Vibration control of vehicles with active tuned mass damper

The purpose of this paper is to propose an alternative approach on controlling of vehicle vibrations by using active tuned mass damper. The approach is presented by simulation of a quarter-car model. Initially, a tuned mass damper is integrated on a vehicle model and its optimal parameters are determined by using 3D diagram of the maximum magnitudes of the sprung mass frequency response functions. Active control is obtained by adding an actuator element parallel to tuned mass damper. The fuzzy-sliding mode control method is utilized in reducing the displacement and acceleration magnitudes of sprung mass. Finally, comparison of active and passive responses in frequency and time domain are given to demonstrate vibration control improvement

FUZZY PID CONTROLLER FOR PROPELLER PENDULUM

In this paper, a fuzzy PID controller is proposed for angular position control of a nonlinear propeller pendulum system. While classical control methods work well on linear systems, nonlinear control approaches should be designed for nonlinear ones. On the one hand, there are three constant gains related with linear proportional, integral and derivative terms in classical PID controller. On the other hand, these gains are varied with time by the proposed controller using fuzzy logic inference. In order to demonstrate the position control enhancement for the nonlinear system, the proposed controller is compared with classical PID controller using simulation results with and without external disturbance. The simulation results show that the proposed Fuzzy PID controller is more successful in reference tracking than classical PID controller

Improving pitch and yaw motion control of twin rotor MIMO system

In this paper, a fuzzy logic controller approach is presented for twin rotor multi-input-multi-output (MIMO) system in order to improve the control of pitch and yaw motions under hovering conditions. Twin rotor MIMO system resembles a helicopter model in some common aspects like cross coupling of pitch and yaw motions. The proposed approach is compared with another control strategy by simulations for a nonlinear two degrees of freedom twin rotor model. Set point reaching and trajectory tracking behaviours of the TRMS are analysed by time and step response characteristics. Results of time and step responses indicate that fuzzy logic controller improves set point reaching and trajectory tracking performance of the closed loop system

Experimental evaluation of a fuzzy logic controller on a quarter car test rig

This paper considers the experimental investigation of a multiple-input single-output fuzzy logic controller on an active suspension system based on a quarter car test rig. Prior to implementation of the controller, the quarter car test rig is described in detail. Afterward, the structure and design of the implemented fuzzy logic controller is presented. In this study, fuzzy logic control is preferred, since it does not require the exact mathematical model of the system and allows using expert knowledge about vehicle suspensions. Experimental results are presented and discussed via extensive time and frequency responses. Classical fuzzy logic controller is also utilized for comparison. Time responses of sprung mass displacements and accelerations, suspension deflections and actuator forces are compared for passive system and active controllers. Finally, the frequency responses of sprung mass displacements and accelerations are also compared. From the results it is deduced that the multiple-input single-output fuzzy logic controller performed well when compared with passive and classical fuzzy logic controlled systems

Fuzzy Sliding-Mode Control of Active Suspensions

In this paper, a robust fuzzy sliding-mode controller for active suspensions of a nonlinear half-car model is introduced. First, a nonchattering sliding-mode control is presented. Then, this control method is combined with a single-input-single-output fuzzy logic controller to improve its performance. The negative value of the ratio between the derivative of error and error is the input and the slope constant of the sliding surface of the nonchattering sliding-mode controller is the output of the fuzzy logic controller. Afterwards, a four-degree-of-freedom nonlinear half-car model, which allows wheel hops and includes a suspension system with nonlinear spring and piecewise linear damper with dry friction, is presented. The designed controllers are applied to this model in order to evaluate their performances. It has been shown that the designed controller does not cause any problem in suspension working limits. The robustness of the proposed controller is also investigated for different vehicle parameters. The results indicate the success of the proposed fuzzy sliding-mode controller

Control of a Biomimetic Robot Hand Finger: Classical, Robust, and Intelligent Approaches

Due to the dexterous manipulation capability and low metabolic energy consumption property of the human hand, many robotic hands were designed and manufactured that are inspired from the human hand. One of the technical challenges in designing biomimetic robot hands is the control scheme. The control algorithm used in a robot hand is expected to ensure the tracking of reference trajectories of fingertips and joint angles with high accuracy, reliability, and smoothness. In this chapter, trajectory-tracking performances of different types of widely used control strategies (i.e. classical, robust, and intelligent controllers) are comparatively evaluated. To accomplish this evaluation, PID, sliding mode, and fuzzy logic controllers are implemented on a biomimetic robot hand finger model and simulation results are quantitatively analyzed. Pros and cons of the corresponding control algorithms are also discussed

HEALTH MONITORING OF SINGLE LAP JOINT OF WOVEN GLASS FIBRE REINFORCED EPOXY COMPOSITES MODIFIED WITH MWCNTs

In this study, in situ monitoring of single lap joint of woven glass fabric reinforced epoxy composites modified with multi-walled carbon nanotubes (MWCNTs) is presented. Woven glass fibre reinforced/epoxy composite plates modified with 3% wt. highly electrically conductive MWCNTs were manufactured by hand lay-up process for obtaining adherends. MWCNTs were used in 1% and 2% by weight in order to investigate the effect of the MWCNTs level on the shear lap joint strength and the self-sensing sensitivity of bonded area. One, four, and seven plies of adhesive woven cloths were employed for bonding adherends to examine the thickness effect on both the shear lap joint strength and the self-sensing sensitivity of bonded area. In order to provide low electrical contact resistance, woven carbon fibres were placed on the top and bottom of the glass fibre layer during production. Results indicate that the health monitoring of lap joints in the woven glass reinforced epoxy composites can be successfully achieved