Linear control design for guaranteed stability of uncertain linear systems
NASA Technical Reports Server (NTRS)
Yedavalli, R. K.
1986-01-01
In this paper, a linear control design algorithm based on the elemental perturbation bounds developed recently is presented for a simple second order linear uncertain system satisfying matching conditions. The proposed method is compared with Guaranteed Cost Control (GCC), Multistep Guaranteed Cost Control (MGCC) and the Matching Condition (MC) methods and is shown to give guaranteed stability with lesser values for the control gains than some of the existing methods for the example considered.
Controller design approach based on linear programming.
Tanaka, Ryo; Shibasaki, Hiroki; Ogawa, Hiromitsu; Murakami, Takahiro; Ishida, Yoshihisa
2013-11-01
This study explains and demonstrates the design method for a control system with a load disturbance observer. Observer gains are determined by linear programming (LP) in terms of the Routh-Hurwitz stability criterion and the final-value theorem. In addition, the control model has a feedback structure, and feedback gains are determined to be the linear quadratic regulator. The simulation results confirmed that compared with the conventional method, the output estimated by our proposed method converges to a reference input faster when a load disturbance is added to a control system. In addition, we also confirmed the effectiveness of the proposed method by performing an experiment with a DC motor. PMID:23910155
Reaction Wheel Control Design Using Linear Quadratic Controller
NASA Astrophysics Data System (ADS)
Nubli Muhamad, Nur; Susanto, Erwin; Syihabuddin, Budi; Prasetya Dwi Wibawa, Ig.
2016-01-01
This paper studies the design of active attitude control system of a nanosatellite in a single axis. In this paper, we consider dc motor based reaction wheel as an actuator, because of its pointing accuracy. However, the power consumption of the dc motor is often relatively large and needed to be optimized. Linear quadratic controller is supposed to have an ability to minimize power consumption and able to enhance the system performance. To show the advantage of this method, simulation result of attitude response, state trajectory, and trajectory of DC motor voltage are presented.
Powerful tool for design analysis of linear control systems
Maddux, Jr, A S
1982-05-10
The methods for designing linear controls for electronic or mechanical systems have been understood and put to practice. What has not been readily available to engineers, however, is a practical, quick and inexpensive method for analyzing these linear control (feedback) systems once they have been designed into the electronic or mechanical hardware. Now, the PET, manufactured by Commodore Business Machines (CBM), operating with several peripherals via the IEEE 488 Bus, brings to the engineer for about $4000 a complete set of office tools for analyzing these system designs.
Non-Contact Electromagnetic Exciter Design with Linear Control Method
NASA Astrophysics Data System (ADS)
Wang, Lin; Xiong, Xianzhi; Xu, Hua
2016-04-01
A non-contact type force actuator is necessary for studying the dynamic performance of a high-speed spindle system owing to its high-speed operating conditions. A non-contact electromagnetic exciter is designed for identifying the dynamic coefficients of journal bearings in high-speed grinding spindles. A linear force control method is developed based on PID controller. The influence of amplitude and frequency of current, misalignment and rotational speed on magnetic field and excitation force is investigated based on two-dimensional finite element analysis. The electromagnetic excitation force is measured with the auxiliary coils and calibrated by load cells. The design is validated by the experimental results. Theoretical and experimental investigations show that the proposed design can accurately generate linear excitation force with sufficiently large amplitude and higher signal to noise ratio. Moreover, the fluctuations in force amplitude are reduced to a greater extent with the designed linear control method even when the air gap changes due to the rotor vibration at high-speed conditions. Besides, it is possible to apply various types of excitations: constant, synchronous, and non-synchronous excitation forces based on the proposed linear control method. This exciter can be used as linear-force exciting and controlling system for dynamic performance study of different high-speed rotor-bearing systems.
Linearizing Assumptions and Control Design for Spacecraft Formation Flying Maneuvers
NASA Astrophysics Data System (ADS)
Kappagantula, K. C.; Crassidis, J. L.
In this paper the validity of neglecting the relative effect of the gravitational force of the Earth on a formation of spacecraft is studied. This relative effect is treated as an unknown disturbance acting on the system and all control laws are designed using a linear model that neglects this effect. A previously designed simple linear feedback controller is tested under different conditions using the linear model and the full nonlinear model that includes the gravitational force. All tests are carried out in the presence of saturation limits. The results show that the linear controller exhibits oscillations in the transient response and poor robustness under certain conditions. It also exhibits a high saturation tendency, thereby leading to increased fuel consumption. This controller also causes a high rise in the velocity errors at ordinary values of the gains. Based on the behavior of this controller, new controllers are proposed that overcome these drawbacks without any need for modifying the gains. The controllers, when tested under saturation limits exhibit high robustness characteristics due to their low saturation tendency and nearly eliminate oscillations in the transient response. Since these controllers operate under low control forces for a greater duration of the maneuver, they reduce the fuel required for the process. Simulation results are provided to show the effectiveness of these new controllers.
Linear tracking systems with applications to aircraft control system design
NASA Technical Reports Server (NTRS)
Lee, W. H.; Athans, M.; Castanon, D.; Bacchioloni, F.
1977-01-01
A class of optimal linear time invariant tracking systems, both in continuous time and discrete time, of which the number of inputs (which are restricted to be step functions) is equal to the number of system outputs, is studied. Along with derivation of equations and design procedures, two discretization schemes are presented, constraining either the control or its time derivative, to be a constant over each sampling period. Descriptions are given for the linearized model of the F-8C aircraft longitudinal dynamics, and the C* handling qualities criterion, which then serve as an illustration of the applications of these linear tracking designs. A suboptimal reduced state design is also presented. Numerical results are given for both the continuous time and discrete time designs.
Analysis of integral controls in linear quadratic regulator design
NASA Technical Reports Server (NTRS)
Slater, G. L.
1979-01-01
The application of linear optimal control to the design of systems with integral control action on specified outputs is considered. Using integral terms in a quadratic performance index, an asymptotic analysis is used to determine the effect of variable quadratic weights on the eigenvalues and eigenvectors of the closed loop system. It is shown that for small integral terms the placement of integrator poles and gain calculation can be effectively decoupled from placement of the primary system eigenvalues. This technique is applied to the design of integral controls for a STOL aircraft outer loop guidance system.
Design and performance of the Stanford Linear Collider Control System
Melen, R.E.
1984-10-01
The success of the Stanford Linear Collider (SLC) will be dependent upon the implementation of a very large advanced computer-based instrumentation and control system. This paper describes the architectural design of this system as well as a critique of its performance. This critique is based on experience obtained from its use in the control and monitoring of 1/3 of the SLAC linac and in support of an expensive experimental machine physics experimental program. 11 references, 3 figures.
A decentralized linear quadratic control design method for flexible structures
NASA Technical Reports Server (NTRS)
Su, Tzu-Jeng; Craig, Roy R., Jr.
1990-01-01
A decentralized suboptimal linear quadratic control design procedure which combines substructural synthesis, model reduction, decentralized control design, subcontroller synthesis, and controller reduction is proposed for the design of reduced-order controllers for flexible structures. The procedure starts with a definition of the continuum structure to be controlled. An evaluation model of finite dimension is obtained by the finite element method. Then, the finite element model is decomposed into several substructures by using a natural decomposition called substructuring decomposition. Each substructure, at this point, still has too large a dimension and must be reduced to a size that is Riccati-solvable. Model reduction of each substructure can be performed by using any existing model reduction method, e.g., modal truncation, balanced reduction, Krylov model reduction, or mixed-mode method. Then, based on the reduced substructure model, a subcontroller is designed by an LQ optimal control method for each substructure independently. After all subcontrollers are designed, a controller synthesis method called substructural controller synthesis is employed to synthesize all subcontrollers into a global controller. The assembling scheme used is the same as that employed for the structure matrices. Finally, a controller reduction scheme, called the equivalent impulse response energy controller (EIREC) reduction algorithm, is used to reduce the global controller to a reasonable size for implementation. The EIREC reduced controller preserves the impulse response energy of the full-order controller and has the property of matching low-frequency moments and low-frequency power moments. An advantage of the substructural controller synthesis method is that it relieves the computational burden associated with dimensionality. Besides that, the SCS design scheme is also a highly adaptable controller synthesis method for structures with varying configuration, or varying mass
PID controller design for trailer suspension based on linear model
NASA Astrophysics Data System (ADS)
Kushairi, S.; Omar, A. R.; Schmidt, R.; Isa, A. A. Mat; Hudha, K.; Azizan, M. A.
2015-05-01
A quarter of an active trailer suspension system having the characteristics of a double wishbone type was modeled as a complex multi-body dynamic system in MSC.ADAMS. Due to the complexity of the model, a linearized version is considered in this paper. A model reduction technique is applied to the linear model, resulting in a reduced-order model. Based on this simplified model, a Proportional-Integral-Derivative (PID) controller was designed in MATLAB/Simulink environment; primarily to reduce excessive roll motions and thus improving the ride comfort. Simulation results show that the output signal closely imitates the input signal in multiple cases - demonstrating the effectiveness of the controller.
Control design for robust stability in linear regulators: Application to aerospace flight control
NASA Technical Reports Server (NTRS)
Yedavalli, R. K.
1986-01-01
Time domain stability robustness analysis and design for linear multivariable uncertain systems with bounded uncertainties is the central theme of the research. After reviewing the recently developed upper bounds on the linear elemental (structured), time varying perturbation of an asymptotically stable linear time invariant regulator, it is shown that it is possible to further improve these bounds by employing state transformations. Then introducing a quantitative measure called the stability robustness index, a state feedback conrol design algorithm is presented for a general linear regulator problem and then specialized to the case of modal systems as well as matched systems. The extension of the algorithm to stochastic systems with Kalman filter as the state estimator is presented. Finally an algorithm for robust dynamic compensator design is presented using Parameter Optimization (PO) procedure. Applications in a aircraft control and flexible structure control are presented along with a comparison with other existing methods.
Multi Objective Controller Design for Linear System via Optimal Interpolation
NASA Technical Reports Server (NTRS)
Ozbay, Hitay
1996-01-01
We propose a methodology for the design of a controller which satisfies a set of closed-loop objectives simultaneously. The set of objectives consists of: (1) pole placement, (2) decoupled command tracking of step inputs at steady-state, and (3) minimization of step response transients with respect to envelope specifications. We first obtain a characterization of all controllers placing the closed-loop poles in a prescribed region of the complex plane. In this characterization, the free parameter matrix Q(s) is to be determined to attain objectives (2) and (3). Objective (2) is expressed as determining a Pareto optimal solution to a vector valued optimization problem. The solution of this problem is obtained by transforming it to a scalar convex optimization problem. This solution determines Q(O) and the remaining freedom in choosing Q(s) is used to satisfy objective (3). We write Q(s) = (l/v(s))bar-Q(s) for a prescribed polynomial v(s). Bar-Q(s) is a polynomial matrix which is arbitrary except that Q(O) and the order of bar-Q(s) are fixed. Obeying these constraints bar-Q(s) is now to be 'shaped' to minimize the step response characteristics of specific input/output pairs according to the maximum envelope violations. This problem is expressed as a vector valued optimization problem using the concept of Pareto optimality. We then investigate a scalar optimization problem associated with this vector valued problem and show that it is convex. The organization of the report is as follows. The next section includes some definitions and preliminary lemmas. We then give the problem statement which is followed by a section including a detailed development of the design procedure. We then consider an aircraft control example. The last section gives some concluding remarks. The Appendix includes the proofs of technical lemmas, printouts of computer programs, and figures.
Nonlinearity measure and internal model control based linearization in anti-windup design
Perev, Kamen
2013-12-18
This paper considers the problem of internal model control based linearization in anti-windup design. The nonlinearity measure concept is used for quantifying the control system degree of nonlinearity. The linearizing effect of a modified internal model control structure is presented by comparing the nonlinearity measures of the open-loop and closed-loop systems. It is shown that the linearization properties are improved by increasing the control system local feedback gain. However, it is emphasized that at the same time the stability of the system deteriorates. The conflicting goals of stability and linearization are resolved by solving the design problem in different frequency ranges.
A linear quality control design for high efficient wavelet-based ECG data compression.
Hung, King-Chu; Tsai, Chin-Feng; Ku, Cheng-Tung; Wang, Huan-Sheng
2009-05-01
In ECG data compression, maintaining reconstructed signal with desired quality is crucial for clinical application. In this paper, a linear quality control design based on the reversible round-off non-recursive discrete periodized wavelet transform (RRO-NRDPWT) is proposed for high efficient ECG data compression. With the advantages of error propagation resistance and octave coefficient normalization, RRO-NRDPWT enables the non-linear quantization control to obtain an approximately linear distortion by using a single control variable. Based on the linear programming, a linear quantization scale prediction model is presented for the quality control of reconstructed ECG signal. Following the use of the MIT-BIH arrhythmia database, the experimental results show that the proposed system, with lower computational complexity, can obtain much better quality control performance than that of other wavelet-based systems. PMID:19070935
NASA Technical Reports Server (NTRS)
Jamison, J. W.
1994-01-01
CFORM was developed by the Kennedy Space Center Robotics Lab to assist in linear control system design and analysis using closed form and transient response mechanisms. The program computes the closed form solution and transient response of a linear (constant coefficient) differential equation. CFORM allows a choice of three input functions: the Unit Step (a unit change in displacement); the Ramp function (step velocity); and the Parabolic function (step acceleration). It is only accurate in cases where the differential equation has distinct roots, and does not handle the case for roots at the origin (s=0). Initial conditions must be zero. Differential equations may be input to CFORM in two forms - polynomial and product of factors. In some linear control analyses, it may be more appropriate to use a related program, Linear Control System Design and Analysis (KSC-11376), which uses root locus and frequency response methods. CFORM was written in VAX FORTRAN for a VAX 11/780 under VAX VMS 4.7. It has a central memory requirement of 30K. CFORM was developed in 1987.
NASA Astrophysics Data System (ADS)
Theodore, Zachary B.
A robust proportional-integral (PI) controller was synthesized for the F-16 VISTA (Variable stability In-flight Simulator Test Aircraft) using a linear matrix inequality (LMI) approach, with the goal of eventually designing and implementing a linear parameter-varying PI controller on high performance aircraft. The combination of classical and modern control theory provides theoretically guaranteed stability and performance throughout the flight envelope and ease of implementation due to the simplicity of the PI controller structure. The controller is designed by solving a set of LMIs with pole placement constraints. This closed-loop system was simulated in MATLAB/Simulink to analyze the performance of the controller. A robust Hinfinity controller was also developed to compare performance with PI controller. The simulation results showed stability, albeit with poor performance compared to the Hinfinity controlle.
Designing linear systolic arrays
Kumar, V.K.P.; Tsai, Y.C. . Dept. of Electrical Engineering)
1989-12-01
The authors develop a simple mapping technique to design linear systolic arrays. The basic idea of the technique is to map the computations of a certain class of two-dimensional systolic arrays onto one-dimensional arrays. Using this technique, systolic algorithms are derived for problems such as matrix multiplication and transitive closure on linearly connected arrays of PEs with constant I/O bandwidth. Compared to known designs in the literature, the technique leads to modular systolic arrays with constant hardware in each PE, few control lines, lexicographic data input/output, and improved delay time. The unidirectional flow of control and data in this design assures implementation of the linear array in the known fault models of wafer scale integration.
Central suboptimal H ∞ controller design for linear time-varying systems with unknown parameters
NASA Astrophysics Data System (ADS)
Basin, Michael V.; Soto, Pedro; Calderon-Alvarez, Dario
2011-05-01
This article presents the central finite-dimensional H ∞ controller for linear time-varying systems with unknown parameters, that is suboptimal for a given threshold γ with respect to a modified Bolza-Meyer quadratic criterion including the attenuation control term with the opposite sign. In contrast to the previously obtained results, this article reduces the original H ∞ controller problem to the corresponding H 2 controller problem, using the technique proposed in Doyle et al. [Doyle, J.C., Glover, K., Khargonekar, P.P., and Francis, B.A. (1989), 'State-space Solutions to Standard H 2 and H Infinity Control Problems', IEEE Transactions Automatic Control, 34, 831-847]. This article yields the central suboptimal H ∞ controller for linear systems with unknown parameters in a closed finite-dimensional form, based on the corresponding H 2 controller obtained in Basin and Calderon-Alvarez [Basin, M.V., and Calderon-Alvarez, D. (2008), 'Optimal LQG Controller for Linear Systems with Unknown Parameters', Journal of The Franklin Institute, 345, 293-302]. Numerical simulations are conducted to verify performance of the designed central suboptimal controller for uncertain linear systems with unknown parameters against the conventional central suboptimal H ∞ controller for linear systems with exactly known parameter values.
ORACLS: A system for linear-quadratic-Gaussian control law design
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1978-01-01
A modern control theory design package (ORACLS) for constructing controllers and optimal filters for systems modeled by linear time-invariant differential or difference equations is described. Numerical linear-algebra procedures are used to implement the linear-quadratic-Gaussian (LQG) methodology of modern control theory. Algorithms are included for computing eigensystems of real matrices, the relative stability of a matrix, factored forms for nonnegative definite matrices, the solutions and least squares approximations to the solutions of certain linear matrix algebraic equations, the controllability properties of a linear time-invariant system, and the steady state covariance matrix of an open-loop stable system forced by white noise. Subroutines are provided for solving both the continuous and discrete optimal linear regulator problems with noise free measurements and the sampled-data optimal linear regulator problem. For measurement noise, duality theory and the optimal regulator algorithms are used to solve the continuous and discrete Kalman-Bucy filter problems. Subroutines are also included which give control laws causing the output of a system to track the output of a prescribed model.
Prompt critical control of the ACRR using a linear quadratic regulator design
NASA Astrophysics Data System (ADS)
Gilkey, Jeffrey C.
1993-01-01
This paper describes the application of ``Modern Control'' design techniques to the problem of nuclear reactor control. The control algorithm consists of generating a nominal trajectory within the control authority of the reactor rod drives, and then following this trajectory with a gain scheduled linear quadratic regulator (LQR). A controller based on this algorithm has generated power pulses up to 100 mW on Sandia's Annular Core Research Reactor (ACRR). Prompt critical control at 1.02 net reactivity and at start-up rates over 350 decades per minute (DPM) has also been demonstrated using this controller.
NASA Technical Reports Server (NTRS)
Turso, James A.; Litt, Jonathan S.
2004-01-01
A method for accommodating engine deterioration via a scheduled Linear Parameter Varying Quadratic Lyapunov Function (LPVQLF)-Based controller is presented. The LPVQLF design methodology provides a means for developing unconditionally stable, robust control of Linear Parameter Varying (LPV) systems. The controller is scheduled on the Engine Deterioration Index, a function of estimated parameters that relate to engine health, and is computed using a multilayer feedforward neural network. Acceptable thrust response and tight control of exhaust gas temperature (EGT) is accomplished by adjusting the performance weights on these parameters for different levels of engine degradation. Nonlinear simulations demonstrate that the controller achieves specified performance objectives while being robust to engine deterioration as well as engine-to-engine variations.
On stochastic control system design methods for weakly coupled large scale linear systems.
NASA Technical Reports Server (NTRS)
Kwong, R.; Chong, C.-Y.; Athans, M.
1972-01-01
This paper considers the problem of decentralized control of two weakly coupled linear stochastic systems, using quadratic performance indices. The basic idea is to have each controller control independently his own system, based upon noisy measurements of his own output. To compensate for the effects of weak coupling upon the resultant performance, fake white plant noise is introduced to each system. The appropriate intensity of the fake plant noise is obtained through the solution of an off-line deterministic matrix optimal control problem. The effects of this design method upon the overall coupled system performance are analyzed as a function of the degree of intersystem coupling.
Hand, M. M.
1999-07-30
Variable-speed, horizontal axis wind turbines use blade-pitch control to meet specified objectives for three regions of operation. This paper focuses on controller design for the constant power production regime. A simple, rigid, non-linear turbine model was used to systematically perform trade-off studies between two performance metrics. Minimization of both the deviation of the rotor speed from the desired speed and the motion of the actuator is desired. The robust nature of the proportional-integral-derivative (PID) controller is illustrated, and optimal operating conditions are determined. Because numerous simulation runs may be completed in a short time, the relationship of the two opposing metrics is easily visualized. Traditional controller design generally consists of linearizing a model about an operating point. This step was taken for two different operating points, and the systematic design approach was used. A comparison of the optimal regions selected using the n on-linear model and the two linear models shows similarities. The linearization point selection does, however, affect the turbine performance slightly. Exploitation of the simplicity of the model allows surfaces consisting of operation under a wide range of gain values to be created. This methodology provides a means of visually observing turbine performance based upon the two metrics chosen for this study. Design of a PID controller is simplified, and it is possible to ascertain the best possible combination of controller parameters. The wide, flat surfaces indicate that a PID controller is very robust in this variable-speed wind turbine application.
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1975-01-01
A digital computer program (ORACLS) for implementing the optimal regulator theory approach to the design of controllers for linear time-invariant systems is described. The user-oriented program employs the latest numerical techniques and is applicable to both the digital and continuous control problems.
Controlling the wave propagation through the medium designed by linear coordinate transformation
NASA Astrophysics Data System (ADS)
Wu, Yicheng; He, Chengdong; Wang, Yuzhuo; Liu, Xuan; Zhou, Jing
2015-01-01
Based on the principle of transformation optics, we propose to control the wave propagating direction through the homogenous anisotropic medium designed by linear coordinate transformation. The material parameters of the medium are derived from the linear coordinate transformation applied. Keeping the space area unchanged during the linear transformation, the polarization-dependent wave control through a non-magnetic homogeneous medium can be realized. Beam benders, polarization splitter, and object illusion devices are designed, which have application prospects in micro-optics and nano-optics. The simulation results demonstrate the feasibilities and the flexibilities of the method and the properties of these devices. Design details and full-wave simulation results are provided. The work in this paper comprehensively applies the fundamental theories of electromagnetism and mathematics. The method of obtaining a new solution of the Maxwell equations in a medium from a vacuum plane wave solution and a linear coordinate transformation is introduced. These have a pedagogical value and are methodologically and motivationally appropriate for physics students and teachers at the undergraduate and graduate levels.
An iterative approach to the optimal co-design of linear control systems
NASA Astrophysics Data System (ADS)
Jiang, Yu; Wang, Yebin; Bortoff, Scott A.; Jiang, Zhong-Ping
2016-04-01
This paper investigates the optimal co-design of both physical plants and control policies for a class of continuous-time linear control systems. The optimal co-design of a specific linear control system is commonly formulated as a nonlinear non-convex optimisation problem (NNOP), and solved by using iterative techniques, where the plant parameters and the control policy are updated iteratively and alternately. This paper proposes a novel iterative approach to solve the NNOP, where the plant parameters are updated by solving a standard semi-definite programming problem, with non-convexity no longer involved. The proposed system design is generally less conservative in terms of the system performance compared to the conventional system-equivalence-based design, albeit the range of applicability is slightly reduced. A practical optimisation algorithm is proposed to compute a sub-optimal solution ensuring the system stability, and the convergence of the algorithm is established. The effectiveness of the proposed algorithm is illustrated by its application to the optimal co-design of a physical load positioning system.
Cao, Mengjuan; Liao, Fucheng
2014-01-01
The linear discrete-time descriptor noncausal multirate system is considered for the presentation of a new design approach for optimal preview control. First, according to the characteristics of causal controllability and causal observability, the descriptor noncausal system is constructed into a descriptor causal closed-loop system. Second, by using the characteristics of the causal system and elementary transformation, the descriptor causal closed-loop system is transformed into a normal system. Then, taking advantage of the discrete lifting technique, the normal multirate system is converted to a single-rate system. By making use of the standard preview control method, we construct the descriptor augmented error system. The quadratic performance index for the multirate system is given, which can be changed into one for the single-rate system. In addition, a new single-rate system is obtained, the optimal control law of which is given. Returning to the original system, the optimal preview controller for linear discrete-time descriptor noncausal multirate systems is derived. The stabilizability and detectability of the lifted single-rate system are discussed in detail. The optimal preview control design techniques are illustrated by simulation results for a simple example. PMID:24592202
NASA Technical Reports Server (NTRS)
Joshi, S. M.; Groom, N. J.
1979-01-01
The paper presents several approaches for the design of reduced order controllers for large space structures. These approaches are shown to be based on LQG control theory and include truncation, modified truncation regulators and estimators, use of higher order estimators, selective modal suppression, and use of polynomial estimators. Further, the use of direct sensor feedback, as opposed to a state estimator, is investigated for some of these approaches. Finally, numerical results are given for a long free beam.
Output-feedback sampled-data control design for linear parameter-varying systems with delay
NASA Astrophysics Data System (ADS)
Ramezanifar, Amin; Mohammadpour, Javad; Grigoriadis, Karolos M.
2014-12-01
In this paper, we address the sampled-data output-feedback control design problem for continuous-time linear parameter-varying systems with time-varying delay in the system states. Due to the combination of the plant's continuous-time dynamics and the controller's discrete-time dynamics connected through A/D and D/A converter devices, the closed-loop system is a hybrid system. In order to analyse this hybrid system from stability and performance perspectives we use the input-delay approach to map the closed-loop system into the continuous-time domain with delay in the states. This results in a closed-loop system containing two types of delays, the system internal delay and the one imposed by the mapping. Next, we use delay-dependent conditions for analysis of stability and ?-norm performance which result in a sampled-data control synthesis procedure. The proposed output-feedback sampled-data controller is obtained based on the solution to a linear matrix inequality optimisation problem using a set of appropriately defined slack variables. A numerical example of a milling machine is presented to demonstrate the viability of the proposed sampled-data control design method to satisfy the stability and performance objectives even with a varying sampling rate.
Dual-Position-Controller Design for the Linear-Motor-Driven Motion System
NASA Astrophysics Data System (ADS)
Huang, Yuan-Yong; Horng, Rong-Hwang; Shih, Yi-Ti; Lee, An-Chen
This work develops a dual-controller composed of a macroscopic controller (MAC) and a microscopic controller (MIC) for improving motion precision of a linear-motor-driven motion system. Based on the macroscopic model in which Coulomb friction model is considered, the MAC is designed. In the presliding region however, the MIC design is based on the lineralized microscopic model. Furthermore, a switching algorithm is developed for bumpless transfer in shifting control action between two controllers. Thus, when the table of motion stage moves to the desired position, the control action can be smoothly switched from the MAC to the MIC. The whole system with the proposed dual-controller has the advantage that it serves as a long stroke (coarse stage) and a short stroke (fine stage) to achieve high precision motion control. The experimental results reveal that it totally takes 2.59 seconds to reach the 1000μm target position with the accuracy of one BLU (basic length unit; sensor resolution), 20nm the result has over 29% improvement when compared with the result using single MAC. In addition, good nanometer-scale tracking performance with the accuracy of one BLU, 20nm, can be obtained by using the MIC.
Linear control of a boiler-turbine unit: analysis and design.
Tan, Wen; Fang, Fang; Tian, Liang; Fu, Caifen; Liu, Jizhen
2008-04-01
Linear control of a boiler-turbine unit is discussed in this paper. Based on the nonlinear model of the unit, this paper analyzes the nonlinearity of the unit, and selects the appropriate operating points so that the linear controller can achieve wide-range performance. Simulation and experimental results at the No. 4 Unit at the Dalate Power Plant show that the linear controller can achieve the desired performance under a specific range of load variations. PMID:18280475
NASA Astrophysics Data System (ADS)
Maboodi, Mohsen; Camacho, Eduardo F.; Khaki-Sedigh, Ali
2015-10-01
This paper presents a non-linear generalised minimum variance (NGMV) controller for a second-order Volterra series model with a general linear additive disturbance. The Volterra series models provide a natural extension of a linear convolution model with the nonlinearity considered in an additive term. The design procedure is entirely carried out in the state space framework, which facilitates the application of other analysis and design methods in this framework. First, the non-linear minimum variance (NMV) controller is introduced and then by changing the cost function, NGMV controller is defined as an extended version of the linear cases. The cost function is used in the simplest form and can be easily extended to the general case. Simulation results show the effectiveness of the proposed non-linear method.
Lemaire, Edward D; Samadi, Reza; Goudreau, Louis; Kofman, Jonathan
2013-01-01
A linear piston hydraulic angular-velocity-based control knee joint was designed for people with knee-extensor weakness to engage knee-flexion resistance when knee-flexion angular velocity reaches a preset threshold, such as during a stumble, but to otherwise allow free knee motion. During mechanical testing at the lowest angular-velocity threshold, the device engaged within 2 degrees knee flexion and resisted moment loads of over 150 Nm. The device completed 400,000 loading cycles without mechanical failure or wear that would affect function. Gait patterns of nondisabled participants were similar to normal at walking speeds that produced below-threshold knee angular velocities. Fast walking speeds, employed purposely to attain the angular-velocity threshold and cause knee-flexion resistance, reduced maximum knee flexion by approximately 25 degrees but did not lead to unsafe gait patterns in foot ground clearance during swing. In knee collapse tests, the device successfully engaged knee-flexion resistance and stopped knee flexion with peak knee moments of up to 235.6 Nm. The outcomes from this study support the potential for the linear piston hydraulic knee joint in knee and knee-ankle-foot orthoses for people with lower-limb weakness. PMID:23516082
NASA Technical Reports Server (NTRS)
Mattern, Duane; Ouzts, Peter
1991-01-01
The implementation of multi-variable control systems on turbofan engines requires the use of limit protection to maintain safe engine operation. Since a turbofan engine typically encounters limits during transient operation, the use of a limit protection scheme that modifies the feedback loop may void the desired 'guarantees' associated with linear multi-variable control design methods, necessitating considerable simulation to validate the control with limited protection. An alternative control design structure is proposed that maintains the desired linear feedback properties when certain safety limits are encountered by moving the limit protection scheme outside the feedback loop. This proposed structure is compared to a structure with a limit protection scheme that modifies the feedback loop properties. The two design structures are compared using both linear and nonlinear simulations. The evaluation emphasizes responses where the fan surge margin limit is encountered.
NASA Technical Reports Server (NTRS)
Mattern, Duane; Ouzts, Peter
1991-01-01
The implementation of multi-variable control systems on turbofan engines requires the use of limit protection to maintain safe engine operation. Since a turbofan engine typically encounters limits during transient operation, the use of a limit protection scheme that modifies the feedback loop may void the desired 'guarantees' associated with linear multi-variable control design methods, necessitating considerable simulation to validate the control with limit protection. An alternative control design structure is proposed that maintains the desired linear feedback properties when certain safety limits are encountered by moving the limit protection scheme outside of the feedback loop. This proposed structure is compared to a structure with a limit protection scheme that modifies the feedback loop properties. The two design structures are compared using both linear and nonlinear simulations. The evaluation emphasizes responses where the fan surge margin limit is encountered.
NASA Technical Reports Server (NTRS)
Slater, G. L.; Shelley, Stuart; Jacobson, Mark
1993-01-01
In this paper, the design, analysis, and test of a low cost, linear proof mass actuator for vibration control is presented. The actuator is based on a linear induction coil from a large computer disk drive. Such disk drives are readily available and provide the linear actuator, current feedback amplifier, and power supply for a highly effective, yet inexpensive, experimental laboratory actuator. The device is implemented as a force command input system, and the performance is virtually the same as other, more sophisticated, linear proof mass systems.
NASA Astrophysics Data System (ADS)
Weng, Falu; Mao, Weijie
2012-03-01
The problem of robust active vibration control for a class of electro-hydraulic actuated structural systems with time-delay in the control input channel and parameter uncertainties appearing in all the mass, damping and stiffness matrices is investigated in this paper. First, by introducing a linear varying parameter, the nonlinear system is described as a linear parameter varying (LPV) model. Second, based on this LPV model, an LMI-based condition for the system to be asymptotically stabilized is deduced. By solving these LMIs, a parameter-dependent controller is established for the closedloop system to be stable with a prescribed level of disturbance attenuation. The condition is also extended to the uncertain case. Finally, some numerical simulations demonstrate the satisfying performance of the proposed controller.
Designing reduced-order linear multivariable controllers using experimentally derived plant data
NASA Technical Reports Server (NTRS)
Frazier, W. G.; Irwin, R. D.
1993-01-01
An iterative numerical algorithm for simultaneously improving multiple performance and stability robustness criteria for multivariable feedback systems is developed. The unsatisfied design criteria are improved by updating the free parameters of an initial, stabilizing controller's state-space matrices. Analytical expressions for the gradients of the design criteria are employed to determine a parameter correction that improves all of the feasible, unsatisfied design criteria at each iteration. A controller design is performed using the algorithm with experimentally derived data from a large space structure test facility. Experimental results of the controller's performance at the facility are presented.
NASA Astrophysics Data System (ADS)
Kim, C. H.; Park, H. J.; Lee, J.; Lee, H. W.; Lee, K. D.
2015-05-01
This paper develops a discrete optimal control based on the multi-rate observer method for electromagnetic suspension systems in order to levitate the vehicle, maintaining the desired gap. The proposed multi-rate compensator consists of two parts which are the discrete Kalman filter and the optimal control law. The Kalman filter estimates all states with fast sampling rate time, using a slowly measured output from the gap sensor. The optimal control law is determined by linear matrix inequality optimization for the discrete time multiple input system obtained by the lifting operator. The proposed multi-rate controller has the advantages to guarantee the stability of the slow-rate optimal control and maintain the performance of fast-rate control. The simulation and experiment show the effectiveness of the proposed control method.
AESOP: A computer-aided design program for linear multivariable control systems
NASA Technical Reports Server (NTRS)
Lehtinen, B.; Geyser, L. C.
1982-01-01
An interactive computer program (AESOP) which solves quadratic optimal control and is discussed. The program can also be used to perform system analysis calculations such as transient and frequency responses, controllability, observability, etc., in support of the control and filter design computations.
NASA Technical Reports Server (NTRS)
Yedavalli, R. K.
1992-01-01
The aspect of controller design for improving the ride quality of aircraft in terms of damping ratio and natural frequency specifications on the short period dynamics is addressed. The controller is designed to be robust with respect to uncertainties in the real parameters of the control design model such as uncertainties in the dimensional stability derivatives, imperfections in actuator/sensor locations and possibly variations in flight conditions, etc. The design is based on a new robust root clustering theory developed by the author by extending the nominal root clustering theory of Gutman and Jury to perturbed matrices. The proposed methodology allows to get an explicit relationship between the parameters of the root clustering region and the uncertainty radius of the parameter space. The current literature available for robust stability becomes a special case of this unified theory. The bounds derived on the parameter perturbation for robust root clustering are then used in selecting the robust controller.
Output feedback non-linear decoupled control synthesis and observer design for manoeuvring aircraft
NASA Technical Reports Server (NTRS)
Singh, S. N.; Schy, A. A.
1980-01-01
A study of the applicability of nonlinear decoupling theory to the design of control systems using output feedback for maneuvering aircraft is presented. The response variables chosen for decoupled control were angular velocity components along roll, pitch, and yaw axes, angle of attack (p), and angle of sideslip, using aileron, rudder, and elevator controls. An observer design for a class of nonlinear systems was presented and this method was used to estimate angle of attack and sideslip; an approximate observer was obtained by neglecting derivatives of p and aileron deflection angles and it was used in a simulation study. A simulation study showed that precise rapid combined lateral and longitudinal maneuvers can be performed; it was also demonstrated that a bank-angle-command outer loop could be designed for precise bank angles changes and simultaneous large lift maneuvers.
NASA Technical Reports Server (NTRS)
Sain, M. K.; Antsaklis, P. J.; Gejji, R. R.; Wyman, B. F.; Peczkowski, J. L.
1981-01-01
Zames (1981) has observed that there is, in general, no 'separation principle' to guarantee optimality of a division between control law design and filtering of plant uncertainty. Peczkowski and Sain (1978) have solved a model matching problem using transfer functions. Taking into consideration this investigation, Peczkowski et al. (1979) proposed the Total Synthesis Problem (TSP), wherein both the command/output-response and command/control-response are to be synthesized, subject to the plant constraint. The TSP concept can be subdivided into a Nominal Design Problem (NDP), which is not dependent upon specific controller structures, and a Feedback Synthesis Problem (FSP), which is. Gejji (1980) found that NDP was characterized in terms of the plant structural matrices and a single, 'good' transfer function matrix. Sain et al. (1981) have extended this NDP work. The present investigation is concerned with a study of FSP for the unity feedback case. NDP, together with feedback synthesis, is understood as a Total Synthesis Problem.
NASA Astrophysics Data System (ADS)
Urushihara, Shiro; Kamano, Takuya; Yura, Satoshi; Yasuno, Takashi; Suzuki, Takayuki
One of fundamental problems in the factory automation is how to obtain linear motion. Linear motors produce directly the linear motion force without a motion-transform mechanism. Linear d.c. motors (LDMs) have excellent performance and controllability. However, the dynamics of small-sized LDMs is adversely affected by the dead-band due to the friction between brushes and commutators. In this paper, it is described that the design of the two-degree-of-freedom positioning system with a LDM using model reference type sliding mode controller (SMC). The proposed positioning system consists of a fixed gain feedforward controller and a SMC used as a feedback controller. The objective of the SMC is to repress the influence of nonlinear characteristics (the dead-band and parameter variations etc.). The tracking performance can be improved as the fixed gain feedforward controller makes a dynamic inverse system in the feedforward path. The effectiveness of the proposed system for improvement of the tracking performance is demonstrated by experimental results.
[Log-linear model used in the hybrid design of case-parents triad/control-mother dyad].
Peng, W J; Zhang, H; Li, Y X; Li, C Y; Yan, W R
2016-06-01
This study introduced the application of a log-linear model in the hybrid design of case-parents triad/control-mother dyad. Data related to the association between cleft lip with palate (CLP) and methylenetetrahydrofolate reductase (MTHFR) gene A1298C diversity was analyzed. Log-linear model based on likelihood ratio tests (LRTs) was used to analyze the relationships between mother, offspring genotypes and CLP. Data from our study noticed that children of mothers carrying the CC genotype presented a lower risk of CLP, comparing with the children of mothers carrying the AA genotype, with S2=0.45 (95%CI: 0.26-0.79). Offspring that carrying the AC genotype presented a lower risk of CLP, comparing with the offspring that carrying the AA genotype, with R1=0.69 (95% CI: 0.48-0.97). However, no other types of relationships were found. The power of hybrid design was greater than the case-parents study (0.86>0.78). MTHFR A1298C polymorphism seemed to have played an important role in the etiology on both cleft lip and palate. Data from the hybrid design and the log-linear model could help researchers to explore the effects of genotypes from both mothers and the offspring. This study design would present stronger power than the regular case-parents studies thus suitable for studies on the etiology of diseases in early lives, as birth defects. PMID:27346122
NASA Technical Reports Server (NTRS)
Melcher, Kevin J.
1997-01-01
The NASA Lewis Research Center is developing analytical methods and software tools to create a bridge between the controls and computational fluid dynamics (CFD) disciplines. Traditionally, control design engineers have used coarse nonlinear simulations to generate information for the design of new propulsion system controls. However, such traditional methods are not adequate for modeling the propulsion systems of complex, high-speed vehicles like the High Speed Civil Transport. To properly model the relevant flow physics of high-speed propulsion systems, one must use simulations based on CFD methods. Such CFD simulations have become useful tools for engineers that are designing propulsion system components. The analysis techniques and software being developed as part of this effort are an attempt to evolve CFD into a useful tool for control design as well. One major aspect of this research is the generation of linear models from steady-state CFD results. CFD simulations, often used during the design of high-speed inlets, yield high resolution operating point data. Under a NASA grant, the University of Akron has developed analytical techniques and software tools that use these data to generate linear models for control design. The resulting linear models have the same number of states as the original CFD simulation, so they are still very large and computationally cumbersome. Model reduction techniques have been successfully applied to reduce these large linear models by several orders of magnitude without significantly changing the dynamic response. The result is an accurate, easy to use, low-order linear model that takes less time to generate than those generated by traditional means. The development of methods for generating low-order linear models from steady-state CFD is most complete at the one-dimensional level, where software is available to generate models with different kinds of input and output variables. One-dimensional methods have been extended
Simplified Linear Multivariable Control Of Robots
NASA Technical Reports Server (NTRS)
Seraji, Homayoun
1989-01-01
Simplified method developed to design control system that makes joints of robot follow reference trajectories. Generic design includes independent multivariable feedforward and feedback controllers. Feedforward controller based on inverse of linearized model of dynamics of robot and implements control law that contains only proportional and first and second derivatives of reference trajectories with respect to time. Feedback controller, which implements control law of proportional, first-derivative, and integral terms, makes tracking errors converge toward zero as time passes.
Linear decentralized learning control
NASA Technical Reports Server (NTRS)
Lee, Soo C.; Longman, Richard W.; Phan, Minh
1992-01-01
The new field of learning control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of learning control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot with the controller for each link acting independently. The basic result of the paper is to show that stability of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized learning in the coupled system, provided that the sample time in the digital learning controller is sufficiently short.
Manipulator control by exact linearization
NASA Technical Reports Server (NTRS)
Kruetz, K.
1987-01-01
Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, a consequence of rigid link manipulators belonging to the class of natural physical systems, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular. Furthermore, this linearizing feedback is easy to produce.
NASA Astrophysics Data System (ADS)
Li, Zhifu; Hu, Yueming; Li, Di
2016-08-01
For a class of linear discrete-time uncertain systems, a feedback feed-forward iterative learning control (ILC) scheme is proposed, which is comprised of an iterative learning controller and two current iteration feedback controllers. The iterative learning controller is used to improve the performance along the iteration direction and the feedback controllers are used to improve the performance along the time direction. First of all, the uncertain feedback feed-forward ILC system is presented by an uncertain two-dimensional Roesser model system. Then, two robust control schemes are proposed. One can ensure that the feedback feed-forward ILC system is bounded-input bounded-output stable along time direction, and the other can ensure that the feedback feed-forward ILC system is asymptotically stable along time direction. Both schemes can guarantee the system is robust monotonically convergent along the iteration direction. Third, the robust convergent sufficient conditions are given, which contains a linear matrix inequality (LMI). Moreover, the LMI can be used to determine the gain matrix of the feedback feed-forward iterative learning controller. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed schemes.
NASA Astrophysics Data System (ADS)
Kim, Moojong; Kim, Jinyoung; Lee, Moon G.
Recently, in micro/nano fabrication equipments, linear motors are widely used as an actuator to position workpiece, machining tool and measurement head. To control them faster and more precise, the motor should have high actuating force and small force ripple. High actuating force enable us to more workpiece with high acceleration. Eventually, it may provide higher throughput. Force ripple gives detrimental effect on the precision and tracking performance of the equipments. In order to accomplish more precise motion, it is important to make lower the force ripple. Force ripple is categorized into cogging and mutual ripple. First is dependent on the shape of magnets and/or core. The second is not dependent on them but dependent on current commutation. In this work, coreless mover i.e. coil winding is applied to the linear motor to avoid the cogging ripple. Therefore, the mutual ripple is only considered to be minimized. Ideal Halbach magnet array has continuously varying magnetization. The THMA (Halbach magnet array with T shape magnets) is proposed to approximate the ideal one. The THMA can not produce ideal sinusoidal flux, therefore, the linear motor with THMA and sinusoidal commutation of current generates the mutual force ripple. In this paper, in order to compensate mutual force ripple by feedforward(FF) controller, we calculate the optimized commutation of input current. The ripple is lower than 1.17% of actuating force if the commutation current agree with the magnetic flux from THMA. The performance of feedforward(FF) controller is verified by experiment.
Overview of linear collider designs
Siemann, R.H.
1993-04-01
Linear collider design and development have become focused on a center-of-mass energy E{sub CM} = 0.5 TeV and a luminosity L {approximately} 5 {times} 10{sup 33} cm{sup {minus}2}sec{sup {minus}1}. There are diverse approaches to meeting these general objectives. The diversity arises from different judgements about the ease of developing new and improving existing technology, costs, extension to higher energies, experimental backgrounds and center-of-mass energy spectrum, and tolerances and beam power. The parameters of possible colliders are given in this paper. This report will focus on some of the common themes of these designs and the different between them.
Nam, Myeong-Ryong; Hashimoto, Tatsuaki; Ninomiya, Keiken
1994-12-31
Attitude control system for a satellite using a magnetic bearing momentum wheel (MBMW) with gimballing capability involves double control loops: the inner loop to control the wheel`s gimballing to be stable while it is exchanging the angular momentum with the spacecraft main body, and the outer loop for controlling satellite`s attitude. To cope with the magnetic bearing`s nonlinearity in the inner control loop, a sliding-mode controller is proposed. which is usually known to have simple control structure as well as anti-disturbance robustness. In this case, moreover, the sliding mode controller particularly provides the merit to feedback the wheel`s rotational velocity automatically into the gim-balling control. The designed controller`s performance is validated by numerical simulation. Additionally, a simple analytical form of the closed servo loop transfer function of the inner loop, which is necessary for the outer loop design, is proposed based upon numerical simulations on the system response.
NASA Technical Reports Server (NTRS)
Chung, W. W.; Mcneill, W. E.; Stortz, M. W.
1993-01-01
The nonlinear inverse transformation flight control system design method is applied to the Lockheed Ft. Worth Company's E-7D short takeoff and vertical land (STOVL) supersonic fighter/attack aircraft design with a modified General Electric F110 engine which has augmented propulsive lift capability. The system is fully augmented to provide flight path control and velocity control, and rate command attitude hold for angular axes during the transition and hover operations. In cruise mode, the flight control system is configured to provide direct thrust command, rate command attitude hold for pitch and roll axes, and sideslip command with turn coordination. A control selector based on the nonlinear inverse transformation method is designed specifically to be compatible with the propulsion system's physical configuration which has a two dimensional convergent-divergent aft nozzle, a vectorable ventral nozzle, and a thrust augmented ejector. The nonlinear inverse transformation is used to determine the propulsive forces and nozzle deflections, which in combination with the aerodynamic forces and moments (including propulsive induced contributions), and gravitational force, are required to achieve the longitudinal and vertical acceleration commands. The longitudinal control axes are fully decoupled within the propulsion system's performance envelope. A piloted motion-base flight simulation was conducted on the Vertical Motion Simulator (VMS) at NASA Ames Research Center to examine the handling qualities of this design. Based on results of the simulation, refinements to the control system have been made and will also be covered in the report.
Linear control of the flywheel inverted pendulum.
Olivares, Manuel; Albertos, Pedro
2014-09-01
The flywheel inverted pendulum is an underactuated mechanical system with a nonlinear model but admitting a linear approximation around the unstable equilibrium point in the upper position. Although underactuated systems usually require nonlinear controllers, the easy tuning and understanding of linear controllers make them more attractive for designers and final users. In a recent paper, a simple PID controller was proposed by the authors, leading to an internally unstable controlled plant. To achieve global stability, two options are developed here: first by introducing an internal stabilizing controller and second by replacing the PID controller by an observer-based state feedback control. Simulation and experimental results show the effectiveness of the design. PMID:24480638
Design of Linear Quadratic Regulators and Kalman Filters
NASA Technical Reports Server (NTRS)
Lehtinen, B.; Geyser, L.
1986-01-01
AESOP solves problems associated with design of controls and state estimators for linear time-invariant systems. Systems considered are modeled in state-variable form by set of linear differential and algebraic equations with constant coefficients. Two key problems solved by AESOP are linear quadratic regulator (LQR) design problem and steady-state Kalman filter design problem. AESOP is interactive. User solves design problems and analyzes solutions in single interactive session. Both numerical and graphical information available to user during the session.
Linear stochastic optimal control and estimation
NASA Technical Reports Server (NTRS)
Geyser, L. C.; Lehtinen, F. K. B.
1976-01-01
Digital program has been written to solve the LSOCE problem by using a time-domain formulation. LSOCE problem is defined as that of designing controls for linear time-invariant system which is disturbed by white noise in such a way as to minimize quadratic performance index.
Linear stochastic optimal control and estimation problem
NASA Technical Reports Server (NTRS)
Geyser, L. C.; Lehtinen, F. K. B.
1980-01-01
Problem involves design of controls for linear time-invariant system disturbed by white noise. Solution is Kalman filter coupled through set of optimal regulator gains to produce desired control signal. Key to solution is solving matrix Riccati differential equation. LSOCE effectively solves problem for wide range of practical applications. Program is written in FORTRAN IV for batch execution and has been implemented on IBM 360.
Linear Parameter Varying Control for Actuator Failure
NASA Technical Reports Server (NTRS)
Shin, Jong-Yeob; Wu, N. Eva; Belcastro, Christine; Bushnell, Dennis M. (Technical Monitor)
2002-01-01
A robust linear parameter varying (LPV) control synthesis is carried out for an HiMAT vehicle subject to loss of control effectiveness. The scheduling parameter is selected to be a function of the estimates of the control effectiveness factors. The estimates are provided on-line by a two-stage Kalman estimator. The inherent conservatism of the LPV design is reducing through the use of a scaling factor on the uncertainty block that represents the estimation errors of the effectiveness factors. Simulations of the controlled system with the on-line estimator show that a superior fault-tolerance can be achieved.
Feedback linearization for control of air breathing engines
NASA Technical Reports Server (NTRS)
Phillips, Stephen; Mattern, Duane
1991-01-01
The method of feedback linearization for control of the nonlinear nozzle and compressor components of an air breathing engine is presented. This method overcomes the need for a large number of scheduling variables and operating points to accurately model highly nonlinear plants. Feedback linearization also results in linear closed loop system performance simplifying subsequent control design. Feedback linearization is used for the nonlinear partial engine model and performance is verified through simulation.
Linearization of Attitude-Control Error Dynamics
NASA Technical Reports Server (NTRS)
Bach, Ralph; Paielli, Russell
1993-01-01
Direction cosines and quaternions are useful for representing rigid-body attitude because they exhibit no kinematic singularities. Each utilizes more variables than the minimum three degrees of freedom required to specify attitude. Therefore, application of a nonlinear inversion procedure to either formulation introduces singularities. Furthermore, in designing an attitude-control system, it is not appropriate to express attitude error as a difference of direction cosines (or quaternions). One should employ a measure of attitude error that not only is minimal but preserves orthogonal rotation properties as well. This note applies an inversion procedure to an appropriate measure of attitude error, so that the singularity occurs when the error reaches +/- 180 deg. This approach leads to the realization of a new model-follower attitude-control system that exhibits exact linear attitude-error dynamics.
Linear transmitter design for MSAT terminals
NASA Technical Reports Server (NTRS)
Wilkinson, Ross; Macleod, John; Beach, Mark; Bateman, Andrew
1990-01-01
One of the factors that will undoubtedly influence the choice of modulation format for mobile satellites, is the availability of cheap, power-efficient, linear amplifiers for mobile terminal equipment operating in the 1.5-1.7 GHz band. Transmitter linearity is not easily achieved at these frequencies, although high power (20W) class A/AB devices are becoming available. However, these components are expensive and require careful design to achieve a modest degree of linearity. In this paper an alternative approach to radio frequency (RF) power amplifier design for mobile satellite (MSAT) terminals using readily-available, power-efficient, and cheap class C devices in a feedback amplifier architecture is presented.
Linear optimal control of tokamak fusion devices
Kessel, C.E.; Firestone, M.A.; Conn, R.W.
1989-05-01
The control of plasma position, shape and current in a tokamak fusion reactor is examined using linear optimal control. These advanced tokamaks are characterized by non up-down symmetric coils and structure, thick structure surrounding the plasma, eddy currents, shaped plasmas, superconducting coils, vertically unstable plasmas, and hybrid function coils providing ohmic heating, vertical field, radial field, and shaping field. Models of the electromagnetic environment in a tokamak are derived and used to construct control gains that are tested in nonlinear simulations with initial perturbations. The issues of applying linear optimal control to advanced tokamaks are addressed, including complex equilibrium control, choice of cost functional weights, the coil voltage limit, discrete control, and order reduction. Results indicate that the linear optimal control is a feasible technique for controlling advanced tokamaks where the more common classical control will be severely strained or will not work. 28 refs., 13 figs.
On linear transform design with non-linear approximation
NASA Astrophysics Data System (ADS)
Sezer, Osman G.; Guleryuz, Onur G.
2013-09-01
In this paper we share our recent observations on methods for sparsity enforced orthogonal transform design. In our previous work on this problem, our target was to design transforms (sparse orthonormal transforms - SOT) that minimize the overall sparsity-distortion cost of a collection of image patches mainly for improving the performance of compression methods. In this paper we go one step further to understand why these transforms achieve better approximation and how different they are from transforms like the DCT or the Karhunen-Loeve transform (KLT). Our study lead us to mathematically validate that for a Gaussian process the KLT is the optimal transform not only in a linear approximation sense but also in a nonlinear approximation sense, the latter forming the basis for sparsity-based regularization. This means that the search for SOTs yields the KLT in Gaussian processes, but results in transforms that are distinctly different from the KLT in non-Gaussian cases by capturing useful structures within the data. Both toy examples and real compression results in various representation domains are presented in this paper to support our observations.
SLAC linear collider conceptual design report
Not Available
1980-06-01
The linear collider system is described in detail, including the transport system, the collider lattice, final focusing system, positron production, beam damping and compression, high current electron source, instrumentation and control, and the beam luminosity. The experimental facilities and the experimental uses are discussed along with the construction schedule and estimated costs. Appendices include a discussion of space charge effects in the linear accelerator, emittance growth in the collider, the final focus system, beam-beam instabilities and pinch effects, and detector backgrounds. (GHT)
Piecewise linear approximation for hereditary control problems
NASA Technical Reports Server (NTRS)
Propst, Georg
1990-01-01
This paper presents finite-dimensional approximations for linear retarded functional differential equations by use of discontinuous piecewise linear functions. The approximation scheme is applied to optimal control problems, when a quadratic cost integral must be minimized subject to the controlled retarded system. It is shown that the approximate optimal feedback operators converge to the true ones both in the case where the cost integral ranges over a finite time interval, as well as in the case where it ranges over an infinite time interval. The arguments in the last case rely on the fact that the piecewise linear approximations to stable systems are stable in a uniform sense.
Multispectral linear array (MLA) focal plane mechanical and thermal design
NASA Technical Reports Server (NTRS)
Mitchell, A. S.; Kaminski, E. F.
1982-01-01
The mechanical and thermal design of an integrated focal plane subsystem of a Multispectral Linear Array (MLA) instrument is discussed in terms of focal-plane alignment, thermoelastic performance, and thermal requirements. The modular construction and thermal control of the focal plane array are discussed.
Feedback linearization application for LLRF control system
Kwon, S.; Regan, A.; Wang, Y.M.; Rohlev, T.
1999-06-01
The Low Energy Demonstration Accelerator (LEDA) being constructed at Los Alamos National Laboratory will serve as the prototype for the low energy section of Acceleration Production of Tritium (APT) accelerator. This paper addresses the problem of the LLRF control system for LEDA. The authors propose a control law which is based on exact feedback linearization coupled with gain scheduling which reduces the effect of the deterministic klystron cathode voltage ripple that is due to harmonics of the high voltage power supply and achieves tracking of desired set points. Also, they propose an estimator of the ripple and its time derivative and the estimates based feedback linearization controller.
Feedback linearization application for LLRF control system
Kwon, S.; Regan, A.; Wang, Y.M.; Rohlev, T.
1998-12-31
The Low Energy Demonstration Accelerator (LEDA) being constructed at Los Alamos National Laboratory will serve as the prototype for the low energy section of Acceleration Production of Tritium (APT) accelerator. This paper addresses the problem of the LLRF control system for LEDA. The authors propose a control law which is based on exact feedback linearization coupled with gain scheduling which reduces the effect of the deterministic klystron cathode voltage ripple that is due to harmonics of the high voltage power supply and achieves tracking of desired set points. Also, they propose an estimator of the ripple and its time derivative and the estimates based feedback linearization controller.
Linearizing feedforward/feedback attitude control
NASA Technical Reports Server (NTRS)
Paielli, Russell A.; Bach, Ralph E.
1991-01-01
An approach to attitude control theory is introduced in which a linear form is postulated for the closed-loop rotation error dynamics, then the exact control law required to realize it is derived. The nonminimal (four-component) quaternion form is used to attitude because it is globally nonsingular, but the minimal (three-component) quaternion form is used for attitude error because it has no nonlinear constraints to prevent the rotational error dynamics from being linearized, and the definition of the attitude error is based on quaternion algebra. This approach produces an attitude control law that linearizes the closed-loop rotational error dynamics exactly, without any attitude singularities, even if the control errors become large.
Controllable circular Airy beams via dynamic linear potential
NASA Astrophysics Data System (ADS)
Zhong, Hua; Zhang, Yiqi; Belić, Milivoj R.; Li, Changbiao; Wen, Feng; Zhang, Zhaoyang; Zhang, Yanpeng
2016-04-01
We investigate controllable spatial modulation of circular autofocusing Airy beams, under action of different dynamic linear potentials, both theoretically and numerically. We introduce a novel treatment method in which the circular Airy beam is represented as a superposition of narrow azimuthally-modulated one-dimensional Airy beams that can be analytically treated. The dynamic linear potentials are appropriately designed, so that the autofocusing effect can either be weakened or even eliminated when the linear potential exerts a "pulling" effect on the beam, or if the linear potential exerts a "pushing" effect, the autofocusing effect can be greatly strengthened. Numerical simulations agree with the theoretical results very well.
NASA Astrophysics Data System (ADS)
Zheng, Jigui; Huang, Yuping; Wu, Hongxing; Zheng, Ping
2016-06-01
Transverse-flux with high efficiency has been applied in Stirling engine and permanent magnet synchronous linear generator system, however it is restricted for large application because of low and complex process. A novel type of cylindrical, non-overlapping, transverse-flux, and permanent-magnet linear motor(TFPLM) is investigated, furthermore, a high power factor and less process complexity structure research is developed. The impact of magnetic leakage factor on power factor is discussed, by using the Finite Element Analysis(FEA) model of stirling engine and TFPLM, an optimization method for electro-magnetic design of TFPLM is proposed based on magnetic leakage factor. The relation between power factor and structure parameter is investigated, and a structure parameter optimization method is proposed taking power factor maximum as a goal. At last, the test bench is founded, starting experimental and generating experimental are performed, and a good agreement of simulation and experimental is achieved. The power factor is improved and the process complexity is decreased. This research provides the instruction to design high-power factor permanent-magnet linear generator.
Linear, Parameter-Varying Control of Aeroservoelastic Systems
NASA Astrophysics Data System (ADS)
Moreno Chicunque, Claudia Patricia
Modern aircraft designers are adopting light-weight, high-aspect ratio flexible wings to improve performance and reduce operation costs. A technical challenge associated with these designs is that the large deformations in flight of the wings lead to adverse interactions between the aircraft aerodynamic forces and structural forces. These adverse interactions produce excessive vibrations that can degrade flying qualities and may result in severe structural damages or catastrophic failure. This dissertation is focused on the application of multivariable robust control techniques for suppression of these adverse interactions in flexible aircraft. Here, the aircraft coupled nonlinear equations of motion are represented in the linear, parameter-varying framework. These equations account for the coupled aerodynamics, rigid body dynamics, and deformable body dynamics of the aircraft. Unfortunately, the inclusion of this coupled dynamics results in high-order models that increase the computational complexity of linear, parameter-varying control techniques. This dissertation addresses three key technologies for linear, parameter-varying control of flexible aircraft: (i) linear, parameter-varying model reduction; (ii) selection of actuators and sensors for vibration suppression; and (iii) design of linear, parameter-varying controllers for vibration suppression. All of these three technologies are applied to an experimental research platform located at the University of Minnesota. The objective of this dissertation is to provide to the flight control community with a set of design methodologies to safely exploit the benefits of light-weight flexible aircraft.
NASA Technical Reports Server (NTRS)
1978-01-01
Information used in the evaluation of design of Solar Control's solar heating and cooling system controller and the Solarstat is given. Some of the information includes system performance specifications, design data brochures, and detailed design drawings.
International linear collider reference design report
Aarons, G.
2007-06-22
The International Linear Collider will give physicists a new cosmic doorway to explore energy regimes beyond the reach of today's accelerators. A proposed electron-positron collider, the ILC will complement the Large Hadron Collider, a proton-proton collider at the European Center for Nuclear Research (CERN) in Geneva, Switzerland, together unlocking some of the deepest mysteries in the universe. With LHC discoveries pointing the way, the ILC -- a true precision machine -- will provide the missing pieces of the puzzle. Consisting of two linear accelerators that face each other, the ILC will hurl some 10 billion electrons and their anti-particles, positrons, toward each other at nearly the speed of light. Superconducting accelerator cavities operating at temperatures near absolute zero give the particles more and more energy until they smash in a blazing crossfire at the centre of the machine. Stretching approximately 35 kilometres in length, the beams collide 14,000 times every second at extremely high energies -- 500 billion-electron-volts (GeV). Each spectacular collision creates an array of new particles that could answer some of the most fundamental questions of all time. The current baseline design allows for an upgrade to a 50-kilometre, 1 trillion-electron-volt (TeV) machine during the second stage of the project. This reference design provides the first detailed technical snapshot of the proposed future electron-positron collider, defining in detail the technical parameters and components that make up each section of the 31-kilometer long accelerator. The report will guide the development of the worldwide R&D program, motivate international industrial studies and serve as the basis for the final engineering design needed to make an official project proposal later this decade.
NASA Astrophysics Data System (ADS)
Kim, Young Woo; Matsuzaki, Sinya; Narikiyo, Tatsuo
In this paper, we propose a non-analytical but effective self-organizing modeling method, where system dynamics of interest are constructed in a polynomial affine formation with high granularity. The conventional data mining technique has the assessment scheme for representativeness of the developed model. However, if the model is applied to extract the desired values without considering the structural peculiarities such as input pattern used for constructing the dynamics, hardware specification used for data acquisition, and so on, it possibly shows substantial margin of modeling error. In order to correspond this type of control paradigm, we define the permissible set of state and input variables in order to characterize the data used for developing the model. The developed model is then applied to the programming based optimal control scheme where the optimal inputs are selected among the permissible set of the input variable, considering all the limitations specified by linear inequalities.
Development of a digital adaptive optimal linear regulator flight controller
NASA Technical Reports Server (NTRS)
Berry, P.; Kaufman, H.
1975-01-01
Digital adaptive controllers have been proposed as a means for retaining uniform handling qualities over the flight envelope of a high-performance aircraft. Towards such an implementation, an explicit adaptive controller, which makes direct use of online parameter identification, has been developed and applied to the linearized lateral equations of motion for a typical fighter aircraft. The system is composed of an online weighted least-squares parameter identifier, a Kalman state filter, and a model following control law designed using optimal linear regulator theory. Simulation experiments with realistic measurement noise indicate that the proposed adaptive system has the potential for onboard implementation.
Nutrient Control Design Manual
The Nutrient Control Design Manual will present an extensive state-of-the-technology review of the engineering design and operation of nitrogen and phosphorous control technologies and techniques applied at municipal wastewater treatment plants (WWTPs). This manual will present ...
Aircraft digital control design methods
NASA Technical Reports Server (NTRS)
Tashker, M. G.; Powell, J. D.
1975-01-01
Investigations were conducted in two main areas: the first area is control system design, and the goals were to define the limits of 'digitized S-Plane design techniques' vs. sample rate, to show the results of a 'direct digital design technique', and to compare the two methods; the second area was to evaluate the roughness of autopilot designs parametrically versus sample rate. Goals of the first area were addressed by (1) an analysis of a 2nd order example using both design methods, (2) a linear analysis of the complete 737 aircraft with an autoland obtained using the digitized S-plane technique, (3) linear analysis of a high frequency 737 approximation with the autoland from a direct digital design technique, and (4) development of a simulation for evaluation of the autopilots with disturbances and nonlinearities included. Roughness evaluation was studied by defining an experiment to be carried out on the Langley motion simulator and coordinated with analysis at Stanford.
Optimal Regulator Algorithms For The Control Of Linear Systems (ORACLS)
NASA Technical Reports Server (NTRS)
Frisch, Harold P.
1990-01-01
Control theory design package offers engineer full range of subroutines to manipulate and solve Linear-Quadratic-Gaussian types of problems. ORACLS is rigorous tool, intended for multi-input and multi-output dynamic systems in both continuous and discrete form. Written in FORTRAN.
Sellers, David; Friedman, Hannah; Haasl, Tudi; Bourassa, Norman; Piette, Mary Ann
2003-05-01
The ''Control System Design Guide'' (Design Guide) provides methods and recommendations for the control system design process and control point selection and installation. Control systems are often the most problematic system in a building. A good design process that takes into account maintenance, operation, and commissioning can lead to a smoothly operating and efficient building. To this end, the Design Guide provides a toolbox of templates for improving control system design and specification. HVAC designers are the primary audience for the Design Guide. The control design process it presents will help produce well-designed control systems that achieve efficient and robust operation. The spreadsheet examples for control valve schedules, damper schedules, and points lists can streamline the use of the control system design concepts set forth in the Design Guide by providing convenient starting points from which designers can build. Although each reader brings their own unique questions to the text, the Design Guide contains information that designers, commissioning providers, operators, and owners will find useful.
AESOP- INTERACTIVE DESIGN OF LINEAR QUADRATIC REGULATORS AND KALMAN FILTERS
NASA Technical Reports Server (NTRS)
Lehtinen, B.
1994-01-01
AESOP was developed to solve a number of problems associated with the design of controls and state estimators for linear time-invariant systems. The systems considered are modeled in state-variable form by a set of linear differential and algebraic equations with constant coefficients. Two key problems solved by AESOP are the linear quadratic regulator (LQR) design problem and the steady-state Kalman filter design problem. AESOP is designed to be used in an interactive manner. The user can solve design problems and analyze the solutions in a single interactive session. Both numerical and graphical information are available to the user during the session. The AESOP program is structured around a list of predefined functions. Each function performs a single computation associated with control, estimation, or system response determination. AESOP contains over sixty functions and permits the easy inclusion of user defined functions. The user accesses these functions either by inputting a list of desired functions in the order they are to be performed, or by specifying a single function to be performed. The latter case is used when the choice of function and function order depends on the results of previous functions. The available AESOP functions are divided into several general areas including: 1) program control, 2) matrix input and revision, 3) matrix formation, 4) open-loop system analysis, 5) frequency response, 6) transient response, 7) transient function zeros, 8) LQR and Kalman filter design, 9) eigenvalues and eigenvectors, 10) covariances, and 11) user-defined functions. The most important functions are those that design linear quadratic regulators and Kalman filters. The user interacts with AESOP when using these functions by inputting design weighting parameters and by viewing displays of designed system response. Support functions obtain system transient and frequency responses, transfer functions, and covariance matrices. AESOP can also provide the user
Distributed control using linear momentum exchange devices
NASA Technical Reports Server (NTRS)
Sharkey, J. P.; Waites, Henry; Doane, G. B., III
1987-01-01
MSFC has successfully employed the use of the Vibrational Control of Space Structures (VCOSS) Linear Momentum Exchange Devices (LMEDs), which was an outgrowth of the Air Force Wright Aeronautical Laboratory (AFWAL) program, in a distributed control experiment. The control experiment was conducted in MSFC's Ground Facility for Large Space Structures Control Verification (GF/LSSCV). The GF/LSSCV's test article was well suited for this experiment in that the LMED could be judiciously placed on the ASTROMAST. The LMED placements were such that vibrational mode information could be extracted from the accelerometers on the LMED. The LMED accelerometer information was processed by the control algorithms so that the LMED masses could be accelerated to produce forces which would dampen the vibrational modes of interest. Experimental results are presented showing the LMED's capabilities.
Design and investigation of a linear smart actuator
NASA Astrophysics Data System (ADS)
Krishna Chaitanya, S.; Dhanalakshmi, K.
2015-04-01
Motors are nearly the sole constituents for actuation and driving applications, but there exist cases where their use proves to be impractical. Shape memory alloy (SMA), then revolutionized the actuator technology, thereby opening the door for new ideas and designs and with it what seemed unfeasible in the past have now become challenging. Many conventional actuators and sensors could be substituted with SMA, obtaining advantages in terms of reduction of weight, dimensions and its cost. SMAs are a group of metallic materials that revert to a predefined shape via phase transformation induced by a thermal procedure. Unlike metals that exhibit thermal expansion, SMA exhibits contraction when heated, which is larger by a hundredfold and exerts tremendous force for its small size. The focus of this work is to realize SMA wire as actuator which finds suitable applications (space, aerospace, biomechanics, etc.) where minimizing space, weight and cost are prime objectives. The accomplishments reported in this paper represent a significant development in the design of SMA actuator configurations for linear actuation. Report on design, fabrication and characterisation of the proposed system is presented. The design took advantage of converting the small linear displacement of the SMA wire into a large linear elastic motion under the influence of biasing element. From the results with control it is aspired that with further improvements on the design, the actuator can be utilized in enabling practical SMA technologies for potential robotic and commercial applications.
[Weekly control measurement at the linear accelerator].
Christ, G
1983-05-01
Weekly control measurements taken at the linear accelerator of the Medizinisches Strahleninstitut der Universität Tübingen are described which largely exceed those prescribed by the "Richtlinien Strahlenschutz in der Medizin" (instructions about radioprotection in medicine). Since the determination of the field homogeneity and the energy of electron and X-ray radiation is very time-consuming, a largely automatized procedure has been elaborated which is presented in this study. PMID:6857748
Extended Decentralized Linear-Quadratic-Gaussian Control
NASA Technical Reports Server (NTRS)
Carpenter, J. Russell
2000-01-01
A straightforward extension of a solution to the decentralized linear-Quadratic-Gaussian problem is proposed that allows its use for commonly encountered classes of problems that are currently solved with the extended Kalman filter. This extension allows the system to be partitioned in such a way as to exclude the nonlinearities from the essential algebraic relationships that allow the estimation and control to be optimally decentralized.
Designing case-control studies.
Yanagawa, T
1979-01-01
Identification of confounding factors, evaluation of their influence on cause-effect associations, and the introduction of appropriate ways to account for these factors are important considerations in designing case-control studies. This paper presents designs useful for these purposes, after first providing a statistical definition of a confounding factor. Differences in the ability to identify and evaluate confounding factors and estimate disease risk between designs employing stratification (matching) and designs randomly sampling cases and controls are noted. Linear logistic models for the analysis of data from such designs are described and are shown to liberalize design requirements and to increase relative risk estimation efficiency. The methods are applied to data from a multiple factor investigation of lung cancer patients and controls. PMID:540588
Physics design of linear accelerators for intense ion beams
Wangler, T.P.
1988-01-01
Advances in the physics and technology of linear accelerators for intense ion beams are leading to new methods for the design of such machines. The physical effects that limit beam current and brightness are better understood and provide the criteria for choosing the rf frequency and for determining optimum focusing configurations to control longitudinal and transverse emittances. During the past decade, the use of developments such as the radio-frequency quadrupole, multiple beams, funneling, ramped-field linac tanks, and self-matching linac tanks is leading to greater design flexibility and improved performance capabilities. 39 refs., 3 tabs., 1 fig.
Colorized linear CCD data acquisition system with automatic exposure control
NASA Astrophysics Data System (ADS)
Li, Xiaofan; Sui, Xiubao
2014-11-01
Colorized linear cameras deliver superb color fidelity at the fastest line rates in the industrial inspection. It's RGB trilinear sensor eliminates image artifacts by placing a separate row of pixels for each color on a single sensor. It's advanced design minimizes distance between rows to minimize image artifacts due to synchronization. In this paper, the high-speed colorized linear CCD data acquisition system was designed take advantages of the linear CCD sensor μpd3728. The hardware and software design of the system based on FPGA is introduced and the design of the functional modules is performed. The all system is composed of CCD driver module, data buffering module, data processing module and computer interface module. The image data was transferred to computer by Camera link interface. The system which automatically adjusts the exposure time of linear CCD, is realized with a new method. The integral time of CCD can be controlled by the program. The method can automatically adjust the integration time for different illumination intensity under controlling of FPGA, and respond quickly to brightness changes. The data acquisition system is also offering programmable gains and offsets for each color. The quality of image can be improved after calibration in FPGA. The design has high expansibility and application value. It can be used in many application situations.
Robust linear quadratic designs with respect to parameter uncertainty
NASA Technical Reports Server (NTRS)
Douglas, Joel; Athans, Michael
1992-01-01
The authors derive a linear quadratic regulator (LQR) which is robust to parametric uncertainty by using the overbounding method of I. R. Petersen and C. V. Hollot (1986). The resulting controller is determined from the solution of a single modified Riccati equation. It is shown that, when applied to a structural system, the controller gains add robustness by minimizing the potential energy of uncertain stiffness elements, and minimizing the rate of dissipation of energy through uncertain damping elements. A worst-case disturbance in the direction of the uncertainty is also considered. It is proved that performance robustness has been increased with the robust LQR when compared to a mismatched LQR design where the controller is designed on the nominal system, but applied to the actual uncertain system.
Propulsion control of superconducting linear synchronous motor vehicle
Sakamoto, Tetsuzo; Shiromizu, Tsunehiro
1997-09-01
The armature current of a superconducting Linear Synchronous Motor (LSM) for a maglev vehicle is controlled to produce a suitable propulsion force so that the vehicle follows the reference speed signal sent from a control station. Besides the power is supplied from some inverters to the LSM armature sections where the vehicle exists. This paper shows an exact mathematical modeling of the propulsion control system to treat the system analytically, which is used for designing controllers and performance computer simulations. The calculated results include the simulations when the vehicle goes through power feeder section borders and tunnels that have a large aerodynamic drag force with taking account of an inverter failure.
NASA Technical Reports Server (NTRS)
Fleming, P.
1985-01-01
A design technique is proposed for linear regulators in which a feedback controller of fixed structure is chosen to minimize an integral quadratic objective function subject to the satisfaction of integral quadratic constraint functions. Application of a non-linear programming algorithm to this mathematically tractable formulation results in an efficient and useful computer-aided design tool. Particular attention is paid to computational efficiency and various recommendations are made. Two design examples illustrate the flexibility of the approach and highlight the special insight afforded to the designer.
Integration, control, and applications of multifunctional linear actuators
NASA Astrophysics Data System (ADS)
Ma, Kougen; Ghasemi-Nejhad, Mehrdad N.
2008-03-01
The integration, analysis, control, and application of a linear actuator are investigated. The linear actuator has super-precision, large stroke, and simultaneous precision positioning and vibration suppression capabilities. It is an integration of advanced electro-mechanical technology, smart materials technology, sensing technology, and control technology. Based on the electromechanical technology, a DC-motor driven leading screw ensures the large stroke of motion and coarse positioning. The smart piezoelectric technology makes the fine positioning and vibration suppression over a wide frequency range possible. The advanced control strategy greatly compensates the hysteresis characteristics such as backlash and/or dead zone, and enables the excellent performance of the actuator. Several sensors such as load cells, displacement sensors, and encoders are also integrated for various applications. Controller design and testing of this linear actuator are also conducted. The applications of the linear actuator are also explored in precision positioning and vibration suppression of a flexible manipulator and smart composite platform for thrust vector control of satellites.
Nanoscale control designs for systems.
Chen, Yung-Yue
2014-02-01
Nanoscale control is the science of the control of objects at dimensions with 100 nm or less and the manipulation of them at this level of precision. The desired attributes of systems under nanoscale control design are extreme high resolution, accuracy, stability, and fast response. An important perspective of investigation in nanoscale control design includes system modeling and precision control devices and materials at a nanoscale dimension, i.e., design of nanopositioners. Nanopositioners are mechatronic systems with an ultraprecise resolution down to a fraction of an atomic diameter and developed to move objects over a small range in nanoscale dimension. After reviewing a lot of existing literatures for nanoscale control designs, the way to successful nanoscale control is accurate position sensing and feedback control of the motion. An overview of nanoscale identification, linear, and nonlinear control technologies, and devices that are playing a key role in improving precision, accuracy, and response of operation of these systems are introduced in this research. PMID:24749455
Linear quadratic servo control of a reusable rocket engine
NASA Technical Reports Server (NTRS)
Musgrave, Jeffrey L.
1991-01-01
A design method for a servo compensator is developed in the frequency domain using singular values. The method is applied to a reusable rocket engine. An intelligent control system for reusable rocket engines was proposed which includes a diagnostic system, a control system, and an intelligent coordinator which determines engine control strategies based on the identified failure modes. The method provides a means of generating various linear multivariable controllers capable of meeting performance and robustness specifications and accommodating failure modes identified by the diagnostic system. Command following with set point control is necessary for engine operation. A Kalman filter reconstructs the state while loop transfer recovery recovers the required degree of robustness while maintaining satisfactory rejection of sensor noise from the command error. The approach is applied to the design of a controller for a rocket engine satisfying performance constraints in the frequency domain. Simulation results demonstrate the performance of the linear design on a nonlinear engine model over all power levels during mainstage operation.
A linear quadratic tracker for Control Moment Gyro based attitude control of the Space Station
NASA Technical Reports Server (NTRS)
Kaidy, J. T.
1986-01-01
The paper discusses a design for an attitude control system for the Space Station which produces fast response, with minimal overshoot and cross-coupling with the use of Control Moment Gyros (CMG). The rigid body equations of motion are linearized and discretized and a Linear Quadratic Regulator (LQR) design and analysis study is performed. The resulting design is then modified such that integral and differential terms are added to the state equations to enhance response characteristics. Methods for reduction of computation time through channelization are discussed as well as the reduction of initial torque requirements.
Design of multivariable controllers for robot manipulators
NASA Technical Reports Server (NTRS)
Seraji, H.
1986-01-01
The paper presents a simple method for the design of linear multivariable controllers for multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-integral-derivative (PID) type and achieves pole placement. This controller reduces any initial tracking error to zero as desired and also ensures that robust steady-state tracking of step-plus-exponential trajectories is achieved by the joint angles. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in the overall control scheme. The proposed scheme is simple and can be implemented for real-time control of robot manipulators.
Wilson, David G.; Robinett, III, Rush D.
2012-02-21
A control system design method and concomitant control system comprising representing a physical apparatus to be controlled as a Hamiltonian system, determining elements of the Hamiltonian system representation which are power generators, power dissipators, and power storage devices, analyzing stability and performance of the Hamiltonian system based on the results of the determining step and determining necessary and sufficient conditions for stability of the Hamiltonian system, creating a stable control system based on the results of the analyzing step, and employing the resulting control system to control the physical apparatus.
Robust Decentralized Controller Design: Subsystem Approach
NASA Astrophysics Data System (ADS)
Rosinová, Danica; Thuan, Nguyen Quang; Veselý, Vojtech; Marko, L'ubomír
2012-01-01
The paper addresses the problem of the robust output feedback PI controller design for complex large-scale stable systems with a state decentralized control structure. A decentralized control design procedure is proposed for static output feedback control which is based on solving robust control design problems of subsystems' size. The presented approach is based
Methodological development of fuzzy-logic controllers from multivariable linear control.
Tso, S K; Fung, Y H
1997-01-01
It is the function of the design of a fuzzy-logic controller to determine the universes of discourse of the antecedents and the consequents, number of membership labels, distribution and shape of membership functions, rule formulation, etc. Much of the information is usually extracted from expert knowledge, operator experience, or heuristic thinking. It is hence difficult to mechanize the first-stage design of fuzzy-logic controllers using linguistic labels whose performance is no worse than that of conventional multivariable linear controllers such as state-feedback controllers, PID controllers, etc. In this paper, an original systematic seven-step linear-to-fuzzy (LIN2FUZ) algorithm is proposed for generating the labels, universes of discourse of the antecedents and the consequents, and fuzzy rules of ;basically linear' fuzzy-logic controllers, given the reference design of available conventional multivariable linear controllers. The functionally equivalent fuzzy-logic controllers can thus provide the sound basis for the further development to achieve performance beyond the capability or the conventional controllers. The validity and effectiveness of the proposed LIN2FUZ algorithm are demonstrated by a four-input one-output inverted pendulum system. PMID:18255897
Linear and non-linear control techniques applied to actively lubricated journal bearings
NASA Astrophysics Data System (ADS)
Nicoletti, R.; Santos, I. F.
2003-03-01
The main objectives of actively lubricated bearings are the simultaneous reduction of wear and vibration between rotating and stationary machinery parts. For reducing wear and dissipating vibration energy until certain limits, one can use the conventional hydrodynamic lubrication. For further reduction of shaft vibrations one can use the active lubrication action, which is based on injecting pressurized oil into the bearing gap through orifices machined in the bearing sliding surface. The design and efficiency of some linear (PD, PI and PID) and a non-linear controller, applied to a tilting-pad journal bearing, are analysed and discussed. Important conclusions about the application of integral controllers, responsible for changing the rotor-bearing equilibrium position and consequently the "passive" oil film damping coefficients, are achieved. Numerical results show an effective vibration reduction of unbalance response of a rigid rotor, where the PD and the non-linear P controllers show better performance for the frequency range of study (0-80 Hz). The feasibility of eliminating rotor-bearing instabilities (phenomena of whirl) by using active lubrication is also investigated, illustrating clearly one of its most promising applications.
Extensibility of a linear rapid robust design methodology
NASA Astrophysics Data System (ADS)
Steinfeldt, Bradley A.; Braun, Robert D.
2016-05-01
The extensibility of a linear rapid robust design methodology is examined. This analysis is approached from a computational cost and accuracy perspective. The sensitivity of the solution's computational cost is examined by analysing effects such as the number of design variables, nonlinearity of the CAs, and nonlinearity of the response in addition to several potential complexity metrics. Relative to traditional robust design methods, the linear rapid robust design methodology scaled better with the size of the problem and had performance that exceeded the traditional techniques examined. The accuracy of applying a method with linear fundamentals to nonlinear problems was examined. It is observed that if the magnitude of nonlinearity is less than 1000 times that of the nominal linear response, the error associated with applying successive linearization will result in ? errors in the response less than 10% compared to the full nonlinear error.
Nutrient Control Design Manual
The purpose of this EPA design manual is to provide updated, state‐of‐the‐technology design guidance on nitrogen and phosphorus control at municipal Wastewater Treatment Plants (WWTPs). Similar to previous EPA manuals, this manual contains extensive information on the principles ...
Linear magnetoelectricity at room temperature in perovskite superlattices by design
NASA Astrophysics Data System (ADS)
Ghosh, Saurabh; Das, Hena; Fennie, Craig J.
2015-11-01
Discovering materials that display a linear magnetoelectric (ME) effect at room temperature is a challenge. Such materials could facilitate devices based on the electric field control of magnetism. Here we present simple, chemically intuitive design rules to identify a class of bulk magnetoelectric materials based on the "bicolor" layering of P b n m ferrite perovskites, e.g., LaFeO3/LnFeO3 superlattices, Ln = lanthanide cation. We use first-principles density functional theory calculations to confirm these ideas. We elucidate the origin of this effect and show it is a general consequence of the layering of any bicolor P b n m perovskite superlattice in which the number of constituent layers are odd (leading to a form of hybrid improper ferroelectricity). Our calculations suggest that the ME effect in these superlattices is larger than that observed in the prototypical magnetoelectric materials Cr2O3 and BiFeO3. Furthermore, in these proposed materials, the strength of the linear ME coupling increases with the magnitude of the induced spontaneous polarization which is controlled by the La/Ln cation radius mismatch. We use a simple mean field model to show that the proposed materials order magnetically above room temperature.
The Control System for the X-33 Linear Aerospike Engine
NASA Technical Reports Server (NTRS)
Jackson, Jerry E.; Espenschied, Erich; Klop, Jeffrey
1998-01-01
The linear aerospike engine is being developed for single-stage -to-orbit (SSTO) applications. The primary advantages of a linear aerospike engine over a conventional bell nozzle engine include altitude compensation, which provides enhanced performance, and lower vehicle weight resulting from the integration of the engine into the vehicle structure. A feature of this integration is the ability to provide thrust vector control (TVC) by differential throttling of the engine combustion elements, rather than the more conventional approach of gimballing the entire engine. An analysis of the X-33 flight trajectories has shown that it is necessary to provide +/- 15% roll, pitch and yaw TVC authority with an optional capability of +/- 30% pitch at select times during the mission. The TVC performance requirements for X-33 engine became a major driver in the design of the engine control system. The thrust level of the X-33 engine as well as the amount of TVC are managed by a control system which consists of electronic, instrumentation, propellant valves, electro-mechanical actuators, spark igniters, and harnesses. The engine control system is responsible for the thrust control, mixture ratio control, thrust vector control, engine health monitoring, and communication to the vehicle during all operational modes of the engine (checkout, pre-start, start, main-stage, shutdown and post shutdown). The methodology for thrust vector control, the health monitoring approach which includes failure detection, isolation, and response, and the basic control system design are the topic of this paper. As an additional point of interest a brief description of the X-33 engine system will be included in this paper.
Identification and robust control of linear parameter-varying systems
NASA Astrophysics Data System (ADS)
Lee, Lawton Hubert
This dissertation deals with linear parameter-varying (LPV) systems: linear dynamic systems that depend on time-varying parameters. These systems appear in gain scheduling problems, and much recent research has been devoted to their prospective usefulness for systematic gain scheduling. We primarily focus on robust control of uncertain LPV systems and identification of LPV systems that are modelable as linear-fractional transformations (LFTs). Using parameter-dependent quadratic Lyapunov functions, linear matrix inequalities (LMIs), and scaled small-gain arguments, we define notions of stability and induced-{cal L}sb2 performance for uncertain LPV systems whose parameters and rates of parameter variation satisfy given bounds. The performance criterion involves integral quadratic constraints and implies naturally parameter-dependent induced-{cal L}sb2 norm bounds. We formulate and solve an {cal H}sb{infty}-like control problem for an LPV plant with measurable parameters and an "Output/State Feedback" structure: the feedback outputs include some noiselessly measured states. Necessary and sufficient solvability conditions reduce to LMIs that can be solved approximately using finite-dimensional convex programming. Reduced-order LPV controllers are constructed from the LMI solutions. A D-K iteration-like procedure provides robustness to structured, time-varying, parametric uncertainty. The design method is applied to a motivating example: flight control for the F-16 VISTA throughout its subsonic flight envelope. Parameter-dependent weights and {cal H}sb{infty} design principles describe the performance objectives. Closed-loop responses exhibited by nonlinear simulations indicate satisfactory flying qualities. Identification of linear-fractional LPV systems is treated using maximum-likelihood parameter estimation. Computing the gradient and Hessian of a maximum-likelihood cost function reduces to simulating one LPV filter per identified parameter. We use nonlinear
2002 Controls Design Challenge
NASA Technical Reports Server (NTRS)
Hess, Ronald A.; Vetter, T. K.; Wells, S. R.
2002-01-01
This document is intended to provide the specifications and requirements for a flight control system design challenge. The response to the challenge will involve documenting whether the particular design has met the stated requirements through analysis and computer simulation. The response should be written in the general format of a technical publication with corresponding length limits, e.g., an approximate maximum length of 45 units, with each full-size figure and double-spaced typewritten page constituting one unit.
Multirate digital control system design
NASA Technical Reports Server (NTRS)
Berg, Martin C.; Amit, Naftali; Powell, J. David
1988-01-01
Methods for multirate digital control system design are discussed. A simple method for sampling rate selection based on control bandwidths is proposed. Methods for generating a discrete-time state model of a sampled-data plant and a discrete-time equivalent to an analog cost function for a sampled-data plant are described. The succesive loop closures and linear quadratic Gaussian synthesis methods are reviewed, and a constrained optimization synthesis method is introduced. The proposed sampling rate selection, discretization, and synthesis methods are applied to two example design problems. Multirate and single-rate compensators synthesized by the different methods are compared, based on closed-loop responses, with compensators having the same real-time computation load.
Transverse wakefield control and feedback in the SLC (SLAC Linear Collider) linear
Seeman, J.T.; Campisi, I.E.; Herrmannsfeldt, W.; Lee, M.; Petersen, A.; Phinney, N.; Ross, M.; Abrams, G.S.; Adolphsen, C.; Soderstrom, E.
1987-01-01
Transverse wakefields in the linac of the SLAC Linear Collider (SLC) have been observed to enlarge the effective emittance of beams which are not properly centered in the accelerating structure. A fast feedback system has been constructed to minimize the enlargement under changing conditions by controlling the beam launching parameters. Theoretical aspects of this transverse feedback system are reviewed as well as the design of the beam sensors, launch controllers, communication equipment and data processing micro-computer. A variety of beam observations have been made. They show that dispersion as well as wakefield effects are important. In the near future the fast transverse feedback system will be beam tested, and algorithms tailored to the noise environment of the SLC will be tried.
NASA Astrophysics Data System (ADS)
Hoshino, Tasuku
This paper deals with an approximate linearization control of 2-DOF underactuated-by-1 nonlinear systems, proposing a novel linearization coordinate which reduces the approximation error over the state space around the operating point. The coordinate is analytically constructed in a systematic way by solving two first order linear partial differential equations and the solution is given in an infinite series of configuration variables. The resulting linearization feedback is highly nonlinear and the basin of attraction of the stabilized system using proposed coordinate is large, comparing with those of a conventional first order or other lower order linearization coordinates. The approximate linearization control based on the proposed coordinate is applied to the stabilization of a rotational inverted pendulum; the advantage is verified in simulations and experiments. Some perspectives on availability of the linearization coordinate are discussed and they are computed also for a mobile inverted pendulum, Acrobot, and for Pendubot as examples.
String Stability of a Linear Formation Flight Control System
NASA Technical Reports Server (NTRS)
Allen, Michael J.; Ryan, Jack; Hanson, Curtis E.; Parle, James F.
2002-01-01
String stability analysis of an autonomous formation flight system was performed using linear and nonlinear simulations. String stability is a measure of how position errors propagate from one vehicle to another in a cascaded system. In the formation flight system considered here, each i(sup th) aircraft uses information from itself and the preceding ((i-1)(sup th)) aircraft to track a commanded relative position. A possible solution for meeting performance requirements with such a system is to allow string instability. This paper explores two results of string instability and outlines analysis techniques for string unstable systems. The three analysis techniques presented here are: linear, nonlinear formation performance, and ride quality. The linear technique was developed from a worst-case scenario and could be applied to the design of a string unstable controller. The nonlinear formation performance and ride quality analysis techniques both use nonlinear formation simulation. Three of the four formation-controller gain-sets analyzed in this paper were limited more by ride quality than by performance. Formations of up to seven aircraft in a cascaded formation could be used in the presence of light gusts with this string unstable system.
Linear, multivariable robust control with a mu perspective
NASA Technical Reports Server (NTRS)
Packard, Andy; Doyle, John; Balas, Gary
1993-01-01
The structured singular value is a linear algebra tool developed to study a particular class of matrix perturbation problems arising in robust feedback control of multivariable systems. These perturbations are called linear fractional, and are a natural way to model many types of uncertainty in linear systems, including state-space parameter uncertainty, multiplicative and additive unmodeled dynamics uncertainty, and coprime factor and gap metric uncertainty. The structured singular value theory provides a natural extension of classical SISO robustness measures and concepts to MIMO systems. The structured singular value analysis, coupled with approximate synthesis methods, make it possible to study the tradeoff between performance and uncertainty that occurs in all feedback systems. In MIMO systems, the complexity of the spatial interactions in the loop gains make it difficult to heuristically quantify the tradeoffs that must occur. This paper examines the role played by the structured singular value (and its computable bounds) in answering these questions, as well as its role in the general robust, multivariable control analysis and design problem.
Linear regulator design for stochastic systems by a multiple time scales method
NASA Technical Reports Server (NTRS)
Teneketzis, D.; Sandell, N. R., Jr.
1976-01-01
A hierarchically-structured, suboptimal controller for a linear stochastic system composed of fast and slow subsystems is considered. The controller is optimal in the limit as the separation of time scales of the subsystems becomes infinite. The methodology is illustrated by design of a controller to suppress the phugoid and short period modes of the longitudinal dynamics of the F-8 aircraft.
Design Optimization for Anharmonic Linear Surface-Electrode Ion Trap
NASA Astrophysics Data System (ADS)
Liu, Wei; Chen, Shu-Ming; Chen, Ping-Xing; Wu, Wei
2014-11-01
An accurate and rapid method is proposed to optimize anharmonic linear surface-electrode ion trap design. Based on the method, we analyze the impact of the architectural parameters, including the width, number, and applied voltage of prerequisite active electrodes, on the number and spacing of trapped ions. Sets of optimal anharmonic trap design are given. Then the optimal designs are verified by using an ant colony optimization algorithm. The results show that the maximum ion position errors and maximum ion spacing errors are less than 1 μm up to 80. The mean of the maximum errors is nearly linear with respect to the number of trapped ions.
Linear and reconfigurable control of wing damaged aircraft
NASA Astrophysics Data System (ADS)
Nespeca, Pascal
Recently, there has been an interest in researching control techniques that might improve the overall safety of flight. The goal is to create an autopilot control system which could safely land a wing damaged aircraft. Spanwise Full-Loss (SFL) is defined as the entire removal of wing section along the chord of the wing, starting from the tip and moving toward the root. Based upon computational models of a rigid aircraft with varying SFL, obvious force-moment imbalances are likely to be the primary factor affecting survivability. Rigid aircraft with more effective ailerons or additional rolling control surfaces are more likely to survive wing damage. Computer models of wing damage suggest that wing loss in the range of 0--50% SFL will not create an abnormal dynamic instability of a rigid aircraft with a standard linear autopilot. Dynamic instability is not present because the SFL linear model is mostly triangular with longitudinal variables almost exclusively effecting lateral variables. Closed loop performance is not compromised in the range of 0--20% SFL. Resizing ailerons may be needed to accommodate wing damage beyond 20 to 30% SFL. For a flexible aircraft, wing damage that reduces the torsional stiffness of the wing could cause roll-control reversal. Roll control reversal can create closed loop instability with undamaged aircraft. SFL actually increases the torsional stiffness of the wing. However, real world wing damage may not be limited to a spanwise wing loss. Conventional control techniques are introduced by several design examples and successfully extended to wing damaged aircraft. Reconfigurable, switching and conventional control techniques are found to possess acceptable levels of technical merit for flight control. With reconfigurable and switching flight control techniques, one can avoid known instabilities due to time varying gain by simply waiting 6 to 20 seconds between controller switches. Many direct adaptive control and indirect adaptive
Distributed Control of Uncertain Systems using Superpositions of Linear operators
Sanger, Terence D.
2011-01-01
Control in the natural environment is difficult in part because of uncertainty in the effect of actions. Uncertainty can be due to added motor or sensory noise, unmodeled dynamics, or quantization of sensory feedback. Biological systems are faced with further difficulties, since control must be performed by networks of cooperating neurons and neural subsystems. Here, we propose a new mathematical framework for modeling and simulation of distributed control systems operating in an uncertain environment. Stochastic Differential Operators can be derived from the stochastic differential equation describing a system, and they map the current state density into the differential of the state density. Unlike discrete-time Markov update operators, stochastic differential operators combine linearly for a large class of linear and nonlinear systems, and therefore the combined effects of multiple controllable and uncontrollable subsystems can be predicted. Design using these operators yields systems whose statistical behavior can be specified throughout state space. The relationship to Bayesian estimation and discrete-time Markov processes is described. PMID:21521040
NASA Technical Reports Server (NTRS)
Allan, Brian; Owens, Lewis
2010-01-01
In support of the Blended-Wing-Body aircraft concept, a new flow control hybrid vane/jet design has been developed for use in a boundary-layer-ingesting (BLI) offset inlet in transonic flows. This inlet flow control is designed to minimize the engine fan-face distortion levels and the first five Fourier harmonic half amplitudes while maximizing the inlet pressure recovery. This concept represents a potentially enabling technology for quieter and more environmentally friendly transport aircraft. An optimum vane design was found by minimizing the engine fan-face distortion, DC60, and the first five Fourier harmonic half amplitudes, while maximizing the total pressure recovery. The optimal vane design was then used in a BLI inlet wind tunnel experiment at NASA Langley's 0.3-meter transonic cryogenic tunnel. The experimental results demonstrated an 80-percent decrease in DPCPavg, the reduction in the circumferential distortion levels, at an inlet mass flow rate corresponding to the middle of the operational range at the cruise condition. Even though the vanes were designed at a single inlet mass flow rate, they performed very well over the entire inlet mass flow range tested in the wind tunnel experiment with the addition of a small amount of jet flow control. While the circumferential distortion was decreased, the radial distortion on the outer rings at the aerodynamic interface plane (AIP) increased. This was a result of the large boundary layer being distributed from the bottom of the AIP in the baseline case to the outer edges of the AIP when using the vortex generator (VG) vane flow control. Experimental results, as already mentioned, showed an 80-percent reduction of DPCPavg, the circumferential distortion level at the engine fan-face. The hybrid approach leverages strengths of vane and jet flow control devices, increasing inlet performance over a broader operational range with significant reduction in mass flow requirements. Minimal distortion level requirements
Ensemble control of linear systems with parameter uncertainties
NASA Astrophysics Data System (ADS)
Kou, Kit Ian; Liu, Yang; Zhang, Dandan; Tu, Yanshuai
2016-07-01
In this paper, we study the optimal control problem for a class of four-dimensional linear systems based on quaternionic and Fourier analysis. When the control is unconstrained, the optimal ensemble controller for this linear ensemble control systems is given in terms of prolate spheroidal wave functions. For the constrained convex optimisation problem of such systems, the quadratic programming is presented to obtain the optimal control laws. Simulations are given to verity the effectiveness of the proposed theory.
Design Techniques for Uniform-DFT, Linear Phase Filter Banks
NASA Technical Reports Server (NTRS)
Sun, Honglin; DeLeon, Phillip
1999-01-01
Uniform-DFT filter banks are an important class of filter banks and their theory is well known. One notable characteristic is their very efficient implementation when using polyphase filters and the FFT. Separately, linear phase filter banks, i.e. filter banks in which the analysis filters have a linear phase are also an important class of filter banks and desired in many applications. Unfortunately, it has been proved that one cannot design critically-sampled, uniform-DFT, linear phase filter banks and achieve perfect reconstruction. In this paper, we present a least-squares solution to this problem and in addition prove that oversampled, uniform-DFT, linear phase filter banks (which are also useful in many applications) can be constructed for perfect reconstruction. Design examples are included illustrate the methods.
Electronically Tunable Differential Integrator: Linear Voltage Controlled Quadrature Oscillator
Nandi, Rabindranath; Pattanayak, Sandhya; Das, Sagarika
2015-01-01
A new electronically tunable differential integrator (ETDI) and its extension to voltage controlled quadrature oscillator (VCQO) design with linear tuning law are proposed; the active building block is a composite current feedback amplifier with recent multiplication mode current conveyor (MMCC) element. Recently utilization of two different kinds of active devices to form a composite building block is being considered since it yields a superior functional element suitable for improved quality circuit design. The integrator time constant (τ) and the oscillation frequency (ωo) are tunable by the control voltage (V) of the MMCC block. Analysis indicates negligible phase error (θe) for the integrator and low active ωo-sensitivity relative to the device parasitic capacitances. Satisfactory experimental verifications on electronic tunability of some wave shaping applications by the integrator and a double-integrator feedback loop (DIFL) based sinusoid oscillator with linear fo variation range of 60 KHz~1.8 MHz at low THD of 2.1% are verified by both simulation and hardware tests. PMID:27347537
Electronically Tunable Differential Integrator: Linear Voltage Controlled Quadrature Oscillator.
Nandi, Rabindranath; Pattanayak, Sandhya; Venkateswaran, Palaniandavar; Das, Sagarika
2015-01-01
A new electronically tunable differential integrator (ETDI) and its extension to voltage controlled quadrature oscillator (VCQO) design with linear tuning law are proposed; the active building block is a composite current feedback amplifier with recent multiplication mode current conveyor (MMCC) element. Recently utilization of two different kinds of active devices to form a composite building block is being considered since it yields a superior functional element suitable for improved quality circuit design. The integrator time constant (τ) and the oscillation frequency (ω o ) are tunable by the control voltage (V) of the MMCC block. Analysis indicates negligible phase error (θ e ) for the integrator and low active ω o -sensitivity relative to the device parasitic capacitances. Satisfactory experimental verifications on electronic tunability of some wave shaping applications by the integrator and a double-integrator feedback loop (DIFL) based sinusoid oscillator with linear f o variation range of 60 KHz~1.8 MHz at low THD of 2.1% are verified by both simulation and hardware tests. PMID:27347537
Singular linear-quadratic control problem for systems with linear delay
Sesekin, A. N.
2013-12-18
A singular linear-quadratic optimization problem on the trajectories of non-autonomous linear differential equations with linear delay is considered. The peculiarity of this problem is the fact that this problem has no solution in the class of integrable controls. To ensure the existence of solutions is required to expand the class of controls including controls with impulse components. Dynamical systems with linear delay are used to describe the motion of pantograph from the current collector with electric traction, biology, etc. It should be noted that for practical problems fact singularity criterion of quality is quite commonly occurring, and therefore the study of these problems is surely important. For the problem under discussion optimal programming control contained impulse components at the initial and final moments of time is constructed under certain assumptions on the functional and the right side of the control system.
Bounded Linear Stability Margin Analysis of Nonlinear Hybrid Adaptive Control
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.; Boskovic, Jovan D.
2008-01-01
This paper presents a bounded linear stability analysis for a hybrid adaptive control that blends both direct and indirect adaptive control. Stability and convergence of nonlinear adaptive control are analyzed using an approximate linear equivalent system. A stability margin analysis shows that a large adaptive gain can lead to a reduced phase margin. This method can enable metrics-driven adaptive control whereby the adaptive gain is adjusted to meet stability margin requirements.
ERIC Educational Resources Information Center
Kane, Michael T.; Mroch, Andrew A.; Suh, Youngsuk; Ripkey, Douglas R.
2009-01-01
This paper analyzes five linear equating models for the "nonequivalent groups with anchor test" (NEAT) design with internal anchors (i.e., the anchor test is part of the full test). The analysis employs a two-dimensional framework. The first dimension contrasts two general approaches to developing the equating relationship. Under a "parameter…
H(2)- and H(infinity)-design tools for linear time-invariant systems
NASA Technical Reports Server (NTRS)
Ly, Uy-Loi
1989-01-01
Recent advances in optimal control have brought design techniques based on optimization of H(2) and H(infinity) norm criteria, closer to be attractive alternatives to single-loop design methods for linear time-variant systems. Significant steps forward in this technology are the deeper understanding of performance and robustness issues of these design procedures and means to perform design trade-offs. However acceptance of the technology is hindered by the lack of convenient design tools to exercise these powerful multivariable techniques, while still allowing single-loop design formulation. Presented is a unique computer tool for designing arbitrary low-order linear time-invarient controllers than encompasses both performance and robustness issues via the familiar H(2) and H(infinity) norm optimization. Application to disturbance rejection design for a commercial transport is demonstrated.
Stochastic robustness of linear control systems
NASA Technical Reports Server (NTRS)
Stengel, Robert F.; Ryan, Laura E.
1990-01-01
A simple numerical procedure for estimating the stochastic robustness of a linear, time-invariant system is described. Monte Carlo evaluation of the system's eigenvalues allows the probability of instability and the related stochastic root locus to be estimated. This definition of robustness is an alternative to existing deterministic definitions that address both structured and unstructured parameter variations directly. This analysis approach treats not only Gaussian parameter uncertainties but non-Gaussian cases, including uncertain-but-bounded variations. Trivial extensions of the procedure admit alternate discriminants to be considered. Thus, the probabilities that stipulated degrees of instability will be exceeded or that closed-loop roots will leave desirable regions also can be estimated. Results are particularly amenable to graphical presentation.
Linear System Control Using Stochastic Learning Automata
NASA Technical Reports Server (NTRS)
Ziyad, Nigel; Cox, E. Lucien; Chouikha, Mohamed F.
1998-01-01
This paper explains the use of a Stochastic Learning Automata (SLA) to control switching between three systems to produce the desired output response. The SLA learns the optimal choice of the damping ratio for each system to achieve a desired result. We show that the SLA can learn these states for the control of an unknown system with the proper choice of the error criteria. The results of using a single automaton are compared to using multiple automata.
NASA Astrophysics Data System (ADS)
Ranjan, Kirti; Solyak, Nikolay; Tenenbaum, Peter
2005-04-01
Recently the particle physics community has chosen a single technology for the new accelerator, opening the way for the world community to unite and concentrate resources on the design of an International Linear collider (ILC) using superconducting technology. One of the key operational issues in the design of the ILC will be the preservation of the small beam emittances during passage through the main linear accelerator (linac). Sources of emittance dilution include incoherent misalignments of the quadrupole magnets and rf-structure misalignments. In this work, the study of emittance dilution for the 500-GeV center of mass energy main linac of the Superconducting Linear Accelerator design, based on adaptation of the TESLA TDR design is performed using LIAR simulation program. Based on the tolerances of the present design, effect of two important Beam-Based steering algorithms, Flat Steering and Dispersion Free Steering, are compared with respect to the emittance dilution in the main linac. We also investigated the effect of various misalignments on the emittance dilution for these two steering algorithms.
Non-linear modelling and optimal control of a hydraulically actuated seismic isolator test rig
NASA Astrophysics Data System (ADS)
Pagano, Stefano; Russo, Riccardo; Strano, Salvatore; Terzo, Mario
2013-02-01
This paper investigates the modelling, parameter identification and control of an unidirectional hydraulically actuated seismic isolator test rig. The plant is characterized by non-linearities such as the valve dead zone and frictions. A non-linear model is derived and then employed for parameter identification. The results concerning the model validation are illustrated and they fully confirm the effectiveness of the proposed model. The testing procedure of the isolation systems is based on the definition of a target displacement time history of the sliding table and, consequently, the precision of the table positioning is of primary importance. In order to minimize the test rig tracking error, a suitable control system has to be adopted. The system non-linearities highly limit the performances of the classical linear control and a non-linear one is therefore adopted. The test rig mathematical model is employed for a non-linear control design that minimizes the error between the target table position and the current one. The controller synthesis is made by taking no specimen into account. The proposed approach consists of a non-linear optimal control based on the state-dependent Riccati equation (SDRE). Numerical simulations have been performed in order to evaluate the soundness of the designed control with and without the specimen under test. The results confirm that the performances of the proposed non-linear controller are not invalidated because of the presence of the specimen.
Design considerations for a laser-plasma linear collider
Schroeder, C. B.; Esarey, E.; Geddes, C. G. R.; Toth, Cs.; Leemans, W. P.
2009-01-22
Design considerations for a next-generation electron-positron linear collider based on laser-plasma-accelerators are discussed. Several of the advantages and challenges of laser-plasma-based accelerator technology are addressed. An example of the parameters for a 1 TeV laser-plasma-based collider is presented.
Cold radiation shield design for a linear detector array. II
NASA Astrophysics Data System (ADS)
Dhar, Vikram; Gopal, Vishnu
1986-11-01
This communication reports the results of a calculation of cold-shield shading effects in the linear detector array described by Gopal and Dhar (1986), for an elliptical aperture geometry with varying major-to-minor axis ratio. The results suggest that an elliptical aperture geometry is a better design than a rectangular aperture.
Design considerations for a laser-plasma linear collider
Schroeder, C. B.; Esarey, E.; Geddes, C. G. R.; Toth, Cs.; Leemans, W. P.
2008-08-01
Design considerations for a next-generation electron-positron linear collider based on laser-plasma-accelerators are discussed. Several of the advantages and challenges of laser-plasma based accelerator technology are addressed. An example of the parameters for a 1 TeV laser-plasma based collider is presented.
NASA Technical Reports Server (NTRS)
Young, G.
1982-01-01
A design methodology capable of dealing with nonlinear systems, such as a controlled ecological life support system (CELSS), containing parameter uncertainty is discussed. The methodology was applied to the design of discrete time nonlinear controllers. The nonlinear controllers can be used to control either linear or nonlinear systems. Several controller strategies are presented to illustrate the design procedure.
On-line control models for the Stanford Linear Collider
Sheppard, J.C.; Helm, R.H.; Lee, M.J.; Woodley, M.D.
1983-03-01
Models for computer control of the SLAC three-kilometer linear accelerator and damping rings have been developed as part of the control system for the Stanford Linear Collider. Some of these models have been tested experimentally and implemented in the control program for routine linac operations. This paper will describe the development and implementation of these models, as well as some of the operational results.
Asymptotic Linearity of Optimal Control Modification Adaptive Law with Analytical Stability Margins
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.
2010-01-01
Optimal control modification has been developed to improve robustness to model-reference adaptive control. For systems with linear matched uncertainty, optimal control modification adaptive law can be shown by a singular perturbation argument to possess an outer solution that exhibits a linear asymptotic property. Analytical expressions of phase and time delay margins for the outer solution can be obtained. Using the gradient projection operator, a free design parameter of the adaptive law can be selected to satisfy stability margins.
NASA Technical Reports Server (NTRS)
Patt, P. J.
1985-01-01
The design of a coaxial linear magnetic spring which incorporates a linear motor to control axial motion and overcome system damping is presented, and the results of static and dynamic tests are reported. The system has nominal stiffness 25,000 N/m and is designed to oscillate a 900-g component over a 4.6-mm stroke in a Stirling-cycle cryogenic refrigerator being developed for long-service (5-10-yr) space applications (Stolfi et al., 1983). Mosaics of 10 radially magnetized high-coercivity SmCO5 segments enclosed in Ti cans are employed, and the device is found to have quality factor 70-100, corresponding to energy-storage efficiency 91-94 percent. Drawings, diagrams, and graphs are provided.
Non-Linear Fuzzy Logic Control for Forced Large Motions of Spinning Shafts
NASA Astrophysics Data System (ADS)
LEI, SHULIANG; PALAZZOLO, ALAN; NA, UHNJOO; KASCAK, ALBERT
2000-08-01
A unique control approach is developed for prescribed large motion control using magnetic bearings in a proposed active stall control test rig. A finite element based, flexible shaft is modeled in a closed loop system with PD controllers that generate the control signals to support and to shake the rotor shaft. A linearized force model of the stall rig with 16 magnetic poles (4 opposing C-cores) yields stability and frequency responses. The non-linear model retains the non-linearities in Ampere's law, Faraday's law and the Maxwell stress tensor. A fuzzy logic control system is then designed to show the advantages over the conventional controllers with the fully non-linear model.
Linear Test Bed. Volume 2: Test Bed No. 2. [linear aerospike test bed for thrust vector control
NASA Technical Reports Server (NTRS)
1974-01-01
Test bed No. 2 consists of 10 combustors welded in banks of 5 to 2 symmetrical tubular nozzle assemblies, an upper stationary thrust frame, a lower thrust frame which can be hinged, a power package, a triaxial combustion wave ignition system, a pneumatic control system, pneumatically actuated propellant valves, a purge and drain system, and an electrical control system. The power package consists of the Mark 29-F fuel turbopump, the Mark 29-0 oxidizer turbopump, a gas generator assembly, and propellant ducting. The system, designated as a linear aerospike system, was designed to demonstrate the feasibility of the concept and to explore technology related to thrust vector control, thrust vector optimization, improved sequencing and control, and advanced ignition systems. The propellants are liquid oxygen/liquid hydrogen. The system was designed to operate at 1200-psia chamber pressure at an engine mixture ratio of 5.5. With 10 combustors, the sea level thrust is 95,000 pounds.
A damping ring design for the SLAC Next Linear Collider
Raubenheimer, T.O.; Byrd, J.; Corlett, J.
1995-05-01
In this paper, we describe the design of the main damping rings and the positron pre-damping ring for the SLAC Next Linear Collider, a future linear collider with a center-of-mass energy of 0.5 to 1.5 TeV. The rings will operate at an energy of 2 GeV with a maximum repetition rate of 180 Hz. The normalized extracted beam emittances are {gamma}{epsilon}{sub x} = 3 mm-mrad and {gamma}{epsilon}{sub y} = 0.03 mm-mrad. To provide the necessary damping, the rings must damp multiple trains of bunches. Thus, the beam current is large, roughly 1 A. We will present the optical layout, magnet designs, and RF systems, along with the dynamic aperture and required alignment tolerances; collective effects will be discussed in another paper.
Spacecraft flight control with the new phase space control law and optimal linear jet select
NASA Technical Reports Server (NTRS)
Bergmann, E. V.; Croopnick, S. R.; Turkovich, J. J.; Work, C. C.
1977-01-01
An autopilot designed for rotation and translation control of a rigid spacecraft is described. The autopilot uses reaction control jets as control effectors and incorporates a six-dimensional phase space control law as well as a linear programming algorithm for jet selection. The interaction of the control law and jet selection was investigated and a recommended configuration proposed. By means of a simulation procedure the new autopilot was compared with an existing system and was found to be superior in terms of core memory, central processing unit time, firings, and propellant consumption. But it is thought that the cycle time required to perform the jet selection computations might render the new autopilot unsuitable for existing flight computer applications, without modifications. The new autopilot is capable of maintaining attitude control in the presence of a large number of jet failures.
Zhang, Yunong; Wang, Jun
2002-01-01
Global exponential stability is the most desirable stability property of recurrent neural networks. The paper presents new results for recurrent neural networks applied to online computation of feedback gains of linear time-invariant multivariable systems via pole assignment. The theoretical analysis focuses on the global exponential stability, convergence rates, and selection of design parameters. The theoretical results are further substantiated by simulation results conducted for synthesizing linear feedback control systems with different specifications and design requirements. PMID:18244461
Steady-state decoupling and design of linear multivariable systems
NASA Technical Reports Server (NTRS)
Thaler, G. J.
1974-01-01
A constructive criterion for decoupling the steady states of a linear time-invariant multivariable system is presented. This criterion consists of a set of inequalities which, when satisfied, will cause the steady states of a system to be decoupled. Stability analysis and a new design technique for such systems are given. A new and simple connection between single-loop and multivariable cases is found. These results are then applied to the compensation design for NASA STOL C-8A aircraft. Both steady-state decoupling and stability are justified through computer simulations.
Steady state decoupling and design of linear multivariable systems
NASA Technical Reports Server (NTRS)
Huang, J. Y.; Thaler, G. J.
1974-01-01
A constructive criterion for decoupling the steady states of linear multivariable systems is developed. The criterion consists of n(n-1) inequalities with the type numbers of the compensator transfer functions as the unknowns. These unknowns can be chosen to satisfy the inequalities and hence achieve a steady state decoupling scheme. It turns out that pure integrators in the loops play an important role. An extended root locus design method is then developed to take care of the stability and transient response. The overall procedure is applied to the compensation design for STOL C-8A aircraft in the approach mode.
Linear accelerator for production of tritium: Physics design challenges
Wangler, T.P.; Lawrence, G.P.; Bhatia, T.S.; Billen, J.H.; Chan, K.C.D.; Garnett, R.W.; Guy, F.W.; Liska, D.; Nath, S.; Neuschaefer, G.; Shubaly, M.
1990-01-01
In the summer of 1989, a collaboration between Los Alamos National Laboratory and Brookhaven National Laboratory conducted a study to establish a reference design of a facility for accelerator production of tritium (APT). The APT concept is that of a neutron-spallation source, which is based on the use of high-energy protons to bombard lead nuclei, resulting in the production of large quantities of neutrons. Neutrons from the lead are captured by lithium to produce tritium. This paper describes the design of a 1.6-GeV, 250-mA proton cw linear accelerator for APT.
A RECIPE FOR LINEAR COLLIDER FINAL FOCUS SYSTEM DESIGN
Seryi, Andrei
2003-05-27
The design of Final Focus systems for linear colliders is challenging because of the large demagnifications needed to produce nanometer-sized beams at the interaction point. Simple first- and second-order matrix matching have proven insufficient for this task, and minimization of third- and higher-order aberrations is essential. An appropriate strategy is required for the latter to be successful. A recipe for Final Focus design, and a set of computational tools used to implement this approach, are described herein. An example of the use of this procedure is given.
Precision Motion Control of Linear DC Solenoid Motor
NASA Astrophysics Data System (ADS)
Kato, Atsushi; Kubo, Takeharu; Ohnishi, Kouhei
High speed and high precision control has been required in various cases. Hence, a new linear actuator based on Linear DC Solenoid Motor (LDSM), is developed for that purpose. In addition, we propose a precision motion control for LDSM. LDSM is composed of solenoid stator and moving permanent magnet. It has simple and light structure. Moreover, the solenoid form provides small leakage and generates more power than non-linear motor. Nevertheless, the nonlinear disturbance force such as friction force prevents LDSM from controlling precisely. In this paper, the high gain disturbance observer is applied to LDSM to suppress the force. The observer is able to estimate and compensate the nonlinear disturbance force. It is confirmed that the proposed precision motion control provides LDSM with precise observer control position and force through the experiments.
Application of linear programming techniques for controlling linear dynamic plants in real time
NASA Astrophysics Data System (ADS)
Gabasov, R.; Kirillova, F. M.; Ha, Vo Thi Thanh
2016-03-01
The problem of controlling a linear dynamic plant in real time given its nondeterministic model and imperfect measurements of the inputs and outputs is considered. The concepts of current distributions of the initial state and disturbance parameters are introduced. The method for the implementation of disclosable loop using the separation principle is described. The optimal control problem under uncertainty conditions is reduced to the problems of optimal observation, optimal identification, and optimal control of the deterministic system. To extend the domain where a solution to the optimal control problem under uncertainty exists, a two-stage optimal control method is proposed. Results are illustrated using a dynamic plant of the fourth order.
Feedback Linearized Aircraft Control Using Dynamic Cell Structure
NASA Technical Reports Server (NTRS)
Jorgensen, C. C.
1998-01-01
A Dynamic Cell Structure (DCS ) Neural Network was developed which learns a topology representing network (TRN) of F-15 aircraft aerodynamic stability and control derivatives. The network is combined with a feedback linearized tracking controller to produce a robust control architecture capable of handling multiple accident and off-nominal flight scenarios. This paper describes network and its performance for accident scenarios including differential stabilator lock, soft sensor failure, control, stability derivative variation, and turbulence.
Design and Analysis of Tubular Permanent Magnet Linear Wave Generator
Si, Jikai; Feng, Haichao; Su, Peng; Zhang, Lufeng
2014-01-01
Due to the lack of mature design program for the tubular permanent magnet linear wave generator (TPMLWG) and poor sinusoidal characteristics of the air gap flux density for the traditional surface-mounted TPMLWG, a design method and a new secondary structure of TPMLWG are proposed. An equivalent mathematical model of TPMLWG is established to adopt the transformation relationship between the linear velocity of permanent magnet rotary generator and the operating speed of TPMLWG, to determine the structure parameters of the TPMLWG. The new secondary structure of the TPMLWG contains surface-mounted permanent magnets and the interior permanent magnets, which form a series-parallel hybrid magnetic circuit, and their reasonable structure parameters are designed to get the optimum pole-arc coefficient. The electromagnetic field and temperature field of TPMLWG are analyzed using finite element method. It can be included that the sinusoidal characteristics of air gap flux density of the new secondary structure TPMLWG are improved, the cogging force as well as mechanical vibration is reduced in the process of operation, and the stable temperature rise of generator meets the design requirements when adopting the new secondary structure of the TPMLWG. PMID:25050388
The design of linear algebra libraries for high performance computers
Dongarra, J.J. |; Walker, D.W.
1993-08-01
This paper discusses the design of linear algebra libraries for high performance computers. Particular emphasis is placed on the development of scalable algorithms for MIMD distributed memory concurrent computers. A brief description of the EISPACK, LINPACK, and LAPACK libraries is given, followed by an outline of ScaLAPACK, which is a distributed memory version of LAPACK currently under development. The importance of block-partitioned algorithms in reducing the frequency of data movement between different levels of hierarchical memory is stressed. The use of such algorithms helps reduce the message startup costs on distributed memory concurrent computers. Other key ideas in our approach are the use of distributed versions of the Level 3 Basic Linear Algebra Subprograms (BLAS) as computational building blocks, and the use of Basic Linear Algebra Communication Subprograms (BLACS) as communication building blocks. Together the distributed BLAS and the BLACS can be used to construct higher-level algorithms, and hide many details of the parallelism from the application developer. The block-cyclic data distribution is described, and adopted as a good way of distributing block-partitioned matrices. Block-partitioned versions of the Cholesky and LU factorizations are presented, and optimization issues associated with the implementation of the LU factorization algorithm on distributed memory concurrent computers are discussed, together with its performance on the Intel Delta system. Finally, approaches to the design of library interfaces are reviewed.
Finding Optimal Gains In Linear-Quadratic Control Problems
NASA Technical Reports Server (NTRS)
Milman, Mark H.; Scheid, Robert E., Jr.
1990-01-01
Analytical method based on Volterra factorization leads to new approximations for optimal control gains in finite-time linear-quadratic control problem of system having infinite number of dimensions. Circumvents need to analyze and solve Riccati equations and provides more transparent connection between dynamics of system and optimal gain.
Integrated control-structure design
NASA Technical Reports Server (NTRS)
Hunziker, K. Scott; Kraft, Raymond H.; Bossi, Joseph A.
1991-01-01
A new approach for the design and control of flexible space structures is described. The approach integrates the structure and controller design processes thereby providing extra opportunities for avoiding some of the disastrous effects of control-structures interaction and for discovering new, unexpected avenues of future structural design. A control formulation based on Boyd's implementation of Youla parameterization is employed. Control design parameters are coupled with structural design variables to produce a set of integrated-design variables which are selected through optimization-based methodology. A performance index reflecting spacecraft mission goals and constraints is formulated and optimized with respect to the integrated design variables. Initial studies have been concerned with achieving mission requirements with a lighter, more flexible space structure. Details of the formulation of the integrated-design approach are presented and results are given from a study involving the integrated redesign of a flexible geostationary platform.
Use of probabilistic weights to enhance linear regression myoelectric control
NASA Astrophysics Data System (ADS)
Smith, Lauren H.; Kuiken, Todd A.; Hargrove, Levi J.
2015-12-01
Objective. Clinically available prostheses for transradial amputees do not allow simultaneous myoelectric control of degrees of freedom (DOFs). Linear regression methods can provide simultaneous myoelectric control, but frequently also result in difficulty with isolating individual DOFs when desired. This study evaluated the potential of using probabilistic estimates of categories of gross prosthesis movement, which are commonly used in classification-based myoelectric control, to enhance linear regression myoelectric control. Approach. Gaussian models were fit to electromyogram (EMG) feature distributions for three movement classes at each DOF (no movement, or movement in either direction) and used to weight the output of linear regression models by the probability that the user intended the movement. Eight able-bodied and two transradial amputee subjects worked in a virtual Fitts’ law task to evaluate differences in controllability between linear regression and probability-weighted regression for an intramuscular EMG-based three-DOF wrist and hand system. Main results. Real-time and offline analyses in able-bodied subjects demonstrated that probability weighting improved performance during single-DOF tasks (p < 0.05) by preventing extraneous movement at additional DOFs. Similar results were seen in experiments with two transradial amputees. Though goodness-of-fit evaluations suggested that the EMG feature distributions showed some deviations from the Gaussian, equal-covariance assumptions used in this experiment, the assumptions were sufficiently met to provide improved performance compared to linear regression control. Significance. Use of probability weights can improve the ability to isolate individual during linear regression myoelectric control, while maintaining the ability to simultaneously control multiple DOFs.
Simple and Robust Indirect Thrust Control for Positioning of Linear Induction Motors
NASA Astrophysics Data System (ADS)
Martínez-Iturralde, Miguel; Martínez, Gonzalo; Castelli, Marcelo; Rico, Andrés García; Flórez, Julián
Dealing with position control of Linear Induction Motors (LIM), most strategies in bibliography are based on Secondary Flux Oriented Control (SFOC) and Direct Thrust Control (DTC). However, SFOC of linear induction motors needs complex identification methods to compensate parameter variation during operation, mainly due to local heating and end-effects. On the other hand, DTC based methods for LIMs present thrust ripple and have problems at low and zero speeds. In this paper, a new Indirect Thrust Control (ITC) based strategy for position control of linear induction motors that makes up for these drawbacks is presented. The position control loop design methodology and the method for automatic adjustment of compensators are described. Experimental results are presented to evaluate the performance and sensitivity of the control strategy. Finally, some conclusions are drawn about the applicability of the new algorithm that demonstrate the main advantages versus SFOC and DTC.
NASA Astrophysics Data System (ADS)
Ghandour, J.; Aberkane, S.; Ponsart, J.-C.
2014-12-01
In this paper the control problem of a quadrotor vehicle experiencing a rotor failure is investigated. We develop a Feedback linearization approach to design a controller whose task is to make the vehicle performs trajectory following. Then we use the same approach to design a controller whose task is to make the vehicle enter a stable spin around its vertical axis, while retaining zero angular velocities around the other axis when a rotor failure is present. These conditions can be exploited to design a second control loop, which is used to perform trajectory following. The proposed double control loop architecture allows the vehicle to perform both trajectory and roll/pitch control. At last, to test the robustness of the feedback linearization technique, we applied wind to the quadrotor in mid flight.
Damping ring designs for a TeV Linear Collider
Raubenheimer, T.O.; Rivkin, L.Z.; Ruth, R.D.
1988-12-01
In this paper we present a damping ring design for the TLC (TeV Linear Collider). The ring operates at 1.8 GeV. It has normalized emittances of elepsilon/sub x/ = 2.8 mrad and elepsilon/sub y/ = 25.4 nmrad. The damping times are /tau//sub x/ = 2.5 ms and /tau//sub y/ = 4.0 ms. To achieve these extremely low emittances and fast damping times, the ring contains 22 m of wigglers. 30 refs., 7 figs., 7 tabs.
Beam Dynamics Design and Simulation in Ion Linear Accelerators (
Energy Science and Technology Software Center (ESTSC)
2006-08-01
Orginally, the ray tracing code TRACK has been developed to fulfill the many special requirements for the Rare Isotope Accelerator Facility known as RIA. Since no available beam-dynamics code met all the necessary requirements, modifications to the code TRACK were introduced to allow end-to-end (from the ion souce to the production target) simulations of the RIA machine, TRACK is a general beam-dynamics code and can be applied for the design, commissioning and operation of modernmore » ion linear accelerators and beam transport systems.« less
Beam Dynamics Design and Simulation in Ion Linear Accelerators (
Ostroumov, Peter N.; Asseev, Vladislav N.; Mustapha, and Brahim
2006-08-01
Orginally, the ray tracing code TRACK has been developed to fulfill the many special requirements for the Rare Isotope Accelerator Facility known as RIA. Since no available beam-dynamics code met all the necessary requirements, modifications to the code TRACK were introduced to allow end-to-end (from the ion souce to the production target) simulations of the RIA machine, TRACK is a general beam-dynamics code and can be applied for the design, commissioning and operation of modern ion linear accelerators and beam transport systems.
Decentralized regulation of dynamic systems. [for controlling large scale linear systems
NASA Technical Reports Server (NTRS)
Chu, K. C.
1975-01-01
A special class of decentralized control problem is discussed in which the objectives of the control agents are to steer the state of the system to desired levels. Each agent is concerned about certain aspects of the state of the entire system. The state and control equations are given for linear time-invariant systems. Stability and coordination, and the optimization of decentralized control are analyzed, and the information structure design is presented.
Design and laboratory testing of a prototype linear temperature sensor
NASA Astrophysics Data System (ADS)
Dube, C. M.; Nielsen, C. M.
1982-07-01
This report discusses the basic theory, design, and laboratory testing of a prototype linear temperature sensor (or "line sensor'), which is an instrument for measuring internal waves in the ocean. The operating principle of the line sensor consists of measuring the average resistance change of a vertically suspended wire (or coil of wire) induced by the passage of an internal wave in a thermocline. The advantage of the line sensor over conventional internal wave measurement techniques is that it is insensitive to thermal finestructure which contaminates point sensor measurements, and its output is approximately linearly proportional to the internal wave displacement. An approximately one-half scale prototype line sensor module was teste in the laboratory. The line sensor signal was linearly related to the actual fluid displacement to within 10%. Furthermore, the absolute output was well predicted (within 25%) from the theoretical model and the sensor material properties alone. Comparisons of the line sensor and a point sensor in a wavefield with superimposed turbulence (finestructure) revealed negligible distortion in the line sensor signal, while the point sensor signal was swamped by "turbulent noise'. The effects of internal wave strain were also found to be negligible.
Linear-Parameter-Varying Antiwindup Compensation for Enhanced Flight Control Performance
NASA Technical Reports Server (NTRS)
Lu, Bei; Wu, Fen; Kim, Sung Wan
2005-01-01
Actuator saturation is one of the major issues of flight control in the high angle-of-attack region. This paper presents a saturation control scheme for linear parameter varyjing (LPV) systems from an antiwindup control perspective. The proposed control approach is advantageous from the implementation standpoint because it can be thought of as an augmented control algorithm to the existing control system. Moreover, the synthesis condition for an antiwindup compensator is formulated as a linear matrix inequality (LMI) optimization problem and can be solved efficiently. We have applied te LPV antiwindup controller to an F-16 longitudinal autopilot control system design and compared it with the thrust vectoring control scheme. The nonlinear simulations show that an LPV antiwindup controller improves flight quality and offers advantages over thrust vectoring in a high angle-of-attack region.
Attitude control with realization of linear error dynamics
NASA Technical Reports Server (NTRS)
Paielli, Russell A.; Bach, Ralph E.
1993-01-01
An attitude control law is derived to realize linear unforced error dynamics with the attitude error defined in terms of rotation group algebra (rather than vector algebra). Euler parameters are used in the rotational dynamics model because they are globally nonsingular, but only the minimal three Euler parameters are used in the error dynamics model because they have no nonlinear mathematical constraints to prevent the realization of linear error dynamics. The control law is singular only when the attitude error angle is exactly pi rad about any eigenaxis, and a simple intuitive modification at the singularity allows the control law to be used globally. The forced error dynamics are nonlinear but stable. Numerical simulation tests show that the control law performs robustly for both initial attitude acquisition and attitude control.
Alternative methods for the design of jet engine control systems
NASA Technical Reports Server (NTRS)
Sain, M. K.; Leake, R. J.; Basso, R.; Gejji, R.; Maloney, A.; Seshadri, V.
1976-01-01
Various alternatives to linear quadratic design methods for jet engine control systems are discussed. The main alternatives are classified into two broad categories: nonlinear global mathematical programming methods and linear local multivariable frequency domain methods. Specific studies within these categories include model reduction, the eigenvalue locus method, the inverse Nyquist method, polynomial design, dynamic programming, and conjugate gradient approaches.
Linear vs. function-based dose algorithm designs.
Stanford, N
2011-03-01
The performance requirements prescribed in IEC 62387-1, 2007 recommend linear, additive algorithms for external dosimetry [IEC. Radiation protection instrumentation--passive integrating dosimetry systems for environmental and personal monitoring--Part 1: General characteristics and performance requirements. IEC 62387-1 (2007)]. Neither of the two current standards for performance of external dosimetry in the USA address the additivity of dose results [American National Standards Institute, Inc. American National Standard for dosimetry personnel dosimetry performance criteria for testing. ANSI/HPS N13.11 (2009); Department of Energy. Department of Energy Standard for the performance testing of personnel dosimetry systems. DOE/EH-0027 (1986)]. While there are significant merits to adopting a purely linear solution to estimating doses from multi-element external dosemeters, differences in the standards result in technical as well as perception challenges in designing a single algorithm approach that will satisfy both IEC and USA external dosimetry performance requirements. The dosimetry performance testing standards in the USA do not incorporate type testing, but rely on biennial performance tests to demonstrate proficiency in a wide range of pure and mixed fields. The test results are used exclusively to judge the system proficiency, with no specific requirements on the algorithm design. Technical challenges include mixed beta/photon fields with a beta dose as low as 0.30 mSv mixed with 0.05 mSv of low-energy photons. Perception-based challenges, resulting from over 20 y of experience with this type of performance testing in the USA, include the common belief that the overall quality of the dosemeter performance can be judged from performance to pure fields. This paper presents synthetic testing results from currently accredited function-based algorithms and new developed purely linear algorithms. A comparison of the performance data highlights the benefits of each
Design of turbofan engine controls using output feedback regulator theory
NASA Technical Reports Server (NTRS)
Merrill, W. C.
1977-01-01
A multivariable control design procedure based on output feedback regulator (OFR) theory is applied to the F100 turbofan engine. Results for the OFR design are compared to a design based on linear quadratic regulator (LQR) theory. The OFR feedback control is designed in the full order state space and thus eliminates any need for model reduction techniques. Using the performance measure and control structure of the LQR design, an equivalent OFR feedback control is obtained. The flexibility of the OFR as a control design procedure is demonstrated, and differing feedback control structures are evaluated.
Multi-mode sliding mode control for precision linear stage based on fixed or floating stator
NASA Astrophysics Data System (ADS)
Fang, Jiwen; Long, Zhili; Wang, Michael Yu; Zhang, Lufan; Dai, Xufei
2016-02-01
This paper presents the control performance of a linear motion stage driven by Voice Coil Motor (VCM). Unlike the conventional VCM, the stator of this VCM is regulated, which means it can be adjusted as a floating-stator or fixed-stator. A Multi-Mode Sliding Mode Control (MMSMC), including a conventional Sliding Mode Control (SMC) and an Integral Sliding Mode Control (ISMC), is designed to control the linear motion stage. The control is switched between SMC and IMSC based on the error threshold. To eliminate the chattering, a smooth function is adopted instead of a signum function. The experimental results with the floating stator show that the positioning accuracy and tracking performance of the linear motion stage are improved with the MMSMC approach.
A damping ring design for future linear colliders
Raubenheimer, T.O.; Gabella, W.E.; Morton, P.L.; Lee, M.J.; Rivkin, L.Z.; Ruth, R.D.
1989-03-01
In this paper we present a preliminary design of a damping ring for the TeV Linear Collider (TLC), a future linear collider with an energy of 1/2 to 1 TeV in the center of mass. Because of limits on the emittance, repetition rate and longitudinal impedance, we use combined function FODO cells with wigglers in insertion regions; there are approximately 22 meters of wigglers in the 155 meter ring. The ring has a normalized horizontal emittance, including the effect of intrabeam scattering, which is less than 3 /times/ 10/sup /minus/6/ and an emittance ratio of epsilon/sub x/ approx. 100epsilon/sub y/. It is designed to damp bunches for 7 vertical damping times while operating at a repetition rate of 360 Hz. Because of these requirements on the emittance and the damping per bunch, the ring operates at 1.8 GeV and is relatively large, allowing more bunches to be damped at once. 10 refs., 5 figs., 2 tabs.
NASA Astrophysics Data System (ADS)
Lei, Jing; Jiang, Zuo; Li, Ya-Li; Li, Wu-Xin
2014-10-01
The problem of nonlinear vibration control for active vehicle suspension systems with actuator delay is considered. Through feedback linearization, the open-loop nonlinearity is eliminated by the feedback nonlinear term. Based on the finite spectrum assignment, the quarter-car suspension system with actuator delay is converted into an equivalent delay-free one. The nonlinear control includes a linear feedback term, a feedforward compensator, and a control memory term, which can be derived from a Riccati equation and a Sylvester equation, so that the effects produced by the road disturbances and the actuator delay are compensated, respectively. A predictor is designed to implement the predictive state in the designed control. Moreover, a reduced-order observer is constructed to solve its physical unrealisability problem. The stability proofs for the zero dynamics and the closed-loop system are provided. Numerical simulations illustrate the effectiveness and the simplicity of the designed control.
Modular design attitude control system
NASA Technical Reports Server (NTRS)
Chichester, F. D.
1982-01-01
A hybrid multilevel linear quadratic regulator (ML-LQR) approach was developed and applied to the attitude control of models of the rotational dynamics of a prototype flexible spacecraft and of a typical space platform. Three axis rigid body flexible suspension models were developed for both the spacecraft and the space platform utilizing augmented body methods. Models of the spacecraft with hybrid ML-LQR attitude control and with LQR attitude control were simulated and their response with the two different types of control were compared.
Identification of linear system models and state estimators for controls
NASA Technical Reports Server (NTRS)
Chen, Chung-Wen
1992-01-01
The following paper is presented in viewgraph format and covers topics including: (1) linear state feedback control system; (2) Kalman filter state estimation; (3) relation between residual and stochastic part of output; (4) obtaining Kalman filter gain; (5) state estimation under unknown system model and unknown noises; and (6) relationship between filter Markov parameters and system Markov parameters.
Tunneling control using classical non-linear oscillator
Kar, Susmita; Bhattacharyya, S. P.
2014-04-24
A quantum particle is placed in symmetric double well potential which is coupled to a classical non-linear oscillator via a coupling function. With different spatial symmetry of the coupling and under various controlling fashions, the tunneling of the quantum particle can be enhanced or suppressed, or totally destroyed.
A non-linear UAV altitude PSO-PD control
NASA Astrophysics Data System (ADS)
Orlando, Calogero
2015-12-01
In this work, a nonlinear model based approach is presented for the altitude stabilization of a hexarotor unmanned aerial vehicle (UAV). The mathematical model and control of the hexacopter airframe is presented. To stabilize the system along the vertical direction, a Proportional Derivative (PD) control is taken into account. A particle swarm optimization (PSO) approach is used in this paper to select the optimal parameters of the control algorithm taking into account different objective functions. Simulation sets are performed to carry out the results for the non-linear system to show how the PSO tuned PD controller leads to zero the error of the position along Z earth direction.
NASA Astrophysics Data System (ADS)
Shukla, Jaikaran N.; Halfen, Frank J.; Brynsvold, Glen V.; Syed, Akbar; Jiang, Thomas J.; Wong, Kwok K.; Otwell, Robert L.
1994-07-01
Recent work in lower power generic early applications for the SP-100 have resulted in control system design simplification for a 20 kWe design with thermoelectric power conversion. This paper presents the non-mission-dependent control system features for this design. The control system includes a digital computer based controller, dual purpose control rods and drives, temperature sensors, and neutron flux monitors. The thaw system is mission dependent and can be either electrical or based on NaK trace lines. Key features of the control system and components are discussed. As was the case for higher power applications, the initial on-orbit approach to criticality involves the relatively fast withdrawal of the control-rods to a near-critical position followed by slower movement through critical and into the power range. The control system performs operating maneuvers as well as providing for automatic startup, shutdown, restart, and reactor protection.
Automatic control design procedures for restructurable aircraft control
NASA Technical Reports Server (NTRS)
Looze, D. P.; Krolewski, S.; Weiss, J.; Barrett, N.; Eterno, J.
1985-01-01
A simple, reliable automatic redesign procedure for restructurable control is discussed. This procedure is based on Linear Quadratic (LQ) design methodologies. It employs a robust control system design for the unfailed aircraft to minimize the effects of failed surfaces and to extend the time available for restructuring the Flight Control System. The procedure uses the LQ design parameters for the unfailed system as a basis for choosing the design parameters of the failed system. This philosophy alloys the engineering trade-offs that were present in the nominal design to the inherited by the restructurable design. In particular, it alloys bandwidth limitations and performance trade-offs to be incorporated in the redesigned system. The procedure also has several other desirable features. It effectively redistributes authority among the available control effectors to maximize the system performance subject to actuator limitations and constraints. It provides a graceful performance degradation as the amount of control authority lessens. When given the parameters of the unfailed aircraft, the automatic redesign procedure reproduces the nominal control system design.
NASA Astrophysics Data System (ADS)
You, Dae-Joon; Lee, Sung-Ho; Jang, Seok-Myeong
2008-04-01
In the case of the manufactured linear permanent magnet synchronous machines (PMLSMs), dynamic range evaluation for system efficiency and performance limits is difficult to accomplish because of the moving length restriction with mover and the absence of interface between the design field and control field. To solve this problem, this paper presents a dynamic analysis based on design parameters by magnetic field analysis of the linear PM machine. And then, maximum operating range of the system is estimated considering the control method of a fixed dc-link voltage of the inverter. This analysis is verified from the dynamic experiments through continuous progressive motion of the manufactured disk-type PMLSM by current control.
Aircraft digital control design methods
NASA Technical Reports Server (NTRS)
Powell, J. D.; Parsons, E.; Tashker, M. G.
1976-01-01
Variations in design methods for aircraft digital flight control are evaluated and compared. The methods fall into two categories; those where the design is done in the continuous domain (or s plane) and those where the design is done in the discrete domain (or z plane). Design method fidelity is evaluated by examining closed loop root movement and the frequency response of the discretely controlled continuous aircraft. It was found that all methods provided acceptable performance for sample rates greater than 10 cps except the uncompensated s plane design method which was acceptable above 20 cps. A design procedure based on optimal control methods was proposed that provided the best fidelity at very slow sample rates and required no design iterations for changing sample rates.
Stochastic Stability of Sampled Data Systems with a Jump Linear Controller
NASA Technical Reports Server (NTRS)
Gonzalez, Oscar R.; Herencia-Zapana, Heber; Gray, W. Steven
2004-01-01
In this paper an equivalence between the stochastic stability of a sampled-data system and its associated discrete-time representation is established. The sampled-data system consists of a deterministic, linear, time-invariant, continuous-time plant and a stochastic, linear, time-invariant, discrete-time, jump linear controller. The jump linear controller models computer systems and communication networks that are subject to stochastic upsets or disruptions. This sampled-data model has been used in the analysis and design of fault-tolerant systems and computer-control systems with random communication delays without taking into account the inter-sample response. This paper shows that the known equivalence between the stability of a deterministic sampled-data system and the associated discrete-time representation holds even in a stochastic framework.
Digital program for solving the linear stochastic optimal control and estimation problem
NASA Technical Reports Server (NTRS)
Geyser, L. C.; Lehtinen, B.
1975-01-01
A computer program is described which solves the linear stochastic optimal control and estimation (LSOCE) problem by using a time-domain formulation. The LSOCE problem is defined as that of designing controls for a linear time-invariant system which is disturbed by white noise in such a way as to minimize a performance index which is quadratic in state and control variables. The LSOCE problem and solution are outlined; brief descriptions are given of the solution algorithms, and complete descriptions of each subroutine, including usage information and digital listings, are provided. A test case is included, as well as information on the IBM 7090-7094 DCS time and storage requirements.
Modular design attitude control system
NASA Technical Reports Server (NTRS)
Chichester, F. D.
1984-01-01
A sequence of single axismodels and a series of reduced state linear observers of minimum order are used to reconstruct inaccessible variables pertaining to the modular attitude control of a rigid body flexible suspension model of a flexible spacecraft. The single axis models consist of two, three, four, and five rigid bodies, each interconnected by a flexible shaft passing through the mass centers of the bodies. Modal damping is added to each model. Reduced state linear observers are developed for synthesizing the inaccessible modal state variables for each modal model.
The Advanced Photon Source (APS) Linear Accelerator: design and performance
White, M.M.
1996-06-01
The Advanced Photon Source linear accelerator (linac) system consists of a 200-MeV, 2856-MHz S-band electron linac and a 2-radiation-length- thick tungsten target followed by a 450-MeV positron linac. The linac system has operated 24 hours per day for the past two years to support accelerator commissioning and beam studies, and to provide beam for the experimental program. It achieves the design goal for positron current of 8 mA, and produces electron energies up to 650 MeV without the target in place. The linac is described, and its operation and performance are discussed. 9 refs., 3 figs., 1 tab.
Self-shielded electron linear accelerators designed for radiation technologies
NASA Astrophysics Data System (ADS)
Belugin, V. M.; Rozanov, N. E.; Pirozhenko, V. M.
2009-09-01
This paper describes self-shielded high-intensity electron linear accelerators designed for radiation technologies. The specific property of the accelerators is that they do not apply an external magnetic field; acceleration and focusing of electron beams are performed by radio-frequency fields in the accelerating structures. The main characteristics of the accelerators are high current and beam power, but also reliable operation and a long service life. To obtain these characteristics, a number of problems have been solved, including a particular optimization of the accelerator components and the application of a variety of specific means. The paper describes features of the electron beam dynamics, accelerating structure, and radio-frequency power supply. Several compact self-shielded accelerators for radiation sterilization and x-ray cargo inspection have been created. The introduced methods made it possible to obtain a high intensity of the electron beam and good performance of the accelerators.
Multileaf shielding design against neutrons produced by medical linear accelerators.
Rebello, W F; Silva, A X; Facure, A
2008-01-01
This work aims at presenting a study using Monte Carlo simulation of a Multileaf Shielding (MLS) System designed to be used for the protection of patients who undergo radiotherapy treatment, against undesired exposure to neutrons produced in the components of the medical linear accelerator heads. The choice of radiotherapy equipment as the subject of study fell on the Varian Clinac 2,100/2,300 with MLC-120 operating at 18 MeV. The general purpose Monte Carlo N-Particle radiation transport code, MCNP5, was used in the computer simulation in order to determine the ambient dose equivalent, H (10), on several points on the patient's plane, with the equipment operation with and without the MLS. The results of the simulations showed a significant neutron dose reduction after the inclusion of the proposed shielding. PMID:17569690
Integrated controls design optimization
Lou, Xinsheng; Neuschaefer, Carl H.
2015-09-01
A control system (207) for optimizing a chemical looping process of a power plant includes an optimizer (420), an income algorithm (230) and a cost algorithm (225) and a chemical looping process models. The process models are used to predict the process outputs from process input variables. Some of the process in puts and output variables are related to the income of the plant; and some others are related to the cost of the plant operations. The income algorithm (230) provides an income input to the optimizer (420) based on a plurality of input parameters (215) of the power plant. The cost algorithm (225) provides a cost input to the optimizer (420) based on a plurality of output parameters (220) of the power plant. The optimizer (420) determines an optimized operating parameter solution based on at least one of the income input and the cost input, and supplies the optimized operating parameter solution to the power plant.
Receiver-exciter controller design
NASA Astrophysics Data System (ADS)
Jansma, P. A.
1982-06-01
A description of the general design of both the block 3 and block 4 receiver-exciter controllers for the Deep Space Network (DSN) Mark IV-A System is presented along with the design approach. The controllers are designed to enable the receiver-exciter subsystem (RCV) to be configured, calibrated, initialized and operated from a central location via high level instructions. The RECs are designed to be operated under the control of the DMC subsystem. The instructions are in the form of standard subsystem blocks (SSBs) received via the local area network (LAN). The centralized control provided by RECs and other DSCC controllers in Mark IV-A is intended to reduce DSN operations costs from the Mark III era.
Receiver-exciter controller design
NASA Technical Reports Server (NTRS)
Jansma, P. A.
1982-01-01
A description of the general design of both the block 3 and block 4 receiver-exciter controllers for the Deep Space Network (DSN) Mark IV-A System is presented along with the design approach. The controllers are designed to enable the receiver-exciter subsystem (RCV) to be configured, calibrated, initialized and operated from a central location via high level instructions. The RECs are designed to be operated under the control of the DMC subsystem. The instructions are in the form of standard subsystem blocks (SSBs) received via the local area network (LAN). The centralized control provided by RECs and other DSCC controllers in Mark IV-A is intended to reduce DSN operations costs from the Mark III era.
ORACLS - A linear-quadratic-Gaussian computer-aided design package
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1982-01-01
ORACLS, an acronym denoting Optimal Regular Algorithms for the Control of Linear Systems, is a collection of FORTRAN coded subroutines dedicated to the formulation and solution of the Linear-Quadratic-Gaussian (LQG) design problem modeled in both continuous and discrete form. The ORACLS system is under continuous development at the NASA Langley Research Center, Hampton, Virginia, and is widely used by universities and industry within the U.S.A. The current (operational) ORACLS version as well as new software under development is described.
Adaptive stochastic control for a class of linear systems.
NASA Technical Reports Server (NTRS)
Tse, E.; Athans, M.
1972-01-01
The problem considered in this paper deals with the control of linear discrete-time stochastic systems with unknown (possibly time-varying and random) gain parameters. The philosophy of control is based on the use of an open-loop feedback optimal (OLFO) control using a quadratic index of performance. It is shown that the OLFO system consists of (1) an identifier that estimates the system state variables and gain parameters and (2) a controller described by an 'adaptive' gain and correction term. Several qualitative properties and asymptotic properties of the OLFO adaptive system are discussed. Simulation results dealing with the control of stable and unstable third-order plants are presented. The key quantitative result is the precise variation of the control system adaptive gains as a function of the future expected uncertainty of the parameters; thus, in this problem the ordinary 'separation theorem' does not hold.
A comparison of controller designs for an experimental flexible structure
NASA Technical Reports Server (NTRS)
Lim, K. B.; Maghami, P. G.; Joshi, S. M.
1991-01-01
Control systems design and hardware testing are addressed for an experimental structure that displays the characteristics of a typical flexible spacecraft. The results of designing and implementing various control design methodologies are described. The design methodologies under investigation include linear quadratic Gaussian control, static and dynamic dissipative controls, and H-infinity optimal control. Among the three controllers considered, it is shown, through computer simulation and laboratory experiments on the evolutionary structure, that the dynamic dissipative controller gave the best results in terms of vibration suppression and robustness with respect to modeling errors.
Nonaxisymmetric turbine end wall design: Part 1 -- Three-dimensional linear design system
Harvey, N.W.; Rose, M.G.; Taylor, M.D.; Shahpar, S.; Hartland, J.; Gregory-Smith, D.G.
2000-04-01
A linear design system, already in use for the forward and inverse design of three-dimensional turbine aerofoils, has been extended for the design of their end walls. This paper shows how this method has been applied to the design of a nonaxisymmetric end wall for a turbine rotor blade in linear cascade. The calculations show that nonaxisymmetric end wall profiling is a powerful tool for reducing secondary flows, in particular the secondary kinetic energy and exit angle deviations. Simple end wall profiling is shown to be at least as beneficial aerodynamically as the now standard techniques of differentially skewing aerofoil sections up the span, and (compound) leaning of the aerofoil. A design is presented that combines a number of end wall features aimed at reducing secondary loss and flow deviation. The experimental study of this geometry, aimed at validating the design method, is the subject of the second part of this paper. The effects of end wall perturbations on the flow field are calculated using a three-dimensional pressure correction based Reynolds-averaged Navier-Stokes CFD code. These calculations are normally performed overnight on a cluster of work stations. The design system then calculates the relationships between perturbations in the end wall and resulting changes in the flow field. With these available, linear superposition theory is used to enable the designer to investigate quickly the effect on the flow field of many combinations of end wall shapes (a matter of minutes for each shape).
Linear Time Invariant Models for Integrated Flight and Rotor Control
NASA Astrophysics Data System (ADS)
Olcer, Fahri Ersel
2011-12-01
Recent developments on individual blade control (IBC) and physics based reduced order models of various on-blade control (OBC) actuation concepts are opening up opportunities to explore innovative rotor control strategies for improved rotor aerodynamic performance, reduced vibration and BVI noise, and improved rotor stability, etc. Further, recent developments in computationally efficient algorithms for the extraction of Linear Time Invariant (LTI) models are providing a convenient framework for exploring integrated flight and rotor control, while accounting for the important couplings that exist between body and low frequency rotor response and high frequency rotor response. Formulation of linear time invariant (LTI) models of a nonlinear system about a periodic equilibrium using the harmonic domain representation of LTI model states has been studied in the literature. This thesis presents an alternative method and a computationally efficient scheme for implementation of the developed method for extraction of linear time invariant (LTI) models from a helicopter nonlinear model in forward flight. The fidelity of the extracted LTI models is evaluated using response comparisons between the extracted LTI models and the nonlinear model in both time and frequency domains. Moreover, the fidelity of stability properties is studied through the eigenvalue and eigenvector comparisons between LTI and LTP models by making use of the Floquet Transition Matrix. For time domain evaluations, individual blade control (IBC) and On-Blade Control (OBC) inputs that have been tried in the literature for vibration and noise control studies are used. For frequency domain evaluations, frequency sweep inputs are used to obtain frequency responses of fixed system hub loads to a single blade IBC input. The evaluation results demonstrate the fidelity of the extracted LTI models, and thus, establish the validity of the LTI model extraction process for use in integrated flight and rotor control
A new direct torque control scheme for induction motors using linear state feedback
Kandianis, A.; Manias, S.N.; Griva, G.; Profumo, F.
1995-12-31
In this paper a new Direct Torque Control (DTC) scheme for induction motor drives is described, based on the linear state feedback method with dynamic output feedback. The DTC has been shown to be a good solution in torque controlled drives applications when the speed control is not required (e.g. traction drives for electric vehicles). In such cases, the torque command comes directly from the user input. By considering the torque and flux as the outputs of the linearized motor model, it is possible to design an optimum controller with constant gain state feedback and dynamic output feedback through an integral term. The design procedure of the proposed control scheme is described and the simulation results are presented to show the overall performance of the system.
NASA Astrophysics Data System (ADS)
Pan, Li-Xin; Jin, Hong-Zhang; Wang, Lin-Lin
2011-06-01
In the case of Autonomous Underwater Vehicle (AUV) navigating with low speed near water surface, a new method for design of roll motion controller is proposed in order to restrain wave disturbance effectively and improve roll stabilizing performance. Robust control is applied, which is based on uncertain nonlinear horizontal motion model of AUV and the principle of zero speed fin stabilizer. Feedback linearization approach is used to transform the complex nonlinear system into a comparatively simple linear system. For parameter uncertainty of motion model, the controller is designed with mixed-sensitivity method based on H-infinity robust control theory. Simulation results show better robustness improved by this control method for roll stabilizing of AUV navigating near water surface.
Performance of a linear robust control strategy on a nonlinear model of spatially developing flows
NASA Astrophysics Data System (ADS)
Lauga, Eric; Bewley, Thomas R.
2004-08-01
This paper investigates the control of self-excited oscillations in spatially developing flow systems such as jets and wakes using {mathcal H}_{infty} control theory on a complex Ginzburg Landau (CGL) model. The coefficients used in this one-dimensional equation, which serves as a simple model of the evolution of hydrodynamic instability waves, are those selected by Roussopoulos & Monkewitz (Physica D 1996, vol. 97, p. 264) to model the behaviour of the near-wake of a circular cylinder. Based on noisy measurements at a point sensor typically located inside the cylinder wake, the compensator uses a linear {mathcal H}_{infty} filter based on the CGL model to construct a state estimate. This estimate is then used to compute linear {mathcal H}_{infty} control feedback at a point actuator location, which is typically located upstream of the sensor. The goal of the control scheme is to stabilize the system by minimizing a weighted average of the ‘system response’ and the ‘control effort’ while rigorously bounding the response of the controlled linear system to external disturbances. The application of such modern control and estimation rules stabilizes the linear CGL system at Reynolds numbers far above the critical Reynolds number Re_c {≈} 47 at which linear global instability appears in the uncontrolled system. In so doing, many unstable modes of the uncontrolled CGL system are linearly stabilized by the single actuator/sensor pair and the model-based feedback control strategy. Further, the linear performance of the closed-loop system, in terms of the relevant transfer function norms quantifying the linear response of the controlled system to external disturbances, is substantially improved beyond that possible with the simple proportional measurement feedback proposed in previous studies. Above Re {≈} 84, the {mathcal H}_{infty} control designs significantly outperform the corresponding {mathcal H}_2 control designs in terms of their ability to stabilize
Robust multivariable controller design for flexible spacecraft
NASA Technical Reports Server (NTRS)
Joshi, Suresh M.; Armstrong, Ernest S.
1986-01-01
Large, flexible spacecraft are typically characterized by a large number of significant elastic modes with very small inherent damping, low, closely spaced natural frequencies, and the lack of accurate knowledge of the structural parameters. Summarized here is some recent research on the design of robust controllers for such spacecraft, which will maintain stability, and possible performance, despite these problems. Two types of controllers are considered, the first being the linear-quadratic-Gaussian-(LQG)-type. The second type utilizes output feedback using collocated sensors and actuators. The problem of designing robust LQG-type controllers using the frequency domain loop transfer recovery (LTR) method is considered, and the method is applied to a large antenna model. Analytical results regarding the regions of stability for LQG-type controllers in the presence of actuator nonlinearities are also presented. The results obtained for the large antenna indicate that the LQG/LTR method is a promising approach for control system design for flexible spacecraft. For the second type of controllers (collocated controllers), it is proved that the stability is maintained in the presence of certain commonly encountered nonlinearities and first-order actuator dynamics. These results indicate that collocated controllers are good candidates for robust control in situations where model errors are large.
Integrated structure/control law design by multilevel optimization
NASA Technical Reports Server (NTRS)
Gilbert, Michael G.; Schmidt, David K.
1989-01-01
A new approach to integrated structure/control law design based on multilevel optimization is presented. This new approach is applicable to aircraft and spacecraft and allows for the independent design of the structure and control law. Integration of the designs is achieved through use of an upper level coordination problem formulation within the multilevel optimization framework. The method requires the use of structure and control law design sensitivity information. A general multilevel structure/control law design problem formulation is given, and the use of Linear Quadratic Gaussian (LQG) control law design and design sensitivity methods within the formulation is illustrated. Results of three simple integrated structure/control law design examples are presented. These results show the capability of structure and control law design tradeoffs to improve controlled system performance within the multilevel approach.
Linear and Nonlinear Schemes Applied to Pitch Control of Wind Turbines
Yang, Geng
2014-01-01
Linear controllers have been employed in industrial applications for many years, but sometimes they are noneffective on the system with nonlinear characteristics. This paper discusses the structure, performance, implementation cost, advantages, and disadvantages of different linear and nonlinear schemes applied to the pitch control of the wind energy conversion systems (WECSs). The linear controller has the simplest structure and is easily understood by the engineers and thus is widely accepted by the industry. In contrast, nonlinear schemes are more complicated, but they can provide better performance. Although nonlinear algorithms can be implemented in a powerful digital processor nowadays, they need time to be accepted by the industry and their reliability needs to be verified in the commercial products. More information about the system nonlinear feature is helpful to simplify the controller design. However, nonlinear schemes independent of the system model are more robust to the uncertainties or deviations of the system parameters. PMID:25295299
Linear and nonlinear schemes applied to pitch control of wind turbines.
Geng, Hua; Yang, Geng
2014-01-01
Linear controllers have been employed in industrial applications for many years, but sometimes they are noneffective on the system with nonlinear characteristics. This paper discusses the structure, performance, implementation cost, advantages, and disadvantages of different linear and nonlinear schemes applied to the pitch control of the wind energy conversion systems (WECSs). The linear controller has the simplest structure and is easily understood by the engineers and thus is widely accepted by the industry. In contrast, nonlinear schemes are more complicated, but they can provide better performance. Although nonlinear algorithms can be implemented in a powerful digital processor nowadays, they need time to be accepted by the industry and their reliability needs to be verified in the commercial products. More information about the system nonlinear feature is helpful to simplify the controller design. However, nonlinear schemes independent of the system model are more robust to the uncertainties or deviations of the system parameters. PMID:25295299
Design, evaluation and test of an electronic, multivariable control for the F100 turbofan engine
NASA Technical Reports Server (NTRS)
Skira, C. A.; Dehoff, R. L.; Hall, W. E., Jr.
1980-01-01
A digital, multivariable control design procedure for the F100 turbofan engine is described. The controller is based on locally linear synthesis techniques using linear, quadratic regulator design methods. The control structure uses an explicit model reference form with proportional and integral feedback near a nominal trajectory. Modeling issues, design procedures for the control law and the estimation of poorly measured variables are presented.
Brunton, Steven L.; Brunton, Bingni W.; Proctor, Joshua L.; Kutz, J. Nathan
2016-01-01
In this work, we explore finite-dimensional linear representations of nonlinear dynamical systems by restricting the Koopman operator to an invariant subspace spanned by specially chosen observable functions. The Koopman operator is an infinite-dimensional linear operator that evolves functions of the state of a dynamical system. Dominant terms in the Koopman expansion are typically computed using dynamic mode decomposition (DMD). DMD uses linear measurements of the state variables, and it has recently been shown that this may be too restrictive for nonlinear systems. Choosing the right nonlinear observable functions to form an invariant subspace where it is possible to obtain linear reduced-order models, especially those that are useful for control, is an open challenge. Here, we investigate the choice of observable functions for Koopman analysis that enable the use of optimal linear control techniques on nonlinear problems. First, to include a cost on the state of the system, as in linear quadratic regulator (LQR) control, it is helpful to include these states in the observable subspace, as in DMD. However, we find that this is only possible when there is a single isolated fixed point, as systems with multiple fixed points or more complicated attractors are not globally topologically conjugate to a finite-dimensional linear system, and cannot be represented by a finite-dimensional linear Koopman subspace that includes the state. We then present a data-driven strategy to identify relevant observable functions for Koopman analysis by leveraging a new algorithm to determine relevant terms in a dynamical system by ℓ1-regularized regression of the data in a nonlinear function space; we also show how this algorithm is related to DMD. Finally, we demonstrate the usefulness of nonlinear observable subspaces in the design of Koopman operator optimal control laws for fully nonlinear systems using techniques from linear optimal control. PMID:26919740
Computer-aided design of flight control systems
NASA Technical Reports Server (NTRS)
Stengel, Robert F.; Sircar, Subrata
1991-01-01
A computer program is presented for facilitating the development and assessment of flight control systems, and application to a control design is discussed. The program is a computer-aided control-system design program based on direct digital synthesis of a proportional-integral-filter controller with scheduled linear-quadratic-Gaussian gains and command generator tracking of pilot inputs. The FlightCAD system concentrates on aircraft dynamics, flight-control systems, stability and performance, and has practical engineering applications.
Robust power system controller design based on measured models
Fatehi, F.; Smith, J.R.; Pierre, D.A.
1996-05-01
This paper presents combined system identification and controller design methods to dampen low-frequency oscillations in multimachine power systems. An iterative closed-loop identification method is used to find a linear model for the power system. Linear quadratic Gaussian controller design with loop transfer recovery (LQG/LTR), based on a generalized technique for the nonminimum phase (NMP) power system model, is used to design controllers. Simulation results are presented to demonstrate the robustness of controllers based on closed-loop identified plant models and the amount of loop transfer recovery that is possible for NMP plant models.
The design of digital-adaptive controllers for VTOL aircraft
NASA Technical Reports Server (NTRS)
Stengel, R. F.; Broussard, J. R.; Berry, P. W.
1976-01-01
Design procedures for VTOL automatic control systems have been developed and are presented. Using linear-optimal estimation and control techniques as a starting point, digital-adaptive control laws have been designed for the VALT Research Aircraft, a tandem-rotor helicopter which is equipped for fully automatic flight in terminal area operations. These control laws are designed to interface with velocity-command and attitude-command guidance logic, which could be used in short-haul VTOL operations. Developments reported here include new algorithms for designing non-zero-set-point digital regulators, design procedures for rate-limited systems, and algorithms for dynamic control trim setting.
Dissipative control for linear systems by static output feedback
NASA Astrophysics Data System (ADS)
Feng, Zhiguang; Lam, James; Shu, Zhan
2013-08-01
In this article, the problem of static output-feedback dissipative control is investigated for linear continuous-time system based on an augmented system approach. A necessary and sufficient condition for stability and strict (Q,S,R)-dissipativity of the closed-loop system is established in terms of a matrix inequality with free parametrisation matrix. An equivalent characterisation with some slack matrices for numerical solvability is then proposed. Based on this, a necessary and sufficient condition for the existence of a desired controller is given, and a corresponding iterative algorithm is developed to solve the condition. The effectiveness of results developed in this article is demonstrated by some numerical examples.
Consensus of multi-agent linear dynamic systems via impulsive control protocols
NASA Astrophysics Data System (ADS)
Jiang, Haibo; Yu, Jianjiang; Zhou, Caigen
2011-06-01
In this article, we introduce impulsive control protocols for multi-agent linear dynamic systems. First, an impulsive control protocol is designed for network with fixed topology based on the local information of agents. Then sufficient conditions are given to guarantee the consensus of the multi-agent linear dynamic systems by the theory of impulsive systems. Furthermore, how to select the discrete instants and impulsive matrices is discussed. The case that the topologies of networks are switching is also considered. Numerical simulations show the effectiveness of our theoretical results.
NASA Technical Reports Server (NTRS)
Becus, G. A.; Lui, C. Y.; Venkayya, V. B.; Tischler, V. A.
1987-01-01
A method for simultaneous structural and control design of large flexible space structures (LFSS) to reduce vibration generated by disturbances is presented. Desired natural frequencies and damping ratios for the closed loop system are achieved by using a combination of linear quadratic regulator (LQR) synthesis and numerical optimization techniques. The state and control weighing matrices (Q and R) are expressed in terms of structural parameters such as mass and stiffness. The design parameters are selected by numerical optimization so as to minimize the weight of the structure and to achieve the desired closed-loop eigenvalues. An illustrative example of the design of a two bar truss is presented.
Linear Parameter Varying Control Synthesis for Actuator Failure, Based on Estimated Parameter
NASA Technical Reports Server (NTRS)
Shin, Jong-Yeob; Wu, N. Eva; Belcastro, Christine
2002-01-01
The design of a linear parameter varying (LPV) controller for an aircraft at actuator failure cases is presented. The controller synthesis for actuator failure cases is formulated into linear matrix inequality (LMI) optimizations based on an estimated failure parameter with pre-defined estimation error bounds. The inherent conservatism of an LPV control synthesis methodology is reduced using a scaling factor on the uncertainty block which represents estimated parameter uncertainties. The fault parameter is estimated using the two-stage Kalman filter. The simulation results of the designed LPV controller for a HiMXT (Highly Maneuverable Aircraft Technology) vehicle with the on-line estimator show that the desired performance and robustness objectives are achieved for actuator failure cases.
Design of turbofan engine controls using output feedback regulator theory
NASA Technical Reports Server (NTRS)
Merrill, W. C.
1977-01-01
A multivariable control design procedure based on output feedback regulator (OFR) theory is applied to the F100 turbofan engine. Results for the OFR design are compared to a design based on linear quadratic regulator (LQR) theory. This LQR design was obtained as part of the F100 Multivariable Control Synthesis (MVCS) program. In the MVCS program the LQR feedback control was designed in a reduced dimension state space and then applied to the original system. However, the OFR feedback control is designed in the full order state space and thus eliminates any need for model reduction techniques. Using the performance measure and control structure of the MVCS program LQR design, an equivalent OFR feedback control is obtained. The flexibility of the OFR as a control design procedure is demonstrated and differing feedback control structures are evaluated.
Feedback Control Systems Loop Shaping Design with Practical Considerations
NASA Technical Reports Server (NTRS)
Kopsakis, George
2007-01-01
This paper describes loop shaping control design in feedback control systems, primarily from a practical stand point that considers design specifications. Classical feedback control design theory, for linear systems where the plant transfer function is known, has been around for a long time. But it s still a challenge of how to translate the theory into practical and methodical design techniques that simultaneously satisfy a variety of performance requirements such as transient response, stability, and disturbance attenuation while taking into account the capabilities of the plant and its actuation system. This paper briefly addresses some relevant theory, first in layman s terms, so that it becomes easily understood and then it embarks into a practical and systematic design approach incorporating loop shaping design coupled with lead-lag control compensation design. The emphasis is in generating simple but rather powerful design techniques that will allow even designers with a layman s knowledge in controls to develop effective feedback control designs.
Linearized aerodynamic and control law models of the X-29A airplane and comparison with flight data
NASA Technical Reports Server (NTRS)
Bosworth, John T.
1992-01-01
Flight control system design and analysis for aircraft rely on mathematical models of the vehicle dynamics. In addition to a six degree of freedom nonlinear simulation, the X-29A flight controls group developed a set of programs that calculate linear perturbation models throughout the X-29A flight envelope. The models include the aerodynamics as well as flight control system dynamics and were used for stability, controllability, and handling qualities analysis. These linear models were compared to flight test results to help provide a safe flight envelope expansion. A description is given of the linear models at three flight conditions and two flight control system modes. The models are presented with a level of detail that would allow the reader to reproduce the linear results if desired. Comparison between the response of the linear model and flight measured responses are presented to demonstrate the strengths and weaknesses of the linear models' ability to predict flight dynamics.
A Non-Linear Approach to Spacecraft Trajectory Control in the Vicinity of a Libration Point
NASA Technical Reports Server (NTRS)
Luquette, Richard J.; Sanner, Robert M.
2001-01-01
An expanding interest in mission design strategies that exploit libration point regions demands the continued development of enhanced, efficient, control algorithms for station-keeping and formation maintenance. This paper discusses the development of a non-linear, station-keeping, control algorithm for trajectories in the vicinity of a libration point. The control law guarantees exponential convergence, based on a Lyaponov analysis. Controller performance is evaluated using FreeFlyer(R) and MATLAB(R) for a spacecraft stationed near the L2 libration point in the Earth-Moon system, tracking a pre-defined reference trajectory. Evaluation metrics are fuel usage and tracking accuracy. Simulation results are compared with a linear-based controller for a spacecraft tracking the same reference trajectory. Although the analysis is framed in the context of station-keeping, the control algorithm is equally applicable to a formation flying problem with an appropriate definition of the reference trajectory.
Hybrid Invariance and Stability of a Feedback Linearizing Controller for Powered Prostheses
Martin, Anne E.; Gregg, Robert D.
2015-01-01
The development of powered lower-limb prostheses has the potential to significantly improve amputees’ quality of life. By applying advanced control schemes, such as hybrid zero dynamics (HZD), to prostheses, more intelligent prostheses could be designed. Originally developed to control bipedal robots, HZD-based control specifies the motion of the actuated degrees of freedom using output functions to be zeroed, and the required torques are calculated using feedback linearization. Previous work showed that an HZD-like prosthesis controller can successfully control the stance period of gait. This paper shows that an HZD-based prosthesis controller can be used for the entire gait cycle and that feedback linearization can be performed using only information measured with on-board sensors. An analytic metric for orbital stability of a two-step periodic gait is developed. The results are illustrated in simulation. PMID:26604427
Integrated Aeropropulsion Control System Design
NASA Technical Reports Server (NTRS)
Lin, C. -F.; Hurley, Francis X.; Huang, Jie; Hadaegh, F. Y.
1996-01-01
%T Integrated Aeropropulsion Control System Design%A C-F. Lin%A Francis X. Hurley%A Jie Huang%A F. Y. Hadaegh%J International Conference on Control and Information(psi)995%C Hong Kong%D June 1995%K aeropropulsion, control, system%U http://jpltrs.jpl.nasa.gov/1995/95-0658.pdfAn integrated intelligent control approach is proposed to design a high performance control system for aeropropulsion systems based on advanced sensor processing, nonlinear control and neural fuzzy control integration. Our approach features the following innovations:??e complexity and uncertainty issues are addressed via the distributed parallel processing, learning, and online reoptimization properties of neural networks.??e nonlinear dynamics and the severe coupling can be naturally incorporated into the design framework.??e knowledge base and decision making logic furnished by fuzzy systems leads to a human intelligence enhanced control scheme.In addition, fault tolerance, health monitoring and reconfigurable control strategies will be accommodated by this approach to ensure stability, graceful degradation and reoptimization in the case of failures, malfunctions and damage.!.
NASA Technical Reports Server (NTRS)
Lehtinen, B.; Geyser, L. C.
1984-01-01
AESOP is a computer program for use in designing feedback controls and state estimators for linear multivariable systems. AESOP is meant to be used in an interactive manner. Each design task that the program performs is assigned a "function" number. The user accesses these functions either (1) by inputting a list of desired function numbers or (2) by inputting a single function number. In the latter case the choice of the function will in general depend on the results obtained by the previously executed function. The most important of the AESOP functions are those that design,linear quadratic regulators and Kalman filters. The user interacts with the program when using these design functions by inputting design weighting parameters and by viewing graphic displays of designed system responses. Supporting functions are provided that obtain system transient and frequency responses, transfer functions, and covariance matrices. The program can also compute open-loop system information such as stability (eigenvalues), eigenvectors, controllability, and observability. The program is written in ANSI-66 FORTRAN for use on an IBM 3033 using TSS 370. Descriptions of all subroutines and results of two test cases are included in the appendixes.
Design of a biochemical circuit motif for learning linear functions.
Lakin, Matthew R; Minnich, Amanda; Lane, Terran; Stefanovic, Darko
2014-12-01
Learning and adaptive behaviour are fundamental biological processes. A key goal in the field of bioengineering is to develop biochemical circuit architectures with the ability to adapt to dynamic chemical environments. Here, we present a novel design for a biomolecular circuit capable of supervised learning of linear functions, using a model based on chemical reactions catalysed by DNAzymes. To achieve this, we propose a novel mechanism of maintaining and modifying internal state in biochemical systems, thereby advancing the state of the art in biomolecular circuit architecture. We use simulations to demonstrate that the circuit is capable of learning behaviour and assess its asymptotic learning performance, scalability and robustness to noise. Such circuits show great potential for building autonomous in vivo nanomedical devices. While such a biochemical system can tell us a great deal about the fundamentals of learning in living systems and may have broad applications in biomedicine (e.g. autonomous and adaptive drugs), it also offers some intriguing challenges and surprising behaviours from a machine learning perspective. PMID:25401175
Design of a biochemical circuit motif for learning linear functions
Lakin, Matthew R.; Minnich, Amanda; Lane, Terran; Stefanovic, Darko
2014-01-01
Learning and adaptive behaviour are fundamental biological processes. A key goal in the field of bioengineering is to develop biochemical circuit architectures with the ability to adapt to dynamic chemical environments. Here, we present a novel design for a biomolecular circuit capable of supervised learning of linear functions, using a model based on chemical reactions catalysed by DNAzymes. To achieve this, we propose a novel mechanism of maintaining and modifying internal state in biochemical systems, thereby advancing the state of the art in biomolecular circuit architecture. We use simulations to demonstrate that the circuit is capable of learning behaviour and assess its asymptotic learning performance, scalability and robustness to noise. Such circuits show great potential for building autonomous in vivo nanomedical devices. While such a biochemical system can tell us a great deal about the fundamentals of learning in living systems and may have broad applications in biomedicine (e.g. autonomous and adaptive drugs), it also offers some intriguing challenges and surprising behaviours from a machine learning perspective. PMID:25401175
Dual adaptive control: Design principles and applications
NASA Technical Reports Server (NTRS)
Mookerjee, Purusottam
1988-01-01
The design of an actively adaptive dual controller based on an approximation of the stochastic dynamic programming equation for a multi-step horizon is presented. A dual controller that can enhance identification of the system while controlling it at the same time is derived for multi-dimensional problems. This dual controller uses sensitivity functions of the expected future cost with respect to the parameter uncertainties. A passively adaptive cautious controller and the actively adaptive dual controller are examined. In many instances, the cautious controller is seen to turn off while the latter avoids the turn-off of the control and the slow convergence of the parameter estimates, characteristic of the cautious controller. The algorithms have been applied to a multi-variable static model which represents a simplified linear version of the relationship between the vibration output and the higher harmonic control input for a helicopter. Monte Carlo comparisons based on parametric and nonparametric statistical analysis indicate the superiority of the dual controller over the baseline controller.
Sliding Mode Control Applied to Reconfigurable Flight Control Design
NASA Technical Reports Server (NTRS)
Hess, R. A.; Wells, S. R.; Bacon, Barton (Technical Monitor)
2002-01-01
Sliding mode control is applied to the design of a flight control system capable of operating with limited bandwidth actuators and in the presence of significant damage to the airframe and/or control effector actuators. Although inherently robust, sliding mode control algorithms have been hampered by their sensitivity to the effects of parasitic unmodeled dynamics, such as those associated with actuators and structural modes. It is known that asymptotic observers can alleviate this sensitivity while still allowing the system to exhibit significant robustness. This approach is demonstrated. The selection of the sliding manifold as well as the interpretation of the linear design that results after introduction of a boundary layer is accomplished in the frequency domain. The design technique is exercised on a pitch-axis controller for a simple short-period model of the High Angle of Attack F-18 vehicle via computer simulation. Stability and performance is compared to that of a system incorporating a controller designed by classical loop-shaping techniques.
A method for linearizing a nonlinear system with six state variables and three control variables
NASA Technical Reports Server (NTRS)
Hsia, W. S.
1986-01-01
A nonlinear system governed by x = f(x,u) with six state variables and three control variables is considered in this project. A set of transformations from (x,u) - space to (z,v) - space is defined such that the linear tangent model is independent of the operating point in the z-space. Therefore, it is possible to design a control law satisfying all operating points in the transformed space. An algorithm to construct the above transformations and to obtain the associated linearized system is described in this report. This method is applied to a rigid body using pole placement for the control law. Results are verified by numerical simulation. Closed loop poles in x-space using traditional local linearization are compared with those pole placements in the z-space.
Modern control design for flexible wind turbines
NASA Astrophysics Data System (ADS)
Wright, Alan Duane
Control can improve energy capture and reduce dynamic loads in wind turbines. In the 1970s and 1980s wind turbines used classical control designs to regulate power and speed. The methods used, however, were not always successful. These systems often had bandwidths large enough to destabilize low-damped flexible modes leading to high dynamic load fatigue failures. Modern turbines are larger, mounted on taller towers, and are more dynamically active than their predecessors. Control systems to regulate turbine power and maintain stable closed-loop behavior in the presence of turbulent wind inflow will be critical for these designs. New advanced control approaches and paradigms must account for low-damped flexible modes in order to reduce structural dynamic loading and achieve the 20--25 year operational life required of today's machines. This thesis applies modern state-space control design methods to a two-bladed teetering hub upwind machine located at the National Wind Technology Center. The design objective is to regulate turbine speed and enhance damping in several low-damped flexible modes of the turbine. Starting with simple control algorithms based on linear models, complexity is added incrementally until the desired performance is firmly established. The controls approach is based on the Disturbance Accommodating Control (DAC) method and provides accountability for wind-speed fluctuations. First, controls are designed using the single control input rotor collective pitch to stabilize the 1st drive-train torsion as well as the tower 1st fore-aft bending modes. Generator torque is then incorporated as an additional control input. This reduces some of the demand placed on the rotor collective pitch control system and enhances 1st drive train torsion mode damping. Individual blade pitch control is then used to attenuate wind disturbances having spatial variation over the rotor and effectively reduces blade flap deflections due to wind shear. Finally, results from
Bimanual coordination as task-dependent linear control policies.
Diedrichsen, Jörn; Dowling, Noreen
2009-06-01
When we perform actions with two hands in everyday life, coordination has to change very quickly depending on task goals. Here, we study these task-dependent changes using a bimanual reaching task in which participants move two separate cursors to two visual targets, or move a single cursor, displayed at the average position of the two hands, to a single target. During the movement, one of the hands is perturbed in a random direction using a viscous curl field. We have previously shown that feedback control, the structure of noise, and adaptation change between these two tasks as predicted by optimal control theory: feedback control is independent when the hands control two cursors, but becomes dependent when they move one cursor together. The same changes are observed even on trials in which no visual feedback about the cursor position is given. One assumption in this model is that coordinative motor commands can be described as a linear function of the state of the left and right hands. Here we test the assumption by studying the feedback corrections for 25 combinations of force fields applied to the two hands. Our study shows that feedback gains are constant across all levels of force fields strength, providing strong evidence that intermanual coordination for this task can accurately be explained by optimal task-dependent linear feedback gains. PMID:19131136
Linear Quadratic Tracking Design for a Generic Transport Aircraft with Structural Load Constraints
NASA Technical Reports Server (NTRS)
Burken, John J.; Frost, Susan A.; Taylor, Brian R.
2011-01-01
When designing control laws for systems with constraints added to the tracking performance, control allocation methods can be utilized. Control allocations methods are used when there are more command inputs than controlled variables. Constraints that require allocators are such task as; surface saturation limits, structural load limits, drag reduction constraints or actuator failures. Most transport aircraft have many actuated surfaces compared to the three controlled variables (such as angle of attack, roll rate & angle of side slip). To distribute the control effort among the redundant set of actuators a fixed mixer approach can be utilized or online control allocation techniques. The benefit of an online allocator is that constraints can be considered in the design whereas the fixed mixer cannot. However, an online control allocator mixer has a disadvantage of not guaranteeing a surface schedule, which can then produce ill defined loads on the aircraft. The load uncertainty and complexity has prevented some controller designs from using advanced allocation techniques. This paper considers actuator redundancy management for a class of over actuated systems with real-time structural load limits using linear quadratic tracking applied to the generic transport model. A roll maneuver example of an artificial load limit constraint is shown and compared to the same no load limitation maneuver.
Linear quadratic Gaussian and feedforward controllers for the DSS-13 antenna
NASA Technical Reports Server (NTRS)
Gawronski, W. K.; Racho, C. S.; Mellstrom, J. A.
1994-01-01
The controller development and the tracking performance evaluation for the DSS-13 antenna are presented. A trajectory preprocessor, linear quadratic Gaussian (LQG) controller, feedforward controller, and their combination were designed, built, analyzed, and tested. The antenna exhibits nonlinear behavior when the input to the antenna and/or the derivative of this input exceeds the imposed limits; for slewing and acquisition commands, these limits are typically violated. A trajectory preprocessor was designed to ensure that the antenna behaves linearly, just to prevent nonlinear limit cycling. The estimator model for the LQG controller was identified from the data obtained from the field test. Based on an LQG balanced representation, a reduced-order LQG controller was obtained. The feedforward controller and the combination of the LQG and feedforward controller were also investigated. The performance of the controllers was evaluated with the tracking errors (due to following a trajectory) and the disturbance errors (due to the disturbances acting on the antenna). The LQG controller has good disturbance rejection properties and satisfactory tracking errors. The feedforward controller has small tracking errors but poor disturbance rejection properties. The combined LQG and feedforward controller exhibits small tracking errors as well as good disturbance rejection properties. However, the cost for this performance is the complexity of the controller.
A hybrid feedback linearizing-Kalman filtering control algorithm for a distillation column.
Jana, Amiya Kumar; Samanta, Amar Nath
2006-01-01
This paper studies the design of a discrete-time multivariable feedback linearizing control (FLC) structure. The control scheme included (i) a transformer [also called the input/output (I/O) linearizing state feedback law] that transformed the nonlinear u-y to a linearized v-y system, (ii) a closed-loop observer [extended Kalman filter (EKF)], which estimated the unmeasured states, and (iii) a conventional proportional integral (PI) controller that was employed around the v-y system as an external controller. To avoid the estimator design complexity, the design of EKF for a binary distillation column has been performed based on a reduced-order compartmental distillation model. Consequently, there is a significant process/predictor mismatch, and despite this discrepancy, the EKF estimated the required states of the simulated distillation column precisely. The FLC in conjunction with EKF (FLC-EKF) and that coupled with a measured composition-based reduced-order open-loop observer (FLC-MCROOLO) have been synthesized. The FLC structures showed better performance than the traditional proportional integral derivative controller. In practice, the presence of uncertainties and unknown disturbances are common, and in such situations, the proposed FLC-EKF control scheme ensured the superiority over the FLC-MCROOLO law. PMID:16480113
A user oriented microcomputer facility for designing linear quadratic Gaussian feedback compensators
NASA Technical Reports Server (NTRS)
Houpt, P. K.; Wahid, J.; Johnson, T. L.; Ward, S. A.
1979-01-01
The paper describes a laboratory design facility for digital microprocessor implementation of Linear-Quadratic-Gaussian feedback compensators. Outputs from user interactive programs for solving infinite time horizon LQ regulator and Kalman filter problems are conditioned for implementation on a laboratory microcomputer system. The software consists of two parts: (1) an off-line high-level program for solving the LQ Ricatti equations and generating associated feedback and filter gains, and (2) a cross compiler/macro assembler which generates object code for the target microprocessor system. Application to the control of a two dimensional inverted pendulum and expanding the design/prototyping system to other target machine architectures are discussed.
Steering of Frequency Standards by the Use of Linear Quadratic Gaussian Control Theory
NASA Technical Reports Server (NTRS)
Koppang, Paul; Leland, Robert
1996-01-01
Linear quadratic Gaussian control is a technique that uses Kalman filtering to estimate a state vector used for input into a control calculation. A control correction is calculated by minimizing a quadratic cost function that is dependent on both the state vector and the control amount. Different penalties, chosen by the designer, are assessed by the controller as the state vector and control amount vary from given optimal values. With this feature controllers can be designed to force the phase and frequency differences between two standards to zero either more or less aggressively depending on the application. Data will be used to show how using different parameters in the cost function analysis affects the steering and the stability of the frequency standards.
NASA Technical Reports Server (NTRS)
Gettman, Chang-Ching LO
1993-01-01
This thesis develops and demonstrates an approach to nonlinear control system design using linearization by state feedback. The design provides improved transient response behavior allowing faster maneuvering of payloads by the SRMS. Modeling uncertainty is accounted for by using a second feedback loop designed around the feedback linearized dynamics. A classical feedback loop is developed to provide the easy implementation required for the relatively small on board computers. Feedback linearization also allows the use of higher bandwidth model based compensation in the outer loop, since it helps maintain stability in the presence of the nonlinearities typically neglected in model based designs.
Linear quadratic optimal controller for cable-driven parallel robots
NASA Astrophysics Data System (ADS)
Abdolshah, Saeed; Shojaei Barjuei, Erfan
2015-12-01
In recent years, various cable-driven parallel robots have been investigated for their advantages, such as low structural weight, high acceleration, and large work-space, over serial and conventional parallel systems. However, the use of cables lowers the stiffness of these robots, which in turn may decrease motion accuracy. A linear quadratic (LQ) optimal controller can provide all the states of a system for the feedback, such as position and velocity. Thus, the application of such an optimal controller in cable-driven parallel robots can result in more efficient and accurate motion compared to the performance of classical controllers such as the proportional- integral-derivative controller. This paper presents an approach to apply the LQ optimal controller on cable-driven parallel robots. To employ the optimal control theory, the static and dynamic modeling of a 3-DOF planar cable-driven parallel robot (Feriba-3) is developed. The synthesis of the LQ optimal control is described, and the significant experimental results are presented and discussed.
Stabilizing a multimachine power system via decentralized feedback linearizing excitation control
Chapman, J.W.; Ilic, M.D. ); King, C.A. ); Eng, L. ); Kaufman, H. )
1993-08-01
A new controller for the generator excitation system is described that uses a combination of feedback linearization and the observation decoupled state space. This creates a controller that can be realistically implemented using only local measurements, and whose performance is consistent with respect to changes in network configuration, loading and power transfer conditions. The control differs in this respect from linear constant-gain controllers such as power system stabilizers, whose characteristics can vary significantly with changes in operating conditions. The design is well-suited to a multimachine setting, in that it is not based on an infinite-bus approximation. Simulations are performed on a 38-bus reduced model of the Northeast Power Coordinating Council system and benchmarked against simulations in which automatic voltage regulators with power system stabilizers are substituted in place of the nonlinear controls.
Worst-case analysis and linear parameter-varying gain-scheduled control of aerospace systems
NASA Astrophysics Data System (ADS)
Shin, Jong-Yeob
In this thesis, two main subjects are discussed. The first is a worst-case performance analysis, the second is a linear parameter varying (LPV) synthesis using a blending approach. On the first subject, a linear fractional transformation (LFT) model of the linearized X-38 Crew Return Vehicle (CRV) has been developed to facilitate the analysis of its flight control system. The LFT model represents uncertainty in nine aerodynamic stability derivatives at a given flight condition. The X-38 LFT model, combined with a controller at specific flight conditions, is used to determine the aerodynamic coefficients within a predefined set that result in the worst-case performance and worst-case gain/phase margins of the closed-loop system. LPV and mu controllers are synthesized for the X-38 CRV lateral-directional axes over the candidate flight envelope and compared with the baseline gain-scheduled classical control design. Worst-case analysis of the LPV and mu controllers are compared with the baseline gain-scheduled classical control design. Analysis and time simulations show that the LPV controller achieves significant performance and robustness improvements when compared to a linear mu controller and the baseline gain-scheduled controller. On the second subject, a quasi-LPV model of the F-16 longitudinal axes was developed using three methods: Jacobian linearization, state transformation and function substitution. Time simulations of quasi-LPV models show that the quasi-LPV models developed using state transformation and function substitution accurately represent the nonlinear dynamics of the F-16 longitudinal axes. In designing an LPV controller for the F-16 longitudinal axes, the function substitution quasi-LPV models are used since these quasi-LPV models can represent the nonlinear dynamics at non-trim points. Two LPV controllers are synthesized for the F-16 longitudinal axes for two separated flight envelopes: low and high altitude regions. Blending these controllers
Control law design to meet constraints using SYNPAC-synthesis package for active controls
NASA Technical Reports Server (NTRS)
Adams, W. M., Jr.; Tiffany, S. H.
1982-01-01
Major features of SYNPAC (Synthesis Package for Active Controls) are described. SYNPAC employs constrained optimization techniques which allow explicit inclusion of design criteria (constraints) in the control law design process. Interrelationships are indicated between this constrained optimization approach, classical and linear quadratic Gaussian design techniques. Results are presented that were obtained by applying SYNPAC to the design of a combined stability augmentation/gust load alleviation control law for the DAST ARW-2.
Rear-heavy car control by adaptive linear optimal preview
NASA Astrophysics Data System (ADS)
Thommyppillai, M.; Evangelou, S.; Sharp, R. S.
2010-05-01
Adaptive linear optimal preview control theory is applied to a simple but non-linear car model, with parameters chosen to make the rear axle saturate first in any quasi-steady manoeuvre. The tendency of such a car to spin above a critical speed, which is a function of its running state, causes control to be especially difficult when operating near to the limit of the rear-axle force system. As in previous work, trim states and optimal gains are computed off-line for a given speed and a full range of lateral accelerations. Gain-scheduling with interpolation over trims and gain sets is used to keep the control appropriate to the running conditions, as they change. Simulations of manoeuvres are used to test and demonstrate the system capability. It is shown that utilising the rear-axle lateral-slip ratio as the scheduling variable, in the case of this rear-heavy car, gives excellent tracking, even when the tyres are run close to full saturation. It is implied by this and previous work that the general case can be treated effectively by monitoring both front- and rear-axle slips and scheduling on a worst-case basis.
A Comparison of Multivariable Control Design Techniques for a Turbofan Engine Control
NASA Technical Reports Server (NTRS)
Garg, Sanjay; Watts, Stephen R.
1995-01-01
This paper compares two previously published design procedures for two different multivariable control design techniques for application to a linear engine model of a jet engine. The two multivariable control design techniques compared were the Linear Quadratic Gaussian with Loop Transfer Recovery (LQG/LTR) and the H-Infinity synthesis. The two control design techniques were used with specific previously published design procedures to synthesize controls which would provide equivalent closed loop frequency response for the primary control loops while assuring adequate loop decoupling. The resulting controllers were then reduced in order to minimize the programming and data storage requirements for a typical implementation. The reduced order linear controllers designed by each method were combined with the linear model of an advanced turbofan engine and the system performance was evaluated for the continuous linear system. Included in the performance analysis are the resulting frequency and transient responses as well as actuator usage and rate capability for each design method. The controls were also analyzed for robustness with respect to structured uncertainties in the unmodeled system dynamics. The two controls were then compared for performance capability and hardware implementation issues.
Ground motion optimized orbit feedback design for the future linear collider
NASA Astrophysics Data System (ADS)
Pfingstner, J.; Snuverink, J.; Schulte, D.
2013-03-01
The future linear collider has strong stability requirements on the position of the beam along the accelerator and at the interaction point (IP). The beam position will be sensitive to dynamic imperfections in particular ground motion. A number of mitigation techniques have been proposed to be deployed in parallel: active and passive quadrupole stabilization and positioning as well as orbit and IP feedback. This paper presents a novel design of the orbit controller in the main linac and beam delivery system. One global feedback controller is proposed based on an SVD-controller (Singular Value Decomposition) that decouples the large multi-input multi-output system into many independent single-input single-output systems. A semi-automatic procedure is proposed for the controller design of the independent systems by exploiting numerical models of ground motion and measurement noise to minimize a target parameter, e.g. luminosity loss. The novel design for the orbit controller is studied for the case of the Compact Linear Collider (CLIC) in integrated simulations, which include all proposed mitigation methods. The impact of the ground motion on the luminosity performance is examined in detail. It is shown that with the proposed orbit controller the tight luminosity budget for ground motion effects is fulfilled and accordingly, an essential feasibility issue of CLIC has been addressed. The orbit controller design is robust and allows for a relaxed BPM resolution, while still maintaining a strong ground motion suppression performance compared to traditional methods. We believe that the described method could easily be applied to other accelerators and light sources.
Observer-based robust-H-infinity control laws for uncertain linear systems
NASA Technical Reports Server (NTRS)
Shieh, Leang S.; Sunkel, J. W.; Wang, Yeih J.
1991-01-01
Based on the algebraic Riccati equation approach, this paper presents a simple and flexible method for designing observer-based robust-H-infinity control laws for linear systems with structured parameter uncertainty. The observer-based robust-H-infinity output-feedback control law, obtained by solving three augmented algebraic Riccati equations, provides both robust stability and disturbance attenuation with H-infinity-norm bound for the closed-loop uncertain linear system. Several tuning parameters are embedded into the augmented algebraic Riccati equations so that flexibility in finding the symmetric positive-definite solutions (and hence, the robust-H-infinity control laws) is significantly increased. A benchmark problem associated with a mass-spring system, which approximates the dynamics of a flexible structure, is used to illustrate the design methodologies, and simulation results are presented.
van Solingen, Edwin; Fleming, Paul A.; Scholbrock, Andrew; van Wingerden, Jan-Willem
2015-04-17
This paper presents the results of field tests using linear individual pitch control (LIPC) on the two-bladed Controls Advanced Research Turbine 2 (CART2) at the National Renewable Energy Laboratory (NREL). LIPC has recently been introduced as an alternative to the conventional individual pitch control (IPC) strategy for two-bladed wind turbines. The main advantage of LIPC over conventional IPC is that it requires, at most, only two feedback loops to potentially reduce the periodic blade loads. In previous work, LIPC was designed to implement blade pitch angles at a fixed frequency (e.g., the once-per-revolution (1P) frequency), which made it only applicable in above-rated wind turbine operating conditions. In this study, LIPC is extended to below-rated operating conditions by gain scheduling the controller on the rotor speed. With this extension, LIPC and conventional IPC are successfully applied to the NREL CART2 wind turbine. Lastly, the field-test results obtained during the measurement campaign indicate that LIPC significantly reduces the wind turbine loads for both below-rated and above-rated operation.
van Solingen, Edwin; Fleming, Paul A.; Scholbrock, Andrew; van Wingerden, Jan-Willem
2015-04-17
This paper presents the results of field tests using linear individual pitch control (LIPC) on the two-bladed Controls Advanced Research Turbine 2 (CART2) at the National Renewable Energy Laboratory (NREL). LIPC has recently been introduced as an alternative to the conventional individual pitch control (IPC) strategy for two-bladed wind turbines. The main advantage of LIPC over conventional IPC is that it requires, at most, only two feedback loops to potentially reduce the periodic blade loads. In previous work, LIPC was designed to implement blade pitch angles at a fixed frequency (e.g., the once-per-revolution (1P) frequency), which made it only applicablemore » in above-rated wind turbine operating conditions. In this study, LIPC is extended to below-rated operating conditions by gain scheduling the controller on the rotor speed. With this extension, LIPC and conventional IPC are successfully applied to the NREL CART2 wind turbine. Lastly, the field-test results obtained during the measurement campaign indicate that LIPC significantly reduces the wind turbine loads for both below-rated and above-rated operation.« less
Structural control design based on reduced-order observer
NASA Technical Reports Server (NTRS)
Su, Tzu-Jeng; Craig, Roy R., Jr.
1991-01-01
An observer-based structural control design method is proposed in this paper. The method is a semi-inverse design procedure in that the control law is not designed before the observer system, but is a result that comes from the observer design. However, the observer design is not completely independent of the control design either, but seeks to yield a control law that is close to a prescribed control law. First, the observer design problem is considered as the reconstruction of a linear function of the state vector. The linear state function to be reconstructed is the given control law. Then, based on the derivation for linear state function observers, the observer design is formulated as a parameter optimization problem. The optimization objective is to generate a matrix that is close to the optimal feedback gain matrix. Based on that matrix, the form of the observer and a new control law can be determined. The semi-inverse design procedure can yield a reduced-order observer with dimension considerably smaller than that of the system. Two examples are used to demonstrate the proposed design procedure.
Modelling human balance using switched systems with linear feedback control.
Kowalczyk, Piotr; Glendinning, Paul; Brown, Martin; Medrano-Cerda, Gustavo; Dallali, Houman; Shapiro, Jonathan
2012-02-01
We are interested in understanding the mechanisms behind and the character of the sway motion of healthy human subjects during quiet standing. We assume that a human body can be modelled as a single-link inverted pendulum, and the balance is achieved using linear feedback control. Using these assumptions, we derive a switched model which we then investigate. Stable periodic motions (limit cycles) about an upright position are found. The existence of these limit cycles is studied as a function of system parameters. The exploration of the parameter space leads to the detection of multi-stability and homoclinic bifurcations. PMID:21697168
Application of Design Methodologies for Feedback Compensation Associated with Linear Systems
NASA Technical Reports Server (NTRS)
Smith, Monty J.
1996-01-01
The work that follows is concerned with the application of design methodologies for feedback compensation associated with linear systems. In general, the intent is to provide a well behaved closed loop system in terms of stability and robustness (internal signals remain bounded with a certain amount of uncertainty) and simultaneously achieve an acceptable level of performance. The approach here has been to convert the closed loop system and control synthesis problem into the interpolation setting. The interpolation formulation then serves as our mathematical representation of the design process. Lifting techniques have been used to solve the corresponding interpolation and control synthesis problems. Several applications using this multiobjective design methodology have been included to show the effectiveness of these techniques. In particular, the mixed H 2-H performance criteria with algorithm has been used on several examples including an F-18 HARV (High Angle of Attack Research Vehicle) for sensitivity performance.
NASA Technical Reports Server (NTRS)
Young, J. W.; Hamer, H. A.; Johnson, K. G.
1984-01-01
A decoupled-control analysis was performed for a large flexible space antenna. Control involved commanding changes in the rigid-body modes or nulling disturbances in the flexible modes. The study provides parametric-type data which could be useful in the final design of a large space antenna control system. Results are presented to illustrate the effect on control requirements of (1) the number of modes controlled; (2) the number, type, and location of control actuators; and (3) variations in the closed-loop dynamics of the control system. Comparisons are given between the decoupled-control results and those obtained by using a linear quadratic regulator approach. Time history responses are presented to illustrate the effects of the control procedures.
Time-delay control of a magnetic levitated linear positioning system
NASA Technical Reports Server (NTRS)
Tarn, J. H.; Juang, K. Y.; Lin, C. E.
1994-01-01
In this paper, a high accuracy linear positioning system with a linear force actuator and magnetic levitation is proposed. By locating a permanently magnetized rod inside a current-carrying solenoid, the axial force is achieved by the boundary effect of magnet poles and utilized to power the linear motion, while the force for levitation is governed by Ampere's Law supplied with the same solenoid. With the levitation in a radial direction, there is hardly any friction between the rod and the solenoid. The high speed motion can hence be achieved. Besides, the axial force acting on the rod is a smooth function of rod position, so the system can provide nanometer resolution linear positioning to the molecule size. Since the force-position relation is highly nonlinear, and the mathematical model is derived according to some assumptions, such as the equivalent solenoid of the permanently magnetized rod, so there exists unknown dynamics in practical application. Thus 'robustness' is an important issue in controller design. Meanwhile the load effect reacts directly on the servo system without transmission elements, so the capability of 'disturbance rejection; is also required. With the above consideration, a time-delay control scheme is chosen and applied. By comparing the input-output relation and the mathematical model, the time-delay controller calculates an estimation of unmodeled dynamics and disturbances and then composes the desired compensation into the system. Effectiveness of the linear positioning system and control scheme are illustrated with simulation results.
Shao, Xingling; Wang, Honglun
2015-01-01
This paper investigates a novel compound control scheme combined with the advantages of trajectory linearization control (TLC) and alternative active disturbance rejection control (ADRC) for hypersonic reentry vehicle (HRV) attitude tracking system with bounded uncertainties. Firstly, in order to overcome actuator saturation problem, nonlinear tracking differentiator (TD) is applied in the attitude loop to achieve fewer control consumption. Then, linear extended state observers (LESO) are constructed to estimate the uncertainties acting on the LTV system in the attitude and angular rate loop. In addition, feedback linearization (FL) based controllers are designed using estimates of uncertainties generated by LESO in each loop, which enable the tracking error for closed-loop system in the presence of large uncertainties to converge to the residual set of the origin asymptotically. Finally, the compound controllers are derived by integrating with the nominal controller for open-loop nonlinear system and FL based controller. Also, comparisons and simulation results are presented to illustrate the effectiveness of the control strategy. PMID:25082266
NASA Astrophysics Data System (ADS)
Long, Yongjun; Wei, Xiaohui; Wang, Chunlei; Dai, Xin; Wang, Shigang
2014-05-01
A new rotary normal stress electromagnetic actuator for fast steering mirror (FSM) is presented. The study includes concept design, actuating torque modeling, actuator design, and validation with numerical simulation. To achieve an FSM with compact structure and high bandwidth, the actuator is designed with a cross armature magnetic topology. By introducing bias flux generated by four permanent magnets (PMs), the actuator has high-force density similar to a solenoid but also has essentially linear characteristics similar to a voice coil actuator, leading to a simply control algorithm. The actuating torque output is a linear function of both driving current and rotation angle and is formulated with equivalent magnetic circuit method. To improve modeling accuracy, both the PM flux and coil flux leakages are taken into consideration through finite element simulation. Based on the established actuator model, optimal design of the actuator is presented to meet the requirement of our FSM. Numerical simulation is then presented to validate the concept design, established actuator model, and designed actuator. It is shown that the calculated results are in a good agreement with the simulation results.
Evolutionary Design of Controlled Structures
NASA Technical Reports Server (NTRS)
Masters, Brett P.; Crawley, Edward F.
1997-01-01
Basic physical concepts of structural delay and transmissibility are provided for simple rod and beam structures. Investigations show the sensitivity of these concepts to differing controlled-structures variables, and to rational system modeling effects. An evolutionary controls/structures design method is developed. The basis of the method is an accurate model formulation for dynamic compensator optimization and Genetic Algorithm based updating of sensor/actuator placement and structural attributes. One and three dimensional examples from the literature are used to validate the method. Frequency domain interpretation of these controlled structure systems provide physical insight as to how the objective is optimized and consequently what is important in the objective. Several disturbance rejection type controls-structures systems are optimized for a stellar interferometer spacecraft application. The interferometric designs include closed loop tracking optics. Designs are generated for differing structural aspect ratios, differing disturbance attributes, and differing sensor selections. Physical limitations in achieving performance are given in terms of average system transfer function gains and system phase loss. A spacecraft-like optical interferometry system is investigated experimentally over several different optimized controlled structures configurations. Configurations represent common and not-so-common approaches to mitigating pathlength errors induced by disturbances of two different spectra. Results show that an optimized controlled structure for low frequency broadband disturbances achieves modest performance gains over a mass equivalent regular structure, while an optimized structure for high frequency narrow band disturbances is four times better in terms of root-mean-square pathlength. These results are predictable given the nature of the physical system and the optimization design variables. Fundamental limits on controlled performance are discussed
Aerodynamic design via control theory
NASA Technical Reports Server (NTRS)
Jameson, Antony
1988-01-01
The question of how to modify aerodynamic design in order to improve performance is addressed. Representative examples are given to demonstrate the computational feasibility of using control theory for such a purpose. An introduction and historical survey of the subject is included.
Cockpit control system conceptual design
NASA Technical Reports Server (NTRS)
Meholic, Greg; Brown, Rhonda; Hall, Melissa; Harvey, Robert; Singer, Michael; Tella, Gustavo
1993-01-01
The purpose of this project was to provide a means for operating the ailerons, elevator, elevator trim, rudder, nosewheel steering, and brakes in the Triton primary flight trainer. The main design goals under consideration were to illustrate system and subsystem integration, control function ability, and producibility. Weight and maintenance goals were addressed.
Decentralized control of the COFS-I Mast using linear dc motors
NASA Technical Reports Server (NTRS)
Lindner, Douglas K.; Celano, Tom; Ide, Eric
1989-01-01
Consideration is given to a decentralized control design for vibration suppression in the COFS-I Mast using linear dc motors for actuators. The decentralized control design is based results from power systems using root locus techniques that are not well known. The approach is effective because the loop gain is low due to low actuator authority. The frequency-dependent nonlinearities of the actuator are taken into account. Because of the tendency of the transients to saturate the the stroke length of the actuator, its effectiveness is limited.
International Linear Collider Technical Design Report (Volumes 1 through 4)
Harrison M.
2013-03-27
The design report consists of four volumes: Volume 1, Executive Summary; Volume 2, Physics; Volume 3, Accelerator (Part I, R and D in the Technical Design Phase, and Part II, Baseline Design); and Volume 4, Detectors.
A fail-safe, bi-linear liquid spring controllable magnetorheological fluid damper
NASA Astrophysics Data System (ADS)
Maus, Nicholas; Gordaninejad, Faramarz
2014-04-01
The goal of this study is to demonstrate the feasibility of a fail-safe, bi-linear spring controllable magnetorheological fluid damper (BLS-CMRD). This research introduces a new device with independently pre-set spring forces in compression and rebound combined with a controllable MR fluid damping. In this work, a BLS-CMRD is designed, fabricated, tested and evaluated. Experiments are performed for sinusoidal displacements in the quasistatic and dynamic ranges to evaluate the performance of the BLS-CMRD under different magnetic fields. The experimental results prove that the device reacts with significantly different spring forces from the compression to rebound regions, while providing passive viscous and controllable MR fluid damping. With this first of a kind system it is demonstrated that the utility of a bi-linear liquid spring can be combined with the reliability of passive viscous fluid damping and the capabilities of controllable MR fluid damping into one compact and versatile device.
NASA Technical Reports Server (NTRS)
Hanks, Brantley R.; Skelton, Robert E.
1991-01-01
Vibration in modern structural and mechanical systems can be reduced in amplitude by increasing stiffness, redistributing stiffness and mass, and/or adding damping if design techniques are available to do so. Linear Quadratic Regulator (LQR) theory in modern multivariable control design, attacks the general dissipative elastic system design problem in a global formulation. The optimal design, however, allows electronic connections and phase relations which are not physically practical or possible in passive structural-mechanical devices. The restriction of LQR solutions (to the Algebraic Riccati Equation) to design spaces which can be implemented as passive structural members and/or dampers is addressed. A general closed-form solution to the optimal free-decay control problem is presented which is tailored for structural-mechanical system. The solution includes, as subsets, special cases such as the Rayleigh Dissipation Function and total energy. Weighting matrix selection is a constrained choice among several parameters to obtain desired physical relationships. The closed-form solution is also applicable to active control design for systems where perfect, collocated actuator-sensor pairs exist.
NASA Technical Reports Server (NTRS)
Nguyen, Nhan
2013-01-01
This paper presents the optimal control modification for linear uncertain plants. The Lyapunov analysis shows that the modification parameter has a limiting value depending on the nature of the uncertainty. The optimal control modification exhibits a linear asymptotic property that enables it to be analyzed in a linear time invariant framework for linear uncertain plants. The linear asymptotic property shows that the closed-loop plants in the limit possess a scaled input-output mapping. Using this property, we can derive an analytical closed-loop transfer function in the limit as the adaptive gain tends to infinity. The paper revisits the Rohrs counterexample problem that illustrates the nature of non-robustness of model-reference adaptive control in the presence of unmodeled dynamics. An analytical approach is developed to compute exactly the modification parameter for the optimal control modification that stabilizes the plant in the Rohrs counterexample. The linear asymptotic property is also used to address output feedback adaptive control for non-minimum phase plants with a relative degree 1.
Neural network application to aircraft control system design
NASA Technical Reports Server (NTRS)
Troudet, Terry; Garg, Sanjay; Merrill, Walter C.
1991-01-01
The feasibility of using artificial neural network as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research identified to enhance the practical applicability of neural networks to flight control design.
Neural network application to aircraft control system design
NASA Technical Reports Server (NTRS)
Troudet, Terry; Garg, Sanjay; Merrill, Walter C.
1991-01-01
The feasibility of using artificial neural networks as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research are identified to enhance the practical applicability of neural networks to flight control design.
Computational methods of robust controller design for aerodynamic flutter suppression
NASA Technical Reports Server (NTRS)
Anderson, L. R.
1981-01-01
The development of Riccati iteration, a tool for the design and analysis of linear control systems is examined. First, Riccati iteration is applied to the problem of pole placement and order reduction in two-time scale control systems. Order reduction, yielding a good approximation to the original system, is demonstrated using a 16th order linear model of a turbofan engine. Next, a numerical method for solving the Riccati equation is presented and demonstrated for a set of eighth order random examples. A literature review of robust controller design methods follows which includes a number of methods for reducing the trajectory and performance index sensitivity in linear regulators. Lastly, robust controller design for large parameter variations is discussed.
A new linear quadratic optimal controller for the 34-meter high efficiency antenna position loop
NASA Technical Reports Server (NTRS)
Nickerson, J. A.
1987-01-01
The design of a new position loop controller for the 34-meter High Efficiency Deep Space antennas using linear quadratic (LQ) optimal control techniques is discussed. The LQ optimal control theory is reviewed, and model development and verification are discussed. Families of optimal gain vectors are generated by varying weight parameters. Performance specifications were used to select a final gain vector. Estimator dynamics were selected and the corresponding gain vectors were computed. Final estimator selection was based on position, commanded rate, and estimator error responses.
Experimental Validation of an Integrated Controls-Structures Design Methodology
NASA Technical Reports Server (NTRS)
Maghami, Peiman G.; Gupta, Sandeep; Elliot, Kenny B.; Walz, Joseph E.
1996-01-01
The first experimental validation of an integrated controls-structures design methodology for a class of large order, flexible space structures is described. Integrated redesign of the controls-structures-interaction evolutionary model, a laboratory testbed at NASA Langley, was described earlier. The redesigned structure was fabricated, assembled in the laboratory, and experimentally tested against the original structure. Experimental results indicate that the structure redesigned using the integrated design methodology requires significantly less average control power than the nominal structure with control-optimized designs, while maintaining the required line-of-sight pointing performance. Thus, the superiority of the integrated design methodology over the conventional design approach is experimentally demonstrated. Furthermore, amenability of the integrated design structure to other control strategies is evaluated, both analytically and experimentally. Using Linear-Quadratic-Guassian optimal dissipative controllers, it is observed that the redesigned structure leads to significantly improved performance with alternate controllers as well.
Modern digital flight control system design for VTOL aircraft
NASA Technical Reports Server (NTRS)
Broussard, J. R.; Berry, P. W.; Stengel, R. F.
1979-01-01
Methods for and results from the design and evaluation of a digital flight control system (DFCS) for a CH-47B helicopter are presented. The DFCS employed proportional-integral control logic to provide rapid, precise response to automatic or manual guidance commands while following conventional or spiral-descent approach paths. It contained altitude- and velocity-command modes, and it adapted to varying flight conditions through gain scheduling. Extensive use was made of linear systems analysis techniques. The DFCS was designed, using linear-optimal estimation and control theory, and the effects of gain scheduling are assessed by examination of closed-loop eigenvalues and time responses.
Arbitrary eigenvalue assignments for linear time-varying multivariable control systems
NASA Technical Reports Server (NTRS)
Nguyen, Charles C.
1987-01-01
The problem of eigenvalue assignments for a class of linear time-varying multivariable systems is considered. Using matrix operators and canonical transformations, it is shown that a time-varying system that is 'lexicography-fixedly controllable' can be made via state feedback to be equivalent to a time-invariant system whose eigenvalues are arbitrarily assignable. A simple algorithm for the design of the state feedback is provided.
Automated control of linear constricted plasma source array
Anders, Andre; Maschwitz, Peter A.
2000-01-01
An apparatus and method for controlling an array of constricted glow discharge chambers are disclosed. More particularly a linear array of constricted glow plasma sources whose polarity and geometry are set so that the contamination and energy of the ions discharged from the sources are minimized. The several sources can be mounted in parallel and in series to provide a sustained ultra low source of ions in a plasma with contamination below practical detection limits. The quality of film along deposition "tracks" opposite the plasma sources can be measured and compared to desired absolute or relative values by optical and/or electrical sensors. Plasma quality can then be adjusted by adjusting the power current values, gas feed pressure/flow, gas mixtures or a combination of some or all of these to improve the match between the measured values and the desired values.
Linear transformation method to control flexural waves in thin plates.
Liu, Yongquan; Ma, Zhaoyang; Su, Xianyue
2016-08-01
In this paper, the linear transformation method (LTM) to control flexural waves propagating in thin plates is presented. Unlike earlier studies, only a small number of homogeneous materials with no requirement of in-plane forces or pre-stress are needed, which tremendously simplifies the implementation of devices for flexural waves. An invisibility cloak with homogeneous materials is studied to confirm the validity of the present approach, and to show its imperfection due to impedance mismatch at interfaces. Required materials can be further simplified as layered isotropic materials using the effective medium theory. Finally, the LTM can be extended to the case of flexural waves propagating in anisotropic thin plates. The present method opens a promising avenue toward the realization of advanced structured shields and other devices. PMID:27586744
NASA Astrophysics Data System (ADS)
Ripamonti, Francesco; Orsini, Lorenzo; Resta, Ferruccio
2015-04-01
Non-linear behavior is present in many mechanical system operating conditions. In these cases, a common engineering practice is to linearize the equation of motion around a particular operating point, and to design a linear controller. The main disadvantage is that the stability properties and validity of the controller are local. In order to improve the controller performance, non-linear control techniques represent a very attractive solution for many smart structures. The aim of this paper is to compare non-linear model-based and non-model-based control techniques. In particular the model-based sliding-mode-control (SMC) technique is considered because of its easy implementation and the strong robustness of the controller even under heavy model uncertainties. Among the non-model-based control techniques, the fuzzy control (FC), allowing designing the controller according to if-then rules, has been considered. It defines the controller without a system reference model, offering many advantages such as an intrinsic robustness. These techniques have been tested on the pendulum nonlinear system.
Iterative LQG Controller Design Through Closed-Loop Identification
NASA Technical Reports Server (NTRS)
Hsiao, Min-Hung; Huang, Jen-Kuang; Cox, David E.
1996-01-01
This paper presents an iterative Linear Quadratic Gaussian (LQG) controller design approach for a linear stochastic system with an uncertain open-loop model and unknown noise statistics. This approach consists of closed-loop identification and controller redesign cycles. In each cycle, the closed-loop identification method is used to identify an open-loop model and a steady-state Kalman filter gain from closed-loop input/output test data obtained by using a feedback LQG controller designed from the previous cycle. Then the identified open-loop model is used to redesign the state feedback. The state feedback and the identified Kalman filter gain are used to form an updated LQC controller for the next cycle. This iterative process continues until the updated controller converges. The proposed controller design is demonstrated by numerical simulations and experiments on a highly unstable large-gap magnetic suspension system.
An analysis method for control reconfigurability of linear systems
NASA Astrophysics Data System (ADS)
Wang, Dayi; Duan, Wenjie; Liu, Chengrui
2016-01-01
The reconfigurability of control systems is further researched based on the function-objective model (FOM). The establishment of the FOM has been published in the authors' former paper, solving the problem whether the system is reconfigurable without losing the desired control objective. Based on the FOM, the importance factor, the risk factor and the k th reconfigurability factor are proposed to evaluate the fault risks of all components and the system reconfigurability with k faults. These factors show which components should be improved and which faults cannot be tolerated. The analysis results are very useful for enhancing the fault-tolerance performances of the control systems by improving system designs. A satellite model is utilized to illustrate the proposed method.
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2014 CFR
2014-04-01
... 21 Food and Drugs 8 2014-04-01 2014-04-01 false Design controls. 820.30 Section 820.30 Food and... QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer of..., shall establish and maintain procedures to control the design of the device in order to ensure...
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2013 CFR
2013-04-01
... 21 Food and Drugs 8 2013-04-01 2013-04-01 false Design controls. 820.30 Section 820.30 Food and... QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer of..., shall establish and maintain procedures to control the design of the device in order to ensure...
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2010 CFR
2010-04-01
... 21 Food and Drugs 8 2010-04-01 2010-04-01 false Design controls. 820.30 Section 820.30 Food and... QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer of..., shall establish and maintain procedures to control the design of the device in order to ensure...
Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters
NASA Technical Reports Server (NTRS)
Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith
2015-01-01
Principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters is presented. Both the vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has three main aspects: It summarizes key RCS control System design principles from the Space Shuttle and Space Station programs, it demonstrates a new approach to develop a linear model of a phase plane control system using describing functions, and applies each of these to the initial development of the NASA's next generation of upper stage vehicles. Topics addressed include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and automaneuver logic.
Frequency locking of an optical cavity using linear-quadratic Gaussian integral control
NASA Astrophysics Data System (ADS)
Sayed Hassen, S. Z.; Heurs, M.; Huntington, E. H.; Petersen, I. R.; James, M. R.
2009-09-01
We show that a systematic modern control technique such as linear-quadratic Gaussian (LQG) control can be applied to a problem in experimental quantum optics which has previously been addressed using traditional approaches to controller design. An LQG controller which includes integral action is synthesized to stabilize the frequency of the cavity to the laser frequency and to reject low frequency noise. The controller is successfully implemented in the laboratory using a dSpace digital signal processing board. One important advantage of the LQG technique is that it can be extended in a straightforward way to control systems with multiple measurements and multiple feedback loops. This work is expected to pave the way for extremely stable lasers with fluctuations approaching the quantum noise limit and which could be potentially used in a wide range of applications.
Developing a (Non-Linear) Practice of Design Thinking
ERIC Educational Resources Information Center
Teal, Randall
2010-01-01
Design thinking can be a powerful way to engage the world, allowing interactive understandings that are both analytic and experiential. When fully functioning, design thinking necessarily calls upon faculties often considered a-rational, a-causal and a-logical. Unfortunately, such faculties often give rise to academic suspicion. That is to say,…
NASA Technical Reports Server (NTRS)
Athans, M.; Kapasouris, P.; Kappos, E.; Spang, H. A., III
1984-01-01
The design of a multivariable feedback control system for the Pratt and Whitney F-100 turbofan jet engine is a challenging task for control engineers. This paper employs a linearized model of the F-100 engine to demonstrate the use of the newly developed Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR) design methodology, which adopts an integrated frequency-domain and time-domain approach to multivariable feedback control synthesis so as to meet stability-robustness, command-following, and disturbance-rejection specifications.
Linear parameter-varying control of an F-16 aircraft at high angle of attack
NASA Astrophysics Data System (ADS)
Lu, Bei
To improve the aircraft capability at high angle of attack and expand the flight envelope, advanced linear parameter-varying (LPV) control methodologies are studied in this thesis with particular applications of actuator saturation control and switching control. A standard two-step LPV antiwindup control scheme and a systematic switching LPV control approach are derived, and the advantages of LPV control techniques are demonstrated through nonlinear simulations of an F-16 longitudinal autopilot control system. The aerodynamic surface saturation is one of the major issues of flight control in the high angle of attack region. The incorporated unconventional actuators such as thrust vectoring can provide additional control power, but may have a potentially significant pay-off. The proposed LPV antiwindup control scheme is advantageous from the implementation standpoint because it can be thought of as an augmented control algorithm to the existing control system. Moreover, the synthesis condition for an antiwindup compensator is formulated as a linear matrix inequality (LMI) optimization problem and can be solved efficiently. By treating the input saturation as a sector bounded nonlinearity with a tight sector bound, the synthesized antiwindup compensator can stabilize the open-loop exponentially unstable systems. The LPV antiwindup control scheme is applied to the nonlinear F-16 longitudinal model, and compared with the thrust vectoring control approach. The simulation results show that the LPV antiwindup compensator improves the flight quality, and offers advantages over thrust vectoring in a high angle of attack region. For a thrust vectoring augmented aircraft, the actuator sets may be different at low and high angles of attack. Also due to different control objectives, a single controller may not exist over a wide angle of attack region. The proposed switching LPV control approach based on multiple parameter-dependent Lyapunov functions provides a flexible design
ERIC Educational Resources Information Center
Li, Yuan H.; Yang, Yu N.; Tompkins, Leroy J.; Modarresi, Shahpar
2005-01-01
The statistical technique, "Zero-One Linear Programming," that has successfully been used to create multiple tests with similar characteristics (e.g., item difficulties, test information and test specifications) in the area of educational measurement, was deemed to be a suitable method for creating multiple sets of matched samples to be used as…
Linear Approximation to Optimal Control Allocation for Rocket Nozzles with Elliptical Constraints
NASA Technical Reports Server (NTRS)
Orr, Jeb S.; Wall, Johnm W.
2011-01-01
In this paper we present a straightforward technique for assessing and realizing the maximum control moment effectiveness for a launch vehicle with multiple constrained rocket nozzles, where elliptical deflection limits in gimbal axes are expressed as an ensemble of independent quadratic constraints. A direct method of determining an approximating ellipsoid that inscribes the set of attainable angular accelerations is derived. In the case of a parameterized linear generalized inverse, the geometry of the attainable set is computationally expensive to obtain but can be approximated to a high degree of accuracy with the proposed method. A linear inverse can then be optimized to maximize the volume of the true attainable set by maximizing the volume of the approximating ellipsoid. The use of a linear inverse does not preclude the use of linear methods for stability analysis and control design, preferred in practice for assessing the stability characteristics of the inertial and servoelastic coupling appearing in large boosters. The present techniques are demonstrated via application to the control allocation scheme for a concept heavy-lift launch vehicle.
Stochastic Stability of Nonlinear Sampled Data Systems with a Jump Linear Controller
NASA Technical Reports Server (NTRS)
Gonzalez, Oscar R.; Herencia-Zapana, Heber; Gray, W. Steven
2004-01-01
This paper analyzes the stability of a sampled- data system consisting of a deterministic, nonlinear, time- invariant, continuous-time plant and a stochastic, discrete- time, jump linear controller. The jump linear controller mod- els, for example, computer systems and communication net- works that are subject to stochastic upsets or disruptions. This sampled-data model has been used in the analysis and design of fault-tolerant systems and computer-control systems with random communication delays without taking into account the inter-sample response. To analyze stability, appropriate topologies are introduced for the signal spaces of the sampled- data system. With these topologies, the ideal sampling and zero-order-hold operators are shown to be measurable maps. This paper shows that the known equivalence between the stability of a deterministic, linear sampled-data system and its associated discrete-time representation as well as between a nonlinear sampled-data system and a linearized representation holds even in a stochastic framework.
A new look at the robust control of discrete-time Markov jump linear systems
NASA Astrophysics Data System (ADS)
Todorov, M. G.; Fragoso, M. D.
2016-03-01
In this paper, we make a foray in the role played by a set of four operators on the study of robust H2 and mixed H2/H∞ control problems for discrete-time Markov jump linear systems. These operators appear in the study of mean square stability for this class of systems. By means of new linear matrix inequality (LMI) characterisations of controllers, which include slack variables that, to some extent, separate the robustness and performance objectives, we introduce four alternative approaches to the design of controllers which are robustly stabilising and at the same time provide a guaranteed level of H2 performance. Since each operator provides a different degree of conservatism, the results are unified in the form of an iterative LMI technique for designing robust H2 controllers, whose convergence is attained in a finite number of steps. The method yields a new way of computing mixed H2/H∞ controllers, whose conservatism decreases with iteration. Two numerical examples illustrate the applicability of the proposed results for the control of a small unmanned aerial vehicle, and for an underactuated robotic arm.
A Unified Approach to Linear Equating for the Nonequivalent Groups Design
ERIC Educational Resources Information Center
von Davier, Alina A.; Kong, Nan
2005-01-01
This article describes a new, unified framework for linear equating in a non-equivalent groups anchor test (NEAT) design. The authors focus on three methods for linear equating in the NEAT design--Tucker, Levine observed-score, and chain--and develop a common parameterization that shows that each particular equating method is a special case of the…
NASA Astrophysics Data System (ADS)
Basin, Michael; Shi, Peng; Calderon-Alvarez, Dario
2010-04-01
This article presents the central finite-dimensional H ∞ filters for linear systems with state and measurement delay that are suboptimal for a given threshold γ with respect to a modified Bolza-Meyer quadratic criterion including the attenuation control term with the opposite sign. In contrast to the results previously obtained for linear time delay systems, this article reduces the original H ∞ filtering problem to H 2 (optimal mean-square) filtering problem using the technique proposed in Doyle, Glover, Khargonekar, and Francis (1989 'State-space Solutions to Standard H 2 and H ∞ Control Problems', IEEE Transactions on Automatic Control, 34, 831-847). Application of the reduction technique becomes possible, since the optimal closed-form filtering equations solving the H 2 (mean-square) filtering problem have been obtained for linear systems with state and measurement delays. This article first presents the central suboptimal H ∞ filter for linear systems with state and measurement delays, based on the optimal H 2 filter from Basin, Alcorta-Garcia, and Rodriguez-Gonzalez (2005, 'Optimal Filtering for Linear Systems with State and Observation Delays', International Journal of Robust and Nonlinear Control, 15, 859-871), which consists, in the general case, of an infinite set of differential equations. Then, the finite-dimensional central suboptimal H ∞ filter is designed in case of linear systems with commensurable state and measurement delays, which contains a finite number of equations for any fixed filtering horizon; however, this number still grows unboundedly as time goes to infinity. To overcome that difficulty, the alternative central suboptimal H ∞ filter is designed for linear systems with state and measurement delays, which is based on the alternative optimal H 2 filter from Basin, Perez, and Martinez-Zuniga (2006, 'Alternative Optimal Filter for Linear State Delay Systmes', International Journal of Adaptive Control and Signal Processing, 20
BBU design of linear induction accelerator cells for radiography application
Shang, C.C.; Chen, Y.J.; Gaporaso, G.J.; Houck, T.L.; Molau, N.E.; Focklen, J.; Gregory, S.
1997-05-06
There is an ongoing effort to develop accelerating modules for high-current electron accelerators for advanced radiography application. Accelerating modules with low beam-cavity coupling impedances along with gap designs with acceptable field stresses comprise a set of fundamental design criteria. We examine improved cell designs which have been developed for accelerator application in several radiographic operating regimes. We evaluate interaction impedances, analyze the effects of beam structure coupling on beam dynamics (beam break-up instability and corkscrew motion). We also provide estimates of coupling through interesting new high-gradient insulators and evaluate their potential future application in induction cells.
Non-linear control of the ''clam'' wave energy device. Final report
Not Available
1983-09-01
A promising wave energy device being currently investigated is the ''clam'' device. The clam extracts energy by pumping air through a specially designed (Wells) turbine. Although operation of the Wells turbine does not require a rectified air flow, some additional control will be necessary to optimize the phase of the clam motion for good efficiencies. An examination of the equation of motion in the time domain suggests the possibility of non-linear phase control by mechanical, power take-off, or pneumatic latching. Latching can be shown to increase the efficiency of the device in the longer wavelengths of the wave spectrum, i.e. those of high incident wave power.
Design and development of a large range linear encoder with subnanometer resolution
NASA Astrophysics Data System (ADS)
Huang, Yanan; Menq, Chia-Hsiang
2006-10-01
This article presents the design and development of a large range linear encoder system, in which a displacement transducer is controlled to achieve a stable oscillation over the moving reference grating so as to modulate the motion being measured. Utilizing a special demodulating signal and according to linear control theory, a phase-locked feedback loop is designed to extract motion from the transducer's measurement signal. The measurement dynamics, limited by the sinusoidal nonlinearity in the loop, is analyzed. A method that compensates the effect of the reference grating's geometric error and that improves the measurement accuracy is also proposed. A prototype system, using an optical pickup unit as the displacement transducer and a holographic grating as the reference, is implemented. The performance of the system is tested to verify its resolution, bandwidth, and accuracy. A measurement resolution of 0.06nm rms with 140Hz bandwidth is achieved, and the measurement range is only limited by the size of the reference grating employed. All the experimental results confirm the theoretical analysis. Calibration of the system shows that after compensation the measurement accuracy is in the nanometer order.
NASA Technical Reports Server (NTRS)
Frost, Susan A.; Bodson, Marc; Acosta, Diana M.
2009-01-01
The Next Generation (NextGen) transport aircraft configurations being investigated as part of the NASA Aeronautics Subsonic Fixed Wing Project have more control surfaces, or control effectors, than existing transport aircraft configurations. Conventional flight control is achieved through two symmetric elevators, two antisymmetric ailerons, and a rudder. The five effectors, reduced to three command variables, produce moments along the three main axes of the aircraft and enable the pilot to control the attitude and flight path of the aircraft. The NextGen aircraft will have additional redundant control effectors to control the three moments, creating a situation where the aircraft is over-actuated and where a simple relationship does not exist anymore between the required effector deflections and the desired moments. NextGen flight controllers will incorporate control allocation algorithms to determine the optimal effector commands and attain the desired moments, taking into account the effector limits. Approaches to solving the problem using linear programming and quadratic programming algorithms have been proposed and tested. It is of great interest to understand their relative advantages and disadvantages and how design parameters may affect their properties. In this paper, we investigate the sensitivity of the effector commands with respect to the desired moments and show on some examples that the solutions provided using the l2 norm of quadratic programming are less sensitive than those using the l1 norm of linear programming.
Limit cycle oscillation of missile control fin with structural non-linearity
NASA Astrophysics Data System (ADS)
Bae, J. S.; Lee, I.
2004-01-01
Non-linear aeroelastic characteristics of a deployable missile control fin with structural non-linearity are investigated. A deployable missile control fin is modelled as a two-dimensional typical section model. Doublet-point method is used for the calculation of supersonic unsteady aerodynamic forces, and aerodynamic forces are approximated by using the minimum-state approximation. For non-linear flutter analysis structural non-linearity is represented by an asymmetric bilinear spring and is linearized by using the describing function method. The linear and non-linear flutter analyses indicate that the flutter characteristics are significantly dependent on the frequency ratio. From the non-linear flutter analysis, various types of limit cycle oscillations are observed in a wide range of air speeds below or above the linear divergent flutter boundary. The non-linear flutter characteristics and the non-linear aeroelastic responses are investigated.
Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters
NASA Technical Reports Server (NTRS)
Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith
2016-01-01
Basic principles for the design and stability of a spacecraft on-orbit attitude control system employing on-off Reaction Control System (RCS) thrusters are presented. Both vehicle dynamics and the control system actuators are inherently nonlinear, hence traditional linear control system design approaches are not directly applicable. This paper has two main aspects: It summarizes key RCS design principles from earlier NASA vehicles, notably the Space Shuttle and Space Station programs, and introduces advances in the linear modelling and analyses of a phase plane control system derived in the initial development of the NASA's next upper stage vehicle, the Exploration Upper Stage (EUS). Topics include thruster hardware specifications, phase plane design and stability, jet selection approaches, filter design metrics, and RCS rotational maneuver logic.
Control Law Design in a Computational Aeroelasticity Environment
NASA Technical Reports Server (NTRS)
Newsom, Jerry R.; Robertshaw, Harry H.; Kapania, Rakesh K.
2003-01-01
A methodology for designing active control laws in a computational aeroelasticity environment is given. The methodology involves employing a systems identification technique to develop an explicit state-space model for control law design from the output of a computational aeroelasticity code. The particular computational aeroelasticity code employed in this paper solves the transonic small disturbance aerodynamic equation using a time-accurate, finite-difference scheme. Linear structural dynamics equations are integrated simultaneously with the computational fluid dynamics equations to determine the time responses of the structure. These structural responses are employed as the input to a modern systems identification technique that determines the Markov parameters of an "equivalent linear system". The Eigensystem Realization Algorithm is then employed to develop an explicit state-space model of the equivalent linear system. The Linear Quadratic Guassian control law design technique is employed to design a control law. The computational aeroelasticity code is modified to accept control laws and perform closed-loop simulations. Flutter control of a rectangular wing model is chosen to demonstrate the methodology. Various cases are used to illustrate the usefulness of the methodology as the nonlinearity of the aeroelastic system is increased through increased angle-of-attack changes.
NASA Technical Reports Server (NTRS)
Antoniewicz, Robert F.; Duke, Eugene L.; Menon, P. K. A.
1991-01-01
The design of nonlinear controllers has relied on the use of detailed aerodynamic and engine models that must be associated with the control law in the flight system implementation. Many of these controllers were applied to vehicle flight path control problems and have attempted to combine both inner- and outer-loop control functions in a single controller. An approach to the nonlinear trajectory control problem is presented. This approach uses linearizing transformations with measurement feedback to eliminate the need for detailed aircraft models in outer-loop control applications. By applying this approach and separating the inner-loop and outer-loop functions two things were achieved: (1) the need for incorporating detailed aerodynamic models in the controller is obviated; and (2) the controller is more easily incorporated into existing aircraft flight control systems. An implementation of the controller is discussed, and this controller is tested on a six degree-of-freedom F-15 simulation and in flight on an F-15 aircraft. Simulation data are presented which validates this approach over a large portion of the F-15 flight envelope. Proof of this concept is provided by flight-test data that closely matches simulation results. Flight-test data are also presented.
Rigatos, Gerasimos G
2016-06-01
It is proven that the model of the p53-mdm2 protein synthesis loop is a differentially flat one and using a diffeomorphism (change of state variables) that is proposed by differential flatness theory it is shown that the protein synthesis model can be transformed into the canonical (Brunovsky) form. This enables the design of a feedback control law that maintains the concentration of the p53 protein at the desirable levels. To estimate the non-measurable elements of the state vector describing the p53-mdm2 system dynamics, the derivative-free non-linear Kalman filter is used. Moreover, to compensate for modelling uncertainties and external disturbances that affect the p53-mdm2 system, the derivative-free non-linear Kalman filter is re-designed as a disturbance observer. The derivative-free non-linear Kalman filter consists of the Kalman filter recursion applied on the linearised equivalent of the protein synthesis model together with an inverse transformation based on differential flatness theory that enables to retrieve estimates for the state variables of the initial non-linear model. The proposed non-linear feedback control and perturbations compensation method for the p53-mdm2 system can result in more efficient chemotherapy schemes where the infusion of medication will be better administered. PMID:27187988
Speed and efficiency control of an induction motor with input-output linearization
Wang, W.J.; Wang, C.C.
1999-09-01
A combination of a composite adaptive speed controller and an explicit efficiency control algorithm is proposed to control the speed and power efficiency of the induction motor in this paper. First, the input-output linearization method is used to dynamically decouple the motor speed and rotor flux. Then, a composite adaptive control algorithm is designed to control the speed of the induction motor. At steady-state light-load conditions, the magnetizing current command is adjusted on the basis of the product of magnetizing current command and torque current command such that the steady-state power loss is minimum. A PC-based experimental drive system has been implemented, and some experimental results are provided to demonstrate the effectiveness of the presented approach.
A user oriented microcomputer facility for designing linear quadratic Gaussian feedback compensators
NASA Technical Reports Server (NTRS)
Houpt, P. K.; Wahid, J.; Johnson, T. L.; Ward, S. A.
1978-01-01
A laboratory design facility for digital microprocessor implementation of linear-quadratic-Gaussian feedback compensators is described. Outputs from user interactive programs for solving infinite time horizon LQ regulator and Kalman filter problems were conditioned for implementation on the laboratory microcomputer system. The software consisted of two parts: an offline high-level program for solving the LQ Ricatti equations and generating associated feedback and filter gains and a cross compiler/macro assembler which generates object code for the target microprocessor system. A PDP 11/70 with a UNIX operating system was used for all high level program and data management, and the target microprocessor system is an Intel MDS (8080-based processor). Application to the control of a two dimensional inverted pendulum is presented and issues in expanding the design/prototyping system to other target machine architectures are discussed.
NASA Technical Reports Server (NTRS)
Garg, Sanjay
1993-01-01
Results are presented from an application of H-infinity control design methodology to a centralized integrated flight/propulsion control (IFPC) system design for a supersonic STOVL fighter aircraft in transition flight. The emphasis is on formulating the H-infinity optimal control synthesis problem such that the critical requirements for the flight and propulsion systems are adequately reflected within the linear, centralized control problem formulation and the resulting controller provides robustness to modeling uncertainties and model parameter variations with flight condition. Detailed evaluation results are presented for a reduced order controller obtained from the improved H-infinity control design showing that the control design meets the specified nominal performance objective as well as provides stability robustness for variations in plant system dynamics with changes in aircraft trim speed within the transition flight envelope.
The linear boom actuator designed for the Galileo spacecraft
NASA Technical Reports Server (NTRS)
Koch, E. F.
1983-01-01
Because the linear boom actuator is to be used on a flight spacecraft, as opposed to a ground based application, there is a comprehensive set of requirements. First, of course, the actuator must be capable of positioning and holding the load. Initially the load as predicted to be 4448 N (1000 lb) but with subsequent spacecraft configuration changes the load has been greatly reduced to a constant tensile pull of 1477 N (332 lb) due to centrifugal force. Lesser compressive loads of 1317 N (296 centrifugal lb) may be experienced during launch and deployment. This actuator must have the maximum redundancy possible. Life requirements were defined by the 10.16 to 15.24 cm (4 to 6 in.) total liner travel expected during the five-year flight duration. Liner range required of the actuator was set at plus and minus 5.08 cm to accommodate configuration changes.
NASA Astrophysics Data System (ADS)
Huang, Yiqing; Sun, Changyin; Qian, Chengshan; Wang, Li
2015-12-01
This paper deals with the problem of linear parameter varying (LPV) switching attitude control for a near space hypersonic vehicle (NSHV) with parametric uncertainties. First, due to the enormous complexity of the NSHV nonlinear attitude dynamics, a slow-fast loop polytopic LPV attitude model is developed by using Jacobian linearisation and the tensor product model transformation approach. Second, for the purpose of less conservative attitude controller design, the flight envelope is divided into four subregions. For each parameter subregion, slow-loop and fast-loop LPV controllers are designed. By the defined switching character function, these slow-fast loop LPV controllers are then switched in order to guarantee the closed-loop NSHV system to be asymptotically stable and satisfy a specified tracking performance criterion. The condition of LPV switching attitude controller synthesis is given in terms of linear matrix inequalities, which can be readily solved via standard numerical software, and the robust stability analysis of the closed-loop NSHV system is verified based on multiple Lypapunov functions. Finally, numerical simulations have demonstrated the effectiveness of the proposed approach.
Linear design considerations for TO-10 candidate experiment
Atchison, Walter A; Rousculp, Christopher L
2011-01-12
As part of the LANL/VNIIEF collaboration a high velocity cylindrical liner driven Hugoniot experiment is being designed to be driven by a VNIEF Disk Explosive Magnetic (flux compression) Generator (DEMG). Several variations in drive current and liner thickness have been proposed. This presentation will describe the LANL 1D and 2D simulations used to evaluate those designs. The presentation will also propose an analysis technique to assess a high current drive systems ability to stably and optimally drive a cylindrical aluminum liner for this type of experiment.
A Non-Linear Approach to Spacecraft Formation Control in the Vicinity of a Collinear Libration Point
NASA Technical Reports Server (NTRS)
Luquette, Richard J.; Sanner, Robert M.; Bauer, Frank H. (Technical Monitor)
2001-01-01
An expanding interest in mission design strategies that exploit libration point regions, demands the continued development of enhanced, efficient, control algorithms for station-keeping and formation maintenance. Linear control strategies have been developed for station-keeping. However, their region of stability is bounded by the assumptions required for linearizing the governing equations of motion. For example, reference [I] discusses the development of a linear control design for maintaining a halo orbit about the Earth-Moon L2 libration point. Trial runs indicated the trajectory was unstable for starting points exceeding 45,000 km from the L2 point. Also, there was significant growth in the control effort required to maintain the orbit as the nominal radius increased. This result is a consequence of the increased influence of the system non-linearities, as the trajectory deviated from the linearization point, L2. As an alternative, this paper presents the development of a non-linear control strategy, based on a Hamiltonian formulation of the equations of motion. The control strategy is applied to the problem of formation maintenance, rather than simple station
NASA Astrophysics Data System (ADS)
Zhang, Ruikun; Hou, Zhongsheng; Ji, Honghai; Yin, Chenkun
2016-04-01
In this paper, an adaptive iterative learning control scheme is proposed for a class of non-linearly parameterised systems with unknown time-varying parameters and input saturations. By incorporating a saturation function, a new iterative learning control mechanism is presented which includes a feedback term and a parameter updating term. Through the use of parameter separation technique, the non-linear parameters are separated from the non-linear function and then a saturated difference updating law is designed in iteration domain by combining the unknown parametric term of the local Lipschitz continuous function and the unknown time-varying gain into an unknown time-varying function. The analysis of convergence is based on a time-weighted Lyapunov-Krasovskii-like composite energy function which consists of time-weighted input, state and parameter estimation information. The proposed learning control mechanism warrants a L2[0, T] convergence of the tracking error sequence along the iteration axis. Simulation results are provided to illustrate the effectiveness of the adaptive iterative learning control scheme.
Control of nonlinear processes by using linear model predictive control algorithms.
Gu, Bingfeng; Gupta, Yash P
2008-04-01
Most chemical processes are inherently nonlinear. However, because of their simplicity, linear control algorithms have been used for the control of nonlinear processes. In this study, the use of the dynamic matrix control algorithm and a simplified model predictive control algorithm for control of a bench-scale pH neutralization process is investigated. The nonlinearity is handled by dividing the operating region into sub-regions and by switching the controller model as the process moves from one sub-region to another. A simple modification for model predictive control algorithms is presented to handle the switching. The simulation and experimental results show that the modification can provide a significant improvement in the control of nonlinear processes. PMID:18255068
Neural network-based nonlinear model predictive control vs. linear quadratic gaussian control
Cho, C.; Vance, R.; Mardi, N.; Qian, Z.; Prisbrey, K.
1997-01-01
One problem with the application of neural networks to the multivariable control of mineral and extractive processes is determining whether and how to use them. The objective of this investigation was to compare neural network control to more conventional strategies and to determine if there are any advantages in using neural network control in terms of set-point tracking, rise time, settling time, disturbance rejection and other criteria. The procedure involved developing neural network controllers using both historical plant data and simulation models. Various control patterns were tried, including both inverse and direct neural network plant models. These were compared to state space controllers that are, by nature, linear. For grinding and leaching circuits, a nonlinear neural network-based model predictive control strategy was superior to a state space-based linear quadratic gaussian controller. The investigation pointed out the importance of incorporating state space into neural networks by making them recurrent, i.e., feeding certain output state variables into input nodes in the neural network. It was concluded that neural network controllers can have better disturbance rejection, set-point tracking, rise time, settling time and lower set-point overshoot, and it was also concluded that neural network controllers can be more reliable and easy to implement in complex, multivariable plants.
NASA Astrophysics Data System (ADS)
Kun, David William
Unmanned aircraft systems (UASs) are gaining popularity in civil and commercial applications as their lightweight on-board computers become more powerful and affordable, their power storage devices improve, and the Federal Aviation Administration addresses the legal and safety concerns of integrating UASs in the national airspace. Consequently, many researchers are pursuing novel methods to control UASs in order to improve their capabilities, dependability, and safety assurance. The nonlinear control approach is a common choice as it offers several benefits for these highly nonlinear aerospace systems (e.g., the quadrotor). First, the controller design is physically intuitive and is derived from well known dynamic equations. Second, the final control law is valid in a larger region of operation, including far from the equilibrium states. And third, the procedure is largely methodical, requiring less expertise with gain tuning, which can be arduous for a novice engineer. Considering these facts, this thesis proposes a nonlinear controller design method that combines the advantages of adaptive robust control (ARC) with the powerful design tools of linear matrix inequalities (LMI). The ARC-LMI controller is designed with a discontinuous projection-based adaptation law, and guarantees a prescribed transient and steady state tracking performance for uncertain systems in the presence of matched disturbances. The norm of the tracking error is bounded by a known function that depends on the controller design parameters in a known form. Furthermore, the LMI-based part of the controller ensures the stability of the system while overcoming polytopic uncertainties, and minimizes the control effort. This can reduce the number of parameters that require adaptation, and helps to avoid control input saturation. These desirable characteristics make the ARC-LMI control algorithm well suited for the quadrotor UAS, which may have unknown parameters and may encounter external
Who Needs Linear Equating under the NEAT Design?
ERIC Educational Resources Information Center
Maris, Gunter; Schmittmann, Verena D.; Borsboom, Denny
2010-01-01
Test equating under the NEAT design is, at best, a necessary evil. At bottom, the procedure aims to reach a conclusion on what a tested person would have done, if he or she were administered a set of items that were in fact never administered. It is not possible to infer such a conclusion from the data, because one simply has not made the required…
Optimal kinetic design of enzymes in a linear metabolic pathway.
Pettersson, G
1993-06-24
The rate equations for a sequence of enzymic reactions conforming to Michaelis-Menten kinetics have been analyzed in order to establish what kinetic design optimizes the steady-state reaction flux for a given total concentration of enzymes and a given average magnitude of true and apparent first-order rate constants in the reaction system. Analytical solutions are presented which have been derived with the assumptions that the concentration of the first substrate in the pathway represents a fixed parameter and that no diffusional constraints come into operation. The solutions prescribe that reaction flux in the examined system becomes optimal when all of the enzymes are present at equal active-site concentrations. The optimal kinetic design of each enzyme reaction is characterized by forward (true or apparent) first-order rate constants of equal magnitude and reverse rate constants of equal magnitude. This means that the optimal kinetic design of the examined pathway is highly uniform, individual enzymes being likely to exhibit optimal V values differing by a factor less than 5 and optimal Km/[S] values falling within the range 0.3-2. PMID:8518291
Design of a MeV, 4kA linear induction accelerator for flash radiography
Kulke, B.; Brier, R.; Chapin, W.
1981-02-10
For verifying the hydrodynamics of nuclear weapons design it is useful to have flash x-ray machines that can deliver a maximum dose in a minimum pulse length and with very high reliability. At LLNL, such a requirement was identified some years ago as 500 roentgens at one meter, in a 60 nsec pulse length. In response to this requirement, a linear induction accelerator was proposed to and funded by DOE in 1977. The design of this machine, called FXR, has now been completed and construction has begun. The FXR design extends the parameters of a similar machine that had been built and operated at LBL, Berkeley, some ten years ago. Using a cold cathode injector followed by 48 accelerator modules rated at 400 kV each, the FXR machine will accelerate a 4 kA electron beam pulse to 20 MeV final energy. Key design features are the generation and the stable transport of a low emittance (100 mr-cm) beam from a field emitter diode, the design of reliable, compact energy storage components such as Blumleins, feedlines and accelerator modules, and a computer-assisted control system.
Control system design for nano-positioning using piezoelectric actuators
NASA Astrophysics Data System (ADS)
Shan, Jinjun; Liu, Yanfang; Gabbert, Ulrich; Cui, Naigang
2016-02-01
This paper presents a systematic control system design for nano-positioning of a piezoelectric actuator (PEA). PEAs exhibit hysteresis nonlinearity, which can dramatically limit the application and performance of linear feedback control theory. Thus the hysteresis is compensated for based on the Maxwell resistive capacitor (MRC) model first. Then a proportional plus integral (PI) controller and a proportional double integral plus lead compensation (PII&L) controller are designed for the hysteresis-compensated PEA to account for model uncertainty, disturbance, and noise. The robust stability of both controllers is proved. The effectiveness of the proposed control scheme is demonstrated experimentally. Both controllers achieve fast precise positioning. The 2% settling times for the PI controller and the PII&L controller are 1.5 ms and 4.7 ms, respectively. The positioning resolution is upto 1 nm for both controllers.
Dissipative rendering and neural network control system design
NASA Technical Reports Server (NTRS)
Gonzalez, Oscar R.
1995-01-01
Model-based control system designs are limited by the accuracy of the models of the plant, plant uncertainty, and exogenous signals. Although better models can be obtained with system identification, the models and control designs still have limitations. One approach to reduce the dependency on particular models is to design a set of compensators that will guarantee robust stability to a set of plants. Optimization over the compensator parameters can then be used to get the desired performance. Conservativeness of this approach can be reduced by integrating fundamental properties of the plant models. This is the approach of dissipative control design. Dissipative control designs are based on several variations of the Passivity Theorem, which have been proven for nonlinear/linear and continuous-time/discrete-time systems. These theorems depend not on a specific model of a plant, but on its general dissipative properties. Dissipative control design has found wide applicability in flexible space structures and robotic systems that can be configured to be dissipative. Currently, there is ongoing research to improve the performance of dissipative control designs. For aircraft systems that are not dissipative active control may be used to make them dissipative and then a dissipative control design technique can be used. It is also possible that rendering a system dissipative and dissipative control design may be combined into one step. Furthermore, the transformation of a non-dissipative system to dissipative can be done robustly. One sequential design procedure for finite dimensional linear time-invariant systems has been developed. For nonlinear plants that cannot be controlled adequately with a single linear controller, model-based techniques have additional problems. Nonlinear system identification is still a research topic. Lacking analytical models for model-based design, artificial neural network algorithms have recently received considerable attention. Using
NASA Astrophysics Data System (ADS)
Pu, Zhiqiang; Tan, Xiangmin; Fan, Guoliang; Yi, Jianqiang
2014-08-01
Flexible air-breathing hypersonic vehicles feature significant uncertainties which pose huge challenges to robust controller designs. In this paper, four major categories of uncertainties are analyzed, that is, uncertainties associated with flexible effects, aerodynamic parameter variations, external environmental disturbances, and control-oriented modeling errors. A uniform nonlinear uncertainty model is explored for the first three uncertainties which lumps all uncertainties together and consequently is beneficial for controller synthesis. The fourth uncertainty is additionally considered in stability analysis. Based on these analyses, the starting point of the control design is to decompose the vehicle dynamics into five functional subsystems. Then a robust trajectory linearization control (TLC) scheme consisting of five robust subsystem controllers is proposed. In each subsystem controller, TLC is combined with the extended state observer (ESO) technique for uncertainty compensation. The stability of the overall closed-loop system with the four aforementioned uncertainties and additional singular perturbations is analyzed. Particularly, the stability of nonlinear ESO is also discussed from a Liénard system perspective. At last, simulations demonstrate the great control performance and the uncertainty rejection ability of the robust scheme.
Use a linear model to achieve stable composition control in a naphtha splitter
Karpe, P.
1997-01-01
The following two points using dual composition control in a naphtha splitter are emphasized: while literature provides general guidelines for design of control systems for distillation columns, each column is unique in terms of dynamic and steady state behavior. Multivariable control analytical tools, such as RGA and SVD, coupled with rigorous steady state simulations, can be effectively employed to achieve stable control in columns beset with severe loop interactions, and often in the absence of on-line analyzers, linear models representing the first order approximations of distillation columns can yield significant benefits. Such models are simple to understand, readily acceptable to operators, do not require special expertise to maintain, and therefore, offer high degree of reliability.
Fuzzy virtual reference model sensorless tracking control for linear induction motors.
Hung, Cheng-Yao; Liu, Peter; Lian, Kuang-Yow
2013-06-01
This paper introduces a fuzzy virtual reference model (FVRM) synthesis method for linear induction motor (LIM) speed sensorless tracking control. First, we represent the LIM as a Takagi-Sugeno fuzzy model. Second, we estimate the immeasurable mover speed and secondary flux by a fuzzy observer. Third, to convert the speed tracking control into a stabilization problem, we define the internal desired states for state tracking via an FVRM. Finally, by solving a set of linear matrix inequalities (LMIs), we obtain the observer gains and the control gains where exponential convergence is guaranteed. The contributions of the approach in this paper are threefold: 1) simplified approach--speed tracking problem converted into stabilization problem; 2) omit need of actual reference model--FVRM generates internal desired states; and 3) unification of controller and observer design--control objectives are formulated into an LMI problem where powerful numerical toolboxes solve controller and observer gains. Finally, experiments are carried out to verify the theoretical results and show satisfactory performance both in transient response and robustness. PMID:23076069
Linear signal noise summer accurately determines and controls S/N ratio
NASA Technical Reports Server (NTRS)
Sundry, J. L.
1966-01-01
Linear signal noise summer precisely controls the relative power levels of signal and noise, and mixes them linearly in accurately known ratios. The S/N ratio accuracy and stability are greatly improved by this technique and are attained simultaneously.
ORACLS- OPTIMAL REGULATOR ALGORITHMS FOR THE CONTROL OF LINEAR SYSTEMS (CDC VERSION)
NASA Technical Reports Server (NTRS)
Armstrong, E. S.
1994-01-01
This control theory design package, called Optimal Regulator Algorithms for the Control of Linear Systems (ORACLS), was developed to aid in the design of controllers and optimal filters for systems which can be modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, currently referred to as the Linear-Quadratic-Gaussian (LQG) problem, has become the most widely accepted method of determining optimal control policy. Within this theory, the infinite duration time-invariant problems, which lead to constant gain feedback control laws and constant Kalman-Bucy filter gains for reconstruction of the system state, exhibit high tractability and potential ease of implementation. A variety of new and efficient methods in the field of numerical linear algebra have been combined into the ORACLS program, which provides for the solution to time-invariant continuous or discrete LQG problems. The ORACLS package is particularly attractive to the control system designer because it provides a rigorous tool for dealing with multi-input and multi-output dynamic systems in both continuous and discrete form. The ORACLS programming system is a collection of subroutines which can be used to formulate, manipulate, and solve various LQG design problems. The ORACLS program is constructed in a manner which permits the user to maintain considerable flexibility at each operational state. This flexibility is accomplished by providing primary operations, analysis of linear time-invariant systems, and control synthesis based on LQG methodology. The input-output routines handle the reading and writing of numerical matrices, printing heading information, and accumulating output information. The basic vector-matrix operations include addition, subtraction, multiplication, equation, norm construction, tracing, transposition, scaling, juxtaposition, and construction of null and identity matrices. The analysis routines provide for the following
ORACLS- OPTIMAL REGULATOR ALGORITHMS FOR THE CONTROL OF LINEAR SYSTEMS (DEC VAX VERSION)
NASA Technical Reports Server (NTRS)
Frisch, H.
1994-01-01
This control theory design package, called Optimal Regulator Algorithms for the Control of Linear Systems (ORACLS), was developed to aid in the design of controllers and optimal filters for systems which can be modeled by linear, time-invariant differential and difference equations. Optimal linear quadratic regulator theory, currently referred to as the Linear-Quadratic-Gaussian (LQG) problem, has become the most widely accepted method of determining optimal control policy. Within this theory, the infinite duration time-invariant problems, which lead to constant gain feedback control laws and constant Kalman-Bucy filter gains for reconstruction of the system state, exhibit high tractability and potential ease of implementation. A variety of new and efficient methods in the field of numerical linear algebra have been combined into the ORACLS program, which provides for the solution to time-invariant continuous or discrete LQG problems. The ORACLS package is particularly attractive to the control system designer because it provides a rigorous tool for dealing with multi-input and multi-output dynamic systems in both continuous and discrete form. The ORACLS programming system is a collection of subroutines which can be used to formulate, manipulate, and solve various LQG design problems. The ORACLS program is constructed in a manner which permits the user to maintain considerable flexibility at each operational state. This flexibility is accomplished by providing primary operations, analysis of linear time-invariant systems, and control synthesis based on LQG methodology. The input-output routines handle the reading and writing of numerical matrices, printing heading information, and accumulating output information. The basic vector-matrix operations include addition, subtraction, multiplication, equation, norm construction, tracing, transposition, scaling, juxtaposition, and construction of null and identity matrices. The analysis routines provide for the following
Zeroth-order design report for the next linear collider. Volume 2
Raubenheimer, T.O.
1996-05-01
This Zeroth-Order Design Report (ZDR) for the Next Linear Collider (NLC) has been completed as a feasibility study for a TeV-scale linear collider that incorporates a room-temperature accelerator powered by rf microwaves at 11.424 GHz--similar to that presently used in the SLC, but at four times the rf frequency. The purpose of this study is to examine the complete systems of such a collider, to understand how the parts fit together, and to make certain that every required piece has been included. The ``design`` presented here is not fully engineered in any sense, but to be assured that the NLC can be built, attention has been given to a number of critical components and issues that present special challenges. More engineering and development of a number of mechanical and electrical systems remain to be done, but the conclusion of this study is that indeed the NLC is technically feasible and can be expected to reach the performance levels required to perform research at the TeV energy scale. Volume II covers the following: collimation systems; IP switch and big bend; final focus; the interaction region; multiple bunch issues; control systems; instrumentation; machine protection systems; NLC reliability considerations; NLC conventional facilities. Also included are four appendices on the following topics: An RF power source upgrade to the NLC; a second interaction region for gamma-gamma, gamma-electron; ground motion: theory and measurement; and beam-based feedback: theory and implementation.
NASA Technical Reports Server (NTRS)
Gangsaas, D.; Ly, U.; Norman, D. C.
1981-01-01
A modified linear quadratic Gaussian (LQG) synthesis procedure has been used to design low-order robust multiloop controllers for a flexible airplane. The introduction of properly constructed fictitious Gauss-Markov processes in the control loops allowed meeting classical frequency-domain stability criteria using the direct synthesis procedures of modern time-domain control theory. Model reduction was used to simplify the control laws to the point where they could be easily implemented on onboard flight computers. These control laws provided excellent gust load and flutter mode control with good stability margins and compared very favorably to other control laws synthesized by the classical root-locus technique.
New model performance index for engineering design of control systems
NASA Technical Reports Server (NTRS)
1970-01-01
Performance index includes a model representing linear control-system design specifications. Based on a geometric criterion for approximation of the model by the actual system, the index can be interpreted directly in terms of the desired system response model without actually having the model's time response.
Design of flight control systems via robust decoupled servomechanism theory
NASA Technical Reports Server (NTRS)
Wang, S.-H.; Davison, E. J.
1979-01-01
Decoupling theory and robust servomechanism theory are applied to the design of linear multivariable systems with large parameter variations. In addition to being approximately decoupled in the transient period, the over-all system achieves tracking and disturbance rejection robustly in the steady state. An example in flight control system is given.
Design and analysis of an unconventional permanent magnet linear machine for energy harvesting
NASA Astrophysics Data System (ADS)
Zeng, Peng
This Ph.D. dissertation proposes an unconventional high power density linear electromagnetic kinetic energy harvester, and a high-performance two-stage interface power electronics to maintain maximum power abstraction from the energy source and charge the Li-ion battery load with constant current. The proposed machine architecture is composed of a double-sided flat type silicon steel stator with winding slots, a permanent magnet mover, coil windings, a linear motion guide and an adjustable spring bearing. The unconventional design of the machine is that NdFeB magnet bars in the mover are placed with magnetic fields in horizontal direction instead of vertical direction and the same magnetic poles are facing each other. The derived magnetic equivalent circuit model proves the average air-gap flux density of the novel topology is as high as 0.73 T with 17.7% improvement over that of the conventional topology at the given geometric dimensions of the proof-of-concept machine. Subsequently, the improved output voltage and power are achieved. The dynamic model of the linear generator is also developed, and the analytical equations of output maximum power are derived for the case of driving vibration with amplitude that is equal, smaller and larger than the relative displacement between the mover and the stator of the machine respectively. Furthermore, the finite element analysis (FEA) model has been simulated to prove the derived analytical results and the improved power generation capability. Also, an optimization framework is explored to extend to the multi-Degree-of-Freedom (n-DOF) vibration based linear energy harvesting devices. Moreover, a boost-buck cascaded switch mode converter with current controller is designed to extract the maximum power from the harvester and charge the Li-ion battery with trickle current. Meanwhile, a maximum power point tracking (MPPT) algorithm is proposed and optimized for low frequency driving vibrations. Finally, a proof
21 CFR 820.30 - Design controls.
Code of Federal Regulations, 2012 CFR
2012-04-01
... 21 Food and Drugs 8 2012-04-01 2012-04-01 false Design controls. 820.30 Section 820.30 Food and Drugs FOOD AND DRUG ADMINISTRATION, DEPARTMENT OF HEALTH AND HUMAN SERVICES (CONTINUED) MEDICAL DEVICES QUALITY SYSTEM REGULATION Design Controls § 820.30 Design controls. (a) General. (1) Each manufacturer of any class III or class II device, and...
Control design for the SERC experimental testbeds
NASA Technical Reports Server (NTRS)
Jacques, Robert; Blackwood, Gary; Macmartin, Douglas G.; How, Jonathan; Anderson, Eric
1992-01-01
Viewgraphs on control design for the Space Engineering Research Center experimental testbeds are presented. Topics covered include: SISO control design and results; sensor and actuator location; model identification; control design; experimental results; preliminary LAC experimental results; active vibration isolation problem statement; base flexibility coupling into isolation feedback loop; cantilever beam testbed; and closed loop results.
PHELIX: design of transformer-driven linear implosion system
Turchi, Peter J; Atchison, Walter L; Rousculp, Chris L; Reinovsky, Robert E
2008-01-01
Experiments involving electromagnetically-imploded, solid-density liners can be achieved at reduced cost and energy if we start with a scale-size based on diagnostic resolution, rather than on the largest capacitor bank or generator we could bring to bear. For minimum resolution of 100 microns or less, many useful experiments could be performed with initial liner diameters that are factors of two to three smaller than used on high-energy systems, such as Atlas, thereby reducing energy requirements to sub-megajoule levels. Reduction in scale-size, however, also decreases the inductance change associated with liner motion relative to other inductances in the circuit. To improve coupling efficiency to liner kinetic energy, we invoke a current step-up transformer. Scaling relations have been developed for reducing the size and energy of such systems and compared with detailed numerical simulations. We discuss these calculations and describe the engineering embodiment of the resulting design for a system called PHELIX (Precision High Energy-density Liner Implosion eXperiment).
Model Reduction for Control System Design
NASA Technical Reports Server (NTRS)
Enns, D. F.
1985-01-01
An approach and a technique for effectively obtaining reduced order mathematical models of a given large order model for the purposes of synthesis, analysis and implementation of control systems is developed. This approach involves the use of an error criterion which is the H-infinity norm of a frequency weighted error between the full and reduced order models. The weightings are chosen to take into account the purpose for which the reduced order model is intended. A previously unknown error bound in the H-infinity norm for reduced order models obtained from internally balanced realizations was obtained. This motivated further development of the balancing technique to include the frequency dependent weightings. This resulted in the frequency weighted balanced realization and a new model reduction technique. Two approaches to designing reduced order controllers were developed. The first involves reducing the order of a high order controller with an appropriate weighting. The second involves linear quadratic Gaussian synthesis based on a reduced order model obtained with an appropriate weighting.
Quasi-linear H2/H∞/LTR Control of Vertical Parallel Flexible Structures Connected by a Spring
NASA Astrophysics Data System (ADS)
Han, Seong Ik; Kim, Jong Shik
The quasi-linear H2/H∞/LTR control method is presented for the robust control of hardnonlinear multivariable systems. The hard nonlinear elements such as Coulomb friction, dead-zone and backlash are replaced by their random input describing functions (RIDF) to develop a quasi-linear model for designing a quasi-linear H2/H∞ controller. However, a nonlinear correction term appears in the coupled Riccati equations when the quasi-linear H2/H∞ method is applied for a quasi-linear model. It is shown that a nonlinear correction term can be ignored using the loop transfer recovery (LTR) under the appropriate condition. Thus, the quasi-linear H2/H∞ controller can be synthesized by introducing the inverse random input describing function (IRIDF). To show the effectiveness of the proposed control method, it will be applied to a flexible parallel inverted pendulum with Coulomb friction. The results of simulation show that the proposed control method is robust to nonlinear effects and the vibration of end tip.
Shu, D.
1998-07-16
A novel laser Doppler linear encoder system (LDLE) has been developed at the Advanced Photon Source, Argonne National Laboratory. A self-aligning 3-D multiple-reflection optical design was used for the laser Doppler displacement meter (LDDM) to extend the encoder system resolution. The encoder is compact [about 70 mm(H) x 100 mm(W) x 250 mm(L)] and it has sub-Angstrom resolution, 100 mm/sec measuring speed, and 300 mm measuring range. Because the new device affords higher resolution, as compared with commercial laser interferometer systems, and yet cost less, it will have good potential for use in scientific and industrial applications.
Design techniques for mutlivariable flight control systems
NASA Technical Reports Server (NTRS)
1981-01-01
Techniques which address the multi-input closely coupled nature of advanced flight control applications and digital implementation issues are described and illustrated through flight control examples. The techniques described seek to exploit the advantages of traditional techniques in treating conventional feedback control design specifications and the simplicity of modern approaches for multivariable control system design.
NASA Technical Reports Server (NTRS)
Milman, Mark H.
1987-01-01
The fundamental control synthesis issue of establishing a priori convergence rates of approximation schemes for feedback controllers for a class of distributed parameter systems is addressed within the context of hereditary systems. Specifically, a factorization approach is presented for deriving approximations to the optimal feedback gains for the linear regulator-quadratic cost problem associated with time-varying functional differential equations with control delays. The approach is based on a discretization of the state penalty which leads to a simple structure for the feedback control law. General properties of the Volterra factors of Hilbert-Schmidt operators are then used to obtain convergence results for the controls, trajectories and feedback kernels. Two algorithms are derived from the basic approximation scheme, including a fast algorithm, in the time-invariant case. A numerical example is also considered.
ATOPS B-737 inner-loop control system linear model construction and verification
NASA Technical Reports Server (NTRS)
Broussard, J. R.
1983-01-01
Nonlinear models and block diagrams of an inner-loop control system for the ATOPS B-737 Research Aircraft are presented. Continuous time linear model representations of the nonlinear inner-loop control systems are derived. Closed-loop aircraft simulations comparing nonlinear and linear dynamic responses to step inputs are used to verify the inner-loop control system models.
The Robotic Lumbar Spine: Dynamics and Feedback Linearization Control
Karadogan, Ernur; Williams, Robert L.
2013-01-01
The robotic lumbar spine (RLS) is a 15 degree-of-freedom, fully cable-actuated robotic lumbar spine which can mimic in vivo human lumbar spine movements to provide better hands-on training for medical students. The design incorporates five active lumbar vertebrae and the sacrum, with dimensions of an average adult human spine. It is actuated by 20 cables connected to electric motors. Every vertebra is connected to the neighboring vertebrae by spherical joints. Medical schools can benefit from a tool, system, or method that will help instructors train students and assess their tactile proficiency throughout their education. The robotic lumbar spine has the potential to satisfy these needs in palpatory diagnosis. Medical students will be given the opportunity to examine their own patient that can be programmed with many dysfunctions related to the lumbar spine before they start their professional lives as doctors. The robotic lumbar spine can be used to teach and test medical students in their capacity to be able to recognize normal and abnormal movement patterns of the human lumbar spine under flexion-extension, lateral bending, and axial torsion. This paper presents the dynamics and nonlinear control of the RLS. A new approach to solve for positive and nonzero cable tensions that are also continuous in time is introduced. PMID:24151527
NASA Astrophysics Data System (ADS)
Song, Ningfang; Luo, Xinkai; Li, Huipeng; Li, Jiao
2015-10-01
The non-linearity of the phase shifting mechanism in white light interferometry system can seriously affect the measuring accuracy of the system. In this paper, the correcting method is to combine the displacement feedback control technology with the fuzzy PID control technology. Displacement feedback control mechanism and fuzzy PID controller are designed and then try to figure it out through Matlab simulation and experiment.. The result shows that combining the displacement feedback control technology with the fuzzy PID control technology can fulfill decent overall non-linear correction in the white light interferometry measuring system. Meanwhile, the accuracy of the correction is high and the non-linearity drop from 2% to 0.1%.
Design of Life Extending Controls Using Nonlinear Parameter Optimization
NASA Technical Reports Server (NTRS)
Lorenzo, Carl F.; Holmes, Michael S.; Ray, Asok
1998-01-01
This report presents the conceptual development of a life extending control system where the objective is to achieve high performance and structural durability of the plant. A life extending controller is designed for a reusable rocket engine via damage mitigation in both the fuel and oxidizer turbines while achieving high performance for transient responses of the combustion chamber pressure and the O2/H2 mixture ratio. This design approach makes use of a combination of linear and nonlinear controller synthesis techniques and also allows adaptation of the life extending controller module to augment a conventional performance controller of a rocket engine. The nonlinear aspect of the design is achieved using nonlinear parameter optimization of a prescribed control structure.
Missile guidance law design using adaptive cerebellar model articulation controller.
Lin, Chih-Min; Peng, Ya-Fu
2005-05-01
An adaptive cerebellar model articulation controller (CMAC) is proposed for command to line-of-sight (CLOS) missile guidance law design. In this design, the three-dimensional (3-D) CLOS guidance problem is formulated as a tracking problem of a time-varying nonlinear system. The adaptive CMAC control system is comprised of a CMAC and a compensation controller. The CMAC control is used to imitate a feedback linearization control law and the compensation controller is utilized to compensate the difference between the feedback linearization control law and the CMAC control. The online adaptive law is derived based on the Lyapunov stability theorem to learn the weights of receptive-field basis functions in CMAC control. In addition, in order to relax the requirement of approximation error bound, an estimation law is derived to estimate the error bound. Then the adaptive CMAC control system is designed to achieve satisfactory tracking performance. Simulation results for different engagement scenarios illustrate the validity of the proposed adaptive CMAC-based guidance law. PMID:15940993
Design of a novel integrated position sensor based on Hall effects for linear oscillating actuator.
Wang, Tianyi; Yan, Liang; Jiao, Zongxia
2015-07-01
Linear oscillating actuator provides linear reciprocate motion directly without other auxiliary components, which is suitable for high integration applications in aerospace industry. Accurate position control is essential for linear oscillating motor and relies on concise measurement of mover position. However, most position measurements are dependent on external complicated sensors, which hinders further integration of linear oscillating actuation system. In this paper, a novel position sensing system for linear oscillating actuator based on Hall effects is proposed to achieve accurate and high integration measurement simultaneously. Axial sensing magnetic field with approximately linear relationship with position is created for direct and convenient measurement. Analytical model of sensing magnetic field is set up for optimization and validated by finite element method and experimental results. Finally, sensing magnets are integrated into motor prototype for experiments. Dynamic position results are tested in experiments and prove to be effective and accurate for position sensing with short-stroke. PMID:26233402
Design of a novel integrated position sensor based on Hall effects for linear oscillating actuator
NASA Astrophysics Data System (ADS)
Wang, Tianyi; Yan, Liang; Jiao, Zongxia
2015-07-01
Linear oscillating actuator provides linear reciprocate motion directly without other auxiliary components, which is suitable for high integration applications in aerospace industry. Accurate position control is essential for linear oscillating motor and relies on concise measurement of mover position. However, most position measurements are dependent on external complicated sensors, which hinders further integration of linear oscillating actuation system. In this paper, a novel position sensing system for linear oscillating actuator based on Hall effects is proposed to achieve accurate and high integration measurement simultaneously. Axial sensing magnetic field with approximately linear relationship with position is created for direct and convenient measurement. Analytical model of sensing magnetic field is set up for optimization and validated by finite element method and experimental results. Finally, sensing magnets are integrated into motor prototype for experiments. Dynamic position results are tested in experiments and prove to be effective and accurate for position sensing with short-stroke.
Design of a candidate flutter suppression control law for DAST ARW-2
NASA Technical Reports Server (NTRS)
Adams, W. M., Jr.; Tiffany, S. H.
1984-01-01
A control law is developed to suppress symmetric flutter for a mathematical model of an aeroelastic research vehicle. An implementable control law is attained by including modified LQC (Linear Quadratic Gaussian) design techniques, controller order reduction, and gain scheduling. An alternate (complementary) design approach is illustrated for one flight condition wherein nongradient-based constrained optimization techniques are applied to maximize controller robustness.
Control design for a wind turbine-generator using output feedback
NASA Technical Reports Server (NTRS)
Javid, S. H.; Murdoch, A.; Winkelman, J. R.
1981-01-01
The modeling and approach to control design for a large horizontal axis wind turbine (WT) generator are presented. The control design is based on a suboptimal output regulator which allows coordinated control of WT blade pitch angle and field voltage for the purposes of regulating electrical power and terminal voltage. Results of detailed non-linear simulation tests of this controller are shown.
Control design variable linking for optimization of structural/control systems
NASA Technical Reports Server (NTRS)
Jin, Ik Min; Schmit, Lucien A.
1993-01-01
A method is presented to integrate the design space of structural/control system optimization problems in the case of linear state feedback control. Conventional structural sizing variables and elements of the feedback gain matrix are both treated as strictly independent design variables in optimization by extending design variable linking concepts to the control gains. Several approximation concepts including new control design variable linking schemes are used to formulate the integrated structural/control optimization problem as a sequence of explicit nonlinear mathematical programming problems. Examples which involve a variety of behavior constraints, including constraints on dynamic stability, damped frequencies, control effort, peak transient displacement, acceleration, and control force limits, are effectively solved by using the method presented.
Linear matrix inequalities for analysis and control of linear vector second-order systems
Adegas, Fabiano D.; Stoustrup, Jakob
2014-10-06
Many dynamical systems are modeled as vector second-order differential equations. This paper presents analysis and synthesis conditions in terms of LMI with explicit dependence in the coefficient matrices of vector second-order systems. These conditions benefit from the separation between the Lyapunov matrix and the system matrices by introducing matrix multipliers, which potentially reduce conservativeness in hard control problems. Multipliers facilitate the usage of parameter-dependent Lyapunov functions as certificates of stability of uncertain and time-varying vector second-order systems. The conditions introduced in this work have the potential to increase the practice of analyzing and controlling systems directly in vector second-order form.
Computer Aided Control System Design (CACSD)
NASA Technical Reports Server (NTRS)
Stoner, Frank T.
1993-01-01
The design of modern aerospace systems relies on the efficient utilization of computational resources and the availability of computational tools to provide accurate system modeling. This research focuses on the development of a computer aided control system design application which provides a full range of stability analysis and control design capabilities for aerospace vehicles.
Robust Control Design for Uncertain Nonlinear Dynamic Systems
NASA Technical Reports Server (NTRS)
Kenny, Sean P.; Crespo, Luis G.; Andrews, Lindsey; Giesy, Daniel P.
2012-01-01
Robustness to parametric uncertainty is fundamental to successful control system design and as such it has been at the core of many design methods developed over the decades. Despite its prominence, most of the work on robust control design has focused on linear models and uncertainties that are non-probabilistic in nature. Recently, researchers have acknowledged this disparity and have been developing theory to address a broader class of uncertainties. This paper presents an experimental application of robust control design for a hybrid class of probabilistic and non-probabilistic parametric uncertainties. The experimental apparatus is based upon the classic inverted pendulum on a cart. The physical uncertainty is realized by a known additional lumped mass at an unknown location on the pendulum. This unknown location has the effect of substantially altering the nominal frequency and controllability of the nonlinear system, and in the limit has the capability to make the system neutrally stable and uncontrollable. Another uncertainty to be considered is a direct current motor parameter. The control design objective is to design a controller that satisfies stability, tracking error, control power, and transient behavior requirements for the largest range of parametric uncertainties. This paper presents an overview of the theory behind the robust control design methodology and the experimental results.
Passive dynamic controllers for non-linear mechanical systems
NASA Technical Reports Server (NTRS)
Juang, Jer-Nan; Wu, Shih-Chin; Phan, Minh; Longman, Richard W.
1992-01-01
The objective is to develop active model-independent controllers for slewing and vibration control of nonlinear multibody flexible systems, including flexible robots. The topics are presented in viewgraph form and include: passive stabilization; work-energy rate principle; Liapunov theory; displacement feedback; dynamic controller; displacement and acceleration feedback; velocity feedback; displacement feedback; physical interaction; a 6-DOF robot; and simulation results.
Performance investigation and controller design of IPMC actuator
NASA Astrophysics Data System (ADS)
Hao, Lina; Chen, Wenlin; Zhou, Yiran
2010-01-01
Ionic Polymer-Metal Composites (IPMC) has great application prospects in military, aerospace, biomedical and other fields, and attracts more and more attentions in many countries. However, it works with complex mechanism and varies with circumstance and using times, and also is impressible to the preparation process, which limits its development and utilization. Firstly ,this paper developed a complete set of experimental platform for IPMC fabricated by ourselves to study experimentally the displacement response characteristic with different types, frequencies and amplitudes of stimulation signals. Then, a chirp signal with controllable frequency had been used as a input signal for identification, third-order ARX model as a model of IPMC structure, a multi-innovation least squares recursive (MILSR) identification algorithms as model parameters identification online. This paper gained a relatively accurate linear model through identification the model parameters. Thirdly, according to the linear model, both a PID controller and a LMI (Linear Matrix Inequality) based optimal H infinity (∞) controller had been designed. The simulation results show that the controller can effectively control the linear characteristics of IPMC and repeated experiments in the system are still valid. Through controlling two different model of using for 50 times fore-and aft, it has been proved that the optimal H infinity controller has good robustness.
Application of modern control theory to the design of optimum aircraft controllers
NASA Technical Reports Server (NTRS)
Power, L. J.
1973-01-01
A procedure is described for synthesis of optimal aircraft control systems by application of the concepts of optimal control theory to time-invariant linear systems with quadratic performance criteria. Essential in this synthesis procedure is the solution of the Riccati matrix equation which results in a constant linear feedback control law for an output regulator which maintains a plant in an equilibrium in the presence of impulse disturbances. An algorithm is derived for designing maneuverable output regulators with selected state variables for feedback.
Control system design and analysis using the INteractive Controls Analysis (INCA) program
NASA Technical Reports Server (NTRS)
Bauer, Frank H.; Downing, John P.
1987-01-01
The INteractive Controls Analysis (INCA) program was developed at the Goddard Space Flight Center to provide a user friendly efficient environment for the design and analysis of linear control systems. Since its inception, INCA has found extensive use in the design, development, and analysis of control systems for spacecraft, instruments, robotics, and pointing systems. Moreover, the results of the analytic tools imbedded in INCA have been flight proven with at least three currently orbiting spacecraft. This paper describes the INCA program and illustrates, using a flight proven example, how the package can perform complex design analyses with relative ease.
Hargrove, Levi J; Scheme, Erik J; Englehart, Kevin B; Hudgins, Bernard S
2010-02-01
This paper describes a novel pattern recognition based myoelectric control system that uses parallel binary classification and class specific thresholds. The system was designed with an intuitive configuration interface, similar to existing conventional myoelectric control systems. The system was assessed quantitatively with a classification error metric and functionally with a clothespin test implemented in a virtual environment. For each case, the proposed system was compared to a state-of-the-art pattern recognition system based on linear discriminant analysis and a conventional myoelectric control scheme with mode switching. These assessments showed that the proposed control system had a higher classification error ( p < 0.001) but yielded a more controllable myoelectric control system ( p < 0.001) as measured through a clothespin usability test implemented in a virtual environment. Furthermore, the system was computationally simple and applicable for real-time embedded implementation. This work provides the basis for a clinically viable pattern recognition based myoelectric control system which is robust, easily configured, and highly usable. PMID:20071277
An Empirical Comparison of Five Linear Equating Methods for the NEAT Design
ERIC Educational Resources Information Center
Suh, Youngsuk; Mroch, Andrew A.; Kane, Michael T.; Ripkey, Douglas R.
2009-01-01
In this study, a data base containing the responses of 40,000 candidates to 90 multiple-choice questions was used to mimic data sets for 50-item tests under the "nonequivalent groups with anchor test" (NEAT) design. Using these smaller data sets, we evaluated the performance of five linear equating methods for the NEAT design with five levels of…
Design, test, and evaluation of three active flutter suppression controllers
NASA Technical Reports Server (NTRS)
Adams, William M., Jr.; Christhilf, David M.; Waszak, Martin R.; Mukhopadhyay, Vivek; Srinathkumar, S.
1992-01-01
Three control law design techniques for flutter suppression are presented. Each technique uses multiple control surfaces and/or sensors. The first method uses traditional tools (such as pole/zero loci and Nyquist diagrams) for producing a controller that has minimal complexity and which is sufficiently robust to handle plant uncertainty. The second procedure uses linear combinations of several accelerometer signals and dynamic compensation to synthesize the model rate of the critical mode for feedback to the distributed control surfaces. The third technique starts with a minimum-energy linear quadratic Gaussian controller, iteratively modifies intensity matrices corresponding to input and output noise, and applies controller order reduction to achieve a low-order, robust controller. The resulting designs were implemented digitally and tested subsonically on the active flexible wing wind-tunnel model in the Langley Transonic Dynamics Tunnel. Only the traditional pole/zero loci design was sufficiently robust to errors in the nominal plant to successfully suppress flutter during the test. The traditional pole/zero loci design provided simultaneous suppression of symmetric and antisymmetric flutter with a 24-percent increase in attainable dynamic pressure. Posttest analyses are shown which illustrate the problems encountered with the other laws.
ACSYNT inner loop flight control design study
NASA Technical Reports Server (NTRS)
Bortins, Richard; Sorensen, John A.
1993-01-01
The NASA Ames Research Center developed the Aircraft Synthesis (ACSYNT) computer program to synthesize conceptual future aircraft designs and to evaluate critical performance metrics early in the design process before significant resources are committed and cost decisions made. ACSYNT uses steady-state performance metrics, such as aircraft range, payload, and fuel consumption, and static performance metrics, such as the control authority required for the takeoff rotation and for landing with an engine out, to evaluate conceptual aircraft designs. It can also optimize designs with respect to selected criteria and constraints. Many modern aircraft have stability provided by the flight control system rather than by the airframe. This may allow the aircraft designer to increase combat agility, or decrease trim drag, for increased range and payload. This strategy requires concurrent design of the airframe and the flight control system, making trade-offs of performance and dynamics during the earliest stages of design. ACSYNT presently lacks means to implement flight control system designs but research is being done to add methods for predicting rotational degrees of freedom and control effector performance. A software module to compute and analyze the dynamics of the aircraft and to compute feedback gains and analyze closed loop dynamics is required. The data gained from these analyses can then be fed back to the aircraft design process so that the effects of the flight control system and the airframe on aircraft performance can be included as design metrics. This report presents results of a feasibility study and the initial design work to add an inner loop flight control system (ILFCS) design capability to the stability and control module in ACSYNT. The overall objective is to provide a capability for concurrent design of the aircraft and its flight control system, and enable concept designers to improve performance by exploiting the interrelationships between
NASA Technical Reports Server (NTRS)
Nett, C. N.; Jacobson, C. A.; Balas, M. J.
1983-01-01
This paper reviews and extends the fractional representation theory. In particular, new and powerful robustness results are presented. This new theory is utilized to develop a preliminary design methodology for finite dimensional control of a class of linear evolution equations on a Banach space. The design is for stability in an input-output sense, but particular attention is paid to internal stability as well.
Convergence behaviour and Control in Non-Linear Biological Networks
Karl, Stefan; Dandekar, Thomas
2015-01-01
Control of genetic regulatory networks is challenging to define and quantify. Previous control centrality metrics, which aim to capture the ability of individual nodes to control the system, have been found to suffer from plausibility and applicability problems. Here we present a new approach to control centrality based on network convergence behaviour, implemented as an extension of our genetic regulatory network simulation framework Jimena ( http://stefan-karl.de/jimena). We distinguish three types of network control, and show how these mathematical concepts correspond to experimentally verified node functions and signalling pathways in immunity and cell differentiation: Total control centrality quantifies the impact of node mutations and identifies potential pharmacological targets such as genes involved in oncogenesis (e.g. zinc finger protein GLI2 or bone morphogenetic proteins in chondrocytes). Dynamic control centrality describes relaying functions as observed in signalling cascades (e.g. src kinase or Jak/Stat pathways). Value control centrality measures the direct influence of the value of the node on the network (e.g. Indian hedgehog as an essential regulator of proliferation in chondrocytes). Surveying random scale-free networks and biological networks, we find that control of the network resides in few high degree driver nodes and networks can be controlled best if they are sparsely connected. PMID:26068060
On-Off Minimum-Time Control With Limited Fuel Usage: Global Optima Via Linear Programming
DRIESSEN,BRIAN
1999-09-01
A method for finding a global optimum to the on-off minimum-time control problem with limited fuel usage is presented. Each control can take on only three possible values: maximum, zero, or minimum. The simplex method for linear systems naturally yields such a solution for the re-formulation presented herein because it always produces an extreme point solution to the linear program. Numerical examples for the benchmark linear flexible system are presented.
Design and evaluation of control systems for large communications satellites
NASA Technical Reports Server (NTRS)
Steiber, M. E.
1985-01-01
Control techniques for future large flexible spacecraft are developed. Control design and analysis are supported by a comprehensive CAD system. The proposed operational mobile communications satellite (OMSAT) featuring a 44 m offset fed antenna is used as target application. Requirements for satellite attitude control and communications beam pointing are defined. The following control methods are applied to the system: standard linear optimal regulator (LOR) with Luenberger observer, LOR/observer with selective spill-over suppression, frequency shaped LOR, LOR with closed-loop order reduction by cost decoupling, and robust servomechanism.
Smolyanitskiy, A.; Shu, D.; Wong, T.; Experimental Facilities Division; IIT
2005-01-01
We have designed and tested a new digital signal processor (DSP)-based closed-loop feedback controller for a linear actuator system with sub-angstrom resolution and 15-mm travel range. The linear actuator system consists of a laser Doppler encoder with multiple-reflection optics [1], a high-stiffness weak-link mechanism with high driving sensitivity and stability [2], and a Texas Instruments TMS320C40 DSP-based controller for high-performance closed-loop feedback control. In this paper, we discuss the DSP-based controller design, as well as recent test results yielding step sizes below 50 picometers obtained with the atomic force microprobe setup.
Design of feedback control systems for unstable plants with saturating actuators
NASA Technical Reports Server (NTRS)
Kapasouris, Petros; Athans, Michael; Stein, Gunter
1988-01-01
A new control design methodology is introduced for multi-input/multi-output systems with unstable open loop plants and saturating actuators. A control system is designed using well known linear control theory techniques and then a reference prefilter is introduced so that when the references are sufficiently small, the control system operates linearly as designated. For signals large enough to cause saturations, the control law is modified in such a way to ensure stability and to preserve, to the extent possible, the behavior of the linear control design. Key benefits of this methodology are: the modified feedback system never produces saturating control signals, integrators and/or slow dynamics in the compensator never windup, the directionaL properties of the controls are maintained, and the closed loop system has certain guaranteed stability properties. The advantages of the new design methodology are illustrated in the simulation of an approximation of the AFTI-16 (Advanced Fighter Technology Integration) aircraft multivariable longitudinal dynamics.
Approximation theory for LQG (Linear-Quadratic-Gaussian) optimal control of flexible structures
NASA Technical Reports Server (NTRS)
Gibson, J. S.; Adamian, A.
1988-01-01
An approximation theory is presented for the LQG (Linear-Quadratic-Gaussian) optimal control problem for flexible structures whose distributed models have bounded input and output operators. The main purpose of the theory is to guide the design of finite dimensional compensators that approximate closely the optimal compensator. The optimal LQG problem separates into an optimal linear-quadratic regulator problem and an optimal state estimation problem. The solution of the former problem lies in the solution to an infinite dimensional Riccati operator equation. The approximation scheme approximates the infinite dimensional LQG problem with a sequence of finite dimensional LQG problems defined for a sequence of finite dimensional, usually finite element or modal, approximations of the distributed model of the structure. Two Riccati matrix equations determine the solution to each approximating problem. The finite dimensional equations for numerical approximation are developed, including formulas for converting matrix control and estimator gains to their functional representation to allow comparison of gains based on different orders of approximation. Convergence of the approximating control and estimator gains and of the corresponding finite dimensional compensators is studied. Also, convergence and stability of the closed-loop systems produced with the finite dimensional compensators are discussed. The convergence theory is based on the convergence of the solutions of the finite dimensional Riccati equations to the solutions of the infinite dimensional Riccati equations. A numerical example with a flexible beam, a rotating rigid body, and a lumped mass is given.
Nonlinear control via approximate input-output linearization - The ball and beam example
NASA Technical Reports Server (NTRS)
Hauser, John; Sastry, Shankar; Kokotovic, Petar
1989-01-01
This paper presents an approach for the approximate input-output linearization of nonlinear systems, particularly those for which relative degree is not well defined. It is shown that there is a great deal of freedom in the selection of an approximation and that, by designing a tracking controller based on the approximating system, tracking of reasonable trajectories can be achieved with small error. The approximating system is itself a nonlinear system, with the difference that it is input-output linearizable by state feedback. Some properties of the accuracy of the approximation are demonstrated and, in the context of the ball and beam example, it is shown to be far superior to the Jacobian approximation. The results are focused on finding regular SISO systems which are close to systems which are not regular and controlling these approximate regular systems.
Liu Shengzhi; Zhang Naiyao; Cui Zhenhua
2004-11-15
In this paper a systematic design method of fuzzy control systems is applied to the pressurized water reactor's (PWR) power control. The paper includes three parts. In the first part, a simplified time-varying linear model of the PWR power system is constructed, and its inner structure and time-varying characteristics are analyzed. That provides a solid basis for study and design of the nuclear reactor power control system. In the second part, a systematic design method of fuzzy control systems is introduced and applied to control the nuclear reactor power process. The design procedures and parameters are given in detail. This systematic design method has some notable advantages. The control of a global fuzzy model can be decomposed into controlling a set of linear submodels. Each submodel controller can be independently designed by using a linear quadratic regulator approach. This systematic design method gives a sufficient and necessary condition to guarantee the stability of fuzzy control systems; thus, better control performance can be obtained due to the accurate control gains. In the third part, the control performance of the nuclear reactor fuzzy control system is examined by simulation experiments, including nuclear reactor power shutdown, start-up, and adjustment operations. The satisfactory experiment results have shown that the systematic design method for fuzzy control systems is effective and feasible.
Linear motion device and method for inserting and withdrawing control rods
Smith, Jay E.
1984-01-01
A linear motion device, more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core, is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.
The role of modern control theory in the design of controls for aircraft turbine engines
NASA Technical Reports Server (NTRS)
Zeller, J.; Lehtinen, B.; Merrill, W.
1982-01-01
The development, applications, and current research in modern control theory (MCT) are reviewed, noting the importance for fuel-efficient operation of turbines with variable inlet guide vanes, compressor stators, and exhaust nozzle area. The evolution of multivariable propulsion control design is examined, noting a basis in a matrix formulation of the differential equations defining the process, leading to state space formulations. Reports and papers which appeared from 1970-1982 which dealt with problems in MCT applications to turbine engine control design are outlined, including works on linear quadratic regulator methods, frequency domain methods, identification, estimation, and model reduction, detection, isolation, and accommodation, and state space control, adaptive control, and optimization approaches. Finally, NASA programs in frequency domain design, sensor failure detection, computer-aided control design, and plant modeling are explored
Wright, A.D.; Stol, K.A.
2008-01-01
The National Renewable Energy Laboratory is designing, implementing, and testing advanced controls to maximize energy extraction and reduce structural dynamic loads of wind turbines. These control designs are based on a linear model of the turbine that is generated by specialized modeling software. In this paper, we show the design and simulation testing of a control algorithm to mitigate blade, tower, and drivetrain loads using advanced state-space control design methods.
RUPERT closed loop control design.
Balasubramanian, Sivakumar; Wei, Ruihua; He, Jiping
2008-01-01
Rehabilitation robotics is an active area of research in the field of stroke rehabilitation. There is significant potential for improving the current physical rehabilitation methods after stroke through the use of robotic devices. RUPERT is a wearable robotic exoskeleton powered by pneumatic muscle actuators. An adaptive robot control strategy combining a PID-based feedback controller and an Iterative Learning Controller (ILC) is proposed for performing passive reaching tasks. Additionally, a fuzzy rule-base for estimating the learning rate for the ILC is also proposed. The proposed control scheme has the ability to adapt to different subject for performing different reaching tasks. The preliminary results from two able-bodied subjects demonstrate that the proposed controller can provide consistent performance for different subjects performing different reaching tasks. PMID:19163455
A quasi-linear control theory analysis of timesharing skills
NASA Technical Reports Server (NTRS)
Agarwal, G. C.; Gottlieb, G. L.
1977-01-01
The compliance of the human ankle joint is measured by applying 0 to 50 Hz band-limited gaussian random torques to the foot of a seated human subject. These torques rotate the foot in a plantar-dorsal direction about a horizontal axis at a medial moleolus of the ankle. The applied torques and the resulting angular rotation of the foot are measured, digitized and recorded for off-line processing. Using such a best-fit, second-order model, the effective moment of inertia of the ankle joint, the angular viscosity and the stiffness are calculated. The ankle joint stiffness is shown to be a linear function of the level of tonic muscle contraction, increasing at a rate of 20 to 40 Nm/rad/Kg.m. of active torque. In terms of the muscle physiology, the more muscle fibers that are active, the greater the muscle stiffness. Joint viscosity also increases with activation. Joint stiffness is also a linear function of the joint angle, increasing at a rate of about 0.7 to 1.1 Nm/rad/deg from plantar flexion to dorsiflexion rotation.
A survey of the practice and management of radiotherapy linear accelerator quality control in the UK
Palmer, A; Kearton, J; Hayman, O
2012-01-01
Objectives The objective of this study was to determine current radiotherapy linear accelerator quality control (QC) practice in the UK, as a comparative benchmark and indicator of development needs, and to raise awareness of QC as a key performance indicator. Methods All UK radiotherapy centres were invited to complete an online questionnaire regarding their local QC processes, and submit their QC schedules. The range of QC tests, frequency of measurements and acceptable tolerances in use across the UK were analysed, and consensus and range statistics determined. Results 72% of the UK's 62 radiotherapy centres completed the questionnaire and 40% provided their QC schedules. 60 separate QC tests were identified from the returned schedules. There was a large variation in the total time devoted to QC between centres: interquartile range from 13 to 26 h per linear accelerator per month. There has been a move from weekly to monthly testing of output calibration in the last decade, with reliance on daily constancy testing equipment. 33% of centres thought their schedules were in need of an update and only 30% used risk-assessment approaches to determine local QC schedule content. Less than 30% of centres regularly complete all planned QC tests each month, although 96% achieve over 80% of tests. Conclusions A comprehensive “snapshot” of linear accelerator QC testing practice in the UK has been collated, which demonstrates reasonable agreement between centres in their stated QC test frequencies. However, intelligent design of QC schedules and management is necessary to ensure efficiency and appropriateness. PMID:22674707
NASA Technical Reports Server (NTRS)
Cheng, Rendy P.; Tischler, Mark B.; Celi, Roberto
2006-01-01
This research describes a new methodology for the extraction of a high-order, linear time invariant model, which allows the periodicity of the helicopter response to be accurately captured. This model provides the needed level of dynamic fidelity to permit an analysis and optimization of the AFCS and HHC algorithms. The key results of this study indicate that the closed-loop HHC system has little influence on the AFCS or on the vehicle handling qualities, which indicates that the AFCS does not need modification to work with the HHC system. However, the results show that the vibration response to maneuvers must be considered during the HHC design process, and this leads to much higher required HHC loop crossover frequencies. This research also demonstrates that the transient vibration responses during maneuvers can be reduced by optimizing the closed-loop higher harmonic control algorithm using conventional control system analyses.
The Design of the Positron Source for the International Linear Collider
Clarke, J.A.; Malyshev, O.B.; Scott, D.J.; Bailey, I.R.; Dainton, J.B.; Hock, K.M.; Jenner, L.J.; Malysheva, L.I.; Zang, L.; Baynham, E.; Bradshaw, T.W.; Brummitt, A.J.; Carr, F.S.; Lintern, A.J.; Rochford, J.; Bharadwaj, V.; Sheppard, J.; Bungau, A.; Collomb, N.A.; Dollan, R.; Gai, W.; /Argonne /LLNL, Livermore /Unlisted /Durham U. /DESY /Humboldt U., Berlin /Cornell U., Phys. Dept. /Bristol U.
2011-11-04
The high luminosity requirements and the option of a polarized positron beam present a great challenge for the positron source of a future linear collider. This paper provides a comprehensive overview of the latest proposed design for the baseline positron source of the International Linear Collider (ILC). We report on recent progress and results concerning the main components of the source: including the undulator, capture optics, and target.
Linearization Method for Starting Control of Speed-Sensorless Vector-Controlled Induction Motors
NASA Astrophysics Data System (ADS)
Fujinami, Kazuki; Kondo, Keiichiro
A linearization method is proposed for controlling the start-up operation of a rotating induction motor. The dynamics of this motor are deteriorated when the starting operation is carried out at high frequencies. In this method, the characteristics of the method are analyzed to reveal that the aforementioned problem is caused by the low equivalent gain of the induced voltage during the rotor flux establishment. A method to compensate for the angle of the rotor-flux-induced voltage vector is proposed to overcome this problem. The proposed method is experimentally verified by a test set, and the influence of changes in the rotor resistance is analyzed.
Santos, Carlos; Espinosa, Felipe; Santiso, Enrique; Mazo, Manuel
2015-01-01
One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives. PMID:26024415
Santos, Carlos; Espinosa, Felipe; Santiso, Enrique; Mazo, Manuel
2015-01-01
One of the main challenges in wireless cyber-physical systems is to reduce the load of the communication channel while preserving the control performance. In this way, communication resources are liberated for other applications sharing the channel bandwidth. The main contribution of this work is the design of a remote control solution based on an aperiodic and adaptive triggering mechanism considering the current network delay of multiple robotics units. Working with the actual network delay instead of the maximum one leads to abandoning this conservative assumption, since the triggering condition is fixed depending on the current state of the network. This way, the controller manages the usage of the wireless channel in order to reduce the channel delay and to improve the availability of the communication resources. The communication standard under study is the widespread IEEE 802.11g, whose channel delay is clearly uncertain. First, the adaptive self-triggered control is validated through the TrueTime simulation tool configured for the mentioned WiFi standard. Implementation results applying the aperiodic linear control laws on four P3-DX robots are also included. Both of them demonstrate the advantage of this solution in terms of network accessing and control performance with respect to periodic and non-adaptive self-triggered alternatives. PMID:26024415
Microcomputer-Aided Control Systems Design.
ERIC Educational Resources Information Center
Roat, S. D.; Melsheimer, S. S.
1987-01-01
Describes a single input/single output feedback control system design program for IBM PC and compatible microcomputers. Uses a heat exchanger temperature control loop to illustrate the various applications of the program. (ML)
Evolution of the design of a silicon tracker for the Linear Collider
Cooper, W.E.
2005-10-01
A design for the silicon tracker for SiD was proposed at the Victoria Linear Collider Workshop [1]. This paper describes development of that design by the SiD group into a baseline model for simulation studies. The design has been modified to take into account detector fabrication and servicing requirements, features specific to the vertex chamber, and detector elements in the region surrounding the silicon tracker.
A broadband polygonal cloak for acoustic wave designed with linear coordinate transformation.
Zhu, Rongrong; Zheng, Bin; Ma, Chu; Xu, Jun; Fang, Nicholas; Chen, Hongsheng
2016-07-01
Previous acoustic cloaks designed with transformation acoustics always involve inhomogeneous material. In this paper, a design of acoustic polygonal cloak is proposed using linear polygonal transformation method. The designed acoustic polygonal cloak has homogeneous and anisotropic parameters, which is much easier to realize in practice. Furthermore, a possible acoustic metamaterial structure to realize the cloak is proposed. Simulation results on the real structure show that the metamaterial acoustic cloak is effective to reduce the scattering of the object. PMID:27475135
NASA Astrophysics Data System (ADS)
Wöhling, T.; Geiges, A.; Gosses, M.; Nowak, W.
2014-12-01
Data acquisition in complex environmental systems is typically expensive. Therefore, experimental designs should be optimized such that most can be learned about the system at least costs. In the past, optimal design (OD) analyses were mainly restricted to linear or linearized problems and methods. Nonlinear OD methods offer more efficient data collection strategies, because they can better handle the non-linearity exhibited by most coupled environmental systems. However, the much higher computational demand restricts their applicability to models with comparatively low run-times. Our goal is to compare the trade-off between computational efficiency and the obtainable design quality between linear and nonlinear OD methods. In our study, a steady-state model for a section of the river Steinlach (South Germany) was set up and calibrated to measured groundwater head data and on estimated groundwater exchange fluxes. The model involves a Pilot Point parameterization scheme for hydraulic conductivity and six zones with uncertain river bed conductivities. In the linear OD approach, the initial predictive uncertainty of groundwater exchange fluxes and mean travel times are estimated using the PREDUNC utility (Moore and Doherty 2005) of PEST. The parameter calibration was performed with a non-linear global search. A discrete global search method and PREDUNC was then utilized to identify augmented monitoring strategies (additional n measurement locations and data types) that reduce the predictive uncertainty the most. For the nonlinear assessment, a conditional ensemble obtained with Markov-chain Monte Carlo represents the initial state of uncertainty and is used as input to a nonlinear OD framework called PreDIA (Leube et al. 2012). PreDIA can consider any kind of uncertainties and non-linear (statistical) dependencies in data, models, parameters and system drivers during the OD process. The linear and non-linear approaches are compared thoroughly during each step of the
Apparatus for electrode current control in linear MHD generators
Demirjian, Ara M.; Solbes, Albert
1984-01-01
Apparatus for controlling a plurality of opposing, electrode, direct-currents at pre-set locations across a channel that comprises a converter for converting each electrode current into first and second periodic control signals which are 180.degree. out of phase with respect to each other and which have equal magnitudes corresponding to the magnitude of the associated electrode current; and couplers for magnetically coupling individual ones of the first control signals and for magnetically coupling individual ones of the second signals such that the corresponding electrode currents are equalized or rendered proportional by balancing the same in the same or constant ratios in accordance with the locations of the electrode currents.
Designing control system information models
NASA Technical Reports Server (NTRS)
Panin, K. I.; Zinchenko, V. P.
1973-01-01
Problems encountered in modeling information models are discussed, Data cover condition, functioning of the object of control, and the environment involved in the control. Other parameters needed for the model include: (1) information for forming an image of the real situation, (2) data for analyzing and evaluating an evolving situation, (3) planning actions, and (4) data for observing and evaluating the results of model realization.
Parvalbumin-expressing interneurons linearly control olfactory bulb output.
Kato, Hiroyuki K; Gillet, Shea N; Peters, Andrew J; Isaacson, Jeffry S; Komiyama, Takaki
2013-12-01
In the olfactory bulb, odor representations by principal mitral cells are modulated by local inhibitory circuits. While dendrodendritic synapses between mitral and granule cells are typically thought to be a major source of this modulation, the contributions of other inhibitory neurons remain unclear. Here we demonstrate the functional properties of olfactory bulb parvalbumin-expressing interneurons (PV cells) and identify their important role in odor coding. Using paired recordings, we find that PV cells form reciprocal connections with the majority of nearby mitral cells, in contrast to the sparse connectivity between mitral and granule cells. In vivo calcium imaging in awake mice reveals that PV cells are broadly tuned to odors. Furthermore, selective PV cell inactivation enhances mitral cell responses in a linear fashion while maintaining mitral cell odor preferences. Thus, dense connections between mitral and PV cells underlie an inhibitory circuit poised to modulate the gain of olfactory bulb output. PMID:24239124
NASA Technical Reports Server (NTRS)
Beattie, E. C.
1980-01-01
An inlet/engine/nozzle integrated control mode for the propulsion system of an advanced supersonic commercial aircraft was studied. Results show that integration of these control functions can result in both operational and performance benefits for the propulsion system. For example, this integrated control mode may make it possible to minimize the use of inlet bypass doors for shock position control. This may be of benefit to the aircraft as a result of minimizing: (1) bypass bleed drag effects; (2) perturbations to the aircraft resulting from the side thrust effect of the bypass bleeds; and (3) potential unstarts of the inlet. A conceptual integrated control mode was developed which makes use of many cross coupling paths between inlet and engine control variables and inlet and engine sensed variables. A multivariable control design technique based upon linear quadratic regulator theory was applied to designing the feedback gains for this control to allow a simulation evaluation of the benefits of the integrated control mode.
NASA Astrophysics Data System (ADS)
Nondahl, T. A.; Richter, E.
1980-09-01
A design study of two types of single sided (with a passive rail) linear electric machine designs, namely homopolar linear synchronous machines (LSM's) and linear induction machines (LIM's), is described. It is assumed the machines provide tractive effort for several types of light rail vehicles and locomotives. These vehicles are wheel supported and require tractive powers ranging from 200 kW to 3735 kW and top speeds ranging from 112 km/hr to 400 km/hr. All designs are made according to specified magnetic and thermal criteria. The LSM advantages are a higher power factor, much greater restoring forces for track misalignments, and less track heating. The LIM advantages are no need to synchronize the excitation frequency precisely to vehicle speed, simpler machine construction, and a more easily anchored track structure. The relative weights of the two machine types vary with excitation frequency and speed; low frequencies and low speeds favor the LSM.
Ares I Flight Control System Design
NASA Technical Reports Server (NTRS)
Jang, Jiann-Woei; Alaniz, Abran; Hall, Robert; Bedrossian, Nazareth; Hall, Charles; Ryan, Stephen; Jackson, Mark
2010-01-01
The Ares I launch vehicle represents a challenging flex-body structural environment for flight control system design. This paper presents a design methodology for employing numerical optimization to develop the Ares I flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares I time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time launch control systems in the presence of parametric uncertainty. Flex filters in the flight control system are designed to minimize the flex components in the error signals before they are sent to the attitude controller. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constraints minimizes performance degradation caused by the addition of the flex filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The flight control system designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC 6DOF nonlinear time domain simulation.
Optimal controller design for structural damage detection
NASA Astrophysics Data System (ADS)
Lew, Jiann-Shiun
2005-03-01
The virtual passive control technique has recently been applied to structural damage detection, where the virtual passive controller only uses the existing control devices, and no additional physical elements are attached to the tested structure. One important task is to design passive controllers that can enhance the sensitivity of the identified parameters, such as natural frequencies, to structural damage. This paper presents a novel study of an optimal controller design for structural damage detection. We apply not only passive controllers but also low-order and fixed-structure controllers, such as PID controllers. In the optimal control design, the performance of structural damage detection is based on the application of a neural network technique, which uses the pattern of the correlation between the natural frequency changes of the tested system and the damaged system.
Tuning of power system controllers using symbolic eigensensitivity analysis and linear programming
Xu, L.; Ahmed-Zaid, S.
1995-02-01
In this paper, a systematic method for the tuning of multiple power system controllers using symbolic eigensensitivity analysis and linear programming is presented. The concept of eigenvalue sensitivity is used here to formulate the linear first-order variation of the real part of the dominant system eigenvalue as a symbolic function of controller parameters. This eigenvalue variation is minimized iteratively subject to linear equality and inequality constraints. All controller parameters are tuned correctly when the objective function meets the desired performance criteria. In this method, no special assumptions are made on the type of power devices and linear feedback controllers present in the system. The proposed method is illustrated with three examples of a single-machine system with a power system stabilizer and a controller for a thyristor-controlled series capacitor. The tested configurations are supplemented with nonlinear time-domain simulations validating the small-signal stability results.
Optimal feedback control of strongly non-linear systems excited by bounded noise
NASA Astrophysics Data System (ADS)
Zhu, W. Q.; Huang, Z. L.; Ko, J. M.; Ni, Y. Q.
2004-07-01
A strategy for non-linear stochastic optimal control of strongly non-linear systems subject to external and/or parametric excitations of bounded noise is proposed. A stochastic averaging procedure for strongly non-linear systems under external and/or parametric excitations of bounded noise is first developed. Then, the dynamical programming equation for non-linear stochastic optimal control of the system is derived from the averaged Itô equations by using the stochastic dynamical programming principle and solved to yield the optimal control law. The Fokker-Planck-Kolmogorov equation associated with the fully completed averaged Itô equations is solved to give the response of optimally controlled system. The application and effectiveness of the proposed control strategy are illustrated with the control of cable vibration in cable-stayed bridges and the feedback stabilization of the cable under parametric excitation of bounded noise.
State control of discrete-time linear systems to be bound in state variables by equality constraints
NASA Astrophysics Data System (ADS)
Filasová, Anna; Krokavec, Dušan; Serbák, Vladimír
2014-12-01
The paper is concerned with the problem of designing the discrete-time equivalent PI controller to control the discrete-time linear systems in such a way that the closed-loop state variables satisfy the prescribed equality constraints. Since the problem is generally singular, using standard form of the Lyapunov function and a symmetric positive definite slack matrix, the design conditions are proposed in the form of the enhanced Lyapunov inequality. The results, offering the conditions of the control existence and the optimal performance with respect to the prescribed equality constraints for square discrete-time linear systems, are illustrated with the numerical example to note effectiveness and applicability of the considered approach.
Numerical study of linear feedback control for form-drag reduction
NASA Astrophysics Data System (ADS)
Dahan, Jeremy; Morgans, Aimee
2012-11-01
The present work is a numerical investigation of linear system identification and model-based feedback control methods for form-drag reduction. Large-Eddy Simulation (LES) is used to represent the flow over a simple bluff body with a sharp trailing edge, with a turbulent separation. For actuation, two types of perturbations are considered: a model of zero-net-mass-flux slot jets and momentum sources. Pressure measurements distributed over the base of the body provide the sensor information. The first part of the study will focus on the open-loop characterization of the flow. The base pressure field will be studied in relation to the wake dynamics. The effect of key actuation and flow parameters, such as actuation type, actuation location and Reynolds number, will be investigated. A black-box model of the flow response, obtained via system identification, will be examined. The second part will look at the design of robust controllers. It will be shown that uncertainties in the model and inflow conditions can be partially mitigated by the robustness of the controller. The behaviour of the feedback-controlled flow will be compared with the results achievable using open-loop forcing to draw conclusions about the success of the flow response model and the controller synthesis. PhD student in Department of Aeronautics.
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2013 CFR
2013-01-01
... 10 Energy 2 2013-01-01 2013-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) LICENSING REQUIREMENTS FOR THE INDEPENDENT STORAGE OF SPENT NUCLEAR FUEL, HIGH-LEVEL RADIOACTIVE WASTE, AND REACTOR-RELATED GREATER THAN CLASS C WASTE Quality Assurance § 72.146 Design control. (a) The licensee,...
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2010 CFR
2010-01-01
... 10 Energy 2 2010-01-01 2010-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) LICENSING REQUIREMENTS FOR THE INDEPENDENT STORAGE OF SPENT NUCLEAR FUEL, HIGH-LEVEL RADIOACTIVE WASTE, AND REACTOR-RELATED GREATER THAN CLASS C WASTE Quality Assurance § 72.146 Design control. (a) The licensee,...
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2011 CFR
2011-01-01
... 10 Energy 2 2011-01-01 2011-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) LICENSING REQUIREMENTS FOR THE INDEPENDENT STORAGE OF SPENT NUCLEAR FUEL, HIGH-LEVEL RADIOACTIVE WASTE, AND REACTOR-RELATED GREATER THAN CLASS C WASTE Quality Assurance § 72.146 Design control. (a) The licensee,...
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2012 CFR
2012-01-01
... 10 Energy 2 2012-01-01 2012-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) LICENSING REQUIREMENTS FOR THE INDEPENDENT STORAGE OF SPENT NUCLEAR FUEL, HIGH-LEVEL RADIOACTIVE WASTE, AND REACTOR-RELATED GREATER THAN CLASS C WASTE Quality Assurance § 72.146 Design control. (a) The licensee,...
10 CFR 72.146 - Design control.
Code of Federal Regulations, 2014 CFR
2014-01-01
... 10 Energy 2 2014-01-01 2014-01-01 false Design control. 72.146 Section 72.146 Energy NUCLEAR REGULATORY COMMISSION (CONTINUED) LICENSING REQUIREMENTS FOR THE INDEPENDENT STORAGE OF SPENT NUCLEAR FUEL, HIGH-LEVEL RADIOACTIVE WASTE, AND REACTOR-RELATED GREATER THAN CLASS C WASTE Quality Assurance § 72.146 Design control. (a) The licensee,...
NASA Astrophysics Data System (ADS)
Chang, Pyung-hun; Ki Han, Dong; Shin, Yun-ho; Kim, Kwang-joon
2010-05-01
This paper presents a new state space representation of pneumatic vibration isolators (PVIs) and a design of a robust control, Time Delay Control (TDC), based on it. The new state space model, derived by using the input-output linearization method, is of the phase variable form with the air mass-flow as the control input. This model offers a framework that enables simultaneous suppression of both seismic vibration and direct disturbance (or payload disturbance) with an accelerometer only. Based on this model, TDC is designed and verified with experiments on a single chamber PVI with an accelerometer only. In the experiment, the PVI with TDC successfully suppresses seismic vibration and direct disturbance, both individually and simultaneously. Faced with seismic vibration, the transmissibility of the PVI with TDC has virtually no resonance peak at low frequency; under direct disturbance, the former achieves a 68 percent reduction in settling time of the latter. The final analysis of experimental result shows that TDC effectively estimates the modeling error along with other uncertainties and cancels them, while achieving desired closed-loop dynamics.
Robust linear parameter-varying control of blood pressure using vasoactive drugs
NASA Astrophysics Data System (ADS)
Luspay, Tamas; Grigoriadis, Karolos
2015-10-01
Resuscitation of emergency care patients requires fast restoration of blood pressure to a target value to achieve hemodynamic stability and vital organ perfusion. A robust control design methodology is presented in this paper for regulating the blood pressure of hypotensive patients by means of the closed-loop administration of vasoactive drugs. To this end, a dynamic first-order delay model is utilised to describe the vasoactive drug response with varying parameters that represent intra-patient and inter-patient variability. The proposed framework consists of two components: first, an online model parameter estimation is carried out using a multiple-model extended Kalman-filter. Second, the estimated model parameters are used for continuously scheduling a robust linear parameter-varying (LPV) controller. The closed-loop behaviour is characterised by parameter-varying dynamic weights designed to regulate the mean arterial pressure to a target value. Experimental data of blood pressure response of anesthetised pigs to phenylephrine injection are used for validating the LPV blood pressure models. Simulation studies are provided to validate the online model estimation and the LPV blood pressure control using phenylephrine drug injection models representing patients showing sensitive, nominal and insensitive response to the drug.
Dynamic optimization and adaptive controller design
NASA Astrophysics Data System (ADS)
Inamdar, S. R.
2010-10-01
In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.
Advanced Aerodynamic Design of Passive Porosity Control Effectors
NASA Technical Reports Server (NTRS)
Hunter, Craig A.; Viken, Sally A.; Wood, Richard M.; Bauer, Steven X. S.
2001-01-01
This paper describes aerodynamic design work aimed at developing a passive porosity control effector system for a generic tailless fighter aircraft. As part of this work, a computational design tool was developed and used to layout passive porosity effector systems for longitudinal and lateral-directional control at a low-speed, high angle of attack condition. Aerodynamic analysis was conducted using the NASA Langley computational fluid dynamics code USM3D, in conjunction with a newly formulated surface boundary condition for passive porosity. Results indicate that passive porosity effectors can provide maneuver control increments that equal and exceed those of conventional aerodynamic effectors for low-speed, high-alpha flight, with control levels that are a linear function of porous area. This work demonstrates the tremendous potential of passive porosity to yield simple control effector systems that have no external moving parts and will preserve an aircraft's fixed outer mold line.
Robust Control Design for Large Space Structures
NASA Technical Reports Server (NTRS)
Eastman, W. L.; Bossi, J. A.
1985-01-01
The control design problem for the class of future spacecraft referred to as large space structures (LSS) is by now well known. The issue is the reduced order control of a very high order, lightly damped system with uncertain system parameters, particularly in the high frequency modes. A design methodology which incorporates robustness considerations as part of the design process is presented. Combining pertinent results from multivariable systems theory and optimal control and estimation, LQG eigenstructure assignment and LQG frequency shaping, were used to improve singular value robustness measures in the presence of control and observation spillover.
Rómoli, Santiago; Serrano, Mario Emanuel; Ortiz, Oscar Alberto; Vega, Jorge Rubén; Eduardo Scaglia, Gustavo Juan
2015-07-01
Based on a linear algebra approach, this paper aims at developing a novel control law able to track reference profiles that were previously-determined in the literature. A main advantage of the proposed strategy is that the control actions are obtained by solving a system of linear equations. The optimal controller parameters are selected through Monte Carlo Randomized Algorithm in order to minimize a proposed cost index. The controller performance is evaluated through several tests, and compared with other controller reported in the literature. Finally, a Monte Carlo Randomized Algorithm is conducted to assess the performance of the proposed controller. PMID:25627329
Process Design Manual for Nitrogen Control.
ERIC Educational Resources Information Center
Parker, Denny S.; And Others
This manual presents theoretical and process design criteria for the implementation of nitrogen control technology in municipal wastewater treatment facilities. Design concepts are emphasized through examination of data from full-scale and pilot installations. Design data are included on biological nitrification and denitrification, breakpoint…
Tension control of space tether via online quasi-linearization iterations
NASA Astrophysics Data System (ADS)
Wen, Hao; Zhu, Zheng H.; Jin, Dongping; Hu, Haiyan
2016-02-01
The paper presents how to stabilize the deployment and retrieval processes of a space tether system via the tension control, where the model predictive control is exploited to optimize the control performance while the nonlinear dynamics and tension constraint are explicitly taken into account. A new scheme of online quasi-linearization iteration is proposed to transfer the nonlinear optimal control problem into a series of linear optimal control problems that can be solved in sequence at a series of sampling instants. Consequently, it avoids the complete solution of the nonlinear optimal control problem at each sampling interval such that the computational load can be greatly alleviated. Furthermore, the scheme extends the conventional quasi-linearization schemes by distributing the iterative process across sampling instants and online updating the initial condition of the linear optimal control problem. The problems of linear optimal control are discretized using a pseudo-spectral algorithm and then solved by a solver of linear quadratic programming. Numerical case studies indicate that successful deployment and retrieval of the system can be achieved using the proposed control scheme without violating the positive tension constraint. The time cost for each online optimization in the proposed scheme is on the order of 10 ms and far below the sampling interval under consideration.
Design and test of three active flutter suppression controllers
NASA Technical Reports Server (NTRS)
Christhilf, David M.; Waszak, Martin R.; Adams, William M.; Srinathkumar, S.; Mukhopadhyay, Vivek
1991-01-01
Three flutter suppression control law design techniques are presented. Each uses multiple control surfaces and/or sensors. The first uses linear combinations of several accelerometer signals together with dynamic compensation to synthesize the modal rate of the critical mode for feedback to distributed control surfaces. The second uses traditional tools (pole/zero loci and Nyquist diagrams) to develop a good understanding of the flutter mechanism and produce a controller with minimal complexity and good robustness to plant uncertainty. The third starts with a minimum energy Linear Quadratic Gaussian controller, applies controller order reduction, and then modifies weight and noise covariance matrices to improve multi-variable robustness. The resulting designs were implemented digitally and tested subsonically on the Active Flexible Wing (AFW) wind tunnel model. Test results presented here include plant characteristics, maximum attained closed-loop dynamic pressure, and Root Mean Square control surface activity. A key result is that simultaneous symmetric and antisymmetric flutter suppression was achieved by the second control law, with a 24 percent increase in attainable dynamic pressure.
Desensitizing structural-control design
NASA Technical Reports Server (NTRS)
Ponslet, E.; Haftka, R. T.; Hallauer, W. L.; Cudney, H. H.
1992-01-01
A new method for targeted robustness optimization is presented. This method allows the analyst to 'target' the most critical performance parameter (or family of design requirements with almost the same criticality) for enhanced protection from uncertainties in the model. To create this protection, this method uses knowledge about the uncertainties in some of the parameters of the model - this information is usually available to the structural analyst. The power of the targeted robustness method is demonstrated numerically using an active damping example. The results show that the most critical damping ratio is protected - its sensitivity to the uncertainties is far below those of non-critical damping ratios.
Resilient Control Systems: Next Generation Design Research
Craig Rieger
2009-05-01
Since digital control systems were introduced to the market more than 30 years ago, the operational efficiency and stability gained through their use have fueled our migration and ultimate dependence on them for the monitoring and control of critical infrastructure. While these systems have been designed for functionality and reliability, a hostile cyber environment and uncertainties in complex networks and human interactions have placed additional parameters on the design expectations for control systems.
Non linear predictive control of a LEGO mobile robot
NASA Astrophysics Data System (ADS)
Merabti, H.; Bouchemal, B.; Belarbi, K.; Boucherma, D.; Amouri, A.
2014-10-01
Metaheuristics are general purpose heuristics which have shown a great potential for the solution of difficult optimization problems. In this work, we apply the meta heuristic, namely particle swarm optimization, PSO, for the solution of the optimization problem arising in NLMPC. This algorithm is easy to code and may be considered as alternatives for the more classical solution procedures. The PSO- NLMPC is applied to control a mobile robot for the tracking trajectory and obstacles avoidance. Experimental results show the strength of this approach.
Linearized stability analysis and design of a flyback dc-dc boost regulator.
NASA Technical Reports Server (NTRS)
Wester, G. W.
1973-01-01
Analytic expressions for the small-signal power-stage describing functions of a switched dc-dc boost regulator are derived from an approximate continuous circuit model which is developed by a time-averaging technique. Closed-loop stability is attained through the design of frequency compensation of the loop gain. Open- and closed-loop regulator output impedances are derived from the linearized models for the given configuration. The analysis and design are compared with and confirmed by breadboard measurements.
Hydraulically powered dissimilar teleoperated system controller design
Jansen, J.F.; Kress, R.L.
1996-04-01
This paper will address two issues associated with the implementation of a hydraulically powered dissimilar master-slave teleoperated system. These issues are the overall system control architecture and the design of robust hydraulic servo controllers for the position control problem. Finally, a discussion of overall system performance on an actual teleoperated system will be presented.
An airfoil pitch apparatus-modeling and control design
NASA Technical Reports Server (NTRS)
Andrews, Daniel R.
1989-01-01
The study of dynamic stall of rapidly pitching airfoils is being conducted at NASA Ames Research Center. Understanding this physical phenomenon will aid in improving the maneuverability of fighter aircraft as well as civilian aircraft. A wind tunnel device which can linearly pitch and control an airfoil with rapid dynamic response is needed for such tests. To develop a mechanism capable of high accelerations, an accurate model and control system is created. The model contains mathematical representations of the mechanical system, including mass, spring, and damping characteristics for each structural element, as well as coulomb friction and servovalve saturation. Electrical components, both digital and analog, linear and nonlinear, are simulated. The implementation of such a high-performance system requires detailed control design as well as state-of-the-art components. This paper describes the system model, states the system requirements, and presents results of its theoretical performance which maximizes the structural and hydraulic aspects of this system.
An airfoil pitch apparatus-modeling and control design
NASA Technical Reports Server (NTRS)
Andrews, Daniel R.
1989-01-01
The study of dynamic stall of rapidly pitching airfoils is being conducted at NASA Ames Research Center. Understanding this physical phenomenon will aid in improving the maneuverability of fighter aircraft as well as civilian aircraft. A wind tunnel device which can linearly pitch and control an airfoil with rapid dynamic reponse is needed for such tests. To develop a mechanism capable of high accelerations, an accurate model and control system is created. The model contains mathematical representations of the mechanical system, including mass, spring, and damping characteristics for each structural element, as well as coulomb friction and servovalve saturation. Electrical components, both digital and analog, linear and nonlinear, are simulated. The implementation of such a high-performance system requires detailed control design as well as state-of-the-art components. This paper describes the system model, states the system requirements, and presents results of its theoretical performance which maximizes the structural and hydraulic aspects of this system.
An airfoil pitch apparatus-modeling and control design
NASA Astrophysics Data System (ADS)
Andrews, Daniel R.
1989-03-01
The study of dynamic stall of rapidly pitching airfoils is being conducted at NASA Ames Research Center. Understanding this physical phenomenon will aid in improving the maneuverability of fighter aircraft as well as civilian aircraft. A wind tunnel device which can linearly pitch and control an airfoil with rapid dynamic response is needed for such tests. To develop a mechanism capable of high accelerations, an accurate model and control system is created. The model contains mathematical representations of the mechanical system, including mass, spring, and damping characteristics for each structural element, as well as coulomb friction and servovalve saturation. Electrical components, both digital and analog, linear and nonlinear, are simulated. The implementation of such a high-performance system requires detailed control design as well as state-of-the-art components. This paper describes the system model, states the system requirements, and presents results of its theoretical performance which maximizes the structural and hydraulic aspects of this system.
Design, Simulation and Testing of a Precision Alignment Frame for the Next Linear Collider
Fitsos, P
2004-06-18
An alignment frame is developed to support 3 Beam Position Monitors (BPM's) for detecting and ultimately aligning the electron beam from a linear accelerator. This report discusses the design details, preliminary modal analysis of the alignment frame as well as the addition of a metrology frame in the final phase of development.
ERIC Educational Resources Information Center
Zu, Jiyun; Yuan, Ke-Hai
2012-01-01
In the nonequivalent groups with anchor test (NEAT) design, the standard error of linear observed-score equating is commonly estimated by an estimator derived assuming multivariate normality. However, real data are seldom normally distributed, causing this normal estimator to be inconsistent. A general estimator, which does not rely on the…
The design of a linear L-band high power amplifier for mobile communication satellites
NASA Technical Reports Server (NTRS)
Whittaker, N.; Brassard, G.; Li, E.; Goux, P.
1990-01-01
A linear L-band solid state high power amplifier designed for the space segment of the Mobile Satellite (MSAT) mobile communication system is described. The amplifier is capable of producing 35 watts of RF power with multitone signal at an efficiency of 25 percent and with intermodulation products better than 16 dB below carrier.
Stability and performance analysis of a jump linear control system subject to digital upsets
NASA Astrophysics Data System (ADS)
Wang, Rui; Sun, Hui; Ma, Zhen-Yang
2015-04-01
This paper focuses on the methodology analysis for the stability and the corresponding tracking performance of a closed-loop digital jump linear control system with a stochastic switching signal. The method is applied to a flight control system. A distributed recoverable platform is implemented on the flight control system and subject to independent digital upsets. The upset processes are used to stimulate electromagnetic environments. Specifically, the paper presents the scenarios that the upset process is directly injected into the distributed flight control system, which is modeled by independent Markov upset processes and independent and identically distributed (IID) processes. A theoretical performance analysis and simulation modelling are both presented in detail for a more complete independent digital upset injection. The specific examples are proposed to verify the methodology of tracking performance analysis. The general analyses for different configurations are also proposed. Comparisons among different configurations are conducted to demonstrate the availability and the characteristics of the design. Project supported by the Young Scientists Fund of the National Natural Science Foundation of China (Grant No. 61403395), the Natural Science Foundation of Tianjin, China (Grant No. 13JCYBJC39000), the Scientific Research Foundation for the Returned Overseas Chinese Scholars, State Education Ministry, China, the Tianjin Key Laboratory of Civil Aircraft Airworthiness and Maintenance in Civil Aviation of China (Grant No. 104003020106), and the Fund for Scholars of Civil Aviation University of China (Grant No. 2012QD21x).
Ogawa, Takahiro; Usuki, Naoya; Nakazono, Kazuko; Koyama, Yasuhito; Takata, Toshikazu
2015-04-01
Linear-cyclic polymer structural transformation and its reversibility are demonstrated by a simple but rational strategy using the structural characteristics of crown ether-based rotaxanes. The structure of a polymer containing a [1]rotaxane unit at one end was controlled by conventional protection-deprotection reactions, giving rise to a reversible linear-cyclic polymer structural transformation. PMID:25531061
RUPERT closed loop control design.
Zhang, Hang; Balasubramanian, Sivakumar; Wei, Ruihua; Austin, Hiroko; Buchanan, Sharon; Herman, Richard; He, Jiping
2010-01-01
Robot-assisted rehabilitation is an active area of research in the field of stroke rehabilitation. RUPERT is a wearable robotic exoskeleton powered by pneumatic muscle actuators. In this study, we described the structure of the controllers for the five degrees of freedom currently used by RUPERT. We applied the RUPERT on 6 stroke patients to provide robot-assisted rehabilitation therapy in a clinical study. Statistical χ(2) test on the proportion of successfully reaching targets showed that 3 out of the 6 patients demonstrated significant improvement in reaching targets successfully, and the remaining 3 did not show performance improvement or deterioration. We plan to implement the RUPERT in the patient's house for easier access and more frequent use. More significant performance results are expected. PMID:21097049
On reliable control system designs with and without feedback reconfigurations
NASA Technical Reports Server (NTRS)
Birdwell, J. D.; Castanon, D. A.; Athans, M.
1979-01-01
This paper contains an overview of a theoretical framework for the design of reliable multivariable control systems, with special emphasis on actuator failures and necessary actuator redundancy levels. Using a linear model of the system, with Markovian failure probabilities and quadratic performance index, an optimal stochastic control problem is posed and solved. The solution requires the iteration of a set of highly coupled Riccati-like matrix difference equations; if these converge one has a reliable design; if they diverge, the design is unreliable, and the system design cannot be stabilized. In addition, it is shown that the existence of a stabilizing constant feedback gain and the reliability of its implementation is equivalent to the convergence properties of a set of coupled Riccati-like matrix difference equations. In summary, these results can be used for offline studies relating the open loop dynamics, required performance, actuator mean time to failure, and functional or identical actuator redundancy, with and without feedback gain reconfiguration strategies.
Control centers design for ergonomics and safety.
Quintana, Leonardo; Lizarazo, Cesar; Bernal, Oscar; Cordoba, Jorge; Arias, Claudia; Monroy, Magda; Cotrino, Carlos; Montoya, Olga
2012-01-01
This paper shows the general design conditions about ergonomics and safety for control centers in the petrochemical process industry. Some of the topics include guidelines for the optimized workstation design, control room layout, building layout, and lighting, acoustical and environmental design. Also takes into account the safety parameters in the control rooms and centers design. The conditions and parameters shown in this paper come from the standards and global advances on this topic on the most recent publications. And also the work was supplemented by field visits of our team to the control center operations in a petrochemical company, and technical literature search efforts. This guideline will be useful to increase the productivity and improve the working conditions at the control rooms. PMID:22317199
Shielding design of the linear accelerator at RAON: Accelerator tunnel and utility gallery
NASA Astrophysics Data System (ADS)
Kim, Suna; Kang, Bo Sun; Lee, Sangjin; Nam, Shinwoo; Chung, Yeonsei
2015-10-01
RAON is the first Korean heavy-ion accelerator for various rare-isotope experiments and will be constructed by the year of 2021. The building for the about 550-m-long superconducting linear accelerator at RAON has three divisions in the vertical layout: accelerator tunnel, intermediate tunnel, and utility gallery. One of the requirements for the building design is that the effective dose rate in the utility gallery should be well below the dose limit for workers. Other parts of the building underground are classified as high-radiation zones where access is strictly controlled. The radiation dose distribution in the building has been calculated by using the Monte Carlo transport code MCNPX including the radiation streaming effects through the intermediate tunnel and penetrating holes. We have applied a point beam loss model in which the continuous beam loss along the beam line is treated as an equivalent point loss with a simple target. We describe the details of the calculation and discuss the results.
Propulsion Controlled Aircraft design and development
NASA Technical Reports Server (NTRS)
Wells, Edward A.; Urnes, James M., Sr.
1995-01-01
This paper describes the design, development, and ground testing of the propulsion controlled aircraft (PCA) flight control system. A backup flight control system which uses only engine thrust, the PCA system utilizes collective and differential thrust changes to steer an aircraft that experiences partial or complete failure of the hydraulically actuated control surfaces. The objective of the program was to investigate, in flight, the throttles-only control capability of the F-15, using manual control, and also an augmented PCA mode in which computer-controlled thrust was used for flight control. The objective included PCA operation in up-and-away flight and, if performance was adequate, a secondary objective to make actual PCA landings. The PCA design began with a feasibility study which evaluated many control law designs. The study was done using off-line control analysis, simulation, and on-line manned flight simulator tests. Control laws, cockpit displays, and cockpit controls were evaluated by NASA test pilots. A flight test baseline configuration was selected based on projected flight performance, applicability to transport and fighter aircraft, and funding costs. During the PCA software and hardware development, the initial design was updated as data became available from throttle-only flight experiments conducted by NASA on the F-15. This information showed basic airframe characteristics that were not observed in the F-15 flight simulator and resulted in several design changes. After the primary objectives of the PCA flight testing were accomplished, additional PCA modes of operation were developed and implemented. The evolution of the PCA system from the initial feasibility study, control law design, simulation, hardware-in-the-loop tests, pilot-in-the-loop tests, and ground tests is presented.
Moving mass trim control system design
Byrne, R.H.; Robinett, R.D.; Sturgis, B.R.
1996-03-01
This paper describes the design of a moving mass trim control system for maneuvering axisymmetric reentry vehicles. The moving mass trim controller is composed of three equal masses that are independently positioned in order to deliver a desired center of mass position. For a slowly spinning reentry vehicle, the mass offset creates a trim angle-of-attack to generate modest flight path corrections. The control system must maintain the desired position of each mass in the face of large disturbances. A novel algorithm for determining the desired mass positions is developed in conjunction with a preliminary controller design. The controller design is based on classical frequency domain techniques where a bound on the disturbance magnitude is used to formulate the disturbance rejection problem. Simulation results for the controller are presented for a typical reentry vehicle.
Controllability and Observability of Fractional Linear Systems with Two Different Orders
Xu, Dengguo; Li, Yanmei; Zhou, Weifeng
2014-01-01
This paper is concerned with the controllability and observability for a class of fractional linear systems with two different orders. The sufficient and necessary conditions for state controllability and state observability of such systems are established. The results obtained extend some existing results of controllability and observability for fractional dynamical systems. PMID:24578650
Linearized Model of an Actively Controlled Cable for a Carlina Diluted Telescope
NASA Astrophysics Data System (ADS)
Andersen, T.; Le Coroller, H.; Owner-Petersen, M.; Dejonghe, J.
2014-04-01
The Carlina thinned pupil telescope has a focal unit (``gondola'') suspended by cables over the primary mirror. To predict the structural behavior of the gondola system, a simulation building block of a single cable is needed. A preloaded cable is a strongly non-linear system and can be modeled either with partial differential equations or non-linear finite elements. Using the latter, we set up an iteration procedure for determination of the static cable form and we formulate the necessary second-order differential equations for such a model. We convert them to a set of first-order differential equations (an ``ABCD''-model). Symmetrical in-plane eigenmodes and ``axial'' eigenmodes are the only eigenmodes that play a role in practice for a taut cable. Using the model and a generic suspension, a parameter study is made to find the influence of various design parameters. We conclude that the cable should be as stiff and thick as practically possible with a fairly high preload. Steel or Aramid are suitable materials. Further, placing the cable winches on the gondola and not on the ground does not provide significant advantages. Finally, it seems that use of reaction-wheels and/or reaction-masses will make the way for more accurate control of the gondola position under wind load. An adaptive stage with tip/tilt/piston correction for subapertures together with a focus and guiding system for freezing the fringes must also be studied.
NASA Astrophysics Data System (ADS)
Asandei, Alexandru Dragos
This thesis decribes the design, synthesis and characterization of a large variety of molecular, macromolecular and supramolecular liquid crystalline (LC) systems with linear, cyclic, and combinations of linear and cyclic architectures. These structures are based on mesogens that display conformational isomerism. Several series of macrocyclics based on 1-(4-hydroxyphenyl)-2-(2-methyl-4-hydroxyphenyl)ethane (MBPE) and various alpha,omega-dibromoalkanes were synthesized and characterized. These macrocyclics display more stable and broader LC phases than the corresponding linear polymers. Relatively minor modifications in the structure of the mesogen, spacer or microstructure of polymeric chains have a strong effect on the phase behavior of main chain polyethers. This is demonstrated for polymers based on 1-(4-hydroxyphenyl)-2-(4-hydroxy-4'-biphenylyl)butane (TPB') and alpha,omega-dibromoalkanes containing from 4 to 19 methylenic units. A stepwise synthetic procedure is described for the synthesis of a series of LC macrocyclics based of TPB' and 1,10-dibromodecane. Large increases in the yields by comparison with the one-pot method are obtained, and the procedure is also illustrated by the synthesis of the first example of a liquid crystalline bicyclic compound. The stepwise synthesis and characterization of macrocyclic monomers and of the first examples of side chain and main chain LC polymers containing supramolecular mesogens based on collapsed macrocyclics building blocks are described and discussed. An iterative stepwise procedure that allows for an exponential 2spn growth in molecular weight after n synthetic cycles is presented and applied to the synthesis of linear polyethers based on 1-(4-hydroxy-4'-biphenylyl)-2-(4-hydroxyphenyl)butane (TPB) and 1,10-dibromodecane. A library of linear monodisperse oligomers and polymers with a degree of polymerization (DP) up to 33 and with a variety of chain ends was generated, and the dependence of the phase behavior of
Design and tuning of robust PID controller for HVAC systems
Kasahara, Masato; Matsuba, Tadahiko; Kuzuu, Yoshiaki; Yamazaki, Takanori; Hashimoto, Yukihiro; Kamimura, Kazuyuki; Kurosu, Shigeru
1999-07-01
This paper concerns the development of a new design and tuning method for use with robust proportional-plus-integral-plus-derivative (PID) controllers that are commonly used in the heating, ventilating, and air-conditioning (HVAC) fields. The robust PID controller is designed for temperature control of a single-zone environmental space. Although the dynamics of environmental space are described by higher-order transfer functions, most HVAC plants are approximated by first-order lag plus deadtime systems. Its control performance is examined for this commonly approximated controlled plant. Since most HVAC plants are complex with nonlinearity, distributed parameters, and multivariables, a single set of PID gains does not necessarily yield a satisfactory control performance. For this reason, the PID controller must be designed as a robust control system considering model uncertainty caused by changes in characteristics of the plant. The PID gains obtained by solving a two-disk type of mixed sensitivity problem can be modified by contrast to those tuned by the traditional Ziegler-Nichols rule. The results, which are surprisingly simple, are given as linear functions of ratio of deadtime to time constant for robustness. The numerical simulation and the experiments on a commercial-size test plant for air conditioning suggest that the robust PID controller proposed in this paper is effective enough for practical applications.
Design Methodology of a Dual-Halbach Array Linear Actuator with Thermal-Electromagnetic Coupling.
Eckert, Paulo Roberto; Flores Filho, Aly Ferreira; Perondi, Eduardo; Ferri, Jeferson; Goltz, Evandro
2016-01-01
This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator. PMID:26978370
Design Methodology of a Dual-Halbach Array Linear Actuator with Thermal-Electromagnetic Coupling
Eckert, Paulo Roberto; Flores Filho, Aly Ferreira; Perondi, Eduardo; Ferri, Jeferson; Goltz, Evandro
2016-01-01
This paper proposes a design methodology for linear actuators, considering thermal and electromagnetic coupling with geometrical and temperature constraints, that maximizes force density and minimizes force ripple. The method allows defining an actuator for given specifications in a step-by-step way so that requirements are met and the temperature within the device is maintained under or equal to its maximum allowed for continuous operation. According to the proposed method, the electromagnetic and thermal models are built with quasi-static parametric finite element models. The methodology was successfully applied to the design of a linear cylindrical actuator with a dual quasi-Halbach array of permanent magnets and a moving-coil. The actuator can produce an axial force of 120 N and a stroke of 80 mm. The paper also presents a comparative analysis between results obtained considering only an electromagnetic model and the thermal-electromagnetic coupled model. This comparison shows that the final designs for both cases differ significantly, especially regarding its active volume and its electrical and magnetic loading. Although in this paper the methodology was employed to design a specific actuator, its structure can be used to design a wide range of linear devices if the parametric models are adjusted for each particular actuator. PMID:26978370
Optimal Design of a Direct Driven Slotless Tubular Linear Generator for Renewable Energy Extraction
NASA Astrophysics Data System (ADS)
Liu, Cheng-Tsung; Lin, H. N.; Yeh, H. C.; Hwang, C. C.
2011-01-01
This paper is aimed to present the systematic design scheme of a direct driven slotless tubular linear generator for renewable energy retraction. To reduce operational cogging and increase energy conversion efficiency, the generator stator is equipped with slotless concentrated annular multiphase windings and its mover is encircled by quasi-Halbach arranged permanent magnets. By systematic comparisons and classifications, the preliminary design and operational specifications of supplying maximum flux that can link the stator windings are fulfilled by setting appropriate factor level combinations from the Taguchi's method. Along with the stator winding selections, potential energy generations from the proposed slotless tubular linear generator can then be estimated. Verified by three-dimensional finite element analyses, the constructed machine prototype can show its adequacy for the operational and design requirements.
Linear motion device and method for inserting and withdrawing control rods
Smith, J.E.
Disclosed is a linear motion device and more specifically a control rod drive mechanism (CRDM) for inserting and withdrawing control rods into a reactor core. The CRDM and method disclosed is capable of independently and sequentially positioning two sets of control rods with a single motor stator and rotor. The CRDM disclosed can control more than one control rod lead screw without incurring a substantial increase in the size of the mechanism.
NASA Astrophysics Data System (ADS)
Methekar, R. N.; Prasad, V.; Gudi, R. D.
To satisfy high power density demand in proton exchange membrane fuel cells (PEMFCs), a robust control strategy is essential. A linear ratio control strategy is examined in this work. The manipulated variables are selected using steady-state relative gain array (RGA) analysis to be the inlet molar flow rates of hydrogen and coolant, and the controlled variables are average power density and average solid temperature, respectively. By selecting proper manipulated variables, the PEMFC does not exhibit sign change in gain and hence can be controlled by using a linear controller. Transfer function models obtained from step tests on the distributed parameter PEMFC model are used to design controllers for the multiple input-multiple output (MIMO) system. In addition, a ratio control strategy is proposed and evaluated, where the inlet molar flow rate of oxygen is used as a dependent manipulated variable and changed in a constant ratio with respect to the inlet molar flow rate of hydrogen. Simulation results show that the ratio control strategy provides a faster response than a MIMO control strategy. This ratio control strategy is able to circumvent the problem of oxygen starvation, and the increase in average solid temperature is small as compared to the MIMO control strategy.
A new eddy current model for magnetic bearing control system design
NASA Technical Reports Server (NTRS)
Feeley, Joseph J.; Ahlstrom, Daniel J.
1992-01-01
This paper describes a new VLSI-based controller for the implementation of a Linear-Quadratic-Gaussian (LQG) theory-based control system. Use of the controller is demonstrated by design of a controller for a magnetic bearing and its performance is evaluated by computer simulation.
Bounded Linear Stability Analysis - A Time Delay Margin Estimation Approach for Adaptive Control
NASA Technical Reports Server (NTRS)
Nguyen, Nhan T.; Ishihara, Abraham K.; Krishnakumar, Kalmanje Srinlvas; Bakhtiari-Nejad, Maryam
2009-01-01
This paper presents a method for estimating time delay margin for model-reference adaptive control of systems with almost linear structured uncertainty. The bounded linear stability analysis method seeks to represent the conventional model-reference adaptive law by a locally bounded linear approximation within a small time window using the comparison lemma. The locally bounded linear approximation of the combined adaptive system is cast in a form of an input-time-delay differential equation over a small time window. The time delay margin of this system represents a local stability measure and is computed analytically by a matrix measure method, which provides a simple analytical technique for estimating an upper bound of time delay margin. Based on simulation results for a scalar model-reference adaptive control system, both the bounded linear stability method and the matrix measure method are seen to provide a reasonably accurate and yet not too conservative time delay margin estimation.
Iterated non-linear model predictive control based on tubes and contractive constraints.
Murillo, M; Sánchez, G; Giovanini, L
2016-05-01
This paper presents a predictive control algorithm for non-linear systems based on successive linearizations of the non-linear dynamic around a given trajectory. A linear time varying model is obtained and the non-convex constrained optimization problem is transformed into a sequence of locally convex ones. The robustness of the proposed algorithm is addressed adding a convex contractive constraint. To account for linearization errors and to obtain more accurate results an inner iteration loop is added to the algorithm. A simple methodology to obtain an outer bounding-tube for state trajectories is also presented. The convergence of the iterative process and the stability of the closed-loop system are analyzed. The simulation results show the effectiveness of the proposed algorithm in controlling a quadcopter type unmanned aerial vehicle. PMID:26850752
NASA Astrophysics Data System (ADS)
Schoerling, Daniel; Antoniou, Fanouria; Bernhard, Axel; Bragin, Alexey; Karppinen, Mikko; Maccaferri, Remo; Mezentsev, Nikolay; Papaphilippou, Yannis; Peiffer, Peter; Rossmanith, Robert; Rumolo, Giovanni; Russenschuck, Stephan; Vobly, Pavel; Zolotarev, Konstantin
2012-04-01
To achieve high luminosity at the collision point of the Compact Linear Collider (CLIC), the normalized horizontal and vertical emittances of the electron and positron beams must be reduced to 500 and 4 nm before the beams enter the 1.5 TeV linear accelerators. An effective way to accomplish ultralow emittances with only small effects on the electron polarization is using damping rings operating at 2.86 GeV equipped with superconducting wiggler magnets. This paper describes a technical design concept for the CLIC damping wigglers.
Design of blade-shaped-electrode linear ion traps with reduced anharmonic contributions
Deng, K.; Che, H.; Ge, Y. P.; Xu, Z. T.; Yuan, W. H.; Zhang, J.; Lu, Z. H.; Lan, Y.
2015-09-21
RF quadrupole linear Paul traps are versatile tools in quantum physics experiments. Linear Paul traps with blade-shaped electrodes have the advantages of larger solid angles for fluorescence collection. But with these kinds of traps, the existence of higher-order anharmonic terms of the trap potentials can cause large heating rate for the trapped ions. In this paper, we theoretically investigate the dependence of higher-order terms of trap potentials on the geometry of blade-shaped traps, and offer an optimized design. A modified blade electrodes trap is proposed to further reduce higher-order anharmonic terms while still retaining large fluorescence collection angle.
The design of a small linear-resonant, split Stirling cryogenic refrigerator compressor
NASA Technical Reports Server (NTRS)
Ackermann, R. A.
1985-01-01
The development of a small linear-resonant compressor for use in a 1/4-watt, 78K, split Stirling cryogenic refrigerator is discussed. The compressor contains the following special features: (1) a permanent-magnet linear motor; (2) resonant dynamics; (3) dynamic balancing; and (4) a close-clearance seal between the compressor piston and cylinder. This paper describes the design of the compressor, and presents component test data and system test data for the compressor driving a 1/4-watt expander.
NASA Astrophysics Data System (ADS)
Boski, Marcin; Paszke, Wojciech
2015-11-01
This paper deals with the problem of designing an iterative learning control algorithm for discrete linear systems using repetitive process stability theory. The resulting design produces a stabilizing output feedback controller in the time domain and a feedforward controller that guarantees monotonic convergence in the trial-to-trial domain. The results are also extended to limited frequency range design specification. New design procedure is introduced in terms of linear matrix inequality (LMI) representations, which guarantee the prescribed performances of ILC scheme. A simulation example is given to illustrate the theoretical developments.
Condominium Design: Good and Bad Noise Control.
ERIC Educational Resources Information Center
Hargens, C. W.; Schutz, Victor K.
This paper discusses pitfalls in condominium design and the incorpoation of related noise control problems into classroom situations. Two case studies are provided, and a list of architectural noise problems found in many condominiums is included. (CP)
Progress in multirate digital control system design
NASA Technical Reports Server (NTRS)
Berg, Martin C.; Mason, Gregory S.
1991-01-01
A new methodology for multirate sampled-data control design based on a new generalized control law structure, two new parameter-optimization-based control law synthesis methods, and a new singular-value-based robustness analysis method are described. The control law structure can represent multirate sampled-data control laws of arbitrary structure and dynamic order, with arbitrarily prescribed sampling rates for all sensors and update rates for all processor states and actuators. The two control law synthesis methods employ numerical optimization to determine values for the control law parameters. The robustness analysis method is based on the multivariable Nyquist criterion applied to the loop transfer function for the sampling period equal to the period of repetition of the system's complete sampling/update schedule. The complete methodology is demonstrated by application to the design of a combination yaw damper and modal suppression system for a commercial aircraft.
Haptic cue control of an MR gear shifting assistance device via Preisach hysteresis linearization
NASA Astrophysics Data System (ADS)
Han, Young-Min; Choi, Seung-Bok; Chung, Jye Ung; Kim, Soomin
2015-04-01
This paper proposes a driver assistance device to notify vehicle drivers an optimal gear shifting timing considering fuel consumption in manual transmission vehicles. The haptic cue function of the proposed gear shifting assistance device is utilizing magnetorheological (MR) clutch mechanism as haptic interface between driver and vehicle. The shear stress level and hysteretic behavior of the employed MR fluid are experimentally observed and identified with the Preisach model. A rotary type clutch mechanism is designed and manufactured with electromagnetic circuit and its transmission torque level is experimentally evaluated according to the applied current. The manufactured MR clutch is integrated with accelerator pedal on which driver's foot is placed to transmit haptic cue signal. In the meantime, a cue algorithm for gear shifting is formulated by considering vehicle model. The cue algorithm is then integrated with a haptic controller which is a torque model based-compensation strategy regarding Presiach hystersis linearization of the employed MR fluid. In this work, the haptic cue controller is implemented in discrete manner. Control performances are experimentally evaluated such as haptic tracking responses.
A controller design for multi-body large angle maneuvers
NASA Technical Reports Server (NTRS)
Ghaemmaghami, Peiman; Juang, Jer-Nan
1989-01-01
Active large angle slewing maneuvers of a multi-body flexible dynamic system are investigated. An appropriate state variable transformation and a feedback linearization technique are employed to transform the dynamics of the nonlinear system to a new state that is more amenable to control design procedures. Closed-loop feedback algorithms are implemented to perform slewing maneuvers, while simultaneously suppressing flexural vibrations of the system. Stability of this class of nonlinear systems is also investigated, whereby a sufficient condition for asymptotic stability of the system is established. Numerical examples are presented to demonstrate the proposed active control algorithms.
Techniques for designing rotorcraft control systems
NASA Technical Reports Server (NTRS)
Yudilevitch, Gil; Levine, William S.
1994-01-01
Over the last two and a half years we have been demonstrating a new methodology for the design of rotorcraft flight control systems (FCS) to meet handling qualities requirements. This method is based on multicriterion optimization as implemented in the optimization package CONSOL-OPTCAD (C-O). This package has been developed at the Institute for Systems Research (ISR) at the University of Maryland at College Park. This design methodology has been applied to the design of a FCS for the UH-60A helicopter in hover having the ADOCS control structure. The controller parameters have been optimized to meet the ADS-33C specifications. Furthermore, using this approach, an optimal (minimum control energy) controller has been obtained and trade-off studies have been performed.
Intelligent control of non-linear dynamical system based on the adaptive neurocontroller
NASA Astrophysics Data System (ADS)
Engel, E.; Kovalev, I. V.; Kobezhicov, V.
2015-10-01
This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the base of system's state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simulation results show that the proposed controller scheme achieves real-time control speed and the competitive performance, as compared to PID, fuzzy logic controllers.
Sensitivity method for integrated structure/active control law design
NASA Technical Reports Server (NTRS)
Gilbert, Michael G.
1987-01-01
The development is described of an integrated structure/active control law design methodology for aeroelastic aircraft applications. A short motivating introduction to aeroservoelasticity is given along with the need for integrated structures/controls design algorithms. Three alternative approaches to development of an integrated design method are briefly discussed with regards to complexity, coordination and tradeoff strategies, and the nature of the resulting solutions. This leads to the formulation of the proposed approach which is based on the concepts of sensitivity of optimum solutions and multi-level decompositions. The concept of sensitivity of optimum is explained in more detail and compared with traditional sensitivity concepts of classical control theory. The analytical sensitivity expressions for the solution of the linear, quadratic cost, Gaussian (LQG) control problem are summarized in terms of the linear regulator solution and the Kalman Filter solution. Numerical results for a state space aeroelastic model of the DAST ARW-II vehicle are given, showing the changes in aircraft responses to variations of a structural parameter, in this case first wing bending natural frequency.
Linear and nonlinear regression techniques for simultaneous and proportional myoelectric control.
Hahne, J M; Biessmann, F; Jiang, N; Rehbaum, H; Farina, D; Meinecke, F C; Muller, K-R; Parra, L C
2014-03-01
In recent years the number of active controllable joints in electrically powered hand-prostheses has increased significantly. However, the control strategies for these devices in current clinical use are inadequate as they require separate and sequential control of each degree-of-freedom (DoF). In this study we systematically compare linear and nonlinear regression techniques for an independent, simultaneous and proportional myoelectric control of wrist movements with two DoF. These techniques include linear regression, mixture of linear experts (ME), multilayer-perceptron, and kernel ridge regression (KRR). They are investigated offline with electro-myographic signals acquired from ten able-bodied subjects and one person with congenital upper limb deficiency. The control accuracy is reported as a function of the number of electrodes and the amount and diversity of training data providing guidance for the requirements in clinical practice. The results showed that KRR, a nonparametric statistical learning method, outperformed the other methods. However, simple transformations in the feature space could linearize the problem, so that linear models could achieve similar performance as KRR at much lower computational costs. Especially ME, a physiologically inspired extension of linear regression represents a promising candidate for the next generation of prosthetic devices. PMID:24608685
Model predictive control of non-linear systems over networks with data quantization and packet loss.
Yu, Jimin; Nan, Liangsheng; Tang, Xiaoming; Wang, Ping
2015-11-01
This paper studies the approach of model predictive control (MPC) for the non-linear systems under networked environment where both data quantization and packet loss may occur. The non-linear controlled plant in the networked control system (NCS) is represented by a Tagaki-Sugeno (T-S) model. The sensed data and control signal are quantized in both links and described as sector bound uncertainties by applying sector bound approach. Then, the quantized data are transmitted in the communication networks and may suffer from the effect of packet losses, which are modeled as Bernoulli process. A fuzzy predictive controller which guarantees the stability of the closed-loop system is obtained by solving a set of linear matrix inequalities (LMIs). A numerical example is given to illustrate the effectiveness of the proposed method. PMID:26341070
A Signal Transmission Technique for Stability Analysis of Multivariable Non-Linear Control Systems
NASA Technical Reports Server (NTRS)
Jackson, Mark; Zimpfer, Doug; Adams, Neil; Lindsey, K. L. (Technical Monitor)
2000-01-01
Among the difficulties associated with multivariable, non-linear control systems is the problem of assessing closed-loop stability. Of particular interest is the class of non-linear systems controlled with on/off actuators, such as spacecraft thrusters or electrical relays. With such systems, standard describing function techniques are typically too conservative, and time-domain simulation analysis is prohibitively extensive, This paper presents an open-loop analysis technique for this class of non-linear systems. The technique is centered around an innovative use of multivariable signal transmission theory to quantify the plant response to worst case control commands. The technique has been applied to assess stability of thruster controlled flexible space structures. Examples are provided for Space Shuttle attitude control with attached flexible payloads.
NASA Technical Reports Server (NTRS)
Hanks, Brantley R.; Skelton, Robert E.
1991-01-01
This paper addresses the restriction of Linear Quadratic Regulator (LQR) solutions to the algebraic Riccati Equation to design spaces which can be implemented as passive structural members and/or dampers. A general closed-form solution to the optimal free-decay control problem is presented which is tailored for structural-mechanical systems. The solution includes, as subsets, special cases such as the Rayleigh Dissipation Function and total energy. Weighting matrix selection is a constrained choice among several parameters to obtain desired physical relationships. The closed-form solution is also applicable to active control design for systems where perfect, collocated actuator-sensor pairs exist. Some examples of simple spring mass systems are shown to illustrate key points.
Integrated structural control design of large space structures
Allen, J.J.; Lauffer, J.P.
1995-01-01
Active control of structures has been under intensive development for the last ten years. Reference 2 reviews much of the identification and control technology for structural control developed during this time. The technology was initially focused on space structure and weapon applications; however, recently the technology is also being directed toward applications in manufacturing and transportation. Much of this technology focused on multiple-input/multiple-output (MIMO) identification and control methodology because many of the applications require a coordinated control involving multiple disturbances and control objectives where multiple actuators and sensors are necessary for high performance. There have been many optimal robust control methods developed for the design of MIMO robust control laws; however, there appears to be a significant gap between the theoretical development and experimental evaluation of control and identification methods to address structural control applications. Many methods have been developed for MIMO identification and control of structures, such as the Eigensystem Realization Algorithm (ERA), Q-Markov Covariance Equivalent Realization (Q-Markov COVER) for identification; and, Linear Quadratic Gaussian (LQG), Frequency Weighted LQG and H-/ii-synthesis methods for control. Upon implementation, many of the identification and control methods have shown limitations such as the excitation of unmodelled dynamics and sensitivity to system parameter variations. As a result, research on methods which address these problems have been conducted.
NASA Technical Reports Server (NTRS)
Arneson, Heather M.; Dousse, Nicholas; Langbort, Cedric
2014-01-01
We consider control design for positive compartmental systems in which each compartment's outflow rate is described by a concave function of the amount of material in the compartment.We address the problem of determining the routing of material between compartments to satisfy time-varying state constraints while ensuring that material reaches its intended destination over a finite time horizon. We give sufficient conditions for the existence of a time-varying state-dependent routing strategy which ensures that the closed-loop system satisfies basic network properties of positivity, conservation and interconnection while ensuring that capacity constraints are satisfied, when possible, or adjusted if a solution cannot be found. These conditions are formulated as a linear programming problem. Instances of this linear programming problem can be solved iteratively to generate a solution to the finite horizon routing problem. Results are given for the application of this control design method to an example problem. Key words: linear programming; control of networks; positive systems; controller constraints and structure.
Orion Orbit Control Design and Analysis
NASA Technical Reports Server (NTRS)
Jackson, Mark; Gonzalez, Rodolfo; Sims, Christopher
2007-01-01
The analysis of candidate thruster configurations for the Crew Exploration Vehicle (CEV) is presented. Six candidate configurations were considered for the prime contractor baseline design. The analysis included analytical assessments of control authority, control precision, efficiency and robustness, as well as simulation assessments of control performance. The principles used in the analytic assessments of controllability, robustness and fuel performance are covered and results provided for the configurations assessed. Simulation analysis was conducted using a pulse width modulated, 6 DOF reaction system control law with a simplex-based thruster selection algorithm. Control laws were automatically derived from hardware configuration parameters including thruster locations, directions, magnitude and specific impulse, as well as vehicle mass properties. This parameterized controller allowed rapid assessment of multiple candidate layouts. Simulation results are presented for final phase rendezvous and docking, as well as low lunar orbit attitude hold. Finally, on-going analysis to consider alternate Service Module designs and to assess the pilot-ability of the baseline design are discussed to provide a status of orbit control design work to date.
Multi-cavity complex controller with vector simulator for TESLA technology linear accelerator
NASA Astrophysics Data System (ADS)
Czarski, Tomasz; Pozniak, Krzysztof T.; Romaniuk, Ryszard S.; Szewinski, Jaroslaw
2008-01-01
A digital control, as the main part of the Low Level RF system, for superconducting cavities of a linear accelerator is presented. The FPGA based controller, supported by MATLAB system, was developed to investigate a novel firmware implementation. The complex control algorithm based on the non-linear system identification is the proposal verified by the preliminary experimental results. The general idea is implemented as the Multi-Cavity Complex Controller (MCC) and is still under development. The FPGA based controller executes procedure according to the prearranged control tables: Feed-Forward, Set-Point and Corrector unit, to fulfill the required cavity performance: driving in the resonance during filling and field stabilization for the flattop range. Adaptive control algorithm is applied for the feed-forward and feedback modes. The vector Simulator table has been introduced for an efficient verification of the FPGA controller structure. Experimental results of the internal simulation, are presented for a cavity representative condition.
Humanoid robot Lola: design and walking control.
Buschmann, Thomas; Lohmeier, Sebastian; Ulbrich, Heinz
2009-01-01
In this paper we present the humanoid robot LOLA, its mechatronic hardware design, simulation and real-time walking control. The goal of the LOLA-project is to build a machine capable of stable, autonomous, fast and human-like walking. LOLA is characterized by a redundant kinematic configuration with 7-DoF legs, an extremely lightweight design, joint actuators with brushless motors and an electronics architecture using decentralized joint control. Special emphasis was put on an improved mass distribution of the legs to achieve good dynamic performance. Trajectory generation and control aim at faster, more flexible and robust walking. Center of mass trajectories are calculated in real-time from footstep locations using quadratic programming and spline collocation methods. Stabilizing control uses hybrid position/force control in task space with an inner joint position control loop. Inertial stabilization is achieved by modifying the contact force trajectories. PMID:19665558
Controlled air incinerator conceptual design study
Not Available
1982-01-01
This report presents a conceptual design study for a controlled air incinerator facility for incineration of low level combustible waste at Three Mile Island Unit 2 (TMI-2). The facility design is based on the use of a Helix Process Systems controlled air incinerator. Cost estimates and associated engineering, procurement, and construction schedules are also provided. The cost estimates and schedules are presented for two incinerator facility designs, one with provisions for waste ash solidification, the other with provisions for packaging the waste ash for transport to an undefined location.
Sastry, S.S.; Desoer, C.A.
1980-01-01
Fixed point methods from nonlinear anaysis are used to establish conditions under which the uniform complete controllability of linear time-varying systems is preserved under non-linear perturbations in the state dynamics and the zero-input uniform complete observability of linear time-varying systems is preserved under non-linear perturbation in the state dynamics and output read out map. Algorithms for computing the specific input to steer the perturbed systems from a given initial state to a given final state are also presented. As an application, a very specific emergency control of an interconnected power system is formulated as a steering problem and it is shown that this emergency control is indeed possible in finite time.
NASA Astrophysics Data System (ADS)
Pina, J. M.; Neves, M. V.; McCulloch, M. D.; Rodrigues, A. L.
2006-06-01
The high diamagnetism observed in high temperature superconducting (HTS) materials lead to applications involving levitation such as the linear synchronous motor (LSM). Certain features taken into account in conventional LSM design cannot be applied in the HTS case, due to these materials characteristics, such as BSCCO stiffness, when used as armature windings. Also other design features, e.g. slot skewing, which reduces the space harmonics of the air gap magnetic flux density, thus influencing motor performance, plays an important role in final cost. These and other aspects such as the thrust force or the effect of motor control through an inverter are examined in this paper, where the analytical and numerical methodologies involved in the design optimisation of a LSM demonstrator with premagnetised YBCO pellets in the field excitation system and BSCCO armature windings are described. Simulation results are also included.
Development of a Design Methodology for Reconfigurable Flight Control Systems
NASA Technical Reports Server (NTRS)
Hess, Ronald A.; McLean, C.
2000-01-01
A methodology is presented for the design of flight control systems that exhibit stability and performance-robustness in the presence of actuator failures. The design is based upon two elements. The first element consists of a control law that will ensure at least stability in the presence of a class of actuator failures. This law is created by inner-loop, reduced-order, linear dynamic inversion, and outer-loop compensation based upon Quantitative Feedback Theory. The second element consists of adaptive compensators obtained from simple and approximate time-domain identification of the dynamics of the 'effective vehicle' with failed actuator(s). An example involving the lateral-directional control of a fighter aircraft is employed both to introduce the proposed methodology and to demonstrate its effectiveness and limitations.
Some aspects of robotics calibration, design and control
NASA Technical Reports Server (NTRS)
Tawfik, Hazem
1990-01-01
The main objective is to introduce techniques in the areas of testing and calibration, design, and control of robotic systems. A statistical technique is described that analyzes a robot's performance and provides quantitative three-dimensional evaluation of its repeatability, accuracy, and linearity. Based on this analysis, a corrective action should be taken to compensate for any existing errors and enhance the robot's overall accuracy and performance. A comparison between robotics simulation software packages that were commercially available (SILMA, IGRIP) and that of Kennedy Space Center (ROBSIM) is also included. These computer codes simulate the kinematics and dynamics patterns of various robot arm geometries to help the design engineer in sizing and building the robot manipulator and control system. A brief discussion on an adaptive control algorithm is provided.
Matlab as a robust control design tool
NASA Technical Reports Server (NTRS)
Gregory, Irene M.
1994-01-01
This presentation introduces Matlab as a tool used in flight control research. The example used to illustrate some of the capabilities of this software is a robust controller designed for a single stage to orbit air breathing vehicles's ascent to orbit. The global requirements of the controller are to stabilize the vehicle and follow a trajectory in the presence of atmospheric disturbances and strong dynamic coupling between airframe and propulsion.
Advanced control design for hybrid turboelectric vehicle
NASA Astrophysics Data System (ADS)
Abban, Joseph; Norvell, Johnesta; Momoh, James A.
1995-08-01
The new environment standards are a challenge and opportunity for industry and government who manufacture and operate urban mass transient vehicles. A research investigation to provide control scheme for efficient power management of the vehicle is in progress. Different design requirements using functional analysis and trade studies of alternate power sources and controls have been performed. The design issues include portability, weight and emission/fuel efficiency of induction motor, permanent magnet and battery. A strategic design scheme to manage power requirements using advanced control systems is presented. It exploits fuzzy logic, technology and rule based decision support scheme. The benefits of our study will enhance the economic and technical feasibility of technological needs to provide low emission/fuel efficient urban mass transit bus. The design team includes undergraduate researchers in our department. Sample results using NASA HTEV simulation tool are presented.
Design of a control configured tanker aircraft
NASA Technical Reports Server (NTRS)
Walker, S. A.
1976-01-01
The benefits that accrue from using control configured vehicle (CCV) concepts were examined along with the techniques for applying these concepts to an advanced tanker aircraft design. Reduced static stability (RSS) and flutter mode control (FMC) were the two primary CCV concepts used in the design. The CCV tanker was designed to the same mission requirements specified for a conventional tanker design. A seven degree of freedom mathematical model of the flexible aircraft was derived and used to synthesize a lateral stability augmentation system (SAS), a longitudinal control augmentation system (CAS), and a FMC system. Fatigue life and cost analyses followed the control system synthesis, after which a comparative evaluation of the CCV and conventional tankers was made. This comparison indicated that the CCV weight and cost were lower but that, for this design iteration, the CCV fatigue life was shorter. Also, the CCV crew station acceleration was lower, but the acceleration at the boom operator station was higher relative to the corresponding conventional tanker. Comparison of the design processes used in the CCV and conventional design studies revealed that they were basically the same.
Integrated aerodynamic-structural-control wing design
NASA Technical Reports Server (NTRS)
Rais-Rohani, M.; Haftka, R. T.; Grossman, B.; Unger, E. R.
1992-01-01
The aerodynamic-structural-control design of a forward-swept composite wing for a high subsonic transport aircraft is considered. The structural analysis is based on a finite-element method. The aerodynamic calculations are based on a vortex-lattice method, and the control calculations are based on an output feedback control. The wing is designed for minimum weight subject to structural, performance/aerodynamic and control constraints. Efficient methods are used to calculate the control-deflection and control-effectiveness sensitivities which appear as second-order derivatives in the control constraint equations. To suppress the aeroelastic divergence of the forward-swept wing, and to reduce the gross weight of the design aircraft, two separate cases are studied: (1) combined application of aeroelastic tailoring and active controls; and (2) aeroelastic tailoring alone. The results of this study indicated that, for this particular example, aeroelastic tailoring is sufficient for suppressing the aeroelastic divergence, and the use of active controls was not necessary.
Design Method of ILQ Robust Current Control System for Synchronous Reluctance Electrical Motors
NASA Astrophysics Data System (ADS)
Amano, Yoko; Takami, Hiroshi; Fujii, Takao
In this paper, a robust current control system for a synchronous reluctance electrical motor by an ILQ (Inverse Linear Quadratic) design method is proposed newly. First, for performing simultaneously decouple and large region linearization of an d-q axes system in the synchronous reluctance electrical motor using nonlinear state feedback, it is derived that a linear current-voltage state equation linearized model by the d-q axes decouple of the synchronous reluctance electrical motor. Next, according to the ILQ design method, an optimum solution and an optimal condition that achieve the robust current control system for the synchronous reluctance electrical motor are analytically derived, then the robust current control system can be designed. Finally, in practical experiments, we compare the proposed method with the PI (Proportional Integral) control method, the creativity and the usefulness of the proposed method are confirmed by experimental results.
Design of intelligent controllers for exothermal processes
NASA Astrophysics Data System (ADS)
Nagarajan, Ramachandran; Yaacob, Sazali
2001-10-01
Chemical Industries such as resin or soap manufacturing industries have reaction systems which work with at least two chemicals. Mixing of chemicals even at room temperature can create the process of exothermic reaction. This processes produces a sudden increase of heat energy within the mixture. The quantity of heat and the dynamics of heat generation are unknown, unpredictable and time varying. Proper control of heat has to be accomplished in order to achieve a high quality of product. Uncontrolled or poorly controlled heat causes another unusable product and the process may damage materials and systems and even human being may be harmed. Controlling of heat due to exothermic reaction cannot be achieved using conventional control methods such as PID control, identification and control etc. All of the conventional methods require at least approximate mathematical model of the exothermic process. Modeling an exothermal process is yet to be properly conceived. This paper discusses a design methodology for controlling such a process. A pilot plant of a reaction system has been constructed and utilized for designing and incorporating the proposed fuzzy logic based intelligent controller. Both the conventional and then an adaptive form of fuzzy logic control were used in testing the performance. The test results ensure the effectiveness of controllers in controlling exothermic heat.
Plasma Response Models for Controller Design on TCV
NASA Astrophysics Data System (ADS)
Lister, J. B.; Vyas, P.; Albanese, R.; Ambrosino, G.; Ariola, M.; Villone, F.; Coutlis, A.; Limebeer, D. J. N.; Wainwright, J. P.
1997-11-01
The control of the plasma position and shape on present tokamaks is usually based on simple but reliable PID controllers. These controllers are either empirically tuned or based on simplistic models. More detailed models could be exploited by modern control theory to benefit the controller design, since the improvement in performance depends on the accuracy of the model. Linearized models of the plasma shape and position have been developed for TCV limited and diverted plasmas. These include a simple rigid current displacement model for zIp and the CREATE-L model for position and shape. The latter is an a priori phenomenological model which assumes that the plasma is in permanent MHD equilibrium and that the current profile is determined by only l_i, β_p, and I_p. Variations of the CREATE-L model based on different assumptions are also tested. A purely mathematical model developed from experimental observations on TCV was also developed. The accuracy and consistency of these models has been extensively tested on TCV and the CREATE-L model is in excellent agreement with open and closed loop experiments. The implications for controller design on TCV, and the suitability of these models for ITER controller design is assessed.
Rajendran, Arvind
2008-03-28
The design of simulated moving bed processes under reduced purity requirements for systems whose isotherm is linear is considered. Based on the equilibrium theory of chromatography, explicit equations to uniquely identify the separation region that will ensure specified extract and raffinate purities are derived. The identification of the region requires only the knowledge of Henry constants of the solutes, the concentration of the solutes in the feed and the purity specifications. These results are validated using numerical simulations. PMID:18281052
Gupta, Vinayak; Carroll, Kate S
2016-02-16
Concerns about off-target effects has motivated the development of reversible covalent inhibition strategies for targeting cysteine. However, such strategies have not been reported for the unique cysteine oxoform, sulfenic acid. Herein, we have designed and identified linear C-nucleophiles that react selectively with cysteine sulfenic acid. The resulting thioether adducts exhibit reversibility ranging from minutes to days under reducing conditions, showing the feasibility of tuning C-nucleophile reactivity across a wide range of time scales. PMID:26878905
Design of Compensation Coils for EMI Suppression in Magnetostrictive Linear Position Sensors
Zhang, Yongjie; Liu, Weiwen; Yang, Jinfeng; Lv, Chunfeng; Zhao, Hui
2012-01-01
This paper presents recent development on magnetostrictive linear position sensors (MLPS). A new compensation coil structure improves the EMI suppression and accuracy considerably. Furthermore, experimental results indicate that the new structure can improve the accuracy to ±0.13 mm nearly double the ±0.2 mm obtained with traditional structures. As another design continuation after the differential waveguide structure, this new structure is a practical and reliable implementation technique for the commercialization of MLPS. PMID:22778648
Overview of control design methods for smart structural system
NASA Astrophysics Data System (ADS)
Rao, Vittal S.; Sana, Sridhar
2001-08-01
Smart structures are a result of effective integration of control system design and signal processing with the structural systems to maximally utilize the new advances in materials for structures, actuation and sensing to obtain the best performance for the application at hand. The research in smart structures is constantly driving towards attaining self adaptive and diagnostic capabilities that biological systems possess. This has been manifested in the number of successful applications in many areas of engineering such as aerospace, civil and automotive systems. Instrumental in the development of such systems are smart materials such as piezo-electric, shape memory alloys, electrostrictive, magnetostrictive and fiber-optic materials and various composite materials for use as actuators, sensors and structural members. The need for development of control systems that maximally utilize the smart actuators and sensing materials to design highly distributed and highly adaptable controllers has spurred research in the area of smart structural modeling, identification, actuator/sensor design and placement, control systems design such as adaptive and robust controllers with new tools such a neural networks, fuzzy logic, genetic algorithms, linear matrix inequalities and electronics for controller implementation such as analog electronics, micro controllers, digital signal processors (DSPs) and application specific integrated circuits (ASICs) such field programmable gate arrays (FPGAs) and Multichip modules (MCMs) etc. In this paper, we give a brief overview of the state of control in smart structures. Different aspects of the development of smart structures such as applications, technology and theoretical advances especially in the area of control systems design and implementation will be covered.
Cranmer-Sargison, G; Crewson, C; Davis, W M; Sidhu, N P; Kundapur, V
2015-09-01
The goal of this work was to design, build and experimentally characterize a linear accelerator mounted mini-beam collimator for use at a nominal 6 MV beam energy. Monte Carlo simulation was used in the design and dosimetric characterization of a compact mini-beam collimator assembly mounted to a medical linear accelerator. After fabrication, experimental mini-beam dose profiles and central axis relative output were measured and the results used to validate the simulation data. The simulation data was then used to establish traceability back to an established dosimetric code of practice. The Monte Carlo simulation work revealed that changes in collimator blade width have a greater influence on the valley-to-peak dose ratio than do changes in blade height. There was good agreement between the modeled and measured profile data, with the exception of small differences on either side of the central peak dose. These differences were found to be systematic across all depths and result from limitations associated with the collimator fabrication. Experimental mini-beam relative output and simulation data agreed to better than ± 2.0%, which is well within the level of uncertainty required for dosimetric traceability of non-standard field geometries. A mini-beam collimator has now been designed, built and experimentally characterized for use with a commercial linear accelerator operated at a nominal 6 MV beam energy. PMID:26305166
Remarks on Hierarchic Control for a Linearized Micropolar Fluids System in Moving Domains
Jesus, Isaías Pereira de
2015-12-15
We study a Stackelberg strategy subject to the evolutionary linearized micropolar fluids equations in domains with moving boundaries, considering a Nash multi-objective equilibrium (non necessarily cooperative) for the “follower players” (as is called in the economy field) and an optimal problem for the leader player with approximate controllability objective. We will obtain the following main results: the existence and uniqueness of Nash equilibrium and its characterization, the approximate controllability of the linearized micropolar system with respect to the leader control and the existence and uniqueness of the Stackelberg–Nash problem, where the optimality system for the leader is given.
Non-linear adaptive sliding mode switching control with average dwell-time
NASA Astrophysics Data System (ADS)
Yu, Lei; Zhang, Maoqing; Fei, Shumin
2013-03-01
In this article, an adaptive integral sliding mode control scheme is addressed for switched non-linear systems in the presence of model uncertainties and external disturbances. The control law includes two parts: a slide mode controller for the reduced model of the plant and a compensation controller to deal with the non-linear systems with parameter uncertainties. The adaptive updated laws have been derived from the switched multiple Lyapunov function method, also an admissible switching signal with average dwell-time technique is given. The simplicity of the proposed control scheme facilitates its implementation and the overall control scheme guarantees the global asymptotic stability in the Lyapunov sense such that the sliding surface of the control system is well reached. Simulation results are presented to demonstrate the effectiveness and the feasibility of the proposed approach.
Deng, Hua; Li, Han-Xiong; Wu, Yi-Hu
2008-09-01
A new feedback-linearization-based neural network (NN) adaptive control is proposed for unknown nonaffine nonlinear discrete-time systems. An equivalent model in affine-like form is first derived for the original nonaffine discrete-time systems as feedback linearization methods cannot be implemented for such systems. Then, feedback linearization adaptive control is implemented based on the affine-like equivalent model identified with neural networks. Pretraining is not required and the weights of the neural networks used in adaptive control are directly updated online based on the input-output measurement. The dead-zone technique is used to remove the requirement of persistence excitation during the adaptation. With the proposed neural network adaptive control, stability and performance of the closed-loop system are rigorously established. Illustrated examples are provided to validate the theoretical findings. PMID:18779092
An object oriented design for high performance linear algebra on distributed memory architectures
Dongarra, J.J. |; Walker, D.W.; Pozo, R.
1993-12-31
We describe the design of ScaLAPACK++, an object oriented C++ library for implementing linear algebra computations on distributed memory multicomputers. This package, when complete, will support distributed dense, banded, sparse matrix operations for symmetric, positive-definite, and non-symmetric cases. In ScaLAPACK++ we have employed object oriented design methods to enchance scalability, portability, flexibility, and ease-of-use. We illustrate some of these points by describing the implementation of a right-looking LU factorization for dense systems in ScaLAPACK++.
A linearized theory method of constrained optimization for supersonic cruise wing design
NASA Technical Reports Server (NTRS)
Miller, D. S.; Carlson, H. W.; Middleton, W. D.
1976-01-01
A linearized theory wing design and optimization procedure which allows physical realism and practical considerations to be imposed as constraints on the optimum (least drag due to lift) solution is discussed and examples of application are presented. In addition to the usual constraints on lift and pitching moment, constraints are imposed on wing surface ordinates and wing upper surface pressure levels and gradients. The design procedure also provides the capability of including directly in the optimization process the effects of other aircraft components such as a fuselage, canards, and nacelles.
Vane Separation Control in a Linear Cascade with Area Expansion using AC DBD Plasma Actuators
NASA Astrophysics Data System (ADS)
Kleven, Christopher; Corke, Thomas
2013-11-01
Experiments are presented on the use of AC dielectric barrier discharge (DBD) plasma actuators to prevent flow separation on vanes in a linear cascade with area expansion. The inlet Mach number to the cascade ranged from 0.3 to 0.5, and the vane chord Reynolds numbers ranged from 0 . 9 ×106 to 1 . 5 ×106 . Three cascade designs with different amounts of area expansion, providing different degrees of adverse pressure gradients, were examined. Surface flow visualization revealed a 3-D separation bubble with strong recirculation that formed on the suction side of the vanes. The pattern agreed well with CFD simulations. Plasma actuators were placed on the suction sides of the vanes, just upstream of the flow separation location. Quantitative measurements were performed in the wakes of the vanes using a 5-hole Pitot probe. The measurements were used to determine the effect of the plasma actuator separation control on the pressure loss coefficient, and flow turning angle through the cascades. Overall, the plasma actuators separation control increased the velocity magnitude and dynamic pressure in the passage between the vanes, resulted in a more spanwise-uniform flow turning angle in the vane passage, and significantly lowered the loss coefficient compared to the baseline.
Optimized linear motor and digital PID controller setup used in Mössbauer spectrometer
NASA Astrophysics Data System (ADS)
Kohout, Pavel; Kouřil, Lukáš; Navařík, Jakub; Novák, Petr; Pechoušek, Jiří
2014-10-01
Optimization of a linear motor and digital PID controller setup used in a Mössbauer spectrometer is presented. Velocity driving system with a digital PID feedback subsystem was developed in the LabVIEW graphical environment and deployed on the sbRIO real-time hardware device (National Instruments). The most important data acquisition processes are performed as real-time deterministic tasks on an FPGA chip. Velocity transducer of a double loudspeaker type with a power amplifier circuit is driven by the system. Series of calibration measurements were proceeded to find the optimal setup of the P, I, D parameters together with velocity error signal analysis. The shape and given signal characteristics of the velocity error signal are analyzed in details. Remote applications for controlling and monitoring the PID system from computer or smart phone, respectively, were also developed. The best setup and P, I, D parameters were set and calibration spectrum of α-Fe sample with an average nonlinearity of the velocity scale below 0.08% was collected. Furthermore, the width of the spectral line below 0.30 mm/s was observed. Powerful and complex velocity driving system was designed.
Controller Design of Quadrotor Aerial Robot
NASA Astrophysics Data System (ADS)
Yali, Yu; SunFeng; Yuanxi, Wang
This paper deduced the nonlinear dynamic model of a quadrotor aerial robot, which was a VTOL (vertical tale-off and landing) unmanned air vehicle. Since that is a complex model with the highly nonlinear multivariable strongly coupled and under-actuated property, the controller design of it was very difficult. Aimed at attaining the excellent controller, the whole system can be divided into three interconnected parts: attitude subsystem, vertical subsystem, position subsystem. Then nonlinear control strategy of them has been described, such as SDRE and Backstepping. The controller design was presented to stabilize the whole system. Through simulation result indicates, the various models have shown that the control law stabilize a quadrotor aerial robot with good tracking performance and robotness of the system.
Towards practical control design using neural computation
NASA Technical Reports Server (NTRS)
Troudet, Terry; Garg, Sanjay; Mattern, Duane; Merrill, Walter
1991-01-01
The objective is to develop neural network based control design techniques which address the issue of performance/control effort tradeoff. Additionally, the control design needs to address the important issue if achieving adequate performance in the presence of actuator nonlinearities such as position and rate limits. These issues are discussed using the example of aircraft flight control. Given a set of pilot input commands, a feedforward net is trained to control the vehicle within the constraints imposed by the actuators. This is achieved by minimizing an objective function which is the sum of the tracking errors, control input rates and control input deflections. A tradeoff between tracking performance and control smoothness is obtained by varying, adaptively, the weights of the objective function. The neurocontroller performance is evaluated in the presence of actuator dynamics using a simulation of the vehicle. Appropriate selection of the different weights in the objective function resulted in the good tracking of the pilot commands and smooth neurocontrol. An extension of the neurocontroller design approach is proposed to enhance its practicality.
Design of controlled elastic and inelastic structures
NASA Astrophysics Data System (ADS)
Reinhorn, A. M.; Lavan, O.; Cimellaro, G. P.
2009-12-01
One of the founders of structural control theory and its application in civil engineering, Professor Emeritus Tsu T. Soong, envisioned the development of the integral design of structures protected by active control devices. Most of his disciples and colleagues continuously attempted to develop procedures to achieve such integral control. In his recent papers published jointly with some of the authors of this paper, Professor Soong developed design procedures for the entire structure using a design — redesign procedure applied to elastic systems. Such a procedure was developed as an extension of other work by his disciples. This paper summarizes some recent techniques that use traditional active control algorithms to derive the most suitable (optimal, stable) control force, which could then be implemented with a combination of active, passive and semi-active devices through a simple match or more sophisticated optimal procedures. Alternative design can address the behavior of structures using Liapunov stability criteria. This paper shows a unified procedure which can be applied to both elastic and inelastic structures. Although the implementation does not always preserve the optimal criteria, it is shown that the solutions are effective and practical for design of supplemental damping, stiffness enhancement or softening, and strengthening or weakening.
Smirnov, Alexei V
2009-01-01
A magnetic design of a failure-free damping ring wiggler with 100% duty factor, 55.6 mm gap, and field exceeding 1.6 T is proposed. The insertion device is based on permanent magnets and specially shimmed poles that capable to meet the requirements of the International Linear Collider (ILC) damping rings (including positron one), with field quality and gap comparable to that projected for ILC using superconducting wiggler. Performance improvement of the modified hybrid design is attained due to yoke reduction down to six separated strips and maximized packaging of the midgrade (or high-grade) parallelepiped magnet blocks surrounding the Permendur poles. Economical efficiency is demonstrated on the base of calculated amount of magnetic material. A cryogenic variant of the hybrid design may certainly provide good sustainability to harsh radiation environment and further enhancement of the design efficiency within the state of the art. PMID:19191428
Conceptual design of International Linear Collider damping ring wiggler based on a hybrid technology
NASA Astrophysics Data System (ADS)
Smirnov, Alexei V.
2009-01-01
A magnetic design of a failure-free damping ring wiggler with 100% duty factor, 55.6 mm gap, and field exceeding 1.6 T is proposed. The insertion device is based on permanent magnets and specially shimmed poles that capable to meet the requirements of the International Linear Collider (ILC) damping rings (including positron one), with field quality and gap comparable to that projected for ILC using superconducting wiggler. Performance improvement of the modified hybrid design is attained due to yoke reduction down to six separated strips and maximized packaging of the midgrade (or high-grade) parallelepiped magnet blocks surrounding the Permendur poles. Economical efficiency is demonstrated on the base of calculated amount of magnetic material. A cryogenic variant of the hybrid design may certainly provide good sustainability to harsh radiation environment and further enhancement of the design efficiency within the state of the art.
Conceptual design of International Linear Collider damping ring wiggler based on a hybrid technology
Smirnov, Alexei V.
2009-01-15
A magnetic design of a failure-free damping ring wiggler with 100% duty factor, 55.6 mm gap, and field exceeding 1.6 T is proposed. The insertion device is based on permanent magnets and specially shimmed poles that capable to meet the requirements of the International Linear Collider (ILC) damping rings (including positron one), with field quality and gap comparable to that projected for ILC using superconducting wiggler. Performance improvement of the modified hybrid design is attained due to yoke reduction down to six separated strips and maximized packaging of the midgrade (or high-grade) parallelepiped magnet blocks surrounding the Permendur poles. Economical efficiency is demonstrated on the base of calculated amount of magnetic material. A cryogenic variant of the hybrid design may certainly provide good sustainability to harsh radiation environment and further enhancement of the design efficiency within the state of the art.
SUBSURFACE REPOSITORY INTEGRATED CONTROL SYSTEM DESIGN
D.C. Randle
2000-01-07
The primary purpose of this document is to develop a preliminary high-level functional and physical control system architecture for the potential repository at Yucca Mountain. This document outlines an overall control system concept that encompasses and integrates the many diverse process and communication systems being developed for the subsurface repository design. This document presents integrated design concepts for monitoring and controlling the diverse set of subsurface operations. The Subsurface Repository Integrated Control System design will be composed of a series of diverse process systems and communication networks. The subsurface repository design contains many systems related to instrumentation and control (I&C) for both repository development and waste emplacement operations. These systems include waste emplacement, waste retrieval, ventilation, radiological and air monitoring, rail transportation, construction development, utility systems (electrical, lighting, water, compressed air, etc.), fire protection, backfill emplacement, and performance confirmation. Each of these systems involves some level of I&C and will typically be integrated over a data communications network throughout the subsurface facility. The subsurface I&C systems will also interface with multiple surface-based systems such as site operations, rail transportation, security and safeguards, and electrical/piped utilities. In addition to the I&C systems, the subsurface repository design also contains systems related to voice and video communications. The components for each of these systems will be distributed and linked over voice and video communication networks throughout the subsurface facility. The scope and primary objectives of this design analysis are to: (1) Identify preliminary system-level functions and interfaces (Section 6.2). (2) Examine the overall system complexity and determine how and on what levels the engineered process systems will be monitored, controlled, and
Control/structure interaction conceptual design tool
NASA Technical Reports Server (NTRS)
Briggs, Hugh C.
1990-01-01
The JPL Control/Structure Interaction Program is developing new analytical methods for designing micro-precision spacecraft with controlled structures. One of these, the Conceptual Design Tool, will illustrate innovative new approaches to the integration of multi-disciplinary analysis and design methods. The tool will be used to demonstrate homogeneity of presentation, uniform data representation across analytical methods, and integrated systems modeling. The tool differs from current 'integrated systems' that support design teams most notably in its support for the new CSI multi-disciplinary engineer. The design tool will utilize a three dimensional solid model of the spacecraft under design as the central data organization metaphor. Various analytical methods, such as finite element structural analysis, control system analysis, and mechanical configuration layout, will store and retrieve data from a hierarchical, object oriented data structure that supports assemblies of components with associated data and algorithms. In addition to managing numerical model data, the tool will assist the designer in organizing, stating, and tracking system requirements.
Nonlinear control via approximate input-output linearization - The ball and beam example
NASA Technical Reports Server (NTRS)
Hauser, John; Sastry, Shankar; Kokotovic, Petar
1992-01-01
A study is made of approximate input-output linearization of nonlinear systems which fail to have a well defined relative degree. For such systems, a method is provided for constructing approximate systems that are input-output linearizable. The analysis presented in this note is motivated through its application to a common undergraduate control laboratory experiment, the ball and beam system, where it is shown to be more effective for trajectory tracking than the standard Jacobian linearization.
Solution algorithms for non-linear singularly perturbed optimal control problems
NASA Technical Reports Server (NTRS)
Ardema, M. D.
1983-01-01
The applicability and usefulness of several classical and other methods for solving the two-point boundary-value problem which arises in non-linear singularly perturbed optimal control are assessed. Specific algorithms of the Picard, Newton and averaging types are formally developed for this class of problem. The computational requirements associated with each algorithm are analysed and compared with the computational requirement of the method of matched asymptotic expansions. Approximate solutions to a linear and a non-linear problem are obtained by each method and compared.
NASA Technical Reports Server (NTRS)
Dzielski, John Edward
1988-01-01
Recent developments in the area of nonlinear control theory have shown how coordiante changes in the state and input spaces can be used with nonlinear feedback to transform certain nonlinear ordinary differential equations into equivalent linear equations. These feedback linearization techniques are applied to resolve two problems arising in the control of spacecraft equipped with control moment gyroscopes (CMGs). The first application involves the computation of rate commands for the gimbals that rotate the individual gyroscopes to produce commanded torques on the spacecraft. The second application is to the long-term management of stored momentum in the system of control moment gyroscopes using environmental torques acting on the vehicle. An approach to distributing control effort among a group of redundant actuators is described that uses feedback linearization techniques to parameterize sets of controls which influence a specified subsystem in a desired way. The approach is adapted for use in spacecraft control with double-gimballed gyroscopes to produce an algorithm that avoids problematic gimbal configurations by approximating sets of gimbal rates that drive CMG rotors into desirable configurations. The momentum management problem is stated as a trajectory optimization problem with a nonlinear dynamical constraint. Feedback linearization and collocation are used to transform this problem into an unconstrainted nonlinear program. The approach to trajectory optimization is fast and robust. A number of examples are presented showing applications to the proposed NASA space station.
Modeling and control design of a wind tunnel model support
NASA Technical Reports Server (NTRS)
Howe, David A.
1990-01-01
The 12-Foot Pressure Wind Tunnel at Ames Research Center is being restored. A major part of the restoration is the complete redesign of the aircraft model supports and their associated control systems. An accurate trajectory control servo system capable of positioning a model (with no measurable overshoot) is needed. Extremely small errors in scaled-model pitch angle can increase airline fuel costs for the final aircraft configuration by millions of dollars. In order to make a mechanism sufficiently accurate in pitch, a detailed structural and control-system model must be created and then simulated on a digital computer. The model must contain linear representations of the mechanical system, including masses, springs, and damping in order to determine system modes. Electrical components, both analog and digital, linear and nonlinear must also be simulated. The model of the entire closed-loop system must then be tuned to control the modes of the flexible model-support structure. The development of a system model, the control modal analysis, and the control-system design are discussed.
Techniques for designing rotorcraft control systems
NASA Technical Reports Server (NTRS)
Levine, William S.; Barlow, Jewel
1993-01-01
This report summarizes the work that was done on the project from 1 Apr. 1992 to 31 Mar. 1993. The main goal of this research is to develop a practical tool for rotorcraft control system design based on interactive optimization tools (CONSOL-OPTCAD) and classical rotorcraft design considerations (ADOCS). This approach enables the designer to combine engineering intuition and experience with parametric optimization. The combination should make it possible to produce a better design faster than would be possible using either pure optimization or pure intuition and experience. We emphasize that the goal of this project is not to develop an algorithm. It is to develop a tool. We want to keep the human designer in the design process to take advantage of his or her experience and creativity. The role of the computer is to perform the calculation necessary to improve and to display the performance of the nominal design. Briefly, during the first year we have connected CONSOL-OPTCAD, an existing software package for optimizing parameters with respect to multiple performance criteria, to a simplified nonlinear simulation of the UH-60 rotorcraft. We have also created mathematical approximations to the Mil-specs for rotorcraft handling qualities and input them into CONSOL-OPTCAD. Finally, we have developed the additional software necessary to use CONSOL-OPTCAD for the design of rotorcraft controllers.
Designing Control System Application Software for Change
NASA Technical Reports Server (NTRS)
Boulanger, Richard
2001-01-01
The Unified Modeling Language (UML) was used to design the Environmental Systems Test Stand (ESTS) control system software. The UML was chosen for its ability to facilitate a clear dialog between software designer and customer, from which requirements are discovered and documented in a manner which transposes directly to program objects. Applying the UML to control system software design has resulted in a baseline set of documents from which change and effort of that change can be accurately measured. As the Environmental Systems Test Stand evolves, accurate estimates of the time and effort required to change the control system software will be made. Accurate quantification of the cost of software change can be before implementation, improving schedule and budget accuracy.
The design of a simulated in-line side-coupled 6 MV linear accelerator waveguide
St Aubin, Joel; Steciw, Stephen; Fallone, B. G.
2010-02-15
Purpose: The design of a 3D in-line side-coupled 6 MV linac waveguide for medical use is given, and the effect of the side-coupling and port irises on the radio frequency (RF), beam dynamics, and dosimetric solutions is examined. This work was motivated by our research on a linac-MR hybrid system, where accurate electron trajectory information for a clinical medical waveguide in the presence of an external magnetic field was needed. Methods: For this work, the design of the linac waveguide was generated using the finite element method. The design outlined here incorporates the necessary geometric changes needed to incorporate a full-end accelerating cavity with a single-coupling iris, a waveguide-cavity coupling port iris that allows power transfer into the waveguide from the magnetron, as well as a method to control the RF field magnitude within the first half accelerating cavity into which the electrons from the gun are injected. Results: With the full waveguide designed to resonate at 2998.5{+-}0.1 MHz, a full 3D RF field solution was obtained. The accuracy of the 3D RF field solution was estimated through a comparison of important linac parameters (Q factor, shunt impedance, transit time factor, and resonant frequency) calculated for one accelerating cavity with the benchmarked program SUPERFISH. It was found that the maximum difference between the 3D solution and SUPERFISH was less than 0.03%. The eigenvalue solver, which determines the resonant frequencies of the 3D side-coupled waveguide simulation, was shown to be highly accurate through a comparison with lumped circuit theory. Two different waveguide geometries were examined, one incorporating a 0.5 mm first side cavity shift and another with a 1.5 mm first side cavity shift. The asymmetrically placed side-coupling irises and the port iris for both models were shown to introduce asymmetries in the RF field large enough to cause a peak shift and skewing (center of gravity minus peak shift) of an initially
Simple Expressions for the Design of Linear Tapers in Overmoded Corrugated Waveguides
NASA Astrophysics Data System (ADS)
Schaub, S. C.; Shapiro, M. A.; Temkin, R. J.
2016-01-01
Simple analytical formulae are presented for the design of linear tapers with very low mode conversion loss in overmoded corrugated waveguides. For tapers from waveguide radius a 2 to a 1, with a 1< a 2, the optimal length of the taper is 3.198 a 1 a 2/ λ. Here, λ is the wavelength of radiation. The fractional loss of the HE 11 mode in an optimized taper is 0.0293 (a2-a1)4/{a12}{a22}. These formulae are accurate when a 2≲2 a 1. Slightly more complex formulae, accurate for a 2≤4 a 1, are also presented in this paper. The loss in an overmoded corrugated linear taper is less than 1 % when a 2≤2.12 a 1 and less than 0.1 % when a 2≤1.53 a 1. The present analytic results have been benchmarked against a rigorous mode matching code and have been found to be very accurate. The results for linear tapers are compared with the analogous expressions for parabolic tapers. Parabolic tapers may provide lower loss, but linear tapers with moderate values of a 2/ a 1 may be attractive because of their simplicity of fabrication.
Simple Expressions for the Design of Linear Tapers in Overmoded Corrugated Waveguides
Schaub, S. C.; Shapiro, M. A.; Temkin, R. J.
2016-01-01
Simple analytical formulae are presented for the design of linear tapers with very low mode conversion loss in overmoded corrugated waveguides. For tapers from waveguide radius a2 to a1, with a1 < a2, the optimal length of the taper is 3.198a1a2/λ. Here, λ is the wavelength of radiation. The fractional loss of the HE11 mode in an optimized taper is 0.0293(a2−a1)4∕a12a22. These formulae are accurate when a2 ≲ 2a1. Slightly more complex formulae, accurate for a2 ≤ 4a1, are also presented in this paper. The loss in an overmoded corrugated linear taper is less than 1 % when a2 ≤ 2.12a1 and less than 0.1 % when a2 ≤ 1.53a1. The present analytic results have been benchmarked against a rigorous mode matching code and have been found to be very accurate. The results for linear tapers are compared with the analogous expressions for parabolic tapers. Parabolic tapers may provide lower loss, but linear tapers with moderate values of a2/a1 may be attractive because of their simplicity of fabrication. PMID:27053963
Emerging hydrogel designs for controlled protein delivery.
Bae, Ki Hyun; Kurisawa, Motoichi
2016-08-19
Hydrogels have evolved into indispensable biomaterials in the fields of drug delivery and regenerative medicine. This minireview aims to highlight the recent advances in the hydrogel design for controlled release of bioactive proteins. The latest developments of enzyme-responsive and externally regulated drug delivery systems are summarized. The design strategies and applications of phase-separated hydrogel systems are also described. We expect that these emerging approaches will enable expanded use of hydrogels in biomedicine and healthcare. PMID:27374633
A linear-quadratic-Gaussian control problem with innovations-feedthrough solution
NASA Technical Reports Server (NTRS)
Platzman, L. K.; Johnson, T. L.
1976-01-01
The structure of the separation-theorem solution to the standard linear-quadratic-Gaussian (LQG) control problem does not involve direct output feedback as a consequence of the form of the performance index. It is shown that the performance index may be generalized in a natural fashion so that the optimal control law involves output feedback or, equivalently, innovations feedthrough (IF). Applications where this formulation may be advantageous are indicated through an examination of properties of the IF control law.
Control/structure interaction design methodology
NASA Technical Reports Server (NTRS)
Briggs, Hugh C.; Layman, William E.
1989-01-01
The Control Structure Interaction Program is a technology development program for spacecraft that exhibit interactions between the control system and structural dynamics. The program objectives include development and verification of new design concepts (such as active structure) and new tools (such as a combined structure and control optimization algorithm) and their verification in ground and possibly flight test. The new CSI design methodology is centered around interdisciplinary engineers using new tools that closely integrate structures and controls. Verification is an important CSI theme and analysts will be closely integrated to the CSI Test Bed laboratory. Components, concepts, tools and algorithms will be developed and tested in the lab and in future Shuttle-based flight experiments. The design methodology is summarized in block diagrams depicting the evolution of a spacecraft design and descriptions of analytical capabilities used in the process. The multiyear JPL CSI implementation plan is described along with the essentials of several new tools. A distributed network of computation servers and workstations was designed that will provide a state-of-the-art development base for the CSI technologies.
X-33 Attitude Control System Design for Ascent, Transition, and Entry Flight Regimes
NASA Technical Reports Server (NTRS)
Hall, Charles E.; Gallaher, Michael W.; Hendrix, Neal D.
1998-01-01
The Vehicle Control Systems Team at Marshall Space Flight Center, Systems Dynamics Laboratory, Guidance and Control Systems Division is designing under a cooperative agreement with Lockheed Martin Skunkworks, the Ascent, Transition, and Entry flight attitude control system for the X-33 experimental vehicle. Ascent flight control begins at liftoff and ends at linear aerospike main engine cutoff (NECO) while Transition and Entry flight control begins at MECO and concludes at the terminal area energy management (TAEM) interface. TAEM occurs at approximately Mach 3.0. This task includes not only the design of the vehicle attitude control systems but also the development of requirements for attitude control system components and subsystems. The X-33 attitude control system design is challenged by a short design cycle, the design environment (Mach 0 to about Mach 15), and the X-33 incremental test philosophy. The X-33 design-to-launch cycle of less than 3 years requires a concurrent design approach while the test philosophy requires design adaptation to vehicle variations that are a function of Mach number and mission profile. The flight attitude control system must deal with the mixing of aerosurfaces, reaction control thrusters, and linear aerospike engine control effectors and handle parasitic effects such as vehicle flexibility and propellant sloshing from the uniquely shaped propellant tanks. The attitude control system design is, as usual, closely linked to many other subsystems and must deal with constraints and requirements from these subsystems.
A 400-watt, tri-state switching controller for reciprocating linear motors
NASA Astrophysics Data System (ADS)
Maresca, R. L.
Improved efficiency, better steady-state performance, and reduced complexity were the objectives set for a new control system for reciprocating linear motors. The control system conprises a low-frequency tristate switching circuit, a linear motor, and an axial position sensor along with three distinct feedbak loops (peak-amplitude, average-position, and phase feedback). The system was tested on a 400-watt reciprocating compressor and achieved efficiencies of greater than 90 percent with excellent control of the critical operating parameters: speed, stroke, phase, and center position of the linear motor. The system replaces a 70 percent-efficient high-frequency switching amplifier and classical servocontrol system previously used in long-life Stirling-cycle refrigerators for space applications.
Quadrocopter Control Design and Flight Operation
NASA Technical Reports Server (NTRS)
Karwoski, Katherine
2011-01-01
A limiting factor in control system design and analysis for spacecraft is the inability to physically test new algorithms quickly and cheaply. Test flights of space vehicles are costly and take much preparation. As such, EV41 recently acquired a small research quadrocopter that has the ability to be a test bed for new control systems. This project focused on learning how to operate, fly, and maintain the quadrocopter, as well as developing and testing protocols for its use. In parallel to this effort, developing a model in Simulink facilitated the design and analysis of simple control systems for the quadrocopter. Software provided by the manufacturer enabled testing of the Simulink control system on the vehicle.
Monitoring and design of stormwater control basins
Veenhuis, J.E.; Parrish, J.H.; Jennings, M.E.
1989-01-01
The City of Austin, Texas, has played a pioneering role in the control of urban nonpoint source pollution by enacting watershed and stormwater ordinances, overseeing detailed monitoring programs, and improving design criteria for stormwater control methods. The effectiveness of the methods used in Austin, and perhaps in other areas of the United States, to protect urban water resources has not yet been fully established. Therefore, detailed monitoring programs capable of quantitatively determining the effectiveness of control methods and of stormwater ordinances, are required. The purpose of this report is to present an overview of the City of Austin's stormwater monitoring program, including previous monitoring programs with the U.S. Environmental Protection Agency and the U.S. Geological Survey, and to describe the relation of monitoring to design of stormwater control basins.
Design of feedforward controllers for multivariable plants
NASA Technical Reports Server (NTRS)
Seraji, H.
1987-01-01
Simple methods for the design of feedforward controllers to achieve steady-state disturbance rejection and command tracking in stable multivariable plants are developed in this paper. The controllers are represented by simple and low-order transfer functions and are not based on reconstruction of the states of the commands and disturbances. For unstable plants, it is shown that the present method can be applied directly when an additional feedback controller is employed to stabilize the plant. The feedback and feedforward controllers do not affect each other and can be designed independently based on the open-loop plant to achieve stability, disturbance rejection and command tracking, respectivley. Numerical examples are given for illustration.
SUBSURFACE REPOSITORY INTEGRATED CONTROL SYSTEM DESIGN
C.J. Fernado
1998-09-17
The purpose of this document is to develop preliminary high-level functional and physical control system architectures for the proposed subsurface repository at Yucca Mountain. This document outlines overall control system concepts that encompass and integrate the many diverse systems being considered for use within the subsurface repository. This document presents integrated design concepts for monitoring and controlling the diverse set of subsurface operations. The subsurface repository design will be composed of a series of diverse systems that will be integrated to accomplish a set of overall functions and objectives. The subsurface repository contains several Instrumentation and Control (I&C) related systems including: waste emplacement systems, ventilation systems, communication systems, radiation monitoring systems, rail transportation systems, ground control monitoring systems, utility monitoring systems (electrical, lighting, water, compressed air, etc.), fire detection and protection systems, retrieval systems, and performance confirmation systems. Each of these systems involve some level of I&C and will typically be integrated over a data communication network. The subsurface I&C systems will also integrate with multiple surface-based site-wide systems such as emergency response, health physics, security and safeguards, communications, utilities and others. The scope and primary objectives of this analysis are to: (1) Identify preliminary system level functions and interface needs (Presented in the functional diagrams in Section 7.2). (2) Examine the overall system complexity and determine how and on what levels these control systems will be controlled and integrated (Presented in Section 7.2). (3) Develop a preliminary subsurface facility-wide design for an overall control system architecture, and depict this design by a series of control system functional block diagrams (Presented in Section 7.2). (4) Develop a series of physical architectures that
NASA Astrophysics Data System (ADS)
He, Jun; Huang, Ming-Guang; Li, Xian-Xia; Li, Hai-Qiang; Zhao, Lei; Zhao, Jian-Dong; Li, Yue; Zhao, Shi-Lei
2015-10-01
The linearity of the traveling-wave tube is a very important characteristic for a modern communication system. To improve the linearity of the traveling-wave tube at no expense of the saturated output power and overall efficiency, a modified pitch profile combined with a small adjustment of operating parameters is proposed. The optimal design of the helix circuit is evaluated theoretically by a large signal analysis, and the experimental test is also carried out to make a comparison of performance between the novel and original designed traveling-wave tubes. The experiments show that the saturated output powers and efficiencies of these two tubes are close to each other, while the linearity of the traveling-wave tube is obviously improved. The total phase shift and AM/PM conversion at saturation of the novel tube, averaged over the operating band, are only 30.6°/dB and 2.5°/dB, respectively, which are 20.1°/dB and 1.6°/dB lower than those of the original tube, respectively. Moreover, the third-order intermodulation of the novel tube is up to 2.2 dBc lower than that of the original tube. Project supported by the National Natural Science Foundation of China (Grant No. 61401430).
NASA Astrophysics Data System (ADS)
Hekmati, Alireza
This thesis presents a new design for an electromagnetic energy harvester to be used in both linear and rotary motion applications. This electromagnetic energy harvester consists of a moving coil within a fixed magnetic circuit. This magnetic circuit comprises of a permanent magnet (as a magnetic source), a magnetic conductor (such as iron), and an air gap to create a space for coil movement inside energy harvester setup. In the parameter study of this electromagnetic energy harvester, it has been demonstrated that applying design modifications will improve the amount of induced voltage by %50. For linear motion applications, the energy harvester has been mounted on a linear motor and the experimental results indicated that when the coil movements' speed is 70 [mm/s], the maximum harvested power is 5.320 [mW]. For rotary motion applications, first a voice coil speaker has been used as a single degree of freedom system to produce voltage through a rotating beam and hub. Since in lower resonance frequencies, the maximum induced voltage is quite low, thus in next step, the two degrees of freedom energy harvesting system for rotary motion applications has been introduced. This system has been mounted on a car ring and the result illustrated that at the resonance frequency (15 [Hz]), the induced voltage was 0.175 [V] for each coil.
Simplified microprocessor design for VLSI control applications
NASA Technical Reports Server (NTRS)
Cameron, K.
1991-01-01
A design technique for microprocessors combining the simplicity of reduced instruction set computers (RISC's) with the richer instruction sets of complex instruction set computers (CISC's) is presented. They utilize the pipelined instruction decode and datapaths common to RISC's. Instruction invariant data processing sequences which transparently support complex addressing modes permit the formulation of simple control circuitry. Compact implementations are possible since neither complicated controllers nor large register sets are required.
Design Considerations for Laminar Flow Control Aircraft
NASA Technical Reports Server (NTRS)
Sturgeon, R. F.; Bennett, J. A.
1976-01-01
A study was conducted to investigate major design considerations involved in the application of laminar flow control to the wings and empennage of long range subsonic transport aircraft compatible with initial operation in 1985. For commercial transports with a design mission range of 10,186 km (5500 n mil) and a payload of 200 passengers, parametric configuration analyses were conducted to evaluate the effect of aircraft performance, operational, and geometric parameters on fuel efficiency. Study results indicate that major design goals for aircraft optimization include maximization of aspect ratio and wing loading and minimization of wing sweep consistent with wing volume and airport performance requirements.
Preliminary demonstration of a robust controller design method
NASA Technical Reports Server (NTRS)
Anderson, L. R.
1980-01-01
Alternative computational procedures for obtaining a feedback control law which yields a control signal based on measurable quantitites are evaluated. The three methods evaluated are: (1) the standard linear quadratic regulator design model; (2) minimization of the norm of the feedback matrix, k via nonlinear programming subject to the constraint that the closed loop eigenvalues be in a specified domain in the complex plane; and (3) maximize the angles between the closed loop eigenvectors in combination with minimizing the norm of K also via the constrained nonlinear programming. The third or robust design method was chosen to yield a closed loop system whose eigenvalues are insensitive to small changes in the A and B matrices. The relationship between orthogonality of closed loop eigenvectors and the sensitivity of closed loop eigenvalues is described. Computer programs are described.
Alighment and Vibration Issues in TeV Linear Collider Design
Fischer, G.E.; /SLAC
2005-08-12
The next generation of linear colliders will require alignment accuracies and stabilities of component placement at least one, perhaps two, orders of magnitude better than can be achieved by the conventional methods and procedures in practice today. The magnitudes of these component-placement tolerances for current designs of various linear collider subsystems are tabulated. In the micron range, long-term ground motion is sufficiently rapid that on-line reference and mechanical correction systems are called for. Some recent experiences with the upgraded SLAC laser alignment systems and examples of some conceivable solutions for the future are described. The so called ''girder'' problem is discussed in the light of ambient and vibratory disturbances. The importance of the quality of the underlying geology is stressed. The necessity and limitations of particle-beam-derived placement information are mentioned.
Alignment and vibration issues in TeV linear collider design
Fischer, G.E.
1989-07-01
The next generation of linear colliders will require alignment accuracies and stabilities of component placement at least one, perhaps two, orders of magnitude better than can be achieved by the conventional methods and procedures in practice today. The magnitudes of these component-placement tolerances for current designs of various linear collider subsystems are tabulated. In the micron range, long-term ground motion is sufficiently rapid that on-line reference and mechanical correction systems are called for. Some recent experiences with the upgraded SLAC laser alignment systems and examples of some conceivable solutions for the future are described. The so called ''girder'' problem is discussed in the light of ambient and vibratory disturbances. The importance of the quality of the underlying geology is stressed. The necessity and limitations of public-beam-derived placement information are mentioned. 40 refs., 4 figs., 1 tab.