Transfigured Loop Shaping Controller and its Application to Underwater Vehicle

A kind of transfigured loop shaping controller is presented in this paper. A transfigured loop shaping system puts a controller K in a feedback loop, while putting the dc gain of the controller K on the reference signal line. It is shown through frequency domain analysis and simulation that a transfigured controller can improve the dynamic behavior of a system. The transfigured loop shaping controller method is simple and effective and corresponds to the mixed sensitivity method of robust control theory, which improves the behavior of a system by iterative tuning of weighting functions. Satisfactory control results are obtained when it is applied to the design of an underwater vehicle. Keywords Loop shaping controller - underwater vehicle - transfiguration Zhang Xianku graduated from Beijing Institute of Clothing Technology, China, in 1990. He received the M. S. degree from Dalian Maritime University (DMU), China, in 1993 and the Ph.D. degree from DMU, in 1998. He is currently a professor at the Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University. His research interests include ship motion control and robust control.Jin Yicheng graduated from Zhejiang University, China, in 1967. He is currently a professor at the Laboratory of Simulation and Control of Navigation Systems, Dalian Maritime University. His research interests include simulating system of ship steering and visual control.

H_∞Loop Shaping Control for Plasma Vertical Position Instability on QUEST

QUEST has a divertor configuration with a high and a negative n-index, and the problem of plasma vertical position instability control in QUEST is still under extensive study for achieving high efficiency plasma. The instability we considered is that the toroidal plasma moves either up or down in the vacuum chamber until it meets the vessel wall and is extinguished. The actively controlled coils （HCU and HCL） outside the vacuum vessel are serially connected in feedback with a measurement of the plasma vertical position to provide stabilizing control. In this work, a robust controller is employed by using the loop synthesis method, and provides robust stability over a wide range of n-index. Moreover, the gain of the robust controller is lower than that of a typical proportional derivative （PD） controller in the operational frequency range; it indicates that the robust controller needs less power consumption than the PD controller does.

Robust control of isopropyl benzene production process using H_(∞) loop shaping control scheme

This paper discusses robust control strategy for isopropyl benzene production process using the method of loop shaping H_(∞) technology.This cumene production process is a part of phenol plant in HOCL,Kochi.H_(∞) control of the propylene concentration is done here.The H_(∞) controller is derived from the linearised model of the reactor.The optimal H_(∞) controller is obtained by simplifying two algebraic Riccati equations.The proposed PID-like H_(∞) controller provides a single tuning parameter which makes the controller design more accurate.The proposed controller has been compared with other robust controllers like H_(2) and LQR.The H_(∞) controller is found to be superior in a wide frequency range and has a feature of low distortion and good regulating performance.The reactor model has been developed in COMSOL Multiphysics with the parameters obtained from HOCL plant,Kochi.The model extracted is reduced using model order reduction for the controller design.

Robust Control of Time Delay Systems

This study presents the design of both H∞ Loop Shaping Control （HLSC） and Internal Model Control （IMC） strategies for linear time delay systems. For first order time delay system, a systematic approach for weight selection based on the sensitivity function was proposed, then compared to the internal model control strategy. For both methods, the synthesis was based on the Pade approximation. Two cases are considered for time delay： upper or lower than system time constant. Simulation results for the proposed approaches are acceptable ever in presence of disturbances and model mismatches.

Industrial shape detecting system of cold rolling strip

A high-precision shape detecting system of cold rolling strip is developed to meet industrial application, which mainly consists of the shape detecting roller, the collecting ring, the digital signal processing （DSP） shape signal processing board and the shape control model. Based on the shape detecting principle, the shape detecting roller is designed with a new integral structure for improving the precision of shape detecting and avoiding scratching strip surface. Based on the DSP technology, the DSP shape signal processing circuit board is designed and embedded in the shape detecting system for the reliability and stability of shape signal processing. The shape detecting system was successfully used in Angang 1 250 mm HC 6-high reversible cold rolling mill. The precision of shape detecting is 0.2 I and the shape deviation is controlled within 6 1 after the close loop shape control is input.

Experimental study on cyclic deformation properties of saturated Fujian sand at different loading frequencies

In this study,a series of undrained cyclic torsional shear tests were conducted to investigate the effect of cyclic loading frequency f on the pre-liquefaction(shearing contractive(SC)period and initial shearing dilative(ISD)period)and post-liquefaction(late shearing dilative(LSD)period)deformation properties of saturated Fujian sand.The secant shear modulus G and damping ratioλin the entire cyclic loading process,and the unloading tangent shear modulus G_(L1)and flow deformation tangent shear modulus GL2 in the ISD and LSD periods were adopted to quantitatively characterize the evolution of hysteresis loop with an increase in shear strain amplitude ca.The test results show that the effect of f on G of saturated Fujian sand in the SC period is not apparent.However,all the G-γ_(a),G_(L1)-γ_(a),and GL2-ca curves in the ISD and LSD periods showed a downward trend with an increase in f.This study also proposes a modified method for calculatingλto compensate for the analytical error caused by the non-closure of hysteresis loop.Compared with the classical curves that mainly applied in geotechnical engineering,theλfirst increases and then decreases with the increase ofγa.Furthermore,theλevaluated by the modified method is approximately 10%–15%more than theλevaluated by the traditional method when theλreaches its peak value.

Differential Evolution Based High-order Peak Filter Design with Application to Compensation of Contact-induced Vibration in HDD Servo Systems

Sensitivity loop shaping using add-on peak filters is a simple and effective method to reject narrow-band disturbances in hard disk drive （HDD） servo systems. The parallel peak filter is introduced to provide high-gain magnitude in the concerned frequency range of open-loop transfer function. Different from almost all the known peak filters that possess second-order structures, we explore in this paper bow high-order peak filters can be designed to improve the loop shaping performance. The main idea is to replace some of the constant coefficients of common second-order peak filter by frequency-related transfer functions, and then differential evolution （DE） algorithm is adopted to perform optimal design. We creatively introduce chromosome coding and fitness function design, which are original and the key steps that lead to the success of DE applications in control system design. In other words, DE is modified to achieve a novel design for hard disk drive control. Owing to the remarkable searching ability of DE, the expected shape of sensitivity function can be achieved by incorporating the resultant high-order peak filter in parallel with baseline feedback controller. As a result, a seventh-order peak filter is designed to compensate for contact-induced vibration in a high-density HDD servo system, where the benefits of high-order filter are clearly demonstrated.