Control of a unique active vibration isolator with a phase compensation technique and automatic on/off switching

This work examines the characteristics of a unique active vibration isolator and develops a control strategy for it. The proposed active vibration isolator is introduced and its dynamic model is presented. A characterization study is conducted to identify system parameters. It is shown that with a simple proportional feedback the closed-loop system has a very narrow stability margin due to the inherent dynamics of the actuator. To improve the stability of the closed-loop system and enhance the performance of vibration isolation, a phase compensator is incorporated in the control scheme. An optimization problem is formulated to determine the optimum controller parameters by minimizing the 2nd norm of the displacement transmissibility. Both absolute position feedback and relative position feedback are considered. In real time implementation, an automatic on/off switching strategy is devised to take full advantage of both the active isolator and passive isolator. The experimental results show that with the proposed control scheme, the isolator is capable of suppressing base excitations effectively.     

Evidence for the importance of trapped particle resonances for resistive wall mode stability in high beta tokamak plasmas

Active measurements of the plasma stability in tokamak plasmas reveal the importance of kinetic resonances for resistive wall mode stability. The rotation dependence of the magnetic plasma response to externally applied quasistatic n=1 magnetic fields clearly shows the signatures of an interaction between the resistive wall mode and the precession and bounce motions of trapped thermal ions, as predicted by a perturbative model of plasma stability including kinetic effects. The identification of the stabilization mechanism is an essential step towards quantitative predictions for the prospects of "passive" resistive wall mode stabilization, i.e., without the use of an "active" feedback system, in fusion-alpha heated plasmas.     

托卡马克垂直不稳定性控制

本文用拉普拉斯变换研究了具有被动和主动控制系统的托卡马克克ＤＮ等离子体的垂直不稳定性控制，求得了系统的稳定性参数和临界拉长度，找到了托卡马克反馈增益参数的第二阻尼稳定运行区。     

Power oscillation suppression by robust SMES in power system with large wind power penetration

The large penetration of wind farm into interconnected power systems may cause the severe problem of tie-line power oscillations. To suppress power oscillations, the superconducting magnetic energy storage (SMES) which is able to control active and reactive powers simultaneously, can be applied. On the other hand, several generating and loading conditions, variation of system parameters, etc., cause uncertainties in the system. The SMES controller designed without considering system uncertainties may fail to suppress power oscillations. To enhance the robustness of SMES controller against system uncertainties, this paper proposes a robust control design of SMES by taking system uncertainties into account. The inverse additive perturbation is applied to represent the unstructured system uncertainties and included in power system modeling. The configuration of active and reactive power controllers is the first-order lead–lag compensator with single input feedback. To tune the controller parameters, the optimization problem is formulated based on the enhancement of robust stability margin. The particle swarm optimization is used to solve the problem and achieve the controller parameters. Simulation studies in the six-area interconnected power system with wind farms confirm the robustness of the proposed SMES under various operating conditions.     

非圆截面托卡马克轴对称模的反馈稳定

通过直接解真空区扰动磁面的边值问题,本文解析地研究了非闭合导壳对托卡马克中轴对称MHD模的反馈稳定性。我们取等离子体截面为椭圆,反馈系统由导壳和主动反馈线圈构成。结果表明,两块放在等离子体上下的导体块有很强的稳定作用;电阻壳可用以抑制高频模式,主动反馈线圈可用以稳定低频模式。 关键词：     

Controlling chaotic robots with kinematical redundancy

Robots with kinematical redundancy under the pseudoinverse control exhibit undesirable chaotic joint motion, which leads to erratic behaviors. In this study, we used the delayed feedback method to control chaotic motions of a planar 3R rigid and a planar 3R flexible redundant robot under the pseudoinverse control when the end-effector traces a closed-path repeatedly in the work space. It was demonstrated that chaotic motions of robots with kinematical redundancy can be turned into regular motion when the delayed feedback method was applied with some appropriate parameters. This study provides a new insight helpful to solve the repeatability problem of redundant manipulators.     

Plasma position control in SST1 tokamak

For long duration steady state operation of SST1, it would be very crucial to maintain the plasma radial and vertical positions accurately. For designing the position controller in SST1 we have adopted the simple linear RZIP control model. While the vertical position instability is slowed down by a set of passive stabilizers placed closed to the plasma edge, a pair of in-vessel active feedback coils can adequately control vertical position perturbations of up to 1 cm. The shifts in radial position arising due to minor disruptions would be controlled by a separate pair of poloidal field (PF) coils also placed inside the vessel, however the controller would ignore fast but insignificant changes in radius arising due to edge localised modes. The parameters of both vertical and radial position control coils and their power supplies are determined based on the RZIP simulations.     

HL-2M等离子体垂直不稳定性的反馈控制研究

使用无源稳定导体和主动控制线圈来控制HL-2M等离子体的垂直不稳定性。计算了等离子体垂直不稳定性增长时间,构建了等离子体垂直不稳定性控制的线性模型,然后用MATLAB对采用PID算法的垂直不稳定性控制系统进行了模拟仿真。结果表明,无源稳定导体和主动控制线圈能够快速稳定等离子体的垂直不稳定性运动,这也表明设计是可行的。     

Delayed resonator with acceleration feedback – Complete stability analysis by spectral methods and vibration absorber design

This paper deals with the problem of active vibration suppression using the concept of delayed resonator (DR) absorber with acceleration feedback. A complete dynamic analysis of DR and its coupling with a single degree of freedom mechanical system are performed. Due to the presence of a delay in the acceleration feedback, the dynamics of the resonator itself, as well as the dynamics of combined system are of ‘neutral’ character. On this system, spectral methods are applied to perform a complete stability analysis. Particularly, the method of cluster treatment of characteristic roots is used to determine stability boundaries in the space of the resonator parameters. Based on this analysis, a methodology to select the resonator parameters is proposed in order to guarantee desirable suppression characteristics and to provide safe stability margins. An example case study is included to demonstrate these analytical results.     

一种单相H桥光伏逆变器混沌控制方法

比例积分调节单相H桥光伏逆变器存在复杂的分岔与混沌等非线性行为,这些非线性行为会大大增加输出电流的谐波含量,降低系统运行的稳定性与供电可靠性.现有的混沌控制方法存在建模复杂、控制系数难以确定等问题.针对于此,本文提出了一种改进指数延迟反馈控制方法.该方法首先利用系统输出电流与其自身延迟的差值形成反馈信号,然后将该反馈信号通过指数环节、作差环节和比例环节得到控制信号,并将该控制信号以反馈的形式施加于被控系统,同时建立系统的离散映射模型并求取系统雅克比矩阵表达式;最后基于稳定判据推导出该控制信号的反馈控制系数的限定条件并实施对系统的控制.为了验证该方法的控制效果,进行了大量的仿真实验.结果表明,该方法能有效抑制系统中的混沌行为,大大扩展系统稳定运行域.     

Dynamics of fractional-order sinusoidally forced simplified Lorenz system and its synchronization

In this paper, dynamical behaviors of the fractional-order sinusoidally forced simplified Lorenz are investigated by employing the time-domain solution algorithm of fractional-order calculus. The system parameters and the fractional derivative orders q are treated as bifurcation parameters. The range of the bifurcation parameters in which the system generates chaos is determined by bifurcation, phase portrait, and Poincaré section, and different bifurcation motions are visualized by virtue of a systematic numerical analysis. We find that the lowest order of this system to yield chaos is 3.903. Based on fractional-order stability theory, synchronization is achieved by using nonlinear feedback control method. Simulation results show the scheme is effective and a chaotic secure communication scheme is present based on this synchronization.     

Study of Globus-M Tokamak Poloidal System and Plasma Position Control

In order to provide efficient performance of tokamaks with vertically elongated plasma position, control systems for limited and diverted plasma configuration are required. The accuracy, stability, speed of response, and reliability of plasma position control as well as plasma shape and current control depend on the performance of the control system. Therefore, the problem of the development of such systems is an important and actual task in modern tokamaks. In this study, the measured signals from the magnetic loops and Rogowski coils are used to reconstruct the plasma equilibrium, for which linear models in small deviations are constructed. We apply methods of the H∞-optimization theory to the synthesize control system for vertical and horizontal position of plasma capable to working with structural uncertainty of the models of the plant. These systems are applied to the plasma-physical DINA code which is configured for the tokamak Globus-M plasma. The testing of the developed systems applied to the DINA code with Heaviside step functions have revealed the complex dynamics of plasma magnetic configurations. Being close to the bifurcation point in the parameter space of unstable plasma has made it possible to detect an abrupt change in the X-point position from the top to the bottom and vice versa. Development of the methods for reconstruction of plasma magnetic configurations and experience in designing plasma control systems with feedback for tokamaks provided an opportunity to synthesize new digital controllers for plasma vertical and horizontal position stabilization. It also allowed us to test the synthesized digital controllers in the closed loop of the control system with the DINA code as a nonlinear model of plasma.     

分数阶混沌系统的异结构同步

基于分数阶线性系统稳定性理论,结合反馈控制和主动控制方法,提出了一种分数阶混沌系统异结构同步方法,给出了同步控制器解析式. 以分数阶Chen混沌系统和分数阶Liu混沌系统、分数阶新超混沌系统和分数阶超混沌Rssler系统的异结构同步为例, 进行了数值模拟,证实了该方法的有效性和可行性. 关键词： 分数阶混沌 异结构混沌同步 新超混沌系统 超混沌Rssler系统     

利用x|x|控制混沌系统

提出了一种新的混沌控制方法，即对混沌动力系统增加一个具有分段二次函数x|x|形式的非线性反馈控制器，利用它控制了一大类系统从混沌运动转化为各种规则的运动.该控制器是一种活动控制器，它不影响原系统的参数，其结构相当简单而且在物理、电路上都容易实现.数值仿真表明了该控制方法的有效性与可行性. 关键词： 混沌 非线性反馈控制器 分段二次函数     

Influence of harmonically varying normal load on steady-state behavior of a 2dof torsional system with dry friction

A nonlinear dry friction problem with harmonically varying normal load is formulated, in the context of a two-degree of freedom torsional system, since virtually all of the prior literature focuses on the topic of time-invariant normal load. First, pure stick, pure slip and stick-slip motions are computationally and analytically determined when excited by a sinusoidal torque, in the presence of harmonically varying saturation torque; mean terms are included in both. These analyses yield both transient and steady-state time histories under various conditions. Second, the effects of time-varying normal load on steady-state responses have been investigated and nonlinear spectral maps (including super-harmonics) are developed. Results show that the actuation system parameters could affect steady-state stick-slip motions in different ways over the lower and higher frequency regimes, as a result of time-delay in slip motions with respect to the torque excitation. In particular, the negative slope characteristics in the friction law exaggerate the stick-slip vibration problems, and it is the major cause of bifurcations and quasi-periodic or chaotic motions. Around the super-harmonic peak frequencies, the nonlinear system tends to lose stability as abrupt jumps in the spectral maps take place. An equivalent viscous damping model is considered to analytically investigate the instability mechanism. Further, the periodicity of the system response under harmonically varying actuation is conceptually by employing the harmonic balance method. Finally, steady-state behavior is examined for the nonlinear, time-varying dry friction problem.     

Equivalent constitutive model-based design of wave-absorbing material system and controller

A design methodology for wave-absorbing active material system is reported. The design enforces equivalence between an assumed material model having wave-absorbing behavior and a set of target feedback controllers for an array of microelectro-mechanical transducers which are integral part of the active material system. The proposed methodology is applicable to problems involving the control of acoustic waves in passive-active material system with complex constitutive behavior at different length-scales. A stress relaxation type one-dimensional constitutive model involving viscous damping mechanism is considered, which shows asymmetric wave dispersion characteristics about the half-line. The acoustic power flow and asymptotic stability of such material system are studied. A single sensor non-collocated linear feedback control system in a one-dimensional finite waveguide, which is a representative volume element in an active material system, is considered. Equivalence between the exact dynamic equilibrium of these two systems is imposed. It results in the solution space of the design variables, namely the equivalent damping coefficient, the wavelength(s) to be controlled and the location of the sensor. The characteristics of the controller transfer functions and their pole-placement problem are studied.     

分数阶时滞反馈对Duffing振子动力学特性的影响

研究了含分数阶时滞耦合反馈的Duffing自治系统, 通过平均法得到了系统周期解的一阶近似解析形式, 定义了以反馈系数、分数阶阶次、时滞参数表示的等效刚度和等效阻尼系数, 发现分数阶时滞耦合反馈同时具有速度时滞反馈和位移时滞反馈的作用. 比较了三种参数条件下近似解析解与数值积分的结果, 二者的吻合精度都很高, 证明了近似解析解的正确性和准确性. 分析了反馈系数、分数阶阶次和非线性刚度系数等参数对系统分岔点、周期解稳定性、周期解的存在范围、零解的稳定性以及稳定性切换次数等系统动力学特性的影响.     

Theoretical analysis of a non-contact spring with inclined permanent magnets for load-independent resonance frequency

In this paper a non-contact magnetic spring design is presented that uses inclined magnets to produce an adjustable relationship between load force and dynamic stiffness. With appropriate choice of parameters, the spring may either operate with a range of constant natural frequency against variable load forces, or a positive stiffness in one horizontal direction may be achieved in addition to having a positive vertical stiffness. Dynamic simulations are presented to assess the non-linear stability of a planar three degree of freedom version of the system; cross-coupling between horizontal and rotation motion is shown to compromise passive stability, in which case passive constraints or active control must be used to avoid instability. The design is scalable in that using larger magnets increases the load bearing capacity and decreases the natural frequency of the system.     

存在声反馈的前馈有源噪声控制系统性能分析

在一些应用场合,前馈有源噪声控制系统中次级源产生的声信号会反馈至参考传声器,影响参考信号质量和系统稳定,导致控制性能下降。引入了等效次级路径的概念,并通过等效次级路径与实际路径的相位偏差分析存在声反馈时的收敛性能。若某些频率的相位偏差大于90°,则这些频率附近将较难收敛,降噪性能下降,甚至导致系统不稳定。通过仿真和实验对单指向传声器声学方法、自适应滤波u型最小均方差(FuLMS)算法、反馈中和算法和在线建模算法共4种解决声反馈问题的方法的性能进行了比较。结果表明,4种方法都能提高存在声反馈时的前馈有源噪声控制系统的性能,有效解决声反馈引起的问题,但各有优缺点。单指向传声器方法最为方便,但低频指向性较差。FuLMS算法运算量较低,但不能保证收敛。反馈中和算法性能最好,但当系统时变时鲁棒性较差。在线建模算法不需要额外滤波器,但由于参数调节复杂,降噪性能稍差。