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tracking performance of Electric Power Steering System Based on the Mixed H_2/H_∞ Strategy

Chinese Journal of Mechanical Engineering 2011年第4期24卷 584-590页

作者： ZHAO Wanzhong SHI Guobiao LIN Yi NIE Hong College of Energy and Power Engineering Nanjing University of Aeronautics and Astronautics Nanjing 210016 China School of Mechanical Engineering Beijing Institute of Technology Beijing 100081 China

The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system＇s robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system＇s robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide s

关键词： recirculating ball-type electrical power steering (EPS) system tracking performance mixed H2/H∞

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tracking performance Under Additive Gaussian Noise and Control Energy Constraint for Networked Control Systems

Tracking Performance Under Additive Gaussian Noise and Contr...

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第24届中国控制与决策会议

作者： Ming Chi 1 , Zhi-Hong Guan 1 , Li Ding 2 , Fu-Shun Yuan 3 1. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China2. School of Power and Mechanical Engineering, Wuhan University, Wuhan, 430072, China 3. School of Mathematics and Statistics, Anyang Normal University, Anyang, 455002, China

There is an increasing interest in studying the optimal tracking performance of network control systems. This paper investigates the optimal tracking performance issues of finite-dimensional, continuous-time, linear time-invariant network control systems, in which the forward path is subject to noise disturbance and an additive white Gaussian Noise existed in the output feedback. The reference input is a Brownian motion random process. The two-parameter controller is employed and an integral square criterion is adopted to measure the tracking error and the input energy. The plant under consideration is assumed to be non-minimum phase and unstable, that is, the plant has zeros in the right half and unstable poles. The explicit expression of the tracking performance has been obtained. The results show that the white Gaussian noise, as well as the unstable poles and non-minimum phase zeros, can worsen the tracking performance.

关键词： tracking performance white Gaussian noise control energy constraint two-parameter control unstable poles non-minimum phase zeros.

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tracking performance for Output Feedback Control under Quantization Constraints

Tracking Performance for Output Feedback Control under Quant...

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第三十届中国控制会议

作者： QI Tian~1,SU Weizhou~1,CHEN Jie~2 1.College of Automation Science and Engineering,South China University of Technology,Guangzhou 510640,P.R.China 2.Department of Electronic Engineering City University of Hong Kong Kowloon,Hong Kong

＜正＞This paper studies the tracking problem for linear time-invariant（LTI）,single-input single-output（SISO） discrete-time network control systems with quantization constraints on control *** logarithmic quantizer is adopted and quantization error is formulated as multiplicative *** order to tracking the reference step signal,an output-feedback controller in Youla parameterization is *** analytic expression of tracking performance limitation is received which is determined by the non-minimum phase zeroes of given system and the unique solution to a parameterized algebraic Riccati *** is more meaningful is that the optimal output feedback controller is an observer-based stabilizing *** results also provide an output feedback controller design method to solve LQR/LQG problem for linear systems with multiplicative noise.

关键词： Networked control system Logrithmic quantizer tracking performance Output-feedback control

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Optimal tracking performance of MIMO Networked Control Systems with Communication Constraints

Optimal Tracking Performance of MIMO Networked Control Syste...

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第26届中国控制与决策会议

作者： Chao-Yang Chen Ming Chi Zhi-Hong Guan Xian-He Zhang Xi-Sheng Zhan College of Automation Huazhong University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University

In this paper, we study the optimal tracking performance problem of continuous-time linear multi-input multi-output（MIMO） networked control systems. The unstable and non-minimum phase systems is considered. The output feedback path is subject to quantization noise, additive white Gaussian noise and bandwidth constraints, and encoding and decoding are considered. The reference input is a random signal. The performance is measured through the tracking error energy, and two-parameter controller is considered. The explicit expression of the tracking performance has been obtained. The results show that the unstable poles and non-minimum phase zeros of the plant, the channel noise,bandwidth, quantization noise and coder will aggravate the optimal tracking performance.

关键词： tracking performance Channel Noise Quantization Noise Bandwidth Constraint

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Method of adaptive PLL bandwidth adjustment without phase slipping

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Journal of Systems Engineering and Electronics 2014年第6期25卷 949-958页

作者： Yannian Lou Chaojie Zhang Xiaojun Jin Zhonghe Jin Micro-Satellite Research Center Zhejiang University

In a system based on the phase lock loop（PLL）, a trade-off must be made between the tracking precision and the dynamic performance if constant parameters are adopted. To overcome this drawback, a new method called no phase slipping adaptive bandwidth（NPS-AB） is proposed, which can adjust the loop bandwidth adaptively for different working conditions. As a result, both the tracking precision and the dynamic performance can be achieved concurrently. NPS-AB has two features to keep the loop stable： one is the capability of quick response to dynamics; the other is a series of additional constraints when the bandwidth is switched. Compared with other methods, there is no phase slipping during the adjustment process for NPS-AB. The phase integer ambiguity can be avoided and the phase value is kept valid. It is meaningful for carrier ranging systems. Simulation results show that NPS-AB can deal with sudden dynamics and keep the pseudo-range value stable in the entire dynamic process.

关键词： bandwidth adjustment tracking performance phase slipping adaptive loop

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Stability and performance analysis of the compressed Kalman filter algorithm for sparse stochastic systems

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Science China(Technological Sciences) 2024年第2期67卷 380-394页

作者： LI RongJiang GAN Die XIE SiYu LüJinHu Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of SciencesBeijing 100190China School of Mathematical Sciences University of Chinese Academy of SciencesBeijing 100049China Zhongguancun Laboratory Beijing 100049China School of Aeronautics and Astronautics University of Electronic Science and Technology of ChinaChengdu 611731China School of Automation Science and Electrical Engineering Beihang UniversityBeijing 100191China

This paper considers the problem of estimating unknown sparse time-varying signals for stochastic dynamic *** deal with the challenges of extensive sparsity,we resort to the compressed sensing method and propose a compressed Kalman filter(KF)*** algorithm first compresses the original high-dimensional sparse regression vector via the sensing matrix and then obtains a KF estimate in the compressed low-dimensional ***,the original high-dimensional sparse signals can be well recovered by a reconstruction *** ensure stability and establish upper bounds on the estimation errors,we introduce a compressed excitation condition without imposing independence or stationarity on the system signal,and therefore suitable for feedback *** further present the performance of the compressed KF ***,we show that the mean square compressed tracking error matrix can be approximately calculated by a linear deterministic difference matrix equation,which can be readily evaluated,analyzed,and ***,a numerical example demonstrates that our algorithm outperforms the standard uncompressed KF algorithm and other compressed algorithms for estimating high-dimensional sparse signals.

关键词： sparse signal compressed sensing Kalman filter algorithm compressed excitation condition stochastic stability tracking performance

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Amplitude phase control for electro-hydraulic servo system based on normalized least-mean-square adaptive filtering algorithm

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Journal of Central South University 2011年第3期18卷 755-759页

作者：姚建均富威胡胜海韩俊伟 College of Mechanical and Electrical Engineering Harbin Engineering University School of Mechatronics Engineering Harbin Institute of Technology

The electro-hydraulic servo system was studied to cancel the amplitude attenuation and phase delay of its sinusoidal response,by developing a network using normalized least-mean-square (LMS) adaptive filtering *** command input was corrected by weights to generate the desired input for the algorithm,and the feedback was brought into the feedback correction,whose output was the weighted *** weights of the normalized LMS adaptive filtering algorithm were updated on-line according to the estimation error between the desired input and the weighted ***,the updated weights were copied to the input *** estimation error was forced to zero by the normalized LMS adaptive filtering algorithm such that the weighted feedback was equal to the desired input,making the feedback track the *** above concept was used as a basis for the development of amplitude phase *** method has good real-time performance without estimating the system *** simulation and experiment results show that the proposed amplitude phase control can efficiently cancel the amplitude attenuation and phase delay with high precision.

关键词： amplitude attenuation phase delay normalized least-mean-square adaptive filtering algorithm tracking performance electro- hydraulic servo system

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Disturbance Rejection Adaptive Control for Atmospheric Effects on Aircraft

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Transactions of Nanjing University of Aeronautics and Astronautics 2017年第6期34卷 637-646页

作者： Wang Xin Chen Xin Wen Liyan College of Automation and Engineering Nanking University of Aeronautics and AstronauticsNanjing 210016P.R.China

Disturbance rejection algorithm based on model reference adaptive control(MRAC)augmentation is investigated for uncertain turbulence disturbances.A stable adaptive control scheme is developed based on lower diagonal upper(LDU)decomposition of the high frequency gain matrix,which ensures closed-loop stability and asymptotic output *** the proposed control techniques,the bounded stability is achieved and the controller is able to remain within tight bounds on the matched and unmatched ***,simulation studies of a linearized lateral-directional dynamics model are conducted to demonstrate the performance of the adaptive scheme.

关键词： adaptive control disturbance rejection LDU decomposition tracking performance

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

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International Journal of Automation and computing 2008年第2期5卷 119-124页

作者： Mingcong Deng Hongnian Yu Akira Inoue Department of Systems Engineering Okayama University 3-1-1 Tsushima-Naka Okayama 700-8530 Japan Faculty of Computing Engineering and Technology Staffordshire University Stafford ST18 0DG UK

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.

关键词： Decentralized proportional-derivative (PD) control hybrid system non-uniform motion local stability tracking performance

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Multivariable Optimal performance under Packet Loss for Networked Control Systems

Multivariable Optimal Performance under Packet Loss for Netw...

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第26届中国控制与决策会议

作者： Bo Xiao Bin Liu Meng-Meng Wang Engineering Research Center for Metallurgical Automation and Detecting Technology Ministry of Education Wuhan University of Science and Technology Department of Automation College of information Science and Engineering Wuhan University of Science and Technology

This paper focuses on the optimal tracking performance of unstable models. The work is presented for discrete time, linear time-invariant and finite-dimensional networked control systems. An integral square error criterion, between the reference signal and output, is adopted to measure the tracking performance. The explicit expression of optimal tracking error has been obtained. The plant under consideration is assumed to have non-minimum phase（NMP） zeros, unstable poles and data packet loss. The results show that data packet loss, NMP zeros and unstable poles, can worsen the tracking performance. Specifically, the allowable maximum data packet loss rate is calculated in the example.

关键词： Packet loss Allowable maximum packet loss rate tracking performance NMP zeros Unstable poles

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