Design an Intelligent Controller for Full Vehicle Nonlinear Active Suspension Systems

Aldair, Ammar A.; Wang, W. J.

doi:10.21307/ijssis-2017-437

Cited by 49 publications

(46 citation statements)

References 26 publications

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“…In [12], the control of viscoelastic damped structure is presented. Control applications to a flexible transmission [13], an active suspension [14], a buck converter [15], a robotic manipulator [16], and a thermal system [17] are also found in the literature. For AMB system applications, there have also been a few works that make use of the fractional calculus concept.…”

Section: Fractional Order Calculus Definition and Applicationsmentioning

confidence: 99%

Fractional Order PID Control of Rotor Suspension by Active Magnetic Bearings

Anantachaisilp¹,

Lin

2017

Actuators

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Abstract:One of the key issues in control design for Active Magnetic Bearing (AMB) systems is the tradeoff between the simplicity of the controller structure and the performance of the closed-loop system. To achieve this tradeoff, this paper proposes the design of a fractional order Proportional-Integral-Derivative (FOPID) controller. The FOPID controller consists of only two additional parameters in comparison with a conventional PID controller. The feasibility of FOPID for AMB systems is investigated for rotor suspension in both the radial and axial directions. Tuning methods are developed based on the evolutionary algorithms for searching the optimal values of the controller parameters. The resulting FOPID controllers are then tested and compared with a conventional PID controller, as well as with some advanced controllers such as Linear Quadratic Gausian (LQG) and H ∞ controllers. The comparison is made in terms of various stability and robustness specifications, as well as the dimensions of the controllers as implemented. Lastly, to validate the proposed method, experimental testing is carried out on a single-stage centrifugal compressor test rig equipped with magnetic bearings. The results show that, with a proper selection of gains and fractional orders, the performance of the resulting FOPID is similar to those of the advanced controllers.

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Section: Fractional Order Calculus Definition and Applicationsmentioning

confidence: 99%

Fractional Order PID Control of Rotor Suspension by Active Magnetic Bearings

Anantachaisilp¹,

Lin

2017

Actuators

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“…It is proved that FOPID has impressive effect on overshoot and settling time reduction. Another optimal FOPID controller was proposed in 18 for a full vehicle non-linear active suspension system. An electromagnetism-like algorithm and GA based FOPID design is proposed in 19 for second order system with time delay.…”

Section: Related Workmentioning

confidence: 99%

Two-link Robot Manipulator using Fractional Order PID Controllers Optimized by Evolutionary Algorithms

Fani¹,

Shahraki²

2016

Biosci., Biotech. Res. Asia

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Fractional order (FO) controllers are highly considered with regard to higher performance and robustness of these controllers in FO systems. According to advantages of PID controllers such as suitable performance, low price and simplicity of design, they are widely used in industry. A FOPID controller is used for two-link robot control in this paper. Considering vast use of evolutionary algorithms and numerical optimization, coefficients of the FO controller are optimized using evolutionary algorithms in this paper. An individual FOPID controller is applied in order to control each link. Three evolutionary optimization algorithms including particle swarm optimization (PSO), genetic algorithm and estimation of distribution algorithm, are compared from optimal coefficients determination point of view. Experimental results indicate that FOPID controller is more applicable according to use of actual model for robot and suitable performance of the PSO algorithm. Key words: Evolutionary algorithms, fractional order controller, PID controller, two-link robotAlong with introduction of fractional order (FO) controllers and their higher performance and robustness on FO systems by Podlubny in 1994, FO systems and their control process are significantly considered 1 . Although PID controllers are introduced long time ago, they are widely used in industry because of their advantages such as low price, design simplicity and suitable performance 2, 3 . While three parameters of design including proportional (K p ), integral (K i ), and derivative (K d ) are available in PID controllers, two more parameters exist in FOPID controllers for adjustment. These parameters are integral fractional order and derivative fractional order 4 . In comparison with PID controllers, FOPID controllers have more flexible design that result in more precise adjustment of closed-loop system 5 . FOPID controllers are defined by FO differential equations. It is possible to tune frequency response of the control system by expanding integral and derivative terms of the PID controller to fractional order case. This characteristic result in a more robust design of control system, but it is not easily possible 6 .According to non-linearity, uncertainty, and confusion behaviors of robot arms, they are highly recommended for experimenting designs of control systems. Despite non-linear behavior of robot arm, it is demonstrable that a linear proportional derivative controller can stabilize the system using Lyapanov 7 . But, classic PD controller itself cannot control robot to reach suitable condition. Several papers and wide researches in optimizing performance of the robot manipulator show the importance of this issue. Different adaptive and robust procedures are proposed for robot control that all of them are so complicated in analysis and design [8][9][10][11] . Approaches that have been proposed for robot control are categorized in non-

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“…Monitoring terminal is composed of hardware circuit and its corresponding program, which is used for output data's acquisition and storage of the sensor [13,14]. Working principle diagram of hardware circuit is shown in Fig.14.…”

Section: Design Of Monitoring Terminalmentioning

confidence: 99%

Multiple Parameter Monitoring System for Landslide

Wen-qiao

Wen

et al. 2013

International Journal on Smart Sensing and Intelligent Systems

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Abstract-China has complex terrain where landslide happens very frequently, thus leading to serious damages sometimes. So in China much attention is paid to the monitoring of landslide. There are various methods in landslide monitoring all over the world. Bas1200ed on the analysis on previous landslide monitoring instruments, this paper designs a new kind landslide monitoring system, which Chuan Wu, Wen-qiao Wang, Guo-jun Wen and Xiao-ming Wu, MULTIPLE PARAMETER MONITORING SYSTEM FOR LANDSLIDE 1201 can monitor three parameters of different depth at a time: internal displacement, internal geotechnical pressure and pore water pressure. The system consists of three parts: mechanical structure, monitoring system and PC software. In this system the data collected by sensors are firstly stored in the SD card, and the user will be able to read the monitoring data at regular intervals instead of monitoring data changing timely, which can save labor, especially at the initial stage of landslide. At last laboratory testing has been done to verify the accuracy of this measuring system and the result satisfies the design requirements.

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Design an Intelligent Controller for Full Vehicle Nonlinear Active Suspension Systems

Cited by 49 publications

References 26 publications

Fractional Order PID Control of Rotor Suspension by Active Magnetic Bearings

Fractional Order PID Control of Rotor Suspension by Active Magnetic Bearings

Two-link Robot Manipulator using Fractional Order PID Controllers Optimized by Evolutionary Algorithms

Multiple Parameter Monitoring System for Landslide

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