Improved Torque Control of Electrical Load Simulator with Parameters and State Estimation
ELS is an important ground based hardware in the
loop simulator used for aerodynamics torque loading experiments
of the actuators under test. This work focuses on improvement of the
transient response of torque controller with parameters uncertainty
of Electrical Load Simulator (ELS).The parameters of load simulator
are estimated online and the model is updated, eliminating the model
error and improving the steady state torque tracking response of
torque controller. To improve the Transient control performance the
gain of robust term of SMC is updated online using fuzzy logic
system based on the amount of uncertainty in parameters of load
simulator. The states of load simulator which cannot be measured
directly are estimated using luenberger observer with update of new
estimated parameters. The stability of the control scheme is verified
using Lyapunov theorem. The validity of proposed control scheme is
verified using simulations.
[1] J. Zongxia, L. Chenggong, and R. Zhiting, "The extraneous torque and
compensation control on the electrical load simulator", 5th International
symposium on instrumentation and control technology, SPIE volume
.5253,2003.
[2] Z. X. Jiao, R. X. GAO,Q. Hua, and S. P. Wang, "The Velocity Synchronizing
Control on the Electro-Hydraulic Load Simulator", Chinese Journal
of Aeronautics, vol. 17 no. 1, February 2004.
[3] X .Wang, S .Wang , and X. Wang, "Electrical load simulator based on
velocity loop compensation and improved fuzzy PID", IEEE International
symposium on industrial electronics(ISIE 2009),Seoul Olympic parktel
,Seoul, Korea , July 5-8 ,2009.
[4] Q. Fang, Y. Yao, and X.C. Wang, "Disturbance observer design for
electric aerodynamics load simulator", Proceeding of 4th internal
conference on machine learning and cybernetics, Guangzhou, August 18-
21, 2005
[5] K. Ohnishsi, N. Matsui,and Y. Hori, "Estimation, Identification and
sensor less control in motion control system", Proceedings of the IEEE,
Vol.82, No.8, August 1994.
[6] S. M. Yang, and Y. J. Deng, "Observer based inertial identification for
Auto tuning servo motors drive", IAS 2005 IEEE.
[7] B. Zhang, Y. Li and Y. Zuo,"A DSP-based fully digital PMSM servo
drive using on-line self-tuning PI controller", Proceeding of the 3rd
Power Electronics and Motion Control Conference, vol. 2, Aug. 2000.
[8] R. Yuan, J. Luo,Z. wu , and K. Zhao ,"Study on Passive Torque Servo
System Based on H Infinity Robust Controller", Proceedings of the 2006
IEEE International Conference on Robotics and Biometrics December 17
- 20, 2006, Kunming, China.
[9] J. Fan, Z. Zheng, and M. Lv,"Optimal sliding mode variable structure
control for Load simulator", 2nd International Symposium on Systems
and Control in Aerospace and Astronautics, 2008 ISSCAA 2008.
[10] X. Wang, and D. Feng,"A Study on Dynamics of Electric Load Simulator
Using Spring beam and Feed forward Control Technique", 2009 Chinese
Control and Decision Conference (CCDC 2009)
[11] Y. Huang, K. Chen, and J. Wei,"Robust Controller Design and Experiment
for Electric Load Simulator", 2010 3rd International Conference
on Advanced Computer Theory and Engineering (lCACTE).
[12] W. Xin, and F. D Zhu,"Load Simulator Design and Ground Test of Near
Space Hypersonic Vehicle", Journal of System Simulation, Vol. 21 No.
19, Oct., 2009.
[13] H. Yong, X. Lu, Y. Jie and S. Li,"The Controller Designed for motor
servo loading system based on ITAE", 1994-2010 China academic
journal.
[14] L. Peng, and L. Hui,"Controller Design for missile rudder electric
loading simulation system", Journal of Computer, measurement and
control, 2010.
[15] G. Jing, L. Cao and R. M. In,"Simulation of control method of torque
servo system with position disturbance", Journal of Beijing Institute of
Machinery, Vol. 20 No. 2, Jun. 2005.
[16] U. Nasim, S. Wang, and J. Aslam,"Adaptive Robust Control of Electrical
Load Simulator based on Fuzzy Logic Compensation", International
Conference on Fluid Power and Mechatronics 17-20 August 2011,Beijing
China.
[17] X. Wang, D. Feng, and S. Sun,"Electric load motion control system
design with invariance theory", IEEE Chinese control and decision
conference (CCDC),2009
[18] B. K. Yoo, and W. C. Ham,"Adaptive Control of Robot Manipulators
Using Fuzzy Compensator", IEEE Transaction on Fuzzy Systems ,Vol.8,
No.2,April 2000.
[1] J. Zongxia, L. Chenggong, and R. Zhiting, "The extraneous torque and
compensation control on the electrical load simulator", 5th International
symposium on instrumentation and control technology, SPIE volume
.5253,2003.
[2] Z. X. Jiao, R. X. GAO,Q. Hua, and S. P. Wang, "The Velocity Synchronizing
Control on the Electro-Hydraulic Load Simulator", Chinese Journal
of Aeronautics, vol. 17 no. 1, February 2004.
[3] X .Wang, S .Wang , and X. Wang, "Electrical load simulator based on
velocity loop compensation and improved fuzzy PID", IEEE International
symposium on industrial electronics(ISIE 2009),Seoul Olympic parktel
,Seoul, Korea , July 5-8 ,2009.
[4] Q. Fang, Y. Yao, and X.C. Wang, "Disturbance observer design for
electric aerodynamics load simulator", Proceeding of 4th internal
conference on machine learning and cybernetics, Guangzhou, August 18-
21, 2005
[5] K. Ohnishsi, N. Matsui,and Y. Hori, "Estimation, Identification and
sensor less control in motion control system", Proceedings of the IEEE,
Vol.82, No.8, August 1994.
[6] S. M. Yang, and Y. J. Deng, "Observer based inertial identification for
Auto tuning servo motors drive", IAS 2005 IEEE.
[7] B. Zhang, Y. Li and Y. Zuo,"A DSP-based fully digital PMSM servo
drive using on-line self-tuning PI controller", Proceeding of the 3rd
Power Electronics and Motion Control Conference, vol. 2, Aug. 2000.
[8] R. Yuan, J. Luo,Z. wu , and K. Zhao ,"Study on Passive Torque Servo
System Based on H Infinity Robust Controller", Proceedings of the 2006
IEEE International Conference on Robotics and Biometrics December 17
- 20, 2006, Kunming, China.
[9] J. Fan, Z. Zheng, and M. Lv,"Optimal sliding mode variable structure
control for Load simulator", 2nd International Symposium on Systems
and Control in Aerospace and Astronautics, 2008 ISSCAA 2008.
[10] X. Wang, and D. Feng,"A Study on Dynamics of Electric Load Simulator
Using Spring beam and Feed forward Control Technique", 2009 Chinese
Control and Decision Conference (CCDC 2009)
[11] Y. Huang, K. Chen, and J. Wei,"Robust Controller Design and Experiment
for Electric Load Simulator", 2010 3rd International Conference
on Advanced Computer Theory and Engineering (lCACTE).
[12] W. Xin, and F. D Zhu,"Load Simulator Design and Ground Test of Near
Space Hypersonic Vehicle", Journal of System Simulation, Vol. 21 No.
19, Oct., 2009.
[13] H. Yong, X. Lu, Y. Jie and S. Li,"The Controller Designed for motor
servo loading system based on ITAE", 1994-2010 China academic
journal.
[14] L. Peng, and L. Hui,"Controller Design for missile rudder electric
loading simulation system", Journal of Computer, measurement and
control, 2010.
[15] G. Jing, L. Cao and R. M. In,"Simulation of control method of torque
servo system with position disturbance", Journal of Beijing Institute of
Machinery, Vol. 20 No. 2, Jun. 2005.
[16] U. Nasim, S. Wang, and J. Aslam,"Adaptive Robust Control of Electrical
Load Simulator based on Fuzzy Logic Compensation", International
Conference on Fluid Power and Mechatronics 17-20 August 2011,Beijing
China.
[17] X. Wang, D. Feng, and S. Sun,"Electric load motion control system
design with invariance theory", IEEE Chinese control and decision
conference (CCDC),2009
[18] B. K. Yoo, and W. C. Ham,"Adaptive Control of Robot Manipulators
Using Fuzzy Compensator", IEEE Transaction on Fuzzy Systems ,Vol.8,
No.2,April 2000.
@article{"International Journal of Information, Control and Computer Sciences:53046", author = "Nasim Ullah and Shaoping Wang", title = "Improved Torque Control of Electrical Load Simulator with Parameters and State Estimation", abstract = "ELS is an important ground based hardware in the
loop simulator used for aerodynamics torque loading experiments
of the actuators under test. This work focuses on improvement of the
transient response of torque controller with parameters uncertainty
of Electrical Load Simulator (ELS).The parameters of load simulator
are estimated online and the model is updated, eliminating the model
error and improving the steady state torque tracking response of
torque controller. To improve the Transient control performance the
gain of robust term of SMC is updated online using fuzzy logic
system based on the amount of uncertainty in parameters of load
simulator. The states of load simulator which cannot be measured
directly are estimated using luenberger observer with update of new
estimated parameters. The stability of the control scheme is verified
using Lyapunov theorem. The validity of proposed control scheme is
verified using simulations.", keywords = "ELS, Observer, Transient Performance, SMC, Extra
Torque, Fuzzy Logic.", volume = "5", number = "12", pages = "1547-7", }
