The root locus method: application to linear stability analysis and design of cooperative car-following models

A global framework for linear stability analyses of traffic models, based on the dispersion relation root locus method, is presented and is applied taking the example of a broad class of car-following (CF) models. This approach is able to analyse all aspects of the dynamics: long waves and short wave behaviours, phase velocities and stability features. The methodology is applied to investigate the potential benefits of connected vehicles, i.e. V2V communication enabling a vehicle to send and receive information to and from surrounding vehicles. We choose to focus on the design of the coefficients of cooperation which weights the information from downstream vehicles. The coefficients tuning is performed and different ways of implementing an efficient cooperative strategy are discussed. Hence, this paper brings design methods in order to obtain robust stability of traffic models, with application on cooperative CF models

Root locus of fractional linear systems

In this paper an algorithm for the calculation of the root locus of fractional linear systems is presented. The proposed algorithm takes advantage of present day computational resources and processes directly the characteristic equation, avoiding the limitations revealed by standard methods. The results demonstrate the good performance for different types of expressions.

A method for plotting the complementary root locus using the root-locus (positive gain) rules

The root-locus method is a well-known and commonly used tool in control system analysis and design. It is an important topic in introductory undergraduate engineering control disciplines. Although complementary root locus (plant with negative gain) is not as common as root locus (plant with positive gain) and in many introductory textbooks for control systems is not presented, it has been shown a valuable tool in control system design. This paper shows that complementary root locus can be plotted using only the well-known construction rules to plot root locus. It can offer for the students a better comprehension on this subject. These results present a procedure to avoid problems that appear in root-locus plots for plants with the same number of poles and zeros.

On Complementary Root Locus of Biproper Transfer Functions

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

DIRECT EXPRESSIONS FOR OGATA LEAD-LAG DESIGN METHOD USING ROOT LOCUS

Direct expressions for the design of a lead-lag continuous compensator using the root locus method and the procedure described in the 1970 and 1990 books by Ogata are presented. These results are useful in the Ogata design method because they avoid the geometrical determination of poles and zeros, making it easier to create a computer-based design.

Control of motorcycle steering instabilities

Modern high performance motorcycles often employ a steering damper producing a moment that opposes the angular velocity of the steering assembly relative to the main frame. When modeling the motorcycle in a conventional manner, the steering damper is included as an integral part of the machine. The reduction in the wobble-mode frequency is caused by the effective increase in the steering system's moment of inertia. The compensators show the potential to significantly improve the damping of both wobble and weave modes simultaneously. The dynamic characteristics of high-performance motorcycles can be improved by replacing the conventional steering damper with a passive mechanical steering compensator. The design methodology adopted uses Nyquist frequency response ideas, root-locus analysis and loop-shaping design to obtain a preliminary choice of parameters.

Metodologia para re-sintonia de controladores PID industriais

The present work has as objective to present a method of project and implementation of controllers PID, based on industrial instrumentation. An automatic system of auto-tunning of controllers PID will be presented, for systems of first and second order. The software presented in this work is applied in controlled plants by PID controllers implemented in a CLP. Software is applied to make the auto-tunning of the parameters of controller PID of plants that need this tunning. Software presents two stages, the first one is the stage of identification of the system using the least square recursive algorithm and the second is the stage of project of the parameters of controller PID using the root locus algorithm. An important fact of this work is the use of industrial instrumentation for the accomplishment of the experiments. The experiments had been carried through in controlled real plants for controllers PID implemented in the CLP. Thus has not only one resulted obtained with theoreticians experiments made with computational programs, and yes resulted obtained of real systems. The experiments had shown good results gotten with developed software

On lag controllers: Design and implementation

Sometimes it is inconvenient or expensive to open the loop of a system to insert lag controllers-for instance, when this system is an open-loop system. A new controller structure where the loop is not opened, and that allows the design of lag controllers as in the case where one can open the loop, is presented. This result can be used by educators in undergraduate courses that deal with classic control system theory, because it allows a better comprehension of the concept of lag compensation and provides a new method for its design and implementation. An example illustrates the application of the proposed method.

Digital controller design considering hardware constraints: application in a paraplegic patient

Fundação de Amparo à Pesquisa do Estado de São Paulo (FAPESP)

Comportamento dinâmico de suspensão eletromecânica: análise da resposta devido ao amortecimento e à rigidez não linear

Pós-graduação em Engenharia Elétrica - FEB

Estudo da estabilidade dinâmica e controle da aeronave AF-X da equipe AeroFEG

The present work aims to study the stability and control of the aircraft AF-X of AeroFEG team for AeroDesign to contribute with it in developing its theoretical project report for the competition and present the shortcomings of stability that it might measures for the practical test. In the first moment, it was presented forces and motion of the aircraft, so to define the equations of motion. After the equations of motion were calculated, the transfer functions were found and the aircraft response was analyzed under longitudinal stability and lateral-directional. We obtained responses from the aircraft and through the method of Root Locus the gains required to improve responses and reduce the overshoot, finally some changes and improvements for increased stability have been addressed. The study covered all the motions and control surfaces of the aircraft, showing the characteristics and behavior of the front disruptions, as well as opportunities for gains and improvementsThe present work aims to study the stability and control of the aircraft AF-X of AeroFEG team for AeroDesign to contribute with it in developing its theoretical project report for the competition and present the shortcomings of stability that it might measures for the practical test. In the first moment, it was presented forces and motion of the aircraft, so to define the equations of motion. After the equations of motion were calculated, the transfer functions were found and the aircraft response was analyzed under longitudinal stability and lateral-directional. We obtained responses from the aircraft and through the method of Root Locus the gains required to improve responses and reduce the overshoot, finally some changes and improvements for increased stability have been addressed. The study covered all the motions and control surfaces of the aircraft, showing the characteristics and behavior of the front disruptions, as well as opportunities for gains and improvements

Controle ativo de estruturas reticuladas utilizando atuadores de pilha de pzt

Pós-graduação em Engenharia Mecânica - FEIS