Control Engineering Practice最新文献

{"title":"Hybrid model- and learning-based fault diagnosis in adaptive buildings","authors":"Jonas Stiefelmaier,&nbsp;Michael Böhm,&nbsp;Oliver Sawodny,&nbsp;Cristina Tarín","doi":"10.1016/j.conengprac.2024.106037","DOIUrl":"10.1016/j.conengprac.2024.106037","url":null,"abstract":"<div><p>Adaptive buildings offer an enormous potential for saving resources and reducing emissions due to their ability to actively compensate deformations, which allows for a significantly lighter supporting structure. The long-term autonomous operation of an adaptive building, a prerequisite for its efficiency, requires the accurate detection and isolation of faults in its sensors and actuators. However, conventional model-based approaches achieve inadequate performance in case of substantial model errors. In that context, this article investigates the potential of integrating unsupervised learning techniques into model-based diagnosis schemes to improve the diagnostic accuracy. Specifically, we propose to train an autoencoder, a type of neural network, to suppress the effects of model errors in parity space residuals. A publicly available dataset of measurements from an adaptive high-rise building is introduced and used for the experimental validation of the proposed diagnosis method. The results are discussed in relation to a similar approach based on the principal component analysis (PCA), as well as standalone model- or learning-based approaches as reference. In different test scenarios, either the autoencoder- or the PCA-based approach is able to suppress the effects of model errors more effectively, yielding a more accurate fault detection. The PCA-based approach however allows for a more accurate fault isolation due to the exact propagation of the considered probability distributions.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001965/pdfft?md5=3ebc97cab8a56a4afa7fa28abc577947&pid=1-s2.0-S0967066124001965-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141963045","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Linear active disturbance rejection control for large onshore wind turbines in full wind speed range","authors":"Chengzhen Jia ,&nbsp;Hua Geng ,&nbsp;Yushan Liu ,&nbsp;Lingmei Wang ,&nbsp;Enlong Meng ,&nbsp;Jiwen Ji ,&nbsp;Zhengkun Chen ,&nbsp;Lei Han ,&nbsp;Liming Chen ,&nbsp;Dongjie Guo ,&nbsp;Jiye Liang ,&nbsp;Yinping Fenghong","doi":"10.1016/j.conengprac.2024.106038","DOIUrl":"10.1016/j.conengprac.2024.106038","url":null,"abstract":"<div><p>To achieve real-time estimation and compensation of total system disturbances and improve the control performance of wind turbines under complex turbulent wind conditions, three one-order LADRCs were used to reconstruct the wind turbine core control system. A dynamic variable limit LADRC was designed for torque control, a minimum limit LADRC was applied in pitch control, and a LADRC power controller was designed for decoupling torque and pitch control. The stability of the LADRCs was proven using the Lyapunov method. According to the transfer function of wind turbines and empirical equations, the parameters of each LADRC were tuned. Based on the hardware-in-loop simulation (HILS) test platform, the control algorithm of look-up table, PID, RISC, and LADRC were constructed by PLC language. Through comparative studies, it was verified that the algorithm proposed in this paper can reduce generator rotor speed and power fluctuations by about 13.6% and 1.7% at least, and it can also reduce the blade root load force.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001977/pdfft?md5=3e03d6dcc8abbdd3a16767e3a422d19b&pid=1-s2.0-S0967066124001977-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141963047","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Model predictive control of a magnetic levitation system with prescribed output tracking performance","authors":"Benedikt Oppeneiger ,&nbsp;Lukas Lanza ,&nbsp;Maximilian Schell ,&nbsp;Dario Dennstädt ,&nbsp;Manuel Schaller ,&nbsp;Bert Zamzow ,&nbsp;Thomas Berger ,&nbsp;Karl Worthmann","doi":"10.1016/j.conengprac.2024.106018","DOIUrl":"10.1016/j.conengprac.2024.106018","url":null,"abstract":"<div><p>To guarantee the safe and dependable operation of a magnetic levitation train, the distance between the magnet and the reaction rail needs to be kept within a given range. In this work, we design model predictive controllers which, in addition to complying with these constraints, provide a favorable behavior with regard to performance criteria such as travel comfort and control effort. For this purpose, we present a model of the system and the disturbances affecting it. Several results regarding the mathematical properties of this model are proven to gain insight for controller design. Finally we compare three different controllers w.r.t. performance criteria such as robustness, travel comfort, control effort, and computation time in an extensive numerical simulation study: a linear feedback controller, a model predictive control (MPC) scheme with quadratic stage costs, and the recently-proposed funnel MPC scheme. We show that the MPC closed loop complies with the constraints while also exhibiting excellent performance. Furthermore, we implement the MPC algorithms within the <span>GRAMPC</span> framework. This allows us to reduce the computational effort to a point at which real-time application becomes feasible.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-08-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001771/pdfft?md5=d0fc476f063c82ac7097bcc00e456750&pid=1-s2.0-S0967066124001771-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141962205","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robust identification and control of mobile hydraulic systems using a decentralized valve structure","authors":"Johannes Schwarz,&nbsp;Boris Lohmann","doi":"10.1016/j.conengprac.2024.106030","DOIUrl":"10.1016/j.conengprac.2024.106030","url":null,"abstract":"<div><p>The control of mobile hydraulic systems presents several challenges: valve characteristics and position-dependent system behavior are sources of nonlinearity. In addition, position and velocity sensors are not common in mobile machines, although the primary objective is piston velocity control. The particular type of hydraulic system considered in this article uses four decentralized valves to control the inflow and outflow of the two cylinder chambers. In contrast to conventional controller synthesis by tuning PID-type controllers for different operating points, a systematic approach for robust identification and model-based control is presented. It benefits from the possibility of bypassing the cylinder chambers for the identification step. Here, the ranges of physical parameters are estimated to obtain a parametrization of all possible system realizations. To reduce the valve-dependent nonlinearity, electro-hydraulic pressure compensation is applied to all valves. Based on the identified model, a nominal linear quadratic Gaussian controller and a robust <span><math><mi>μ</mi></math></span>-synthesis controller are designed, tested, and compared to a state of the art PID controller with active damping The identification and control are partially demonstrated on a hydraulic test bed and in simulation.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001898/pdfft?md5=f5ac7432d78ed845325df91b98f10b65&pid=1-s2.0-S0967066124001898-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141962204","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Control of force transmission for cable-driven actuation system based on modified friction model with compensation parameters","authors":"Kun Tan ,&nbsp;Hu Shi ,&nbsp;Xuesong Mei ,&nbsp;Tao Geng ,&nbsp;Jiankun Yang","doi":"10.1016/j.conengprac.2024.106035","DOIUrl":"10.1016/j.conengprac.2024.106035","url":null,"abstract":"<div><p>The cable-driven system characterized by tendon-sheath structure has been widely applied in the field of flexible actuation due to its lightweight, durability, and flexible layout. However, the inherent issues of friction and backlash in the mechanism result in hysteresis, which impose certain limitations on the application of efficient and high-precision actuation scenarios. In this study, a novel control method of force transmission for tendon-sheath actuation system is proposed, based on modified friction model with compensation parameters. The control method adopts a hybrid control strategy based on inverse model feedforward control, which improves the response time and disturbance rejection capability of the cable-driven system. Real-time detection and compensation of cable bending angles are achieved by introducing an angle identification model, which significantly improves system stability. Experimental results demonstrate that the proposed control strategy increases the response speed and accuracy of the force control for the cable-driven system, with a steady-state maximum peak error of 0.157 N, a step response time of 0.102 s, and a root mean square error of 0.117 N under sinusoidal signals. Finally, the cable-driven actuator and control strategy are applied to the assisted exoskeleton for elbow joint in extravehicular spacesuit, helping wearers overcome joint resistance in working conditions. The results show that when the elbow joint bending angle is 40°, the maximum interaction torque in the bending direction is reduced from 7.94 N m to 0.48 N m, with an average assistance efficiency of 71.8%. The exoskeleton system provides effective assistance to wearers during joint movements and greatly reduces biological energy consumption.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141962203","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Data-driven neural network model for maximum speed profile based on driver risk","authors":"S. Graffione,&nbsp;A. Bozzi,&nbsp;R. Sacile,&nbsp;E. Zero","doi":"10.1016/j.conengprac.2024.106033","DOIUrl":"10.1016/j.conengprac.2024.106033","url":null,"abstract":"<div><p>In the field of vehicle control systems, the primary objective is to ensure the safety of road users. The intricate dynamics of road vehicles necessitate a high level of precision. Vehicle safety encompasses a multitude of considerations, including vehicle trajectory, prevailing traffic conditions, road structure, and meteorological factors. This study employs an Artificial Neural Network (ANN) trained with human driver data using SCANeR Studio software to evaluate the risk for the driver. The risk has been defined as a five-level parameter, which depends on the potential danger of a situation, where speed and direction play a crucial role. The system incorporates a simulator, an ANN, and a display interface to present the surroundings and communicate important information to the driver. This research employs a simulated driving scenario comprising a multi-lane roundabout with vehicles travelling in different directions to simulate real-world challenges. Risk estimation is achieved through a Time Delay Neural Network (TDNN) trained with various information about the environment in relation to the driven vehicle. The research employs a Jackknife technique for overall evaluation and introduces an adaptive algorithm for speed limit setting. The findings demonstrate the stability, generality, and practical applicability of the ANN in enhancing road safety.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001928/pdfft?md5=d2c8ec87a6e38c375b8efb2434b3b81f&pid=1-s2.0-S0967066124001928-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141962202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Model-based cascade control of single-phase Modular Multilevel Converters using ideal capacitor voltages reference","authors":"Davide Tebaldi,&nbsp;Roberto Zanasi","doi":"10.1016/j.conengprac.2024.106031","DOIUrl":"10.1016/j.conengprac.2024.106031","url":null,"abstract":"<div><p>Electrical power conversions are common in a large variety of engineering applications. With reference to AC/DC and DC/AC power conversions, a strong research interest resides in multilevel converters, thanks to the many advantages they provide over standard two-level converters. In this paper, a power-oriented model of single-phase Modular Multilevel Converters (MMCs) is first provided, followed by a detailed harmonic analysis. The model is given in the form of a Power Oriented Graphs block scheme that can be directly implemented in the Matlab/Simulink environment. The performed harmonic analysis gives a deep and exact understanding of the different terms affecting the evolution of the voltage trajectories in the upper and lower arms of the converter. Next, a new model-based cascade control architecture for MMCs is proposed. Combined with the real-time calculation of the ideal average capacitor voltages reference, the proposed control architecture allows to properly track the desired load current while minimizing the tracking error and the harmonic content in the generated load current itself.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001904/pdfft?md5=32e3285efe83ce0f2397b7448903f21b&pid=1-s2.0-S0967066124001904-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141962201","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Experimental backward integration for state-dependent differential Riccati equation (SDDRE): A case study on flapping-wing flying robot","authors":"Saeed Rafee Nekoo ,&nbsp;Anibal Ollero","doi":"10.1016/j.conengprac.2024.106036","DOIUrl":"10.1016/j.conengprac.2024.106036","url":null,"abstract":"<div><p>Backward integration (BI) is a classical approach for solving optimal control arising from linear quadratic regulator (LQR) design in differential form. It proposes a two-round solution, the first one starting from a final boundary condition to the initial one to generate the optimal gain, and the next one, solving the control system in a forward loop. Implementation of the BI on the nonlinear optimal control, the state-dependent differential Riccati equation (SDDRE), is a challenge since in the backward loop, the state information is missing and is not straightforward like the LQR. Hence, a control for backward motion is required to regulate the system from the terminal to the initial desired states. While there have been some valuable works on the theoretical implementation of the BI in simulations for the SDDRE, this approach has not been reported in experiments for the best knowledge of the authors. Here in this work, the SDDRE is solved using the BI and two backward and forward solution steps, and it is experimentally applied for a flapping-wing flying robot (FWFR). The execution of the control system is done onboard using Raspberry Pi 4B as the processor which has limited computational capacity. The trajectory tracking of a line in a closed limited space is proposed for the FWFR flight. The objective is to position the robot bird at the corner of the rectangular limited space with minimum error in translation. The results have been presented for 21 flights to show the repeatability and presented the best-case minimum error of 10 (cm) at the end of the trajectory, in the YZ-plane. Considering approximately 12 (m) flight path, the error is found less than 1 percent of the travel distance. The results were compared with forward integration to confirm the correctness of the computation. The experimental flight dataset, MATLAB simulation codes, and experimental Python codes are available as supplementary material for this work in the online version of the paper.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-07-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.sciencedirect.com/science/article/pii/S0967066124001953/pdfft?md5=4f09f86d4a00fedf34a59c1e39310098&pid=1-s2.0-S0967066124001953-main.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141962200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Hybrid modeling for vehicle lateral dynamics via AGRU with a dual-attention mechanism under limited data","authors":"Jianwei Chen ,&nbsp;Chuanqiang Yu ,&nbsp;Yafei Wang ,&nbsp;Zhisong Zhou ,&nbsp;Zhihao Liu","doi":"10.1016/j.conengprac.2024.106015","DOIUrl":"10.1016/j.conengprac.2024.106015","url":null,"abstract":"<div><p>A precise vehicle dynamics model is critical for simulation and algorithm testing. Neural networks have been widely used to build high-fidelity vehicle dynamics models due to the excellent learning ability. However, data starvation is a common phenomenon in neural networks. With limited data, it is difficult for neural networks to achieve precise predictions. To address these problems, a hybrid model combining physics and dual attention neural networks is developed to model vehicle lateral dynamics. First, due to the interpretability of the physical model, linear lateral dynamics model is regarded as a prior model. However, due to the imperfect prior knowledge, there are residuals between the prior and the actual vehicle dynamics. Therefore, neural networks are used to characterize the residuals to achieve recalibration of vehicle dynamics model. Modeling vehicle residual dynamics with neural networks is a time series forecasting problem. The GRU with a dual attention mechanism and adaptive initial hidden states (DA-AGRU) is designed to capture spatial and temporal correlations in the vehicle dynamics data. In particular, considering the unique auto regressive structure of the hybrid model, a spatial attention mechanism with a feature fusion module is designed, so as to globally compute the weights of different channel features. The dataset used to train and validate the model is recorded from a vehicle platform, and the experimental results show that the proposed hybrid model can accurately predict vehicle dynamics states in a data-scarce environment.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141951480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"End jitter suppression using FONFTSMC for rigid-flexible coupling systems of PMSpM based on NDO","authors":"Xiwen Guo ,&nbsp;Ronghao Liu ,&nbsp;Qunjing Wang ,&nbsp;Zhaowei Fang ,&nbsp;Zhou Fang","doi":"10.1016/j.conengprac.2024.106034","DOIUrl":"10.1016/j.conengprac.2024.106034","url":null,"abstract":"<div><p>A permanent magnet spherical motor (PMSpM) with three degrees of freedom rotation characteristics in the rigid rotor has broad application prospects. But the adding flexible material will inevitably produce end jitter issue in the process of the rigid-flexible coupling system (RFCs) movement. To solve the above problem, a fractional order non-singular fast terminal sliding mode control method with a disturbance observer was proposed for the rigid-flexible coupling system of a permanent magnet spherical motor (RFCs-PMSpM). Firstly, a dynamic model of RFCs-PMSpM was established by using the Hamilton principle and Euler–Bernoulli beam theory. Secondly, the influences on the end jitter were discussed from the perspectives of load mass, material parameters, and driving torque of the flexible shaft. The sensitivity analysis is carried out, and the key factors affecting the jitter are obtained. Then, a fractional order non-singular fast terminal sliding mode controller based on a nonlinear disturbance observer (NDO-FONFTSMC) is proposed. The stability of the closed-loop control system was proved by the Lyapunov method. Finally, the effectiveness of the proposed jitter suppression strategy was validated and compared with existing approaches, which also provides an important reference for the future application of RFCs-PMSpM in high-precision industry.</p></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":null,"pages":null},"PeriodicalIF":5.4,"publicationDate":"2024-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141962206","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}