Piecewise affine (PWA) modeling and switched damping control of two-inertia systems with backlash

Yamada, Shota; Ruderman, Michael; Fujimoto, Hiroshi

doi:10.1109/amc.2019.8371140

Cited by 11 publications

(6 citation statements)

References 13 publications

(25 reference statements)

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“…Different from the well-known system form with constant unknown parameters studied in [5], [8], [11], system (1) depicts systems with switched unknown parameters. It is of practical interest as it can model many engineering applications operating in multiple modes such as aircraft wing [19], mechanical systems with friction [20] and backlash [21].…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

Adaptive Observer for a Class of Systems with Switched Unknown Parameters Using DREM

Liu¹,

Zhang²,

Liu³

et al. 2022

Preprint

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In this note, we develop an adaptive observer for a class of nonlinear systems with switched unknown parameters to estimate the states and parameters simultaneously. The main challenge lies in how to eliminate the disturbance effect of zero-input responses caused by the switching on the parameter estimation. These responses depend on the unknown states at switching instants (SASI) and constitute an additive disturbance to the parameter estimation, which obstructs parameter convergence to zero. Our solution is to treat the zero-input responses as excitations instead of disturbances. This is realized by first augmenting the system parameter with the SASI and then developing an estimator for the augmented parameter using the dynamic regression extension and mixing (DREM) technique. Thanks to its property of element-wise parameter adaptation, the system parameter estimation is decoupled from the SASI. As a result, the estimation errors of system states and parameters converge to zero asymptotically. Furthermore, the robustness of the proposed adaptive observer is guaranteed in the presence of disturbances and noise. A numerical example validates the effectiveness of the proposed approach.

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Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

Adaptive Observer for a Class of Systems with Switched Unknown Parameters Using DREM

Liu¹,

Zhang²,

Liu³

et al. 2022

Preprint

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“…The tachometric controller of this study ( Fig. 9) includes a switching logic to cope with backlash [17]. The corrective torque is:…”

Section: Tachometric Controllermentioning

confidence: 99%

“…In [10] and [11], a tachometric control structure is combined with a model-based feedforward contribution. Yamada et al [17] add a switching logic, to cope with drivetrain backlash. In general, the feedback on ∆̇ can be based on any control structure, e.g., proportional derivative control [18], H∞ control [19], and model predictive control (MPC).…”

Section: Introductionmentioning

confidence: 99%

Comparison of Anti-Jerk Controllers for Electric Vehicles With On-Board Motors

Scamarcio

Metzler

Gruber

et al. 2020

IEEE Trans. Veh. Technol.

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Anti-jerk controllers actively suppress the torsional oscillations of automotive drivetrains, caused by abrupt variations of the traction torque. The main benefits are: i) enhanced passengers' comfort; and ii) increased component life. Extensive literature deals with the design of anti-jerk controllers for electric powertrains with on-board motors, i.e., in which the electric motor is part of the sprung mass of the vehicle, and transmits torque to the wheels through a transmission, half-shafts and constant velocity joints. Nevertheless, a complete and structured comparison of the performance of the different control options is still missing. This study addresses the gap through the assessment of six anti-jerk controllersfive exemplary formulations from the literature, and one novel formulation based on explicit nonlinear model predictive control (eNMPC). All proposed control structures have the potential to be implemented on production vehicles. A set of objective performance indicators is defined to assess the controllers, which are tuned through an optimizationbased routine. Results show that the wheel speed input is critical to enhance controller performance, but may lead to reduced robustness.

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“…Backlash (also known as mechanical play) can arise nearly everywhere, once two adjacent movable parts of a mechanism are connected via joint and/or gearing, in order to transmit, correspondingly transform, relative motions and forces. Applications area is broad and the related studies, just to mention some of them, can be found for servo drive systems (41)- (43) , industrial and medical robotics (44)- (46) , automotive power trains (47) (48) , and others. Exact information about the presence and extent of backlash in an actuated mechanism is rarely known in advance, and is rather conditional upon the factors such as wear, fatigue and incipient failures in components.…”

Section: Backlash Identification With Relay Feedbackmentioning

confidence: 99%

Relay Feedback Systems — Established Approaches and New Perspectives for Application

Ruderman

2019

IEEJ Journal IA

Self Cite

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Relay feedback systems belong, since long, to the rather classical topics of control theory and engineering. While they were first used as robust and simple switching elements in automatic control systems, over time, they have experienced different periods of renewed interest with regards to both theoretical analysis and applications. Examples include the automatic tuning of simple feedback controllers, delta-sigma modulators for analog-digital converters, robust relay-based controls, nonlinear systems analysis and identification, among others. One of the remarkable features of using relays in feedback is the appearance of stable limit cycles. The structural and parametric conditions for the stable limit cycles, their prediction, and controllability of magnitude and frequency have already been solved, to a large part, in previous researches, driven by both theoretical curiosity and application requirements. This brief tutorial paper summarizes the basic principles of relay feedback systems, discusses several characteristics that are interesting from an application perspective, and addresses some issues related to its further use for system identification. A casespecific study for estimating the unknown backlash, hidden within two-mass systems, is demonstrated along with an experimental example, based on provoking the controllable drifting limit cycles by the non-ideal relay in the velocity feedback loop.

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Piecewise affine (PWA) modeling and switched damping control of two-inertia systems with backlash

Cited by 11 publications

References 13 publications

Adaptive Observer for a Class of Systems with Switched Unknown Parameters Using DREM

Adaptive Observer for a Class of Systems with Switched Unknown Parameters Using DREM

Comparison of Anti-Jerk Controllers for Electric Vehicles With On-Board Motors

Relay Feedback Systems — Established Approaches and New Perspectives for Application

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