Adaptive feedforward cancellation viewed from an oscillator amplitude control perspective

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.Includes bibliographical references (p. 335-340).This thesis presents methods of characterizing the convergence, error, stability, and robustness properties of Adaptive Feedforward Cancellation (AFC) for use on fast tool servos in high-precision turning applications. Previous work has shown that classical control techniques can be used to analyze the stability and robustness of an AFC loop. However, determination of the convergence and error properties of the closed-loop system to changes in the reference or disturbance signal is not an obvious output of these analyses. We have developed a method of viewing AFC from an oscillator amplitude control (OAC) perspective, which provides additional use of classical control techniques to determine the convergence and error properties of the closed-loop system. AFC is a form of repetitive control that can be used to significantly improve periodic trajectory following/disturbance rejection. Fast tool servos used in high-precision turning applications commonly follow periodic trajectories and develop large errors, which usually occur at integer harmonics of the fundamental spindle rotation frequency. We have developed a loop-shaping approach to designing multiple resonator AFC controllers and have implemented this design on a commercially available piezoelectric (PZ) driven FTS using a PC-based digital control system. Our view of Adaptive Feedforward Cancellation from an oscillator amplitude control perspective builds upon previous work in the literature. We use an averaging analysis to simplify the single resonator AFC system into two coupled single-input single-output (SISO) oscillator amplitude control loops and show that by using the correct rotation matrix, these loops are effectively decoupled. This simplification provides the use of classical control techniques to approximate the dynamics of the closedloop output to changes in the amplitude or frequency of the reference/disturbance signal. The simulated and experimental results conform well to our analytical predictions for sufficiently low gain values.by Joseph Harry Cattell.S.M

A Cancellation Method of Periodic Interference in Pulse-Like Signals Using an Adaptive Filter and Its Application to Flash ERGs

論文「パルス状信号に混入する交流雑音の適応フィルタによる除去法とそのフラッシュ光網膜電位図への適用」（電子情報通信学会論文誌D Vol.J94-D,No.10, pp.1685-1695. 2011 に掲載）の英訳. 許諾番号14RB002

DISCRETE-TIME ADAPTIVE CONTROL ALGORITHMS FOR REJECTION OF SINUSOIDAL DISTURBANCES

We present new adaptive control algorithms that address the problem of rejecting sinusoids with known frequencies that act on an unknown asymptotically stable linear time-invariant system. To achieve asymptotic disturbance rejection, adaptive control algorithms of this dissertation rely on limited or no system model information. These algorithms are developed in discrete time, meaning that the control computations use sampled-data measurements. We demonstrate the effectiveness of algorithms via analysis, numerical simulations, and experimental testings. We also present extensions to these algorithms that address systems with decentralized control architecture and systems subject to disturbances with unknown frequencies

Commande robuste et calibrage des systèmes de contrôle actif de vibrations

Dans cette thèse, nous présentons des solutions pour la conception des systèmes de contrôle actif de vibrations. Dans la première partie, des méthodes de contrôle par action anticipatrice (feedforward) sont développées. Celles-ci sont dédiées à la suppression des perturbations bande large en utilisant une image de la perturbation mesurée par un deuxième capteur, en amont de la variable de performance à minimiser. Les algorithmes présentés dans cette mémoire sont conçus pour réaliser de bonnes performances et maintenir la stabilité du système en présence du couplage positif interne qui apparaît entre le signal de commande et l'image de la perturbation. Les principales contributions de cette partie sont l'assouplissement de la condition de Stricte Positivité Réelle (SPR) par l'utilisation des algorithmes d'adaptation Intégrale + Proportionnelle et le développement de compensateurs à action anticipatrice (feedforward) sur la base de la paramétrisation Youla-Kučera. La deuxième partie de la thèse concerne le rejet des perturbations bande étroite par contre-réaction adaptative (feedback). Une méthode d'adaptation indirecte est proposée pour le rejet de plusieurs perturbations bande étroite en utilisant des filtres Stop-bande et la paramétrisation Youla-Kučera. Cette méthode utilise des Filtres Adaptatifs à Encoche en cascade pour estimer les fréquences de perturbations sinusoïdales puis des Filtres Stop-bande pour introduire des atténuations aux fréquences estimées. Les algorithmes sont vérifiés et validés sur un dispositif expérimental disponible au sein du département Automatique du laboratoire GIPSA-Lab de Grenoble.In this thesis, solutions for the design of robust Active Vibration Control (AVC) systems are presented. The thesis report is composed of two parts. In the first one, feedforward adaptive methods are developed. They are dedicated to the suppression of large band disturbances and use a measurement, correlated with the disturbance, obtained upstream from the performance variable by the use of a second transducer. The algorithms presented in this thesis are designed to achieve good performances and to maintain system stability in the presence of the internal feedback coupling which appears between the control signal and the image of the disturbance. The main contributions in this part are the relaxation of the Strictly Positive Real (SPR) condition appearing in the stability analysis of the algorithms by use of Integral + Proportional adaptation algorithms and the development of feedforward compensators for noise or vibration reduction based on the Youla-Kučera parameterization. The second part of this thesis is concerned with the negative feedback rejection of narrow band disturbances. An indirect adaptation method for the rejection of multiple narrow band disturbances using Band-Stop Filters (BSF) and the Youla-Kučera parameterization is presented. This method uses cascaded Adaptive Notch Filters (ANF) to estimate the frequencies of the disturbances' sinusoids and then, Band-stop Filters are used to shape the output sensitivity function independently, reducing the effect of each narrow band signal in the disturbance. The algorithms are verified and validated on an experimental setup available at the Control Systems Department of GIPSA-Lab, Grenoble, France.SAVOIE-SCD - Bib.électronique (730659901) / SudocGRENOBLE1/INP-Bib.électronique (384210012) / SudocGRENOBLE2/3-Bib.électronique (384219901) / SudocSudocFranceF

Multi-tone Active Noise Equalizer with Spatially Distributed User-selected Profiles

[EN] In this work we propose a multi-channel active noise equalizer (ANE) that can deal with multi-frequency noise signals and assigns simultaneously different equalization gains to each frequency component at each monitoring sensor. For this purpose, we state a pseudo-error noise signal for each sensor of the ANE, which has to be cancelled out in order to get the desired equalization profiles. Firstly the optimal analytic solution for the ANE filters in the case of single-frequency noise is provided, and an adaptive algorithm based on the Least Mean Squared (LMS) is proposed for the same case. We also show that this adaptive strategy reaches the theoretical solution in steady state. Secondly, we state an equivalent approach for the case of multi-frequency noise based on two alternatives: a common pseudo-error signal at each sensor for all frequencies, and a different pseudo-error signal at each sensor for each frequency. The analytic and adaptive solutions for the ANE control filters have been developed for both pseudo-error alternatives. Finally, the ability of the proposed ANE to achieve simultaneously different user-selected noise profiles in different locations has been validated by their transfer functions and simulations.This work was supported by EU jointly with Spanish Government and Generalitat Valenciana under Grants RTI2018-098085-BC41, PID2021-125736OB-I00 (MCIU/AEI/FEDER), RE D2018-102668-T, and PROMETEO/2019/109.Ferrer Contreras, M.; Diego Antón, MD.; Hassani, A.; Moonen, M.; Piñero, G.; Gonzalez, A. (2022). Multi-tone Active Noise Equalizer with Spatially Distributed User-selected Profiles. IEEE/ACM Transactions on Audio Speech and Language Processing. 30:3199-3213. https://doi.org/10.1109/TASLP.2022.3212833319932133

Dirty RF Signal Processing for Mitigation of Receiver Front-end Non-linearity

Moderne drahtlose Kommunikationssysteme stellen hohe und teilweise gegensätzliche Anforderungen an die Hardware der Funkmodule, wie z.B. niedriger Energieverbrauch, große Bandbreite und hohe Linearität. Die Gewährleistung einer ausreichenden Linearität ist, neben anderen analogen Parametern, eine Herausforderung im praktischen Design der Funkmodule. Der Fokus der Dissertation liegt auf breitbandigen HF-Frontends für Software-konfigurierbare Funkmodule, die seit einigen Jahren kommerziell verfügbar sind. Die praktischen Herausforderungen und Grenzen solcher flexiblen Funkmodule offenbaren sich vor allem im realen Experiment. Eines der Hauptprobleme ist die Sicherstellung einer ausreichenden analogen Performanz über einen weiten Frequenzbereich. Aus einer Vielzahl an analogen Störeffekten behandelt die Arbeit die Analyse und Minderung von Nichtlinearitäten in Empfängern mit direkt-umsetzender Architektur. Im Vordergrund stehen dabei Signalverarbeitungsstrategien zur Minderung nichtlinear verursachter Interferenz - ein Algorithmus, der besser unter "Dirty RF"-Techniken bekannt ist. Ein digitales Verfahren nach der Vorwärtskopplung wird durch intensive Simulationen, Messungen und Implementierung in realer Hardware verifiziert. Um die Lücken zwischen Theorie und praktischer Anwendbarkeit zu schließen und das Verfahren in reale Funkmodule zu integrieren, werden verschiedene Untersuchungen durchgeführt. Hierzu wird ein erweitertes Verhaltensmodell entwickelt, das die Struktur direkt-umsetzender Empfänger am besten nachbildet und damit alle Verzerrungen im HF- und Basisband erfasst. Darüber hinaus wird die Leistungsfähigkeit des Algorithmus unter realen Funkkanal-Bedingungen untersucht. Zusätzlich folgt die Vorstellung einer ressourceneffizienten Echtzeit-Implementierung des Verfahrens auf einem FPGA. Abschließend diskutiert die Arbeit verschiedene Anwendungsfelder, darunter spektrales Sensing, robuster GSM-Empfang und GSM-basiertes Passivradar. Es wird gezeigt, dass nichtlineare Verzerrungen erfolgreich in der digitalen Domäne gemindert werden können, wodurch die Bitfehlerrate gestörter modulierter Signale sinkt und der Anteil nichtlinear verursachter Interferenz minimiert wird. Schließlich kann durch das Verfahren die effektive Linearität des HF-Frontends stark erhöht werden. Damit wird der zuverlässige Betrieb eines einfachen Funkmoduls unter dem Einfluss der Empfängernichtlinearität möglich. Aufgrund des flexiblen Designs ist der Algorithmus für breitbandige Empfänger universal einsetzbar und ist nicht auf Software-konfigurierbare Funkmodule beschränkt.Today's wireless communication systems place high requirements on the radio's hardware that are largely mutually exclusive, such as low power consumption, wide bandwidth, and high linearity. Achieving a sufficient linearity, among other analogue characteristics, is a challenging issue in practical transceiver design. The focus of this thesis is on wideband receiver RF front-ends for software defined radio technology, which became commercially available in the recent years. Practical challenges and limitations are being revealed in real-world experiments with these radios. One of the main problems is to ensure a sufficient RF performance of the front-end over a wide bandwidth. The thesis covers the analysis and mitigation of receiver non-linearity of typical direct-conversion receiver architectures, among other RF impairments. The main focus is on DSP-based algorithms for mitigating non-linearly induced interference, an approach also known as "Dirty RF" signal processing techniques. The conceived digital feedforward mitigation algorithm is verified through extensive simulations, RF measurements, and implementation in real hardware. Various studies are carried out that bridge the gap between theory and practical applicability of this approach, especially with the aim of integrating that technique into real devices. To this end, an advanced baseband behavioural model is developed that matches to direct-conversion receiver architectures as close as possible, and thus considers all generated distortions at RF and baseband. In addition, the algorithm's performance is verified under challenging fading conditions. Moreover, the thesis presents a resource-efficient real-time implementation of the proposed solution on an FPGA. Finally, different use cases are covered in the thesis that includes spectrum monitoring or sensing, GSM downlink reception, and GSM-based passive radar. It is shown that non-linear distortions can be successfully mitigated at system level in the digital domain, thereby decreasing the bit error rate of distorted modulated signals and reducing the amount of non-linearly induced interference. Finally, the effective linearity of the front-end is increased substantially. Thus, the proper operation of a low-cost radio under presence of receiver non-linearity is possible. Due to the flexible design, the algorithm is generally applicable for wideband receivers and is not restricted to software defined radios

Acoustic noise suppression for helicopter communication systems

Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1993.Includes bibliographical references (p. 143-148).by Jeffrey Thomas Evernham.M.S

Active vibration control for a free piston stirling engine with linear alternator FPSE/LA

New regulations introduced by the European Network of Transmission System Operators for Electricity (ENTSO) have brought further requirements for grid connected generators into action in 2013. The β-type Stirling engine (FPSE/LA) used for micro combined heat and power systems (MCHP) is a synchronous machine that is designed and tuned to operate at 50Hz ± 0.5Hz. This type of technology has to comply with the new regulations that imposes a wider operating envelop (47Hz-53Hz). This engine suffers from continuous self-induced vibrations caused by the reciprocating motion of a permanent magnet attached to its piston inside a linear alternator. Currently, the damping of the vibrations in the FPSA/LA is achieved by employing a passive tuned mass damper (TMD) tuned to damp vibrations at 50Hz. While passive devices provide a simple and a reliable way to tackle many vibration problems, there exists distinct performance limitations associated with the use of only passive devices. As for this particular application, the main limitation of the TMD in its passive form is its narrow bandwidth of operation that cannot cope with the new bandwidth. Consequently, this could expose the engine to physical damage and failure. Therefore modifications to the existing TMD have to be introduced. This research involved the design and development of an active tuned mass damper (ATMD) and the suitable control strategies using an electromagnetic actuator, namely a linear voice coil motor (VCM). Starting with a validated vibration model of the engine based on two degrees of freedom system (2-DOF), two control techniques, Feedforward/Zero-Placement control with relative/absolute position and Linear Quadratic (LQ) optimal control, were investigated with numerical simulation in the frequency and time domains. For the purpose of testing and implementation, a test rig featuring an electromagnetic shaker, a VCM, and a TMD besides an embedded system was assembled. An electromechanical model of the test rig was also developed and simulated with the integration of the control strategies. A set of experimental tests were carried out and the concept of active vibration control was successfully illustrated. In addition to that, an in depth investigation of the effect of time delays on the control methodology was conducted. The study resulted in the identification of a time delay margin where below, stability is guaranteed. Furthermore, a set of comprehensive equations of the power and actuator force requirements to perform active damping with a VCM based on any general 2-DOF system are obtained for both the feedforward and the LQ control strategies