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2016  Robust control design for ball screw system focusing on the friction model  共著   
International Journal of Modeling, Identification and Control  , Inderscience Publishers  , Vol.26/No.3  , pp.207-217  , 2016/11   

概要(Abstract) This paper proposes a method to solve practical problems of positioning control using a ball screw system. The practical problems contain two ifficulties. First difficulty is that friction affects the positioning performance. In this paper, the friction is divided into three components, which are nonlinear term including static friction and Coulomb friction, Stribeck effect and linear term including viscous friction. Linear term friction can be considered in framework of linear control synthesis. Nonlinear friction and Stribeck effect are considered as disturbance. These are compensated by adding one integrator inside the controlled loop and loop shaping. Second difficulty is that the change in mass of load affects the system response. Moreover, it is shown that viscous friction coefficient varies by some experiment. The controller is designed to guarantee the robust stability for uncertain parameters, which are the mass of load and the viscous
friction coefficient. The effectiveness of the roposed method is verified by simulations and experiments. 

備考(Remarks) 査読付き論文
Takayuki Yamamoto, Gan Cen 

2016  Optimal Maintenance Management of Flood Control Infrastructure  共著   
Proceedings of the 11th Internatinal Conference on Reliability, Maintainability and Safety  , the 11th Internatinal Conference on Reliability, Maintainability and Safety  , 2016   , 8pages  , 2016/10   

概要(Abstract) The maintenance management of infrastructure is discussed in this paper. Flood control infrastructures are important to protect the life and property of inhabitants. The drainage pumping plant is one of the main facilities in them. Many drainage pumping plants become obsolete with age. It is an urgent issue to maintain the reliability and to achieve the life extension of the plants by replacing deteriorated devices. A drainage pumping plat consists of many devices which have individual lives and operating-times. It is complicated and difficult to schedule the replacement of devices for the plant. This paper’s contribution is to propose a new method to schedule the device replacement for a large plant including many devices which have individual lives and operating-times. A new model is propose to solve the problem. For each device, a state variable and a decision variable are introduced to define a progress of deterioration and a timing of replacement. A state equation is given to define the relationship between the state variable and the decision variable. Based on the state equations, the scheduling problem is described as a dynamical optimization problem to minimize the total cost of device replacement with the constraints of annual costs and reliability of the plant. The problem is transformed into a mixed integer programming problem. It is solved by the branch and bound method. For large scale systems, the problem is divided into some sub-problems, and those sub-problems are solved one by one. The uncertainty of device life is analyzed, and a practical application method is proposed. The effectiveness of the proposed method is illustrated by numerical simulations applied to a model plant which is chosen from practical plants. 

備考(Remarks) 査読付き論文
Masao Fukushima, Fumiaki Yamada, Takayuki Yamamoto, Toshimitsu Mori 

2016  Adaptive control for jib crane with nonlinear uncertainties  共著   
Proceedings of 12th IEEE International conference on Control and Automation(ICCA)  , IEEE  , 2016  , 2016/06/01   

概要(Abstract) This paper presents a robust LQ control system with Model Reference Adaptive Control (MRAC) law for a jib crane. Our approaches show that the robust control performance is improved in the presence of nonlinear uncertainties by adding MRAC law into the usual robust control system. The proposed system is synthesized as follows. Firstly, the process to design a robust LQ controller in the framework of the redundant descriptor representation is considered. The robust LQ controller is designed for uncertainties, which can be linearly treated in controller synthesis. Secondly, the adaptive law with σ-modification is designed into the robust LQ control loop. The adaptive law is considered for nonlinear uncertainties. The feature of this study is to deal with nonlinear uncertainties, which can not be linearly treated in robust LQ controller synthesis, by adding the adaptive law. The exponential stability for the homogeneous system is analyzed through solving quadratic stability condition. Finally, the effectiveness of the proposed system is verified by comparing with the robust LQ controller without MRAC law in simulations with using the jib crane. 

備考(Remarks) Taturou KUMADA, Gan CHEN
査読付き論文 

2016  Robust Control of Active Suspension to Improve Ride Comfort with Structural Constraints  共著   
Proceedings of IEEE Advanced Motion Control April 22-24,2016 Auckland New Zealand   , IEEE  , 2016  , pp.111-116  , 2016/04   

概要(Abstract) This paper proposes the robust H2 controller with
constraints for the active suspension using the half car model.
The purpose of this study is to improve the ride comfort with
satisfying the structural constraints. According to International
Organization for Standardization 2631, there exist the uncom-
fortable frequency bands of the human body. The uncomfortable
frequency bands are 4-8[Hz] for the vertical acceleration and
0.63-0.8[Hz] for the pitch angular acceleration. In this paper,
the acceleration in the specific frequency bands is suppressed
by using frequency shaping. On the other hand, the active
suspension has the structural constraints which are constraints
on the vertical force of the wheel, the suspension stroke, and the
control input. They are expressed as the time-domain constraints.
In addition, the robust stability for the perturbation of the front
and rear weights of the car body is guaranteed. The perturbation
of the weights of the car body affects the pitch motion of
the car body and the vertical force of the wheels. The robust
stability for the perturbation is guaranteed by using the polytopic
representation. The robust H2 controller is designed by solving
a finite set of LMIs to achieve the purposes. The effectiveness of
proposed controller is evaluated by simulations and experiments. 

備考(Remarks) 査読付き論文
Fumiaki Yamada, Kohei Suzuki, Tatsuo Toda, Gan Chen 

2016  Robust H∞ Control for Active Magnetic Bearing System with Imbalance of the Rotor  共著   
proceedings of IEEE Advanced Motion Control April 22-24,2016 Auckland New Zealand  , IEEE  , 2016  , pp.305-310  , 2016/04   

概要(Abstract) This paper proposes design of a robust H1 controller
for Active Magnetic Bearing (AMB) system. In this paper,
the rotor of AMB has both static and dynamic imbalance. AMB
system is affected by gyroscopic effect and imbalance of the rotor.
Gyroscopic effect depends on angular velocity of the rotor. The
H1 controller is designed to suppress the vibration caused by
imbalance and gyroscopic effect. The purpose of this study is to
control attitude of the rotor. In order to control the attitude of
the rotor, the perturbation of the rotor from equilibrium point
is decreased by the state-feedback control. Mathematical model
of AMB has first and second order terms of the angular velocity.
In attempt to guarantee the robust stability for a prescribed
range of angular velocity with lower conservativeness, the second
order terms of angular velocity are changed into first order terms
by using linear fractional transformation (LFT) and descriptor
representation. Polytopic representation is applied to the system
matrices which has only the first order terms of the varying
parameter. H1 controller is obtained by solving a finite set of
linear matrix inequality (LMI) conditions at the vertex matrices
of the polytope. Furthermore the effectiveness of the proposed
controller is illustrated by simulations comparing with robust
linear quadratic controller (RLQ). 

備考(Remarks) 査読付き論文
Masaki Goto, Tatsuya Mizuno, Gan Chen 

2015  Gain Scheduled Control for Active Magnetic Bearing System Considering Gyroscopic Effect  共著   
Proceedings of the 7th International Conference on Information Technology and Electrical Engineering  , King Mongkut's Institute of Technology Ladkrabang, Thailand  , 2015  , 6p  , 2015/10/29   

概要(Abstract) This paper proposes gain scheduled (GS) control for
active magnetic bearing (AMB) system. The system levitates and supports a rotor without contact. The rotor is a solid of revolution. AMB is unstable and strongly nonlinear due to characteristics of the magnetic levitation. Furthermore, gyroscopic effect corresponding to the rotational speed and the moment of inertia of the rotor occurs. Thus, AMB system tends to be unstable by the gyroscopic effect. The rotational speed varies in operation. It is treated as a time-varying parameter. The moment of inertia is
different by rotor shape. It is treated as an uncertain parameter. The robust stability for the rotational speed and the moment of inertia is guaranteed by using polytopic representation. Linear
fractional transformation (LFT) is applied to design the GS controller via parameter dependent Lyapunov function. The problem of the GS controller can be formulated as solving a finite set of linear matrix inequality (LMI) conditions. The effectiveness
of the proposed method is illustrated by simulations. 

備考(Remarks) Akio Sanbayashi, Masanori Narita, Gan Chen と共著
査読付き論文 

2015  Robust Control of Control Moment Gyroscope with Friction Disturbance - Using Polytopic Representation -  共著   
Proceedings of the 7th International Conference on Information Technology and Electrical Engineering  , King Mongkut's Institute of Technology Ladkrabang, THILAND  , 2015   , 6p  , 2015/10/29   

概要(Abstract) This paper presents the robust control design of a
Control Moment Gyroscope (CMG). The general linear approximate system of CMG around equilibrium point is uncontrollable.It is difficult to adopt linear control to CMG. In this study,linear control design based on linear matrix inequality (LMIs) is applied to CMG. However, there are nonlinear terms involving
trigonometric function in the mathematical model of CMG. Those nonlinear terms are treated as uncertain parameters to apply the linear control theory. Descriptor representation and linear fractional transformation (LFT) are applied to tranform those
nonlinear terms into multi-affine form. As a result, conservativeness of analysis is reduced in the controller synthesis. In addition, there are some uncertain parameters which are the moment of inertia and the angular velocity of the rotor in the model. The robust stability is guaranteed for those uncertain
parameters by using polytopic representation. The proposed controller compensates coulomb friction. The integrator of the error between state and reference is added into the state variable to eliminate steady-state error. The effectiveness of the proposed
method is illustrated by simulations. 

備考(Remarks)  

2015  Robust H2 Control of Active Suspension - Improvement of Ride Comfort and Driving Stability -  共著   
Proceedings of the 2015 IEEE Multi-Conference on Systems and Control  , IEEE  , 2015  , 6p  , 2015/09/21   

概要(Abstract) This paper suggests a method of robust control for
an active suspension to improve both of the ride comfort and the driving stability using half car model. The ride comfort is evaluated by the vertical acceleration and the pitch acceleration of the human body. The driving stability is evaluated by the
vertical force of front and rear wheels. The purpose of this paper is to improve the ride comfort and the driving stability by using state feedback. On the other hand, the robust stability is also important factor to evaluate the performance of the car. In
this study, the front and rear weights of car body are considered as uncertain parameters depending on the passengers and the loads. Their weights influence on the pitch motion of the car body. The robust H2 controller is designed to guarantee the robust stability for the system with uncertain parameters with
polytopic representation. These problems are solved by a finite set of Linear Matrix Inequality (LMI). The effectiveness of the proposed method is illustrated by simulations and experiments.  

備考(Remarks) Kohei Suzuki, Tatsuo Toda, Gan Chen と共著
査読付き論文 

2015  Robust Control of Active Suspension - Improvement of Ride Comfort and Driving Stability Using Half Car Model -  共著   
Proceedings of SICE 2015  , 計測自動制御学会  , 2015  , 6p  , 2015/07/29   

概要(Abstract) This paper presents a method of robust control for an active suspension to improve both ride comfort and
driving stability. The ride comfort is related to the vertical and pitch vibration of car body. To improve ride comfort more effectively, the loop shaping is used for vertical and pitch motions based on ISO2631-1. On the other hand, the driving stability is evaluated by the fluctuation of vertical force of wheels which is affected by the pitch motion. To consider both of them more realistically, a half car model including vertical and pitch motions are analyzed. For practical application, to consider uncertain parameters is important. This paper focuses on the car body mass. The controller is designed
to guarantee the robust stability for the uncertain parameter with polytopic representation. LQ ontroller, which can consider both performance and input energy, is used. The problem is formulated to solving finite LMIs. The effectiveness of proposed method is evaluated by the experiments. 

備考(Remarks) Tatsuo Toda, Kohei Suzuki, Gan Chenと共著
査読付き論文 

2015  磁気軸受システムに対するポリトープ表現を用いたゲインスケジューリング制御  共著   
Proceedings of MOVIC2015  , 日本機械学会  , 2015  , 4p  , 2015/06/08   

概要(Abstract) In this paper, we show a Gain Scheduling(GS) controller design method for Active Magnetic Bearing System(AMB). Gyroscopic effect corresponding to the rotational speed of the shaft occurs in a magnetic bearing system. Therefore, the shaft of AMB becomes unstable. The time-varying parameter is rotational speed. The varying parameter can be measured on line. By designing the GS controller,it has a scheduling parameter of a rotational speed of the shaft, we try to guarantee stability and improve the control performance. The problem can be formulated as solving finite set of linear matrix inequalities. The effectiveness of the proposed method is verified by simulation. 

備考(Remarks) 三林明央、成田将規、陳幹と共著
査読付き論文 

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