An innovative hardware emulated simple passive semi-active controller for vibration control of MR dampers

Zhang, Jianqiu,Agrawal, Anil K. Techno-Press 2015 Smart Structures and Systems, An International Jou Vol.15 No.3

Magneto-Rheological (MR) dampers are being used increasingly because of their adaptability to control algorithms and reliability of passive systems. In this paper, an extensive investigation on performance of MR dampers in semi-active and passive modes has been carried out. It is observed that the overall energy dissipation by MR dampers in passive-on modes is higher than that in semi-active modes for most of the competitive semi-active controllers. Based on the energy dissipation pattern, a novel semi-active controller, termed as "Simple Passive Semi-Active Controller", has been proposed for MR dampers. This controller can be emulated by a simple passive hardware proposed in this paper. The proposed concept of controller "hardware emulation" is innovative and can also be implemented for other semi-active devices for control algorithms of certain form. The effectiveness and reliability of the proposed controller has been investigated extensively through numerical simulations. It has been demonstrated that the proposed controller is competitive to or more effective than other widely used / investigated semi-active controllers.

Passive Sliding Mode Control Strategy for Y-type Modular Multilevel Converter Topology in the Unbalanced Power Grid

Yue Bing-yan,Cheng Qi-ming,Cheng Yin-man,Lai Yu-sheng 대한전기학회 2023 Journal of Electrical Engineering & Technology Vol.18 No.4

To ensure the robustness of the fractional frequency transmission system (FFTS), the ability of Y-type modular multilevel converters (Y-MMC) to operate under unbalanced operating conditions is essential. The Y-MMC controlled by traditional linear strategy has low robustness, high harmonics, low accuracy, and other disadvantages. In order to solve those problems, a passive sliding mode control strategy is proposed for Y-MMC in this paper. First, design a passivity-based controller based on the Euler–Lagrange (EL) model of Y-MMC, prove its stability using Lyapunov's theorem, combine the passivity-based controller with the sliding mode controller to derive a mathematical expression for the passive sliding mode control so that can enhance the robustness. Then, the modules of control target design, reactive power distribution, and modulation degree allocation are described. Finally, extensive MATLAB/Simulink platform simulation and RT-LAB platform experiments were conducted in different scenarios to verify the feasibility of the proposed method. This strategy improves the power quality indices under non-ideal conditions. It has better advantages than the traditional PI controller and passivity-based control in the accuracy and robustness of power transmission.

Vibration mitigation of highway isolated bridge using MR damper-based smart passive control system employing an electromagnetic induction part

Jung, Hyung-Jo,Jang, Dong-Doo,Choi, Kang-Min,Cho, Sang-Won John Wiley Sons, Ltd. 2009 Structural control and health monitoring Vol.16 No.6

<P>In this paper, the design and performance verification of a magnetorheological (i.e. MR) damper-based smart passive control system employing an electromagnetic induction (i.e. EMI) system has been investigated for the benchmark highway bridge model subjected to various historic earthquakes. The smart passive control system is based on an MR damper-based control system without feedback control and power supply parts. Instead, these parts are replaced by an EMI system consisting of a permanent magnet and a coil, which produces electrical energy (i.e. induced current) proportional to the rate of the change of the movement of an MR damper according to the Faraday's law of electromagnetic induction. This smart passive control system is implemented to verify the effectiveness for seismic protection of benchmark problem for the seismically excited highway bridge. The numerical simulation results show that the smart passive control system has the slightly better performance to the passive-optimal control system. Copyright © 2009 John Wiley & Sons, Ltd.</P>

Numerical Investigation of a New Method for Seismic Control of Structures

Mohamad Shahrokh Abdi,Masoud Nekooei,Mohammad-Ali Jafari 대한토목학회 2021 KSCE Journal of Civil Engineering Vol.25 No.1

Vertical mass isolation (VMI) method is used for the seismic control of structures. In this method, the entire structure is considered to be a combination of two mass and stiffness subsystems with an isolator layer located in-between. A magnetorheological (MR) damper is used as the isolator layer to control the structure. The semi-active control technique is applied to control the MR damper based on the applied controlling voltage. Several single degree of freedom structures with the same masses and main periods of 0.5, 1.0, 2.0 and 3.0 seconds are studied. Finally, a comparison between the results of this method with three passive control methods was performed. Results indicated that the semi-active control method based on maximum voltage of 9V will reduce, on average, the maximum roof displacement by 25% and 51% more than the Copt and passive-off methods and is equal to the passive-on method at 9V. However, the efficiency of the semi-active method in controlling the maximum absolute acceleration of the roof and the base shear of the structure was on average 28% and 45% lower than the Copt and passive-off methods, respectively and 2% higher than the passive-on method.

Robust Tracking of Robot Manipulators via Momentum-based Disturbance Observer and Passivity-based Controller

하원석,백주훈 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.4

The passivity-based controller is one of most widely-used controllers for robot manipulators. Since itstrongly exploits the system properties, it does not produce unnecessarily large control effort and has inherent robustnessagainst plant uncertainty and disturbance. This paper presents an inner-loop controller which can enhancethe robustness of the passivity-based tracking controllers. The inner-loop controller developed in this paper robustlyestimates the lumped disturbance, which is defined by the effect of plant uncertainty and external disturbance, andgenerates a compensating signal so that the closed-loop system consisting of the uncertain robot, disturbance observer,and passivity-based controller behaves like the nominal closed-loop system composed of the nominal modelof the robot and the passivity-based controller. It is seen that the tracking error can be made arbitrarily smallby choosing the controller parameters appropriately and the performance of the proposed controller is validatedthrough numerical simulations.

Sliding Mode Control for a Robot Manipulator with Passive Joints

Kim, Won,Shin, Jin-Ho,Lee, Ju-Jang Institute of Control 2002 Transaction on control, automation and systems eng Vol.4 No.1

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

Impact of Centralized and Distributed Control Structures on the Harmonic Stability of Modular Multilevel Converter Based on DQ Reference Frame Impedance Assessment

Semih Isik,Subhashish Bhattacharya 전력전자학회 2023 ICPE(ISPE)논문집 Vol.2023 No.-

The Modular Multilevel Converter (MMC) is one of the suitable converter topologies for medium to high-voltage industry applications. Despite the inherent modularity and redundant structure of the MMC topology, most MMC controllers are designed based on a centralized controller structure. Even though a centralized controller inherently limits the hardware flexibility of an MMC, it is relatively faster than distributed control algorithms due to less communication and control delays. Both control structures have pros and cons, but the design of the controller may cause instability at specific frequencies when interfaced with an AC or DC grid due to control gains, delays etc. This paper investigates the effects of the control delays of the distributed controller on system stability and compares it with the centralized controller. An MMC and its controller are modeled in a Hardware-in-Loop environment with the Real Time Digital Simulator to analyze potential DC resonant frequencies in the dq reference frame. Passivity theory isapplied to the extracted frequency response to predict possible passive and non-passive regions based on control structures.

Modified Bilateral Control by Using Intervention Impedance Based on Passivity of Flexible Master-Slave Manipulators and Its Design Methods

Takahiko Mori 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

Recently,study on a control of flexible manipulators have been receiving increasing attension in the domain of master-slave system. The master-slave system is a control system to operate a manipulator for objects in a remote environment which is at a distance from the presence of a human operator. In order to consider the influence by the elasticity of flexible manipulators, it is necessary to study on the control of vibration of flexible master-slave manipulators and the passivity. Thus in this paper, we discuss about a new modified bilateral controller considering the elasticity by using intervention impedance in basis on the passivity and a control performance of the system. This paper is organized in the following way : First, we introduce mechanical models of manipulators. Second, we propose bilateral controls by using intervention impedance based on passivity. Third, we transeform each models represented by time domain into models represented by s-plain, find the scattering matrix,and prove the passivity of system. Fourth, we propose a new modified controller controller for the purpose of realizaion. Lastly, we show some results of experiments in order to verify the usefulness of proposed controller.

고등학생의 미래결과에 대한 고려와 자기통제가 능동 지연행동과 수동 지연행동에 미치는 영향

문지영, 한세영 충북대학교 생활과학연구소 2008 생활과학연구논총 Vol.24 No.1

This study aimed to examine how the contemplation of future consequences and the exercise of self-control affected active and passive procrastination behaviors evinced by high school students. A total of 510 high school students from Seoul and Gyeonggi province participated in this study. A questionnaire that queried the components of the consideration of future consequences, self-control, as well as active and passive procrastination was administered to the participants. The obtained data were analyzed using correlation and path analyses. The study yielded the following significant results: The consideration of future consequences was found to indirectly influence active and passive procrastination through the element of self-control. High scores in the sub-scale CFC-Future prompted higher self-control which, in turn, caused higher active procrastination and lower passive procrastination. Higher tallies in the sub-scale CFC-immediate were found to initiate lower self-control which, in turn, generated lower active procrastination and higher passive procrastination. In conclusion, the present investigation confirmed that the cognition of future consequences and the application of self-control affect both active and passive forms of procrastination. The outcomes of this study can contribute significantly to a more comprehensive understanding of the manners in which the thinking of future consequences influences active and passive procrastination behaviors exhibited by high school students. The results of this study can be used as a basis for prospective investigations into the theme of procrastination during adolescence.

흡음재 및 제진재의 최적배치를 이용한 구조-음향 연성계의 소음제어

김동영(Kim, Dong-Young),홍도관(Hong, Do-Kwan),안찬우(Ahn, Chan-Woo) 한국소음진동공학회 2005 한국소음진동공학회 논문집 Vol.15 No.2

The absorbing material is mostly used to changing the acoustic energy to the heat energy in the passive control, and that consists of the porous media. That controls an air borne noise while the stiffened plates, damping material and additional mass control a structure borne noise. The additional mass can decrease the sound by mass effect and shift of natural frequency, and damping material can decrease the sound by damping effect. The passive acoustic control using these kinds of control materials has an advantage that is possible to control the acoustic in the wide frequency band and the whole space at a price as compared with the active control using the various electronic circuit and actuator. But the space efficiency decreased and the control ability isn't up to the active control. So it is necessary to maximize the control ability in the specific frequency to raise the capacity of passive control minimizing the diminution of space efficiency such an active control. Therefore, the characteristics of control materials and the optimum layout of control materials that attached to the boundary of structure-acoustic coupled cavity were studied using sequential optimization on this study.