Full- and Reduced-order Model of Hydraulic Cylinder for Motion Control

This paper describes the full- and reduced-order models of an actuated hydraulic cylinder suitable for system dynamics analysis and motion control design. The full-order model incorporates the valve spool dynamics with combined dead-zone and saturation nonlinearities - inherent for the orifice flow. It includes the continuity equations of hydraulic circuits coupled with the dynamics of mechanical part of cylinder drive. The resulted model is the fifth-order and nonlinear in states. The reduced model neglects the fast valve spool dynamics, simplifies both the orifice and continuity equations through an aggregation, and considers the cylinder rod velocity as output of interest. The reduced model is second-order that facilitates studying the system behavior and allows for direct phase plane analysis. Dynamics properties are addressed in details, for both models, with focus on the frequency response, system damping, and state trajectories related to the load pressure and relative velocity.Comment: 6 pages, 6 figures, IEEE conferenc

Nonlinear system-identification of the filling phase of a wet-clutch system

The work presented illustrates how the choice of input perturbation signal and experimental design improves the derived model of a nonlinear system, in particular the dynamics of a wet-clutch system. The relationship between the applied input current signal and resulting output pressure in the filling phase of the clutch is established based on bandlimited periodic signals applied at different current operating points and signals approximating the desired filling current signal. A polynomial nonlinear state space model is estimated and validated over a range of measurements and yields better fits over a linear model, while the performance of either model depends on the perturbation signal used for model estimation

Data compression for estimation of the physical parameters of stable and unstable linear systems

A two-stage method for the identification of physical system parameters from experimental data is presented. The first stage compresses the data as an empirical model which encapsulates the data content at frequencies of interest. The second stage then uses data extracted from the empirical model of the first stage within a nonlinear estimation scheme to estimate the unknown physical parameters. Furthermore, the paper proposes use of exponential data weighting in the identification of partially unknown, unstable systems so that they can be treated in the same framework as stable systems. Experimental data are used to demonstrate the efficacy of the proposed approach

Study and comparison of non linear and LPV control approaches for vehicle stability control

International audienceThis paper proposes a study and a comparison between two efficient and novel vehicle control dynamics strategies, namely, the non linear Flatness control strategy and the LPV/Hinf control strategy. The first one concerns a controller based on the differential algebraic flatness of non linear systems and an algebraic non linear estimation applied to commercial vehicles. The second one is a LPV/Hinf (Linear Varying Parameter with the Hinf norm ) control using a stability monitoring system to achieve the vehicle dynamics control objective. These two strategies use Active Steering and Electro- Mechanical Braking actuators and aim at improving the vehicle stability and steerability by designing a multivariable controller that acts simultaneously on the lateral and longitudinal dynam- ics of the car. Simulations are performed on a complex nonlinear full vehicle model, the same driving scenario is applied for the two control strategies. The model parameters are those of a Renault Mégane Coupé (see table.I), obtained by identification with real data. Promising simulations results are obtained. Comparison between the two proposed strategies and the uncontrolled vehicle show the reliability and the robustness of the proposed solutions, even if one is governed within the linear control framework while the other one is a non linear control approach

A novel mechanical analogy based battery model for SoC estimation using a multi-cell EKF

The future evolution of technological systems dedicated to improve energy efficiency will strongly depend on effective and reliable Energy Storage Systems, as key components for Smart Grids, microgrids and electric mobility. Besides possible improvements in chemical materials and cells design, the Battery Management System is the most important electronic device that improves the reliability of a battery pack. In fact, a precise State of Charge (SoC) estimation allows the energy flows controller to exploit better the full capacity of each cell. In this paper, we propose an alternative definition for the SoC, explaining the rationales by a mechanical analogy. We introduce a novel cell model, conceived as a series of three electric dipoles, together with a procedure for parameters estimation relying only on voltage measures and a given current profile. The three dipoles represent the quasi-stationary, the dynamics and the istantaneous components of voltage measures. An Extended Kalman Filer (EKF) is adopted as a nonlinear state estimator. Moreover, we propose a multi-cell EKF system based on a round-robin approach to allow the same processing block to keep track of many cells at the same time. Performance tests with a prototype battery pack composed by 18 A123 cells connected in series show encouraging results.Comment: 8 page, 12 figures, 1 tabl

Nonlinear Performance of BAW Filters Including BST Capacitors

This paper evaluates the nonlinear effects occurring in a bulk acoustic wave (BAW) filter which includes barium strontium titanate (BST) capacitors to cancel the electrostatic capacitance of the BAW resonators. To do that we consider the nonlinear effects on the BAW resonators by use of a nonlinear Mason model. This model accounts for the distributed nonlinearities inherent in the materials forming the resonator. The whole filter is then implemented by properly connecting the resonators in a balanced configuration. Additional BST capacitors are included in the filter topology. The nonlinear behavior of the BST capacitors is also accounted in the overall nonlinear assessment. The whole circuit is then used to evaluate its nonlinear behavior. It is found that the nonlinear contribution arising from the ferroelectric nature of the BST capacitors makes it impractical to fulfill the linearity requirements of commercial filters