Hybrid modeling and control of mechatronic systems using a piecewise affine dynamics approach

This thesis investigates the topic of modeling and control of PWA systems based on two experimental cases of an electrical and hydraulic nature with varying complexity that were also built, instrumented and evaluated. A full-order model has been created for both systems, including all dominant system dynamics and non-linearities. The unknown parameters and characteristics have been identi ed via an extensive parameter identi cation. In the following, the non-linear characteristics are linearized at several points, resulting in PWA models for each respective setup. Regarding the closed loop control of the generated models and corresponding experimental setups, a linear control structure comprised of integral error, feed-forward and state-feedback control has been used. Additionally, the hydraulic setup has been controlled in an autonomous hybrid position/force control mode, resulting in a switched system with each mode's dynamics being de ned by the previously derived PWA-based model in combination with the control structure and respective mode-dependent controller gains. The autonomous switch between control modes has been de ned by a switching event capable of consistently switching between modes in a deterministic manner despite the noise-a icted measurements. Several methods were used to obtain suitable controller gains, including optimization routines and pole placement. Validation of the system's fast and accurate response was obtained through simulations and experimental evaluation. The controlled system's local stability was proven for regions in state-space associated with operational points by using pole-zero analysis. The stability of the hybrid control approach was proven by using multiple Lyapunov functions for the investigated test scenarios.publishedVersio

Proportional-Integral-Plus Control Strategy of an Intelligent Excavator

This article considers the application of Proportional-Integral-Plus (PIP) control to the Lancaster University Computerised Intelligent Excavator (LUCIE), which is being developed to dig foundation trenches on a building site. Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on-line, and implemented in a rather ad hoc manner. By contrast, the present research utilizes new hardware and advanced model-based control system design methods to improve the joint control and so provide smoother, more accurate movement of the excavator arm. In this article, a novel nonlinear simulation model of the system is developed for MATLAB/SIMULINK, allowing for straightforward refinement of the control algorithm and initial evaluation. The PIP controller is compared with a conventionally tuned PID algorithm, with the final designs implemented on-line for the control of dipper angle. The simulated responses and preliminary implementation results demonstrate the feasibility of the approach

Internal combustion engine sensor network analysis using graph modeling

In recent years there has been a rapid development in technologies for smart monitoring applied to many different areas (e.g. building automation, photovoltaic systems, etc.). An intelligent monitoring system employs multiple sensors distributed within a network to extract useful information for decision-making. The management and the analysis of the raw data derived from the sensor network includes a number of specific challenges still unresolved, related to the different communication standards, the heterogeneous structure and the huge volume of data. In this paper we propose to apply a method based on complex network theory, to evaluate the performance of an Internal Combustion Engine. Data are gathered from the OBD sensor subset and from the emission analyzer. The method provides for the graph modeling of the sensor network, where the nodes are represented by the sensors and the edge are evaluated with non-linear statistical correlation functions applied to the time series pairs. The resulting functional graph is then analyzed with the topological metrics of the network, to define characteristic proprieties representing useful indicator for the maintenance and diagnosis

Evaluation of the Influence of Reactor Design on the Treatment Performance of an Optimized Pilot-Scale Waste Stabilization Pond

Waste stabilization pond (WSP) is globally one of the most popular wastewater treatment options due to its high efficiency and low cost. A field scale prototype was designed and scaled down to a pilot-scale model using dimensional analysis in the development of the foot print size. Pilot-scale reactors were built with the specifications produced from literature suggested reactor geometric configurations and experimental study was conducted to evaluate the performance of optimized pilot-scale WSP configurations. The optimized pilot scale WSPs consisted of an anaerobic, facultative, and a maturation stage with varying baffle orientation, length to width ratio, and depth. Comparisons were made on the optimized pilot-scale WSP reactors. The removal performance of the experimental test was based on a number of parameters (Faecal coliform, pH, TDS, and Conductivity). Results showed that the significantly lower cost design displayed slightly better removal performance compared to other WSP design developed from literature data. This paper covers a relevant subject within the field of waste stabilization ponds, namely the representation of the influence of reactor design on the treatment performance of WSP

Post-test simulation of a PLOFA transient test in the CIRCE-HERO facility

CIRCE is a lead–bismuth eutectic alloy (LBE) pool facility aimed to simulate the primary system of a heavy liquid metal (HLM) cooled pool-type fast reactor. The experimental facility was implemented with a new test section, called HERO (Heavy liquid mEtal pRessurized water cOoled tubes), which consists of a steam generator composed of seven double-wall bayonet tubes (DWBT) with an active length of six meters. The experimental campaign aims to investigate HERO behavior, which is representative of the tubes that will compose ALFRED SG. In the framework of the Horizon 2020 SESAME project, a transient test was selected for the realization of a validation benchmark. The test consists of a protected loss of flow accident (PLOFA) simulating the shutdown of primary pumps, the reactor scram and the activation of the DHR system. A RELAP5-3D© nodalization scheme was developed in the pre-test phase at DIAEE of “Sapienza” University of Rome, providing useful information to the experimentalists. The model consisted to a mono-dimensional scheme of the primary flow path and the SG secondary side, and a multi-dimensional component simulating the large LBE pool. The analysis of experimental data, provided by ENEA, has suggested to improve the thermal–hydraulic model with a more detailed nodalization scheme of the secondary loop, looking to reproduce the asymmetries observed on the DWBTs operation. The paper summarizes the post-test activity performed in the frame of the H2020 SESAME project as a contribution of the benchmark activity, highlighting a global agreement between simulations and experiment for all the primary circuit physical quantities monitored. Then, the attention is focused on the secondary system operation, where uncertainties related to the boundary conditions affect the computational results

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

Diagnostic procedures for antenna hydraulic drive systems

Diagnostic, testing, and maintenance procedures for hydraulic drive systems for large steerable antenna

Development and demonstration of a flutter-suppression system using active controls

The application of active control technology to suppress flutter was demonstrated successfully in the transonic dynamics tunnel with a delta-wing model. The model was a simplified version of a proposed supersonic transport wing design. An active flutter suppression method based on an aerodynamic energy criterion was verified by using three different control laws. The first two control laws utilized both leading-edge and trailing-edge active control surfaces, whereas the third control law required only a single trailing-edge active control surface. At a Mach number of 0.9 the experimental results demonstrated increases in the flutter dynamic pressure from 12.5 percent to 30 percent with active controls. Analytical methods were developed to predict both open-loop and closed-loop stability, and the results agreed reasonably well with the experimental results

Recent Sikorsky R and D progress

The recent activities and progress in four specific areas of Sikorsky's research and development program are summarized. Since the beginning of the S-76 design in 1974, Sikorsky has been aggressively developing the technology for using composite materials in helicopter design. Four specific topics are covered: advanced cockpit/controller efforts, fly-by-wire controls on RSRA/X-Wing, vibration control via higher harmonic control, and main rotor aerodynamic improvements

Leak localization in water distribution networks using a mixed model-based/data-driven approach

“The final publication is available at Springer via http://dx.doi.org/10.1016/j.conengprac.2016.07.006”This paper proposes a new method for leak localization in water distribution networks (WDNs). In a first stage, residuals are obtained by comparing pressure measurements with the estimations provided by a WDN model. In a second stage, a classifier is applied to the residuals with the aim of determining the leak location. The classifier is trained with data generated by simulation of the WDN under different leak scenarios and uncertainty conditions. The proposed method is tested both by using synthetic and experimental data with real WDNs of different sizes. The comparison with the current existing approaches shows a performance improvement.Peer ReviewedPostprint (author's final draft