On Nonlinear Dynamics and Control of A Particular Portal Frame Foundation Model, Excited by a Non-Ideal Motor

The nonlinear dynamic response and a nonlinear control method of a particular portal frame foundation for an unbalanced rotating machine with limited power (non-ideal motor) are examined. Numerical simulations are performed for a set of control parameters (depending on the voltage of the motor) related to the static and dynamic characteristics of the motor. The interaction of the structure with the excitation source may lead to the occurrence of interesting phenomena during the forward passage through the several resonance states of the systems. A mathematical model having two degrees of freedom simplifies the non-ideal system. The study of controlling steady-state vibrations of the non-ideal system is based on the saturation phenomenon due to internal resonance.

Robust control to parametric uncertainties in smart structures using linear matrix inequalities

The study of algorithms for active vibrations control in flexible structures became an area of enormous interest, mainly due to the countless demands of an optimal performance of mechanical systems as aircraft and aerospace structures. Smart structures, formed by a structure base, coupled with piezoelectric actuators and sensor are capable to guarantee the conditions demanded through the application of several types of controllers. This article shows some steps that should be followed in the design of a smart structure. It is discussed: the optimal placement of actuators, the model reduction and the controller design through techniques involving linear matrix inequalities (LMI). It is considered as constraints in LMI: the decay rate, voltage input limitation in the actuators and bounded output peak (output energy). Two controllers robust to parametric variation are designed: the first one considers the actuator in non-optimal location and the second one the actuator is put in an optimal placement. The performance are compared and discussed. The simulations to illustrate the methodology are made with a cantilever beam with bonded piezoelectric actuators.

Defects location in power systems components through a dedicated genetic algorithm

In this work the problem of defects location in power systems is formulated through a binary linear programming (BLP) model based on alarms historical database of control and protection devices from the system control center, sets theory of minimal coverage (AI) and protection philosophy adopted by the electric utility. In this model, circuit breaker operations are compared to their expected states in a strictly mathematical manner. For solving this BLP problem, which presents a great number of decision variables, a dedicated Genetic Algorithm (GA), is proposed. Control parameters of the GA, such as crossing over and mutation rates, population size, iterations number and population diversification, are calibrated in order to obtain efficiency and robustness. Results for a test system found in literature, are presented and discussed. © 2004 IEEE.

A comparative study between two relaxed LMI-based fuzzy control designs

A comparative study, with theoretical analysis and digital simulations, of two conditions based on LMI for the quadratic stability of nonlinear continuous-time dynamic systems, described by Takagi-Sugeno fuzzy models, are presented. This paper shows that the methods proposed by Teixeira et. al. in 2003 provide better or at least the same results of a recent method presented in the literature. © 2005 IEEE.

PID stabilization of a class of time delay systems

In this paper we use the Hermite-Biehler theorem to establish results for the design of proportional plus integral plus derivative (PID) controllers concerning a class of time delay systems. Using the property of interlacing at high frequencies of the class of systems considered and linear programming we obtain the set of all stabilizing PID controllers. © 2005 IEEE.

Active flutter suppression in a 2-D airfoil using linear matrix inequalities techniques

Flutter is an in-flight vibration of flexible structures caused by energy in the airstream absorbed by the lifting surface. This aeroelastic phenomenon is a problem of considerable interest in the aeronautic industry, because flutter is a potentially destructive instability resulting from an interaction between aerodynamic, inertial, and elastic forces. To overcome this effect, it is possible to use passive or active methodologies, but passive control adds mass to the structure and it is, therefore, undesirable. Thus, in this paper, the goal is to use linear matrix inequalities (LMIs) techniques to design an active state-feedback control to suppress flutter. Due to unmeasurable aerodynamic-lag states, one needs to use a dynamic observer. So, LMIs also were applied to design a state-estimator. The simulated model, consists of a classical flat plate in a two-dimensional flow. Two regulators were designed, the first one is a non-robust design for parametric variation and the second one is a robust control design, both designed by using LMIs. The parametric uncertainties are modeled through polytopic uncertainties. The paper concludes with numerical simulations for each controller. The open-loop and closed-loop responses are also compared and the results show the flutter suppression. The perfomance for both controllers are compared and discussed. Copyright © 2006 by ABCM.

Identification of structural parameters for active vibration control

The study of algorithms for active vibration control in flexible structures became an area of enormous interest for some researchers due to the innumerable requirements for better performance in mechanical systems, as for instance, aircrafts and aerospace structures. Intelligent systems, constituted for a base structure with sensors and actuators connected, are capable to guarantee the demanded conditions, through the application of diverse types of controllers. For the project of active controllers it is necessary, in general, to know a mathematical model that enable the representation in the space of states, preferential in modal coordinates to permit the truncation of the system and reduction in the order of the controllers. For practical applications of engineering, some mathematical models based in discrete-time systems cannot represent the physical problem, therefore, techniques of identification of system parameters must be used. The techniques of identification of parameters determine the unknown values through the manipulation of the input (disturbance) and output (response) signals of the system. Recently, some methods have been proposed to solve identification problems although, none of them can be considered as being universally appropriate to all the situations. This paper is addressed to an application of linear quadratic regulator controller in a structure where the damping, stiffness and mass matrices were identified through Chebyshev's polynomial functions.

Alocação de zeros aplicada a sistemas de controle via LMI

A systematic procedure of zero placement to design control systems is proposed. A state feedback controller with vector gain K is used to perform the pole placement. An estimator with vector gain L is also designed for output feedback control. A new systematic method of zero assignment to reduce the effect of the undesirable poles of the plant and also to increase the velocity error constant is presented. The methodology places the zeros in a specific region and it is based on Linear Matrix Inequalities (LMIs) framework, which is a new approach to solve this problem. Three examples illustrate the effectiveness of the proposed method.

Variable speed refrigeration system with HPF input rectifier stage

This paper is based on the analysis and implementation of a new drive system applied to refrigeration systems, complying with the restrictions imposed by the IEC standards (Harmonic/Flicker/EMI-Electromagnetic Interference restrictions), in order to obtain high efficiency, high power factor, reduced harmonic distortion in the input current and reduced electromagnetic interference, with excellent performance in temperature control of a refrigeration prototype system (automatic control, precision and high dynamic response). The proposal is replace the single-phase motor by a three-phase motor, in the conventional refrigeration system. In this way, a proper control technique can be applied, using a closed-loop (feedback control), that will allow an accurate adjustment of the desirable temperature. The proposed refrigeration prototype uses a 0.5Hp three-phase motor and an open (Belt-Drive) Bitzer IY type compressor. The input rectifier stage's features include the reduction in the input current ripple, the reduction in the output voltage ripple, the use of low stress devices, low volume for the EMI input filter, high input power factor (PF), and low total harmonic distortion (THD) in the input current, in compliance with the IEC61000-3-2 standards. The digital controller for the output three-phase inverter stage has been developed using a conventional voltage-frequency control (scalar V/f control), and a simplified stator oriented Vector control, in order to verify the feasibility and performance of the proposed digital controls for continuous temperature control applied at the refrigerator prototype. ©2008 IEEE.

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

A multiagent architecture for supervisory and control system

Supervising and controlling the many processes involved in petroleum production is both dangerous and complex. Herein, we propose a multiagent supervisory and control system for handle continuous processes like those in chemical and petroleum industries In its architeture, there are agents responsible for managing data production and analysis, and also the production equipments. Fuzzy controllers were used as control agents. The application of a fuzzy control system to managing an off-shore installation for petroleum production onto a submarine separation process is described. © 2008 IEEE.

Síntese de sistemas estritamente reais positivos através do critério de routh-hurwitz

Given a linear time-invariant plant Gol(s) with one input and q outputs, where q > 1, a method based on the Routh-Hurwitz Stability Criterion is proposed to obtain a constant tandem matrix F ∈ ℝq, such that FGOl(s) is a minimumphase system. From this solution, the system FGol(s) is represented in state space by {A, B, FC} and a constant output feedback matrix K0 ∈ ℝ is obtained such that the feedback system {A - BK0C, B, FC} is Strictly Positive Real (SPR). The proposed procedure offers necessary and sufficient conditions for both problems. Initially, the general case, with a generic q, is analyzed. Following, the particular cases q = 2 and q = 3 are studied.

Estabilização de sistemas fuzzy T-S incertos usando realimenta̧ão derivativa

In some practical problems, for instance, in the suppression of vibration in mechanical systems, the state-derivative signals are easier to obtain than the state signals. Thus, a method for state-derivative feedback design applied to uncertain nonlinear systems is proposed in this work. The nonlinear systems are represented by Takagi-Sugeno fuzzy models during the modeling of the problem, allowing to use Linear Matrix Inequalities (LMIs) in the controller design. This type of modeling ease the control design, because, LMIs are easily solved using convex programming technicals. The control design aimed at system stabilisation, with or without bounds on decay rate. The efficiency of design procedure is illustrated through a numerical example.

Necessary and sufficient condition for generalized passivity, passification and application to multivariable adaptive systems

Recently, a generalized passivity concept for linear multivariable systems was obtained which allows circumventing the restrictiveness of the usual passivity concept. The latter is associated with the classical SPR (Strictly Positive Real) condition whereas the new concept of passivity is associated with the so called WSPR condition and its advantage in multivariable systems is that it does not require a restrictive symmetry condition of SPR systems. As a result, it allows the design of multivariable adaptive control that, unlike some existing factorization approaches, does not imply in additional overparameterization of the adaptive controller. In this paper, we complete a previously established WSPR sufficient condition and prove that it is also necessary. We also propose some methods of passification by either premultiplying the system output tracking error vector or the system input vector by an adequate passifying matrix multiplier, so that the resulting input/output transfer function becomes WSPR. The efficiency of our proposals are illustrated by simulation utilizing a well known robotics adaptive visual servoing problem. © 2011 IFAC.

Delay time detection and accommodation for a networked DC motor control

This paper presents a control method that is effective to reduce the degenerative effects of delay time caused by a treacherous network. In present application a controlled DC motor is part of an inverted pendulum and provides the equilibrium of this system. The control of DC motor is accomplished at the distance through a treacherous network, which causes delay time in the control signal. A predictive technique is used so that it turns the system free of delay. A robust digital sliding mode controller is proposed to control the free-delay system. Due to the random conditions of the network operation, a delay time detection and accommodation strategy is also proposed. A computer simulation is shown to illustrate the design procedures and the effectiveness of the proposed method. © 2011 IEEE.