• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.6
• /
• pp.548-553
• /
• 2008

In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm's angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.

• Smart Structures and Systems
• /
• v.31 no.5
• /
• pp.437-454
• /
• 2023

Real-time hybrid simulation (RTHS), which has the advantages of a substructure pseudo-dynamic test, is widely used to investigate the rate-dependent mechanical response of structures under earthquake excitation. However, time delay in RTHS can cause inaccurate results and experimental instabilities. Thus, this study proposes a model-based adaptive control strategy using a Kalman filter (KF) to minimize the time delay and improve RTHS stability and accuracy. In this method, the adaptive control strategy consists of three parts-a feedforward controller based on the discrete inverse model of a servohydraulic actuator and physical specimen, a parameter estimator using the KF, and a feedback controller. The KF with the feedforward controller can significantly reduce the variable time delay due to its fast convergence and high sensitivity to the error between the desired displacement and the measured one. The feedback control can remedy the residual time delay and minimize the method's dependence on the inverse model, thereby improving the robustness of the proposed control method. The tracking performance and parametric studies are conducted using the benchmark problem in RTHS. The results reveal that better tracking performance can be obtained, and the KF's initial settings have limited influence on the proposed strategy. Virtual RTHSs are conducted with linear and nonlinear physical substructures, respectively, and the results indicate brilliant tracking performance and superb robustness of the proposed method.

• Smart Structures and Systems
• /
• v.26 no.4
• /
• pp.481-493
• /
• 2020

The negative stiffness spring and inerter are both characterized by the negative stiffness effect in the force-displacement relationship, potentially yielding an amplifying mechanism for dashpot deformation by being incorporated with a series tuning spring. However, resisting forces of the two mechanical elements are dominant in different frequency domains, thus leading to necessary complementarity in terms of vibration control and the amplifying benefit. Inspired by this, this study proposes a Negative Stiffness Inerter System (NSIS) as an earthquake protection system and developed analytical design formulae by fully utilizing its advantageous features. The NSIS is composed of a sub-configuration of a negative stiffness spring and an inerter in parallel, connected to a tuning spring in series. First, closed-form displacement responses are derived for the NSIS structure, and a stability analysis is conducted to limit the feasible domains of NSIS parameters. Then, the dual advantageous features of displacement reduction and the dashpot deformation amplification effect are revealed and clarified in a parametric analysis, stimulating the establishment of a displacement-based optimal design framework, correspondingly yielding the design formulae in analytical form. Finally, a series of examples are illustrated to validate the derived formulae. In this study, it is confirmed that the synergistic incorporation of the negative stiffness spring and the inerter has significant energy dissipation efficiency in a wide frequency band and an enhanced control effect in terms of the displacement and shear force responses. The developed displacement-based design strategy is suitable to utilize the dual benefits of the NSIS, which can be accurately implemented by the analytical design formulae to satisfy the target vibration control with increased energy dissipation efficiency.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.22 no.1
• /
• pp.1-13
• /
• 2009

A study for the nonlinear solution strategies to predict the ultimate behavior of a curved PSC cable-stayed bridge with complex geometry and highly nonlinear characteristics is presented. The load and displacement control strategies are used and found to be stable for the nonlinear solution of the PSC bridge up to the moderately excessive load. The ultimate analysis of curved PSC cable-stayed bridge using these solution strategies is not converged due to the propagation of the cracks in the wide range of the concrete elements and excessive variation of the stresses in the concrete elements and cables according to the complex geometry. The load control strategy using scale-down of the unbalanced loads is proposed as an alternative method for the case that the solution is not converged due to the severe nonlinearities involved in the PSC structures like a curved PSC cable-stayed bridge. Through the ultimate analysis of the PSC girder, the accuracy and the stability of the proposed solution strategies are evaluated. Finally, the numerical results for the ultimate analysis of the curved PSC cable-stayed bridge using scale-down of the unbalanced loads are compared with those obtained from other investigator. The validity of the proposed nonlinear solution strategy is demonstrated fairly well.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.531-536
• /
• 2005

The purpose of this paper is to improve the hysteresis characteristics of a stack type piezoelectric actuator using system identification and tracking control. Recently, several printing methods that cost less and are faster than previous semiconductor processes have been developed for the production of electric paper and RFID. The system proposed in this study prints by spraying the molten metal, and consists of a nozzle, heating furnace, operating actuator, and an XYZ 3-axis stage, As an operating system, the piezoelectric(PZT) method has very valuable uses. However, the PZT actuator has a very big hysteresis characteristic due to the ferroelectric characteristics of the PZT element. This causes problems in the system position control characteristics and deteriorates the performance of the system. In this study, an investigation was conducted to improve the hysteresis characteristics of the PZT actuator that has an output displacement for the input voltage. The study proposed a inverse hysteresis model, a mathematic modeling method that can express the geometric relationship between voltage and displacement, in order to reduce the hysteresis of the PZT actuator. In addition, system identification and PID control methods were examined. Also, it was confirmed that the proposed control strategy gives good precision position control performance.

• Smart Structures and Systems
• /
• v.18 no.1
• /
• pp.31-52
• /
• 2016

The paper first reviews the theory of active tendon control with decentralized Integral Force Feedback (IFF) and collocated displacement actuator and force sensor; a formal proof of the formula giving the maximum achievable damping is provided for the first time. Next, the potential of the control strategy for the control of suspension bridges with active stay cables is evaluated on a numerical model of an existing footbridge; several configurations are investigated where the active cables connect the pylon to the deck or the deck to the catenary. The analysis confirms that it is possible to provide a set of targeted modes with a considerable amount of damping, reaching ${\xi}=15%$. Finally, the control strategy is demonstrated experimentally on a laboratory mock-up equipped with four control stay cables equipped with piezoelectric actuators. The experimental results confirm the excellent performance and robustness of the control system and the very good agreement with the predictions.

• Journal of Power System Engineering
• /
• v.9 no.4
• /
• pp.162-167
• /
• 2005

The purpose of this paper is to improve the hysteresis characteristics of a stack type piezoelectric actuator using system identification and tracking control. Recently, several printing methods that are cost less and faster than previous semiconductor processes have been developed for the production of electric paper and RFID(Radio Frequency IDentification). The system proposed in this study prints by spraying the molten metal. And this system consist of a nozzle, heating furnace, operating actuator and an XYZ 3-axis stage. As an operating system, the piezoelectric(PZT) actuator is a very useful tool for position control of the metal printing system. However, the PZT actuator has a hysteresis nonlinearity due to the ferroelectric characteristics of the PZT element. This hysteresis causes problem position control characteristics in the system and deteriorates the performance of the system. In this study, an investigation was conducted to improve the hysteresis characteristics of the PZT actuator that has an output displacement for the input voltage. In order to reduce the hysteresis nonlinearity of the PZT actuator, this proposed a inverse hysteresis model and a mathematic modeling method that can express the geometric relationship between voltage and displacement. In addition, system identification and PID control methods were examined. Also, it was confirmed that the proposed control strategy gives good tracking performance.

• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
• /
• 2002.11a
• /
• pp.74-80
• /
• 2002

A mathematical tension model for a moving web in a multi-span web handling system was derived and validated by using a simulator which includes unwinder, driven roller, winder, load cells, controllers, etc. A tension controller was designed to compensate tension disturbances generated by velocity changes of the unwinder and driven roller. From experimental results it was proved that the tension model properly expressed the tension behavior of a moving web for specific conditions. The distributed tension controller designed by using the pole-placement technique compensated the tension disturbances transfered from upsteram tension variation. Interactions between web spans including "tension transfer phenomenon" were clearly confirmed through the study. A mathematical model of lateral motion of a moving web was verified also by using the same experimental apparatus which includes displacement type guidance systems. And a feedforward control strategy was designed for more accurate control of the lateral motion of a moving web, which utilize a measured signal of the lateral displacement of web in a previous span and a more correctly identified mathematical model to estimate the disturbance of lateral motion from the previous span. This approach was turned out to be effective in improving the performance of the guidance system for more wide range disturbances.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.896-901
• /
• 1990

A simulation analysis is presented for the position control of a single-link flexible manipulator whose end-effector is subjected to an impulsive force. Arm is rotated by a d.c. servomotor at the shoulder so that the end point stays precisely at its initial position even if the end effector is thumped with the impulsive loading. A gap sensor is used to measure the tip displacement. The control torque based on the PD control law is applied to the motor through the driver circuit. The control strategy is tested by means of computer simulation for the one-link flexible-arm prototype in the authers' laboratory at Tohoku Univ.

• Structural Engineering and Mechanics
• /
• v.62 no.2
• /
• pp.237-246
• /
• 2017

In the present paper a new Neuro-Wavelet control algorithm is proposed based on a cost function to actively control the vibrations of structures under earthquake loads. A wavelet neural network (WNN) was developed to train the control algorithm. This algorithm is designed to control multi-degree-of-freedom (MDOF) structures which consider the geometric and material non-linearity, structural irregularity, and the incident direction of an earthquake load. The training process of the algorithm was performed by using the El-Centro 1940 earthquake record. A numerical model of a three dimensional (3D) three story building was used to accredit the control algorithm under three different seismic loads. Displacement responses and hysteretic behavior of the structure before and after the application of the controller showed that the proposed strategy can be applied effectively to suppress the structural vibrations.