Control Engineering Practice最新文献

{"title":"Composite speed control based on an improved gain-adaptive super-twisting sliding mode observer for a permanent magnet synchronous motor","authors":"Zichen Guo ,&nbsp;Junlin Li ,&nbsp;Minxiu Yan ,&nbsp;Gaoyuan Wang","doi":"10.1016/j.conengprac.2025.106241","DOIUrl":"10.1016/j.conengprac.2025.106241","url":null,"abstract":"<div><div>To solve the problem that the speed control system of a surface-mounted permanent magnet synchronous motor is prone to external disturbances and time variations in motor parameters, a non-singular fast terminal sliding mode (NSFTSM) composite control method based on a gain-adaptive super-twisting sliding mode lumped disturbance observer (GA-STLD-SMO) is proposed. First, a mathematical model of PMSM with disturbance is established. Second, the traditional current loop PI control is replaced by proportional integral-Quasi-proportional resonance (PI-QPR) control, so that the current control has better precision. The speed loop controller is designed as a non-singular fast terminal sliding mode controller (NSFTSMC) to avoid singularity and jitter phenomena. Moreover, a sliding mode observer of rotational inertia (SMOORI) is designed based on the perturbations observed by the GA-STLD-SMO. The observed disturbance and moment of inertia are compensated into the speed controller. The stability and convergence of the system in finite time are proven by Lyapunov’s second method, and the performance of the proposed controller is tested and simulated. The final experimental results indicate that in the step response, the control method proposed in this paper is 8.9% smaller in overshooting, 85.8% faster in regulation time, and 20.8% smaller in steady-state error than the control method with the worst control effect among the comparative methods; meanwhile, in the anti-disturbance experiments, the control method in this paper is the smallest in the disturbed bias, and has a superior robustness.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"157 ","pages":"Article 106241"},"PeriodicalIF":5.4,"publicationDate":"2025-01-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143143285","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":"Expensive deviation-correction drilling trajectory planning: A constrained multi-objective Bayesian optimization with feasibility-oriented bi-objective acquisition function","authors":"Jiafeng Xu,&nbsp;Xin Chen,&nbsp;Yang Zhou,&nbsp;Menglin Zhang,&nbsp;Weihua Cao,&nbsp;Min Wu","doi":"10.1016/j.conengprac.2025.106240","DOIUrl":"10.1016/j.conengprac.2025.106240","url":null,"abstract":"<div><div>While conducting large-depth vertical drilling, correcting well trajectory deviations is a critical and challenging task. Designing a feasible deviation-correction trajectory becomes an expensive constrained multi-objective optimization problem due to the need for refined modeling of large-depth wellbore stability analysis. There is a pressing need for advanced drilling trajectory planning methods designed to handle robust constraints and to consider refined geological formation modeling, as current surrogate model-assisted optimization algorithms lack efficiency and balance among feasibility, convergence, and diversity. A Gaussian process-assisted Bayesian Multi-Objective Evolutionary Algorithm (MOEA) based on the reference point-based Non-dominated Sorting Genetic Algorithm (NSGA-III) is developed to manage the expensive wellbore stability objective. While surrogate models can effectively mitigate the computational expense, they may not adequately satisfy the stringent trajectory planning constraints. To enhance the constraint handling ability, an intricately devised infill criterion, Feasibility-oriented Bi-objective Acquisition Function (FBAF), tends to select promising feasible solutions to infill into the next generation. The deviation-correction trajectory planning simulation experiment was carried out under limited evaluations with real vertical well data. The results of empirical attainment function analysis demonstrate that the proposed FB-NSGA-III reduces the number of evaluations and exhibits superior performance compared to 11 other traditional surrogate-assisted MOEAs, particularly in terms of feasibility. FB-NSGA-III successfully prevents the back-hook by avoiding constraint violations and maintaining curvature within the specified safety and directional drilling tool build-up range.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106240"},"PeriodicalIF":5.4,"publicationDate":"2025-01-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143158453","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":"A novel MPC-NNSMC composite control method for robotic manipulators considering uncertainties and constraints","authors":"Jiawei Sun ,&nbsp;Chao Peng ,&nbsp;Jianxiao Zou ,&nbsp;Qi Zhou ,&nbsp;Yuchen Wu","doi":"10.1016/j.conengprac.2025.106238","DOIUrl":"10.1016/j.conengprac.2025.106238","url":null,"abstract":"<div><div>With the increasing demand for the application of robotic manipulators in complex tasks in modern industry, the requirements for their trajectory tracking control performance and robustness are becoming higher and higher. Existing robotic manipulator trajectory tracking control methods rarely comprehensively consider robust control problem caused by model parameter variations and external disturbances, and control performance optimization problem under actuator torque constraints and joint limitations. Consequently, these methods are hard to meet the control performance requirements in complex working environments and tasks. In order to solve the above limitations and problems, this paper proposes a novel composite control method. This method systematically combines model predictive control (MPC) based on a nonlinear compensation decoupling model with neural network nonsingular terminal sliding mode control (NNSMC) to simultaneously optimize the robotic manipulator trajectory tracking performance and robustness. Firstly, the radial basis function neural network is used to approximate the system uncertainty online, and then a NNSMC controller is designed on this basis to reduce the influence of model parameter perturbation and external disturbance on the robotic manipulator trajectory tracking control performance. Then, based on the system model of feedback linearization decoupling, a MPC controller is designed to meet the drive torque constraints and joint restrictions. By constructing a Lyapunov function considering the neural network estimation error and MPC constraints, the stability and feasibility of this method are analyzed. Finally, the proposed method is implemented in the robotic manipulator trajectory tracking control experiment, and the experimental results verify the effectiveness of the method. Finally, the proposed method is implemented in an actual six-degree-of-freedom robotic manipulator trajectory tracking control experiment, and the experimental results verify the effectiveness of the method.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106238"},"PeriodicalIF":5.4,"publicationDate":"2025-01-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143157098","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":"Broken rotor bar fault detection — A virtual current approach combined with a robust linear parameter-varying observer","authors":"Ruhan Pontes Policarpo de Souza ,&nbsp;Cristiano Marcos Agulhari ,&nbsp;Alessandro Goedtel ,&nbsp;Daniel Moriñigo-Sotelo ,&nbsp;Óscar Duque-Pérez ,&nbsp;Vanessa Fernández-Cavero","doi":"10.1016/j.conengprac.2024.106233","DOIUrl":"10.1016/j.conengprac.2024.106233","url":null,"abstract":"<div><div>This work presents a method for detecting broken rotor bar (BRB) faults in induction motors (IM). The method is based on the Virtual Rotor Current (VRC) estimation, an approach that considers an additional virtual winding in the rotor modeling, concentrating any unbalance on the rotor circuit. Using Linear Parameter Varying (LPV) <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> robust observer, the VRC is estimated, providing relevant information about the fault condition. The main contribution of the paper is the innovative estimation of the VRC and its analysis to extract information about the IM condition. The paper presents the IM fault modeling, the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> LPV observer development, and the fault index definition. The method is validated using simulated and experimental data for steady-state line-connected IMs, both for incipient and severe fault conditions under different load configurations and voltage unbalance, demonstrating its ability to detect faults in a wide operational range, including low load levels.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106233"},"PeriodicalIF":5.4,"publicationDate":"2025-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143157097","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":"Fixed-time integral terminal sliding mode control with an adaptive RBF neural network for PMSM speed regulation","authors":"Xiufeng Liu ,&nbsp;Yongting Deng ,&nbsp;Jing Liu ,&nbsp;Haiyang Cao ,&nbsp;Chenxia Xu ,&nbsp;Yang Liu","doi":"10.1016/j.conengprac.2024.106236","DOIUrl":"10.1016/j.conengprac.2024.106236","url":null,"abstract":"<div><div>This paper focuses on the speed regulation of permanent magnet synchronous motor (PMSM) drive systems in the presence of external disturbances and mode uncertainties. To augment the performance of PMSM speed control, particularly emphasizing response speed and robustness, this paper presents a novel control strategy incorporating fixed-time integral terminal sliding mode control (FITSMC) with an adaptive radial basis function (RBF) neural network (ARNN). Firstly, a FITSMC based fixed-time control theory is proposed to enhance the response speed and robustness of PMSM speed control system. Secondly, an ARNN is developed to online approximate the nonlinear unknown total disturbance, including external load torque and mode uncertainties, and then compensate the approximated total disturbance to the control law of the FITSMC, further enhancing FITSMC’s robustness and effectively attenuating sliding mode chattering. Then, using the Lyapunov method, the stability and the property of fixed-time convergence of the proposed scheme are demonstrated. Additionally, performance analysis and parameter tuning guidelines are provided through a frequency sweep method. Finally, the feasibility and effectiveness of the proposed approach are validated through experiments conducted on a PMSM experimental platform.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106236"},"PeriodicalIF":5.4,"publicationDate":"2025-01-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143157096","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":"A force controller for valve-manipulated hydraulic actuators","authors":"Yuki Yamamoto ,&nbsp;Ryo Kikuuwe","doi":"10.1016/j.conengprac.2024.106234","DOIUrl":"10.1016/j.conengprac.2024.106234","url":null,"abstract":"<div><div>This paper proposes a force controller for hydraulic actuators of the valve-manipulated type. The structure of the proposed controller is similar to that of the admittance controllers used for robotic systems, incorporating a virtual mass–damper system that transforms the measured force to the reference velocity. In the proposed controller, the reference velocity is transformed into the valve opening commands through a quasi-static hydraulic actuator model. This paper also proposes an energy-based stabilizer that imposes limits on the reference velocity to prevent the instability induced by the deadtime, which commonly exists in hydraulic systems. The proposed controller, combined with the stabilizer, is validated with a laboratory setup composed of a linear hydraulic actuator that makes contact with a stiff external environment.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106234"},"PeriodicalIF":5.4,"publicationDate":"2025-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143157091","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":"Complex-variable sliding-mode control of non-ideal grid-tied self-synchronized inverter for DC-link capacitance reduction","authors":"Gerardo Tapia-Otaegui ,&nbsp;Sebastián Gómez Jorge ,&nbsp;Jorge A. Solsona ,&nbsp;Ana Susperregui ,&nbsp;M. Itsaso Martínez ,&nbsp;Claudio A. Busada","doi":"10.1016/j.conengprac.2025.106239","DOIUrl":"10.1016/j.conengprac.2025.106239","url":null,"abstract":"<div><div>This paper focuses on complex-variable sliding-mode control (CV-SMC) of grid-following inverters that interface renewable energy sources (RESs) with non-ideal grids subject to imbalances, harmonic distortion, frequency variations and voltage drops. The following three control objectives are set: (1) Substantial DC-link capacitance reduction via high-dynamic-performance control of the DC-link voltage, (2) phase-locked loop (PLL)-less and grid voltage sensorless control, and (3) injected grid current free from imbalances and harmonic distortion. Objectives 1 and 3 are tackled by proposing a CV-SMC scheme based on a non-conventional, energy-based, nonlinear switching function, combined with a method for computing the instantaneous reference values it contains. Such switching function leads to command the DC-link voltage together with the grid current by means of a single high-dynamic-performance control-loop. As for objective 2, a nonlinear observer estimating both the grid voltage and its frequency is proposed to replace the typical “grid voltage sensors + PLL” solution, thus enabling the inverter to self-synchronize with non-ideal grids by measuring only the grid current. The design, tuning, stability analysis and implementation of both the CV-SMC algorithm and the observer are addressed. Simulation and experimental results confirm the proposal’s ability to meet the three control objectives in presence of grid disturbances.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106239"},"PeriodicalIF":5.4,"publicationDate":"2025-01-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143157095","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":"Joint non-invasive identification of an electrochemical and thermal model for an ultra high-power Li-ion pouch cell","authors":"Andrea Trivella,&nbsp;Stefano Radrizzani,&nbsp;Matteo Corno,&nbsp;Sergio M. Savaresi","doi":"10.1016/j.conengprac.2024.106228","DOIUrl":"10.1016/j.conengprac.2024.106228","url":null,"abstract":"<div><div>Accurate physical models of battery cells are required to design safe and reliable Battery Management Systems (BMSs). Due to the safety-critical nature of cell voltage and temperature, both the electrical and thermal behavior of the cell need to be precisely predicted. In this work, an electrochemical – the Single Particle Model (SPM) – and a lumped thermal model are experimentally identified and validated for an ultra high-power pouch cell. To ease its application, the proposed identification procedure is based exclusively on non-invasive tests, i.e., requiring only voltage, current, and temperature measurements. Specifically, the identification protocol is based on two steps: (1) the equilibrium potentials are identified from quasi-static tests; (2) the kinetics and thermal parameters are jointly optimized from a highly dynamic current profile. Due to the high power requirements, the considered pouch cell is always kept pressed by an external fixture, which is properly considered in the modeling and identification. The SPM is compared with a first-order Equivalent Circuit Model (ECM) and the validation is finally performed on two different dynamic tests, showing the good capability of the identified electrochemical and thermal model to match the measured outputs (voltage and temperature) while giving an insight on the internal cell states.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106228"},"PeriodicalIF":5.4,"publicationDate":"2025-01-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143158463","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":"Predictive control of a general water distribution system by using sequential linear programming","authors":"Blaž Korotaj,&nbsp;Mario Vašak","doi":"10.1016/j.conengprac.2024.106232","DOIUrl":"10.1016/j.conengprac.2024.106232","url":null,"abstract":"<div><div>The paper focusses on water distribution systems (WDSs) of a general configuration, whose operation profile is decided by solving a sequential linear program (SLP). The paper introduces linearization procedure for a general network. The necessary SLP mathematical form for a general WDS is also derived. Cost function and all the constraints for the WDS optimization are elaborated. To validate the approach, the derived procedure is applied to a toy example and to a large segment of a WDS from a city in Spain. The results are compared with the operation policy obtained using hysteresis control and substantial operational costs reduction possibilities are demonstrated while respecting all WDS constraints.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106232"},"PeriodicalIF":5.4,"publicationDate":"2025-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143158457","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":"Event-triggered ADRC-MFAC for intelligent tugs in escort operations with a thrust re-allocation strategy","authors":"Jialun Liu ,&nbsp;Chengqi Xu ,&nbsp;Shijie Li ,&nbsp;Zhilin Dong ,&nbsp;Xinjue Hu","doi":"10.1016/j.conengprac.2024.106237","DOIUrl":"10.1016/j.conengprac.2024.106237","url":null,"abstract":"<div><div>Compared to cargo ships, tugs have powerful propulsion, flexible maneuvering, high degree of automation and operational efficiency, therefore, intelligent tugs with high autonomy have received increasing attention worldwide. When a large cargo ship enters a port, one or more tugs are assigned to perform escort operations to follow the ship. To automate this process, this paper proposes an event-triggered control method to address the escort control problem of autonomous tugs. It combines model-free adaptive control (MFAC) and active disturbance rejection control (ADRC) with an event-triggered mechanism to optimize control frequency with stability guarantees. The coupled effects between surge and sway movements are treated as unknown disturbances, allowing decoupled control of surge speed and heading angle. Considering the deterioration of rudder efficacy at low propeller revolutions, this paper also proposes a model-free thrust re-allocation strategy, which enhances its applicability and adaptability to other tugs with varying specifications. Model-scaled simulations and experiments, as well as full-scale simulations on marine simulators have been conducted to validate and evaluate the proposed method.</div></div>","PeriodicalId":50615,"journal":{"name":"Control Engineering Practice","volume":"156 ","pages":"Article 106237"},"PeriodicalIF":5.4,"publicationDate":"2025-01-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143157094","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}