Observer-Controller Design for Three Dimensional Overhead Cranes Using Time-Scaling

In this paper we address the design of an observer-controller for a three degrees of freedom overhead crane. We consider a linear model of the crane where the length of the suspending rope is a time-varying parameter. The set of models given by frozen values of the rope length can be reduced to a single time-invariant reference model using suitable time-scalings. We construct a controller and an observer for the reference model assigning the desired closed loop eigenvalues for both system and estimation error. The time-scaling relations can be used to derive a control law for the time-varying system that implements an implicit gain-scheduling [6]. A second gain-scheduling is used to choose suitable closed-loop eigenvalues for different values of the load and lifting/lowering operations. Using a Lyapunov-like theorem, it is also possible to find relative upper bounds for the rate of change of the varying parameter that ensure the stability of the time-varying system.     

Active damping of rotational load oscillations at container cranes by individual rope length actuation

A particular challenge in the field of container crane control are rotations of the load about its vertical axis when neither special rotational actuators nor variable configurations of the rope directions are available. It is possible to enhance damping of rotational load oscillations by changing the rope lengths individually. Under the assumption of rigid ropes, a model representing the approximate dynamical behavior of the oscillator with three degrees of freedom is developed which reflects the nonlinear coupling effects between the degrees of freedom. This model is used for a stabilizing controller design with only the position of the trolley and the rope lengths actuated. (© 2013 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A numerical method for the servo constraint problem of underactuated mechanical systems

Servo constraints are used in inverse dynamics simulations of discrete mechanical systems, especially for trajectory tracking control problems [1], whose desired outputs are represented by state variables and treated as servo constraints [2]. Servo constraint problems can be classified into fully actuated and underactuated multibody systems, and the equations of motion take the form of differential algebraic equations (DAEs) including holonomic and servo constraints. For fully actuated systems, control inputs can be solved from the equations by model inversion, as the input distribution matrix is nonsingular and invertible. However, underactuated systems have more degrees of freedom than control inputs. The input distribution matrix is not invertible, and in contrast to passive constraints, the realization of servo constraints with the use of control forces can range from orthogonal to tangential [3]. Therefore, it is challenging for the determination of control inputs which force the underactuated system to realize the partly specified motion. For differentially flat underactuated systems, the differentiation index of DAEs may exceed three. Hence we need to apply specific index reduction techniques, such as the projection approach applied in [3], [4], and [6]. The present work applies index reduction by minimal extension [5] to differentially flat underactuated crane systems and shows that the index can be reduced from five to three and even to one. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Control of Nonlinearly Coupled Oscillators Using a Method of Averaging

Container cranes belong to the class of underactuated systems for which the design of control laws is a challenging task. We study the stabilization of certain modes of a crane system using a method of averaging. Based on the local approximation to the system dynamics by a second order Taylor series expansion, the effects of nonlinear couplings are exploited to steer degrees of freedom, for which no linear actuation is available. Rotations of the load about the vertical axis are analyzed and a control method is derived and tested experimentally. (© 2015 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Optimal control for indoor overhead crane systems with predefined course of crab

Most papers on optimal control of 3D overhead cranes focus on systems without constraints for the course of the crab (for example [1], [3]). Based on a general 3D model a minimal model with 2 degrees of freedom is developed. Starting from a given initial state the optimal control to reach a given final state is calculated for some predefined courses of the crab. For different turning angles and speeds of the crab an arc of a sine, parabola, circular and an arc of two symmetric clothoid segments have been investigated. Calculations for different values of the mass of the load, turning angles and speed of the crab are presented. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Vibrations of Pipes with Internal Flow and Rigid Body Degrees of Freedom

In the present paper the nonlinear dynamics of elastic pipes conveying fluid at arbitrary flow rates are investigated. The nonlinear equations of motion are derived using a unified form of the Lagrange Equations for non-material volumes formulated by Irschik and Holl [1], see also Chapter 3 of [2]. In a first step cantilevered pipes are considered using elastic degrees of freedom combined with a Ritz-Galerkin Ansatz of arbitrary order for modelling the deformations of the pipes. The Lagrange Equations for non-material volumes include a nonzero surface integral of the kinetic energy due to the moving outlet surface at the end of the pipe. The linear equations of motion obtained from this model are then analytically investigated utilizing the corresponding Eigenvalue problem. The results are visualized in an Argand representation of the corresponding Eigenvalues of the system matrix and compared to existing results obtained by using different formulations, such as the Hamilton Principle for Open-Systems, formulated by Benjamin [4], as demonstrated by Païdoussis [5], see also chapter 3.5 of [6]. In a next step an elastic pipe with a rigid body degree of freedom combined with a Ritz-Galerkin Ansatz is modelled with one supported and one free end. The derivation of the equations of motion is performed by using a floating-frame of reference formulation which leads to a system of nonlinear second order differential equations describing the motion of the pipe. Finally, the stability of the solutions of the equations of motion for varying flow rate is studied numerically. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Simulating underactuated multibody dynamics using servo constraints and variational integrators

In underactuated dynamical systems, the number of control inputs n_u is smaller than the number of degrees of freedom n_q. Real world examples include e. g. flexible robot arms or cranes. In these two exmples the goal is to prescribe the trajectory of an end effector and find the necessary control variables. One approach to model these problems is to introduce servo constraints in the equations of motion that enforce a given trajectory for some part of the system [1]. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

New development of parallel robots and microrobots with three,four and five degrees of freedom

All over the world it can be noticed that product miniaturisation is a central theme in product development for different application areas. In robotics scientific research, one of the most important approaches is concerning the increase of the positioning accuracy by the use of parallel structures [3], [4], [5]. In this paper some variants of parallel robots and micro-robots with three, four and five degrees of freedom are presented, which are used for manipulation within high precision assembling processes. The corresponding kinematic models have been developed. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Comparative study on control concepts of a robot manipulator with multiple-link/joint flexibilities

If one is dealing with active vibration suppression on a highly nonlinear flexible system, various techniques are needed. On the one hand a suitable dynamic model of the system is required. And on the other hand intelligent model based control concepts are necessary for active vibration damping. We deal with a basic model, where the flexibilities are approximated with linear springs and dampers, a so called lumped element model (LEM). For the control design we propose a control structure with two degrees of freedom (2DoF) for solving the tracking problem, based on the LEM. Such an approach allows designing the feedforward part independently of the feedback part. Hereby the feedforward control is based on the flatness approach, while for the feedback control several strategies are studied using acceleration- and gyrosensor-measurements. The contribution is completed with a validation by measurements from a very fast trajectory on an articulated robot with two flexible links and three elastic joints. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Nonlinear control of a variable displacement axial piston pump

In this contribution a mathematical model of a variable displacement axial piston pump controlled by a solenoid valve is derived. For the purpose of a controller design the mathematical model is simplified using singular perturbation arguments. The goal of the controller design is to track prescribed trajectories in the load pressure for arbitrary unknown load conditions. The control concept being proposed comprises a feedforward controller and a nonlinear backstepping controller combined with a load estimator for the trajectory error system. The feasibility of this control concept is shown by means of measurements on a test-stand. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The effect of external perturbing moments on the dynamics of a uniaxial single-flywheel attitude control system of a spacecraft PMM vol. 31, no. 6, 1967, pp. 1095–1103

Effective damping of relative craft oscillations in a single-flywheel uniaxial attitude control system whose purpose is to keep a spacecraft oriented in some direction in space, e.g. towards the Sun, can be achieved by nonrigid coupling of its body with the axis of rotation of the flywheel [1]. This can be accomplished by adequately restricting two of the degrees of freedom of the flywheel in a three-degree universal suspension by means of a proportional damper of any type.

In the present paper we shall consider the stability of free oscillations of a spacecraft equipped with a flywheel on a movable axis, as well as the motion of tlie oriented craft axis under the action of external perturbing moments and the perturbed motion of the craf itself relative to the oriented axis.     

Optimal synthesis in certain terminal control problems : PMM vol. 42, no. 6, 1978, pp. 989–999

A class of problems of terminal control of multi-dimensional systems reducible to one-dimensional is investigated. Similar problems of time-optimal response for autonomous and nonautonomous systems were considered, for instance, in [1]. The solution derived here is based on sufficient conditions of the dynamic programming method [2]. Ways are developed for the derivation of an analytic solution of the problem of synthesis and, also, for the determination of optimal-phase trajectory and of programmed control. Problems of energy-optimal consumption for stabilizing the rotations of a dynamically symmetric solid body using a limited power motive system are solved [3].     

A new method of construction of resonances that applies to critical models

We introduce a new method of multi-scale analysis that can be used to study the spectral properties of operators in non-relativistic quantum electrodynamics with critical coupling functions. We utilize our method to prove the existence of resonances of nonrelativistic atoms which are minimally coupled to the quantized (ultraviolet-regularized) radiation field and construct them together with the corresponding resonance eigenvector in case of critical coupling, i.e., without any infrared regularization. This result was first proved in [19] with the ingredient of a suitable Pauli-Fierz transformation. The purpose of the present paper, however, is to demonstrate the power of our new method for the estimation of resolvents that is based on the isospectral Feshbach-Schur map [8]. The reconstruction formula for the resolvent of an operator in terms of the resolvent of its image under the Feshbach-Schur map allows us to use a fixed projection and to compare two resolvents without actually decimating the degrees of freedom. This is in contrast to the renormalization group based on Feshbach-Schur map, developed in [8], [5], that uses a decreasing sequence of ever-smaller projections and successively decimates the degrees of freedom. It is this new method that allows us to treat the critical and physically relevant Standard model of non-relativistic quantum electrodynamics [7] which is intractable by standard methods.     

带干扰的常利率超额再保险Poisson风险模型的最优自留额

本文推广了Centeno[1],何树红[2],张茂军[3]的模型,研究带干扰的常利率超额再保险风险模型。首先用鞅方法求得其调节函数,进而证明Lundberg不等式,给出有限时间破产概率上界,并讨论最优自留额的确定。     

A new approach to the incorporation of servo constraints in multibody dynamics

A new index reduction approach is developed to solve the servo constraint problems [2] in the inverse dynamics simulation of underactuated mechanical systems. The servo constraint problem of underactuated systems is governed by differential algebraic equations (DAEs) with high index. The underlying equations of motion contain both holonomic constraints and servo constraints in which desired outputs (specified in time) are described in terms of state variables. The realization of servo constraints with the use of control forces can range from orthogonal to tangential [3]. Since the (differentiation) index of the DAEs is often higher than three for underactuated systems, in which the number of degrees of freedom is greater than the control outputs/inputs, we propose a new index reduction method [1] which makes possible the stable numerical integration of the DAEs. We apply the proposed method to differentially flat systems, such as cranes [1,4,5], and non-flat underactuated systems. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Active Disturbance Rejection Control of Quadrotor UAVs Based on Joint Observation and Feedforward Compensation北大核心CSCD

为解决模型参数不确定与外界干扰影响下,四旋翼无人机飞控作业中姿态与轨迹跟踪精度下降,反应迟缓的问题,利用拓展Kalman滤波应对非线性系统问题出色的适应能力和噪声抑制能力,对四旋翼状态信息进行初步估算来抑制高频信号干扰,从而降低了扩张状态观测器的估计负担.同时,与扩张状态观测器联合估计由系统不确定性参数与外界扰动联合组成的“总扰动”,使系统对于精确模型的依赖性降低,并利用扰动估计的微分值进行前馈补偿,以提高对突变扰动的跟踪精度,克服了突变干扰下的相位滞后现象.综合联合观测器、带前馈补偿的LESO及带误差补偿的PD控制律,形成了一种利用拓展Kalman滤波与前馈补偿后的扩张状态观测器联合观测扰动,能较大程度抑制高频噪声和突变扰动的改进型自抗扰控制器.仿真与实验结果表明,联合观测器能有效地减小观测误差幅值且能超前校正观测相位滞后,从而更好地得到更精确的状态信息,改进型自抗扰控制器能更好地满足四旋翼飞行器快速反应、高效稳定的控制要求,精准高效地完成复杂轨迹跟踪.     

Optimal controllability in viscoelasticity of rate type

Recently, the control engineers interest turns upon material with structural damping, such as hysteretic effects in elastoplastic systems [27] and flexible space structures [30] and in particular with damping due to the viscoelastic nature of the material, in the sense of Kelvin, [7], [12]. The reason for this renewed interest is the possibility of constructing finite rank compensators with small spillover in the observation [1], [5], [11], [25]. However, a control theory for the infinite system does not seem to exist in the literature. It is shown that the trajectories, initially in a certain subspace, can be steered to rest in any time T > 0 using distributed load controls

1 The reesults are partially contained in [19].

. Furthermore, and perhaps more interesting, the L₂ (0, T, H)-norm of the control decreases as T increases. This gives rise to the problem of time-optimal-controllability and the correlation to the problem of minimum norm controllability. It is shown that the time-optimal control is characterized by a weak “bang-bang” principle.     

Remarks on a Strongly Nonlinear Model for Two‐Layer Flows with a Top Free Surface

We revisit in this paper the strongly nonlinear long wave model for large amplitude internal waves in two‐layer flows with a free surface proposed by Choi and Camassa [1] and Barros et al. [2]. Its solitary‐wave solutions were the object of the work by Barros and Gavrilyuk [3], who proved that such solutions are governed by a Hamiltonian system with two degrees of freedom. A detailed analysis of the critical points of the system is presented here, leading to some new results. It is shown that conjugate states for the long wave model are the same as those predicted by the fully nonlinear Euler equations. Some emphasis will be given to the baroclinic mode, where interfacial waves are known to change polarity according to different values of density and depth ratios. A critical depth ratio separates these two regimes and its analytical expression is derived directly from the model. In addition, we prove that such waves cannot exist throughout the whole range of speeds.