IAP P506 Advanced Mechatronic Systems

1
IAP P5/06 Advanced Mechatronic Systems

• Ex-post evaluation meeting
• Leuven, 8 November 2005

2
Control Design

• Control design activities at KUL-PMA, KUL-AMEC,
  and ULB-ASL
• Active damping of vibrations
• Active noise control
• General (robust) control design methodologies
• Robust control of LPV systems
• m-synthesis design applied to active suspension
• Model-free control design for semi-active
  suspension (demonstrator)
• MIMO control design based on optimal decoupling
  (demonstrator)

3
Robust control of LPV systems

• A gain-scheduling-control technique for
  mechatronic systems with position-dependent
  dynamics
• Traditional gain scheduling fixed controllers
  are interpolated.
• An affine interpolation between poles, zeros and
  gains of the local controllers.
• Applied on an industrial pick-and-place machine
  (demonstrator).

4
Control of active and semi-active suspension
systems
Development of robust controller for active
suspension of quarter car
5
Control of active and semi-active suspension
systems
Development of robust controller for active
suspension of quarter car
Results PDF of body acceleration and tire force,
for passive suspension (blue), constant settings
of active suspension (red), and robustly
controlled active suspension (green)
6
Control of active and semi-active suspension
systems
Development of robust controller for active
suspension of quarter car
Robust Control No Control
7
Control of active and semi-active suspension
systems
Model-free control structure for a semi-active
suspension system of a passenger car
cooperation KUL-PMA UCL-PRM (demonstrator)
8
Optimal decoupling for improved multivariable
control design

• MIMO identification and control design
  cumbersome
• Decentralised control neglecting coupling
  limited performance
• Combine decentralised control with I/O
  decoupling
• - Optimised static decoupling - Dynamic
  transformation filter (inverse based control)
• Validation Time Waveform Replication (TWR)
  demonstrator

9
Demonstrator TWR with feedback for tractor on
four poster

• Cooperation PMA-KUL and AMEC-KUL
• Goal reproduce accelerations of the chassis on
  the hydraulic test rig
• Industrial solution off-line iterative
  feedforward procedure
• Research reduce number of iterations by adding
  MIMO feedback controller
• ? control design based on optimal decoupling

10
Demonstrator TWR with feedback for tractor on
four poster

• Blue PSD reference signal
• Green PSD tracking error, only feedforward
• Red PSD tracking error, feedforward and
  feedback

• RMS tracking error during all iterations of
  TWR-procedure
• Green only feedforward
• Red feedforward and feedback