Control Strategies for Digital Twin Systems

With the continuous breakthrough in information technology and its integration into practical applications, industrial digital twins are expected to accelerate their development in the near future. This paper studies various control strategies for digital twin systems from the viewpoint of practical applications.To make full use of advantages of digital twins for control systems, an architecture of digital twin control systems, adaptive model tracking scheme, performance prediction scheme, performance retention scheme, and fault tolerant control scheme are proposed. Those schemes are detailed to deal with different issues on model tracking, performance prediction, performance retention, and fault tolerant control of digital twin systems. Also, the stability of digital twin control systems is analysed. The proposed schemes for digital twin control systems are illustrated by examples.

Design and Implementation of Digital Fractional Order PID Controller Using Optimal Pole-Zero Approximation Method for Magnetic Levitation System

The aim of this paper is to employ fractional order proportional integral derivative(FO-PID)controller and integer order PID controller to control the position of the levitated object in a magnetic levitation system(MLS),which is inherently nonlinear and unstable system.The proposal is to deploy discrete optimal pole-zero approximation method for realization of digital fractional order controller.An approach of phase shaping by slope cancellation of asymptotic phase plots for zeros and poles within given bandwidth is explored.The controller parameters are tuned using dynamic particle swarm optimization(d PSO)technique.Effectiveness of the proposed control scheme is verified by simulation and experimental results.The performance of realized digital FO-PID controller has been compared with that of the integer order PID controllers.It is observed that effort required in fractional order control is smaller as compared with its integer counterpart for obtaining the same system performance.

Kolmogorov-Chaitin Complexity of Digital Controller Implementations

The complexity of linear, fixed-point arithmetic digital controllers is investigated from a Kolmogorov-Chaitin perspective. Based on the idea of Kolmogorov-Chaitin complexity, practical measures of complexity are developed for statespace realizations, parallel and cascade realizations, and for a newly proposed generalized implicit state-space realization. The complexity of solutions to a restricted complexity controller benchmark problem is investigated using this measure. The results show that from a Kolmogorov-Chaitin viewpoint, higher-order controllers with a shorter word-length may have lower complexity and better performance, than lower-order controllers with longer word-length.

Solar Energy System with Digital Controller for Grid Connected Systems

--The solar photovoltaic （PV） module output voltage changes according to the variation of light intensity and temperature. This paper presents the implementation of an automatic digital controller of a DC-DC boost converter without batteries for a solar cell module by using a peripheral interface controller, which forms a closed loop, to control the ON-OFF period of the switching pulse. The output of DC-DC converter is maintained by automatically increasing or decreasing the pulse width. To produce the pulse width modulation （PWM）, the microcontroller is programmed according to the required duty cycle for the power switch. The PWM ON period is increased with the decrease in the PV voltage and vice-versa. The input voltage to the inverter is maintained constantly and is converted into an AC signal by using the metal-oxide-semiconductor field effect transistor （MOSFET） H-bridge operated in the sinusoidal pulse width modulation mode by using a PIC （peripheral interface controller） microcontroller. The generated AC signal can be connected to the AC grid or to the AC load. The simulated results by using Proteus 8 and hardware implemented results verify the effectiveness of the proposed controller.

Application study of digital PID controller in cockpit temperature auto-regulating system

Aiming at the inherent blemish existi ng currently in airplane cockpit temperature regulating system,a digital temperatu re auto-regulating design scheme of the system is put forward,namely,a digita l proportional-integral-derivative(PID) controller used for temperature contr ol is designed.And then it is applied in airpl ane cockpit temperature regulating system by adopting the way of cascade control.Experiment results indicate that the design scheme is reasonable and practical.

Optimization of block-floating-point realizations for digital controllers with finite-word-length considerations

The closed-loop stability issue of finite-precision realizations was investigated for digital control-lers implemented in block-floating-point format. The controller coefficient perturbation was analyzed resultingfrom using finite word length (FWL) block-floating-point representation scheme. A block-floating-point FWL closed-loop stability measure was derived which considers both the dynamic range and precision. To facilitate the design of optimal finite-precision controller realizations, a computationally tractable block-floating-point FWL closed-loop stability measure was then introduced and the method of computing the value of this measure for a given controller realization was developed. The optimal controller realization is defined as the solution that maximizes the corresponding measure, and a numerical optimization approach was adopted to solve the resulting optimal realization problem. A numerical example was used to illustrate the design procedure and to compare the optimal controller realization with the initial realization.

Real Time Implementation of Series Expansion Based Digital Controller for Magnetic Levitation System

This paper addresses a digital controller for a real time magnetic levitation system using series expansion of pulse transfer function, which achieves desired closed loop response. The proposed digital controller designed, based on series expansion of pulse transfer function by solving a linear equation using the method of least squares, which improves the transient performance and step tracking capability of the compensated system. The designed algorithm used for the control input is not iterative, so the calculation is very fast. The proposed control scheme has successfully applied on maglev system and also validated through the simulation and hardware experimental results.

Comparative Analysis of Analog and Digital Controllers for Negative Output Superlift Luo Converter (NOSLC)

This paper focuses on the comparative study of analog and digital control techniques for Negative Output Superlift Luo converter (NOSLC). NOSLC is a high gain converter in which the positive source voltage is converted into a negative load voltage. Though the negative load voltage is produced effectively, there is lot of non-linearities that affects the voltage level. To overcome this, analog controllers like Proportional-integral (PI), fuzzy PI and a sliding mode controller (SMC) were proposed for NOSLC. However PI controller does not respond to changes in operating point, fuzzy PI is based on the systematic approach and proved to be a trial and error oriented method and SMC brings an oscillation in the duty cycle. Therefore, to overcome these drawbacks, a digital control technique using PIC microcontroller is proposed in this paper which provides high versatility and programmability approach. Simulation studies are carried out in MATLAB and the performances of these controllers have been investigated for the proposed DC-DC converter. A prototype of the NOSLC converter is built by employing digital control and the results are verified experimentally.

2D DIGITAL SIMPLIFIED FLOW VALVE

The 2D digital simplified flow valve is composed of a pilot-operated valvedesigned with both rotary and linear motions of a single spool, and a stepper motor under continualcontrol. How the structural parameters affect the static and dynamic characteristics of the valve isfirst clarified and a criterion for stability is presented. Experiments are designed to test theperformance of the valve. It is necessary to establish a balance between the static and dynamiccharacteristics in deciding the structural parameters. Nevertheless, it is possible to maintain thedynamic response at a fairly high level, while keeping the leakage of the pilot stage at anacceptable level. One of the features of the digital valve is stage control. In stage control thenonlinearities, such as electromagnetic saturation and hysteresis, are greatly reduced. To a largeextent the dynamic response of the valve is decided by the executing cycle of the control algorithm.

Digital Servo Control of a Robotic Excavator

An electro-hydraulic control system is designed and implemented for a robotic excavator known as the Lancaster University Computerised and Intelligent Excavator （LUCIE）. The excavator is being developed to autonomously dig trenches without human intervention. Since the behavior of the excavator arm is dominated by the nonlinear dynamics of the hydraulic actuators and by the large and unpredictable external disturbances when digging, it is difficult to provide adequate accurate, quick and smooth movement under traditional control methodology, e.g., PI/PID, which is comparable with that of an average human operator. The data-based dynamic models are developed utilizing the simplified refined instrumental variable （SRIV） identification algorithm to precisely describe the nonlinear dynamical behaviour of the electro-hydraulic actuation system. Based on data-based model and proportional-integral-plus （PIP） methodology, which is a non-minimal state space method of control system design based on the true digital control （TDC） system design philosophy, a novel control system is introduced to drive the excavator arm accurately, quickly and smoothly along the desired path. The performance of simulation and field tests which drive the bucket along straight lines both demonstrate the feasibility and validity of the proposed control scheme.

Design of speed controller for electronic fuel injection gasoline generator based on feed-forward PID control

As for the application of electronic fuel injection （EFI） system to small gasoline generator set, mechanical speed controller cannot be coupled with EFI system and has the shortcomings of lagged regulation and poor accuracy, a feed-forward control strategy based on load combined with proportional-integral-differential （PID） control strategy was proposed, and a digital speed controller applied to the electrical control system was designed. The detailed control strategy of the controller was intro- duced. The hardware design for the controller and the key circuits of motor driving, current sampling and angular signal captu- ring were given, and software architecture was discussed. Combined with a gasoline generator set mounted with EFI system, the controller parameters were tuned and optimized empirically by hardware in loop and bench test methods. Test results show that the speed deviation of generator set is low and the control system is stable in steady state; In transient state the control system responses quickly, has high stability under mutation loads especially when suddenly apply and remove 100% load, the speed deviation is within 8% of reference speed and the transient time is less than 5 s, satisfying the ISO standard.

A comparative study of digital low dropout regulators

Granular power management in a power-efficient system on a chip(SoC)requires multiple integrated voltage regulators with a small area,process scalability,and low supply voltage.Conventional on-chip analog low-dropout regulators(ALDOs)can hardly meet these requirements,while digital LDOs(DLDOs)are good alternatives.However,the conventional DLDO,with synchronous control,has inherently slow transient response limited by the power-speed trade-off.Meanwhile,it has a poor power supply rejection(PSR),because the fully turned-on power switches in DLDO are vulnerable to power supply ripples.In this comparative study on DLDOs,first,we compare the pros and cons between ALDO and DLDO in general.Then,we summarize the recent DLDO advanced techniques for fast transient response and PSR enhancement.Finally,we discuss the design trends and possible directions of DLDO.

Systematic design method for PI controller with Virtual Resistor-based Active Damping of LCL filter

The Virtual Resistor based Active Damping(VR-AD) is widely employed in converters connected to the grid via LCL filters in order to mitigate the inherent resonance of the filters. Nevertheless, in digitally controlled systems, the PWM and the calculating delays modify the system characteristics in terms of frequency and phase, thus destabilizing the system and degrading the VR-AD performances, mainly in low switching frequencies. Moreover, the stability of the system is greatly affected under weak grid operation characterized by large grid impedance variation. This paper solves these problems by proposing a systematic, robust and optimized design procedure of voltage oriented PI control(VOC) with VRAD. The considered design procedure ensures robust control(sufficient stability margins) and high quality of grid current(reduced steady-state error and minimized THD value) despite the negative impact of digital time delay, grid impedance variation and filter parameters change. Simulation and experimental results are presented to show robustness and efficiency of the suggested design procedure.

Digital control of pulsed gas metal arc welding inverter using TMS320LF2407A

A digital control of pulsed gas metal arc welding inverter was proposed. A control system consisting of analogue parts was replaced with a new digital control implemented in a TMS320LF2407A DSP chip. The design and constructional features of the whole digital control were presented. The resources of the DSP chip were efficiently utilized and the circuits are very concise, which can enhance the stability and reliability of welding inverter. Experimental results demonstrate that the developed digital control has the ability to accomplish the excellent pulsed gas metal arc welding process and the merits of the developed digital control are stable welding process, little spatter and perfect weld appearance.

Simulation and experimental research of digital valve control servo system based on CMAC-PID control method

Digital valve control servo system is studied in this paper. In order to solve the system problems of poor control precision and slow response time,a CMAC-PID( cerebellar model articulation controller-PID) compound control method is proposed. This compound controller consists of two components: one is a traditional PID for the feedback control to guarantee stability of the system; the other is the CMAC control algorithm to form a feed-forward control for achieving high control precision and short response time of the controlled plant. Then the CMAC-PID compound control method is used in the digital valve control servo system to improve its control performance. Through simulation and experiment,the proposed CMAC-PID compound control method is superior to the traditional PID control for enhancing stability and robustness,and thus this compound control can be used as a new control strategy for the digital valve control servo system.

Frequency Control System with Digital Signal Processing Techniques

The frequency of digitally controlled iodine stabilized He-Ne laser locked to a hyperfine component in ^127I2 was measured using the National Metrology Institute of Japan＇s reference iodine stabilized He-Ne laser. This laser is operated under the conditions of the practical implementation and its frequency with respect to the International Committee for Weights and Measure recommended value is known from international comparisons. Adopting a sampling rate of 120 kHz for the control system of an iodine stabilized He-Ne laser enables frequency deviation of the test laser from the reference laser by ＋ 5 kHz （relative accuracy of 1 ×10^11） thus limited only by the reproducibility of the iodine stabilized He-Ne laser itself.

Modelling and Identification of a Digital Feed Drive

In many cases, the cutting method is usually adopted for the efficient machining of non-circular body of revolution and a feed drive is needed to actuate the cutting tool to and fro according to input signal wave. The feed drive for the purpose is required of fast response and accurate positioning. Both of these are highly dependent upon the actuating elements. Several schemes of actuation are specially interested. One is the introduction of piezoelectric actuation. However, the tiny working stroke of the piezoelectric material limits its application to a narrow range. Another is the application of electro-magnetic actuator. An innovative feed drive actuated by the stepper motor is introduced for the purpose. For a conventional step operating mode, a stepper motor can only be controlled to position at finite discrete points. Thus, when it is applied as an actuator of the feed drive, it is very difficult to maintain high accuracy and fast response. To eliminate quantitative error, the stepper motor is controlled under the continual mode. It is achieved with a micro-controller system and a built-in control algorithm program, called "tracking algorithm". Within each sampling cycle, the micro-controller will sample the input signal and the time interval will be divided into two parts according to the relative position between two adjacent stepping points. The phase coils correspondent to the two adjacent stepping points are energized respectively with calculated time duration. In the way, the motion of the tool frame smoothly tracks the input signal. This paper presents modeling and identification of frequency response of the proposed drive. The dynamic response of the feed drive is manly decided by the natural frequency of the stepper motor. For the conventional small-size stepper motors, the natural frequency is within the range 200～400 Hz. Experimental results show that the stepper motor actuated tool frame can smoothly keep in track of the input signal wave under "tracking control". The bandwidth of frequency of the feed drive exceeds 310 Hz.

A digital controlled alternating electromagnetic stirring generator based on dual inverter structure

A digital controlled alternating electromagnetic stirring generator is proposed in this paper. The main circuit of the generator makes use of dual inverter structure among which the former inverter uses full bridge zero voltage switching topology and the latter inverter uses full bridge inverter circuit. To improve the dynamic response performance, the inverting frequency of the former inverter is as high us 100 kHz. The Cortex-M3 kernel based ARM microcontroller LM3S818 is adopted as the cybernetics core of the digital control system to achieve accurate, stable and flexible control of the generator. All the PWM signals for the former and latter inverters are generated by the LM3S818 directly. The constant current characteristic of the former inverter is obtained through current close-loop feedback control, and can ensure the operation safety when the output current waveform is at zero crossing point. Both simulation and experiment results show that the proposed generator is with such advantages as wide soft-switching range, perfect control accuracy and flexible waveform modulation, and can fulfill the requirements of electromagnetic stirring process.

Software Development for Digital Control of WDW Series Testing Machine and Measurement of K_(IC)

Software has been developed for digital control of WDW series testing machine and the measurement of fracture toughness by modularized design. Development of the software makes use of multi-thread and serial communication techniques, which can accurately control the testing machine and measure the fracture toughness in real-time. Three-point bending specimens were used in the measurement. The software operates stably and reliably, expanding the function of WDW series testing machine.

Digital close loop control system for current-programmed mode arc welding inverter

A small-signal model of current programmed mode pulse width modulation converter including the equivalent sampling effect is introduced and analyzed. In this model, an addition pole is brought out by the sampling effect in the current loop gain, and it affects dynamic bandwidth and stability of the inner current loop. By selecting the appropriate stability parameter which determines the additional pole and describes the degree of peaking in closed loop transfer function, a control model of current programmed full bridge arc welding inverter with maximum frequency bandwidth and stability can be obtained. Small and large amplitude pulse current outputs are employed in simulations and experiments and results validate the design method.