Repetitive PD control strategy with inverse transfer function compensation for CVCF inverter

A novel repetitive control strategy for the output waveform of single-phase CVCF inverters is presented. In this scheme, the inverse transfer function of inverter is used as a compensator to obtain stable and satisfy harmonic rejection. Besides, PD controller is adopted to improve transient performance. Simulation and experimental results, which are gotten from a DSP-based 400Hz, 5.5KW inverter, indicate that the proposed control scheme can achieve not only low THD during steady-state operation but also fast transient response during load step change.

Decentralized PD Control for Non-uniform Motion of a Hamiltonian Hybrid System

In this paper, a decentralized proportional-derivative （PD） controller design for non-uniform motion of a Hamiltonian hybrid system is considered. A Hamiltonian hybrid system with the capability of producing a non-uniform motion is developed. The structural properties of the system are investigated by means of the theory of Hamiltonian systems. A relationship between the parameters of the system and the parameters of the proposed decentralized PD controller is shown to ensure local stability and tracking performance. Simulation results are included to show the obtained non-uniform motion.

Fast Ferry Smoothing Motion via Intelligent PD Controller

A novel type of control law was adopted to reduce the vertical acceleration of a fast ferry as well as the motion sickness incidence suffered by the passengers onboard by means of a submerged T-foil.Considering the system changing characteristics under high disturbances,a model-free approach was adopted.In addition,an upgraded proportional-derivative(PD)controller with correction terms resulting from a fast-online estimation of the system dynamics was designed.The overall controller,known as intelligent PD(i-PD)controller,was tested,and the obtained results were compared with those of a classic PD controller.The controllers were also tested in a changing environment and at different operating velocities.The results confirmed the effectiveness of the i-PD controller to smooth the motions with low computational cost control schemes.Furthermore,thanks to ability of the i-PD controller to continually update the estimated dynamics of the system,it showed a better reduction in both vertical motions and the seasickness level of the passengers with the needed robustness under external disturbances and system changing parameters.

On the Comparisons of PID and GI-PD Control

In conjunction with a second order uncertain nonlinear system, this paper makes some comparisons between PID control and general-integral-proportional-derivative (GI-PD) control;that is, by Routh’s stability criterion, we demonstrate that the system matrix under GI-PD control can be stabilized more easily;by linear system theory and Lyapunov method, we demonstrate that GI-PD control can deal with the uncertain nonlinearity more effectively;by analyzing and comparing the integral control action, we demonstrate that GI-PD control has the better control performance. Design example and simulation results verify the justification of our conclusions again. All these mean that GI-PD control has the stronger robustness and higher control performance than PID control. Consequently, GI-PD control has broader application prospects than PID control.

A Parameter Varying PD Control for Fuzzy Servo Mechanism

This paper presents the formulation of novel implementation method based on parameter varying PD controller for fuzzy servo controllers. This formulation uses the approximation of fuzzy nonlinear function including error and error derivation in operation point. Obtained fuzzy control law has been employed to control angular position of servo using digital control technique applied to a typical microcontroller like AVR. The performance and robustness of modified fuzzy controller in comparison with PID controller evaluated in no load, applied external disturbance with different magnitude conditions has been studied. The simulation results showed that the proposed fuzzy controller has a considerable advantage in rise time, settling time and overshoot respect to PID controller when the servo system encounters with nonlinear features like saturation and friction.

基于PD-滑模耦合算法的压电智能薄板颤振抑制

针对工件柔性主导的薄壁件铣削颤振问题,提出了一种基于PD–滑模耦合算法的压电智能薄板颤振抑制方法。首先设计了只需位移测量的主动控制算法,基于滑模控制理论处理系统参数不确定性和外部扰动,通过动态补偿器对未知切削状态进行在线近似和补偿;为解决传感误差和系统时滞问题,在滑模控制器中进一步耦合了时空依变PD控制模型,借助ABAQUS仿真拟合控制参数时变函数;最后设计了一套薄壁件主动控制装置,试验结果显示采用主动控制可有效抑制薄壁件铣削颤振,验证了控制方法的可行性。

欠驱动飞行器横侧向通道的自耦PD控制方法

针对欠驱动高超声速飞行器横侧向通道的姿态控制问题,提出一种基于自耦PD(proportional-differential)控制理论的控制方法.该方法将欠驱动飞行器横侧向姿态模型转换为由速度倾斜角与侧滑角两个通道组成的二阶动态模型,并在速度倾斜角通道中引入一个侧滑角虚拟指令,再对速度倾斜角与侧滑角两个通道的内部动态与外部扰动分别定义两个总扰动,从而将非线性欠驱动扰动系统等价映射为虚拟全驱动线性扰动系统.使用最小速度因子及其自适应速度因子来设计外环速度倾斜角的自耦PD控制器,以便获得侧滑角虚拟指令,并根据该虚拟指令来设计内环侧滑角的自耦PD控制器,从而获得副翼偏角的控制力.分析了自耦PD控制系统的鲁棒稳定性和抗扰动鲁棒性.仿真结果表明,本文设计的自耦PD控制器不仅具有良好的抗扰动鲁棒性,而且具有良好的动态品质和稳态性能.

基于自耦PD的四旋翼无人机轨迹跟踪控制

针对输入受限的四旋翼无人机,为了使其能够快速稳定地跟踪期望轨迹,使用了一种基于自耦PD(SCPD)的轨迹跟踪控制方法。该方法将四旋翼无人机系统不确定性和内外扰动等复杂因素定义为总和扰动,进而将非线性不确定系统映射为未知线性系统。根据自耦PID控制理论,为四旋翼无人机位置环和姿态环各控制通道设计了独立的SCPD控制器,并设计了一种基于误差的速度因子模型。以定点悬停、轨迹跟踪等方式,与基于传统PID和滑模控制的飞行控制系统进行了动态响应性能测试和抗干扰性能对比。仿真结果表明:基于SCPD控制的四旋翼飞行控制系统具有较优的动态响应性能和较强的抗干扰能力,验证了SCPD控制旋翼无人机轨迹跟踪的有效性。

Stability and bifurcation control of a neuron system under a novel fractional-order PD controller

In this paper, we address the problem of bifurcation control for a delayed neuron system. By introducing a new fractional-order Proportional-Derivative(PD) feedback controller, this paper aims to control the stability and Hopf bifurcation through adjusting the control gain parameters. The order chosen in PD controller is different with that of the integer-order neuron system. Sufficient conditions for guaranteeing the stability and generating Hopf bifurcation are constructed for the controlled neuron system. Finally,numerical simulation results are illustrated to verify our theoretical derivations and the relationships between the onset of the Hopf bifurcation and the gain parameters are obtained.

A Three-axis PD Control Model for Bumblebee Hovering Stabilization

Flight stabilization in insects is normally achieved through a closed-loop system integrating the intemal dynamics and feedback control. Recent studies have reported that flight instability may exist in most flying insects but how insects achieve the flight stabilization still remains poorly understood. Here we propose a control model specified for bumblebee hovering stabilization by applying a three-axis PD （proportional-derivative）-controller to a free-flying bumblebee computational model with six Degrees of Freedom （DoFs）. Morphological and kinematic models of a realistic bumblebee in hovering are built up based on measurements whereas a versatile bio-inspired dynamic flight simulator is employed in simulations. A simplified flight dynamic model is further developed as a fast model for control parameter tuning. Our results demonstrate that the stabilizing control model is capable of achieving the hovering stabilization with small perturbations in terms of 6-DoF, implying that the simplified linear algorithms can still work reasonably for bumblebee hovering. A further sensitivity analysis of the control parameters reveals that yaw control via manipulating pitch angle of the wing is mostly sensitive, implicating that bumblebee may utilize alternative yaw control strategies.

Optimal PD/PID control of smart base isolated buildings equipped with piezoelectric friction dampers

Long-period pulses in near-field earthquakes lead to large displacements in the base of isolated structures.To dissipate energy in isolated structures using semi-active control,piezoelectric friction dampers（PFD） can be employed.The performance of a PFD is highly dependent on the strategy applied to adjust its contact force.In this paper,the seismic control of a benchmark isolated building equipped with PFD using PD/PID controllers is developed.Using genetic algorithms,these controllers are optimized to create a balance between the performance and robustness of the closed-loop structural system.One advantage of this technique is that the controller forces can easily be estimated.In addition,the structure is equipped with only a single sensor at the base floor to measure the base displacement.Considering seven pairs of earthquakes and nine performance indices,the performance of the closed-loop system is evaluated.Then,the results are compared with those given by two well-known methods：the maximum possive operation of piezoelectric friction dampers and LQG controllers.The simulation results show that the proposed controllers perform better than the others in terms of simultaneous reduction of floor acceleration and maximum displacement of the isolator.Moreover,they are able to reduce the displacement of the isolator systems for different earthquakes without losing the advantages of isolation.

Stochastic averaging technique for SDOF strongly nonlinear systems with delayed feedback fractional-order PD controller

A stochastic averaging technique is proposed to study the randomly excited single-degree-of-freedom(SDOF) strongly nonlinear systems with delayed feedback fractional-order proportional-derivative(PD) controller. The delayed feedback fractional-order PD control force is approximated by an equivalent non-delay feedback control force combining with a quasi-linear elastic force and a quasi-linear damping force. The averaged It? stochastic differential equation for amplitude of the equivalent nonlinear system is derived by the generalized harmonic functions. The analytical stationary probability density function(PDF) is obtained with solving the reduced Fokker-Planck-Kolmogorov(FPK) equation. Two examples of van der Pol oscillator and RayleighDuffing oscillator are studied to illustrate the application and effectiveness of the proposed method. Numerical results display that the proposed method can yield to the high precision, and the time delay could ruin the control effectiveness, but also even amplifies the response of the system more than that of uncontrolled system. Furthermore, the study finds that the parameters of fractional-order α and time delay may cause the stochastic P-bifurcation. It is indicated that the delayed feedback fractional-order PD controller can offer a potentially effective tool for anti-control of stochastic

基于改进模糊自适应补偿的柔性关节机器人PD控制

针对柔性关节机器人具有不确定性、轨迹跟踪精度低和抖动的问题,提出一种改进模糊自适应补偿的PD控制方法。该方法在原有模糊自适应控制和PD控制的基础上进行改进,采用改进模糊自适应控制对PD控制进行补偿,以提高存在不确定性条件下的关节轨迹跟踪精度并抑制抖动。通过Lyapunov理论证明了系统的稳定性。仿真结果表明:新型控制器具有良好的自适应能力,与传统PD控制和模糊自适应控制相比,新型控制策略显著提高了关节的轨迹跟踪精度并在一定程度上抑制了关节抖动。

全向移动机器人的神经滑模自适应PD跟踪控制

针对四轮全向机器人数学模型中未知因数的干扰,提出了一种基于神经滑模的比例微分(Proportional plus Derivative,PD)自适应跟踪控制策略。首先,对机器人的动力学模型进行分析;其次,利用反步轨迹跟踪控制器得到虚拟速度,基于虚拟输入与实际输入的误差设计PD控制器;接着,采用神经网络来逼近动力学模型中的不确定性,并利用Lyapunov定理证明了系统的稳定性。仿真和实验结果表明,该控制策略具有有效性。

基于双环设计的PD垂直起降飞行器轨迹跟踪控制

论文针对垂直起降飞行器在轨迹跟踪控制过程中存在不确定性和外部扰动的问题,提出了一种基于双环设计的PD轨迹跟踪控制方法。首先,基于前馈补偿对垂直起降飞行器控制器进行PD控制方法设计,其次,将轨迹跟踪系统分为内外两个控制环路,最后进行Matlab/Simulink的仿真实验验证。研究结果表明,基于双环设计的PD控制方法使得垂直起降飞行器性能指标较好,能补偿控制系统所受到的内外干扰,提高控制系统的稳定性。

永磁同步电动机网络有限时间PD同步控制

针对永磁同步电动机系统的参数处在某些范围内出现的混沌振荡现象,以单个永磁同步电动机系统为节点,建立多电机互联网络模型,研究复杂电机网络的混沌振荡同步控制。通过所设计的PD控制方法,使整个电动机网络在有限时间内达到目标平衡点,确保电机网络的稳定。理论分析和仿真结果表明,所设计的PD控制器能够有效地提高电机网络的稳定性和收敛时间,对保证电动机传动系统的协调同步运行具有一定的应用价值。

高斯白噪声激励下含分数阶PD控制器广义DVP系统的随机P-分岔

研究了高斯白噪声激励下含分数阶PD控制器广义DVP系统的随机P-分岔.依据均方最小误差原理将含分数阶PD控制器系统转化为等价的整数阶系统,利用随机平均法求得系统幅值的稳态概率密度函数,且分析了分数阶PD控制器的相关参数及系数对系统的影响,结合稳态概率密度函数曲线图发现改变其参数及系数会诱导系统发生随机P-分岔行为.

基于粒子群算法的挖掘机PD控制器设计

针对挖掘机精确轨迹控制问题,构建了挖掘机动力学模型,搭建了Simulink仿真环境下挖掘机动力学模块、PD控制系统模块和可自动调用的PD参数输入模块;通过PSO最优搜寻得到PD权重参数,然后在PSO程序中定义挖掘机动力学模型,最后在动态控制下进行一个闭环快速自适应整定联合仿真。仿真结果表明,采用基于粒子群算法的挖掘机PD控制器与传统的试凑法都能达到期望的轨迹控制,且都能较好地贴近理论值,但基于粒子群算法的挖掘机PD控制器能够快速自适应整定。在挖掘轨迹起始过程中,相较于试凑法中K_(P)和K_(V)组合为200-5,粒子群算法的PD控制器要收敛近75%,降低了系统的稳态误差,大大提高了液压挖掘机的稳定性和精确性。