TY - JOUR

T1 - An antisaturating adaptive preaction and a slide surface to achieve soft landing control for electromagnetic actuators

AU - Mercorelli, P.

N1 - Export Date: 22 May 2012 Source: Scopus Art. No.: 5664793 CODEN: IATEF doi: 10.1109/TMECH.2010.2089467 Language of Original Document: English Correspondence Address: Mercorelli, P.; Faculty of Automotive Engineering, Ostfalia University of Applied Sciences, D-38440 Wolfsburg, Germany; email: p.mercorelli@ostfalia.de References: Aström, K.L., Rundqwist, L., Integrator windup and how to avoid it (1987) Presented at the Amer. Control Conf. (ACC), , Pittsburgh; Kothare, M.V., Campo, P.J., Morari, M., Nett, C.N., A unified framework for the study of anti-windup designs (1994) Automatica, 30 (12), pp. 1869-1883. , DOI 10.1016/0005-1098(94)90048-5; Butzmann, S., Melbert, J., Koch, A., Sensorless control of electromagnetic actuators for variable valve train (2000) Proc. Soc. Automotive Eng. (SAE), , http://www.sae.org/automag, Detroit, Tech. Paper 2000-01-1225. [Online]. Available; Peterson, K.S., Stefanopoulou, A.G., Rendering the elecreomechanical valve actuator globally asymptotically stable (2003) Proc. 42nd IEEE Conf. Decision Control, pp. 1753-1758. , Maui; Pischinger, F., Kreuter, P., Electromagnetically operating actuator (1984) U.S. Patent 4 455 543, , Jun. 19; Flierl, R., Klüting, M., The third generation of valvetrains-New fully variable valvetrains for throttle-free load control (2000) Proc. Soc. Automotive Eng. (SAE), , http://www.sae.org/automag/, Tech. Paper 2000-01-1227. [Online]. Available; Theobold, M.A., Lequesne, B., Henry, R., Control of engine load via electromagnetic valve actuators (1994) Proc. Soc. Automotive Eng. (SAE), , http://www.sae.org/automag/, Tech. Paper 940816. [Online]. Available; Gramann, M., Nagel, M., Rockl, T., Wilczek, R., Electromagnetic actuator (2000) U.S. Patent 6 037 851, , Mar. 14; Birch, S., Renault research (2000) Automotive Eng. Int., p. 114. , Mar; Schechter, M.M., Levin, M.B., Camless engine (1996) Proc. Soc. Automotive Eng. (SAE), , http://www.sae.org/automag/, Tech. Paper 960581. [Online]. Available; Gaeta, A., Glielmo, L., Giglio, V., Police, G., Modelling of an electromechanical engine valve actuator based on a hybrid analytical-FEM approach (2008) IEEE/ASME Trans. Mechatronics, 13 (6), pp. 625-637. , Dec; Tsai, J., Koch, C.R., Saif, M., Camless engine (2008) Proc. 47th IEEE Conf. Decision Control, pp. 5689-5703; Parlikar, T.A., Chang, W.S., Qiu, Y.H., Seeman, M.D., Perreault, D.J., Kassakian, J.G., Keim, T.A., Design and experimental implementation of an electromagnetic engine valve drive (2005) IEEE/ASME Transactions on Mechatronics, 10 (5), pp. 482-494. , DOI 10.1109/TMECH.2005.856221; Mercorelli, P., Terwiesch, P., An anti-windup algorithm by using orthonormal haar functions in wavelet packets (2000) Presented at the Int. Conf. Systems Time-Domain Constraints, , Eindhoven, The Netherlands; Mercorelli, P., Paden, B., Prattichizzo, D., Perfect anti-windup in output tracking scheme with preaction (1998) Proc. IEEE Int. Conf. Control Appl. (CCA), pp. 134-139. , Trieste, Italy; Bemporad, A., Morari, M., Dua, V., Pistikopoulos, E.N., The explicit linear quadratic regulator for constrained systems (2002) Automatica, 38 (1), pp. 3-20. , DOI 10.1016/S0005-1098(01)00174-1, PII S0005109801001741; Faiz, N., Agrawal, S., Murray, R., Trajectory planning of differentially flat systems with dynamics and inequalities (2002) J. Guid. Control Dyn., 24 (2), pp. 219-227; Hagenmeyer, V., (2003) Robust Nonlinear Tracking Control Based on Differential Flatness, , Duesseldorf, Germany: Fortschritt-Berichte VDI Verlag; Grimm, G., Hatfield, J., Postlethwaite, I., Turner, M., Teel, A., Zaccarian, L., Antiwindup for stable systems with input saturation: An LMI-based syn thesis (2003) IEEE Trans. Automat. Control, 48 (9), pp. 1500-1525. , Sep; Herrmann, G., Turner, M.C., Postlethwaite, I., Guo, G., Practical implementation of a novel anti-windup scheme in a HDD-dual-stage servosystem (2004) IEEE/ASME Trans. Mechatronics, 9 (3), pp. 580-592. , Sep; Gomes Da Silva Jr., J.M., Tarbouriech, S., Antiwindup design with guaranteed regions of stability: An LMI-based approach (2005) IEEE Transactions on Automatic Control, 50 (1), pp. 106-111. , DOI 10.1109/TAC.2004.841128; Da Silva, J.M.G., Tarbouriech Jr., J.M.S., Anti-windup design with guaranteed regions of stability for discrete-time linear systems (2006) Syst. Control Lett., 55, pp. 184-192; De Oliveira, M.C., Geromel, J.C., Bernussou, J., Design of dynamic output feedback decentralized controllers via a separation procedure (2000) International Journal of Control, 73 (5), pp. 371-381. , DOI 10.1080/002071700219551; Cao, Y.-Y., Lin, Z., Ward, D.G., An antiwindup approach to enlarging domain of attraction for linear systems subject to actuator saturation (2002) IEEE Transactions on Automatic Control, 47 (1), pp. 140-145. , DOI 10.1109/9.981734, PII S0018928602011066; Hernandez, W., De Vicente, J., Sergiyenko, O., Fernández, E., Improving the response of accelerometers for automotive applications by using LMS adaptive filters (2010) MDPI, Sensors, 10 (1), pp. 313-329; Hernandez, W., De Vicente, J., Sergiyenko, O., Fernández, E., Improving the response of accelerometers for automotive applications by using LMS adaptive filters: Part II (2010) MDPI, Sensors, 10 (1), pp. 952-962; Corradini, M.L., Jetto, L., Parlangeli, G., Robust stabilization of multivariable uncertain plants via switching control (2004) IEEE Trans. Automat. Control, 49 (1), pp. 107-114. , Jan; Corradini, M.L., Orlando, G., A switching controller for the output feedback stabilization of uncertain interval plants via sliding modes (2002) IEEE Trans. Automat. Control, 47 (12), pp. 2101-2107. , Dec; Corradini, M.L., Orlando, G., Parlangeli, G., A vsc approach for the robust stabilization of nonlinear plants with uncertain non-smooth actuator nonlinearities (2004) IEEE Trans. Automat. Control, 49 (5), pp. 807-813. , May; Jian-Xin, X., Abidi, K., Discrete-time output integral sliding-mode control for a piezomotor-driven linear motion stage (2008) IEEE Trans. Ind. Electron., 55 (11), pp. 3917-3926. , Nov; Xinkai, C., Hisayama, T., Adaptive sliding-mode position control for piezo-actuated stage (2008) IEEE Trans. Ind. Electron., 55 (11), pp. 3927-3934. , Nov; Pan, Y., Ozgiiner, O., Dagci, O.H., Variable-structure control of electronic throttle valve (2008) IEEE Trans. Ind. Electron., 55 (11), pp. 3899-3907. , Nov; Betin, F., Sivert, A., Nahid, B., Capolino, G.A., Position control of an induction machine using variable structure control (2006) IEEE/ASME Transactions on Mechatronics, 11 (3), pp. 358-361. , DOI 10.1109/TMECH.2006.875572; Nguyen, T., Leavitt, J., Jabbari, F., Bobrow, J.E., Accurate Sliding-mode control of pneumatic systems using low-cost solenoid valves (2007) IEEE/ASME Transactions on Mechatronics, 12 (2), pp. 216-219. , DOI 10.1109/TMECH.2007.892821; Boldea, I., (1986) Electric Machine Dynamics, , New York: MacMillan; Moon, F., (1984) Magneto-solid Mechanics, , New York: Wiley; Bastosand, J.P.A., Sadowski, N., (2003) Electromagnetic Modeling by Finite Element Method, , New York: Marcel Dekker; Kharitonov, V.L., Asymptotic stability of an equilibrium position of a family of systems of linear differential equations (1978) Differentsial'nye Uravneniya, 14, pp. 2086-2088; Mercorelli, P., Liu, S., Lehmann, K., Robust flatness based control of an electromagnetic linear actuator using adaptive pid controller (2003) Proc. 42nd IEEE Conf. Decision Control, pp. 3790-3795

PY - 2012/2

Y1 - 2012/2

N2 - Real-control applications of any nature can be affected by saturation limits that generate windup. When saturation occurs in a device its performance deteriorates. Electromagnetic actuators for industrial applications are being utilized ever more frequently for positioning and tracking control problems. One of the most important requirements in tracking trajectories is to achieve a soft landing, which guarantees reliable functionality and a longer component life. This paper presents an application of a typical electromagnetic actuator through a hardware-in-the-loop structure in which a soft landing is required in the tracking trajectory. To avoid saturation, which prevents soft landings, a specific new control law is developed. The proposed technique is based on a cyclic adaptive current preaction combined with a sliding surface. The technique consists of building a control law so that the position of the valve at which its velocity assumes its minimum is as close as possible to the landing point. At this time point, the magnetic force compensates for the elastic force and the preaction component is switched off. An experimental setup using a hardware-in-the-loop to allow a pilot investigation, model validation, and testing before implementation is considered. Real measurements of the proposed method are shown.

AB - Real-control applications of any nature can be affected by saturation limits that generate windup. When saturation occurs in a device its performance deteriorates. Electromagnetic actuators for industrial applications are being utilized ever more frequently for positioning and tracking control problems. One of the most important requirements in tracking trajectories is to achieve a soft landing, which guarantees reliable functionality and a longer component life. This paper presents an application of a typical electromagnetic actuator through a hardware-in-the-loop structure in which a soft landing is required in the tracking trajectory. To avoid saturation, which prevents soft landings, a specific new control law is developed. The proposed technique is based on a cyclic adaptive current preaction combined with a sliding surface. The technique consists of building a control law so that the position of the valve at which its velocity assumes its minimum is as close as possible to the landing point. At this time point, the magnetic force compensates for the elastic force and the preaction component is switched off. An experimental setup using a hardware-in-the-loop to allow a pilot investigation, model validation, and testing before implementation is considered. Real measurements of the proposed method are shown.

KW - Engineering

KW - Actuators

KW - position control

KW - sliding-mode control

KW - velocity control

UR - http://www.scopus.com/inward/record.url?scp=84855920642&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2010.2089467

DO - 10.1109/TMECH.2010.2089467

M3 - Journal articles

VL - 17

SP - 76

EP - 85

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

SN - 1083-4435

IS - 1

M1 - 5664793

ER -