the model. The extracted hybrid model is implemented on a Boost and Buck converter with their operations to change from CCM to DCM and to return to CCM. The vector fields of the models show validity in a wide operation area and comparison with the simulation of the converters using PSPICE reveals high accuracy of the proposed model, with the Normalised Root Means Square Error and the Maximum Absolute Error remaining adequately low. The model is also experimentally tested on a Buck topology

Nonlinear optimal wave energy converter control with application to a ap-type device

Wave energy converters (WECs) require active control to maximise energy capture over a wide range of sea conditions, which is generally achieved by making the device resonate. The exaggerated device motion arising at resonance, however, may result in nonlinear effects that are ignored by the linear models that are typically employed. In particular, nonlinear viscous forces are significant for particular device types, such as hinged aps, which we take as a case study in this paper. The paper develops a general nonlinear WEC control methodology based on pseudospectral methods. The continuous time energy maximization problem is fully discretised (both state and control), and the optimal solution is obtained by solving the resulting finite dimensional optimization problem. By way of example, the nonlinear viscous damping for a hinged ap WEC is incorporate into the control model. It is shown that the ratio of energy captured to energy dissipated is significantly increased with the nonlinear controller, compared to the linear case