Boring Bar Chatter Control using Feedback Filtered-x Normalized Least Mean Square Algorithm

This paper reports a filtered velocity feedback(FVF) controller, which is an alternative to direct velocity feedback(DVFB) controller. The instability problems at high frequencies due to non-collocated sensor/actuator configuration with the DVFB can be alleviated by the proposed FVF controller. The FVF controller is designed to filter out the unstable high frequency response. The dynamics of a clamped plate under forces and moments and the FVF controllers are formulated. The stability of the control system and performance are investigated with the open loop transfer function(OLTF). It is found that the FVF controller has a higher gain margin than the corresponding DVFB controller owing to the rapid roll-off behavior at high frequencies. Although the gain margin cannot be fully utilized because of the enhancement at the high frequencies, the vibration at the modes lower than the tuning frequency is well controlled. This performance of the FVF controller is shown to be improved from that of the DVFB controller. It is, however, noted that the stability around the tuning frequency is very sensitive so that the enhancement in vibration level should be followed. The reduction performance at low frequencies using the FVF controller should be compromised with the enhancement in the vibration at high frequencies while designing the controller.

In this article, active vibration control of a micro-actuator for hard disk drives using self-sensing actuation is presented. The micro-actuators used in this article are a slider type and a suspension type. The self-sensing performance of the installing position is compared and evaluated. An assembly including these micro-actuators may not be able to sense some vibration of suspension modes. Feedback control results of direct velocity feedback and positive position feedback are presented. The feasibility of these self-sensing approaches as a vibration suppression control on the micro-actuator was verified. Using the slider type micro-actuator, the sway mode spike signal in power spectrum density was suppressed by 76% using the direct velocity feedback control, and by 60% using the positive position feedback control. Using the suspension type micro-actuator, the suspension second bending mode spike signal in power spectrum density was reduced by 74% using the direct velocity feedback control, and by 96% using the positive position feedback control. The control scheme using self-sensing signals can partially dampen the suspension modes.

This paper reports a filtered velocity feedback(FVF) controller, which is an alternative to direct velocity feedback(DVFB) controller. The instability problems due to high frequency response under DVFB can be alleviated by the suggested FVF controller. The FVF controller is designed to filter out the unstable high frequency response. The FVF controller and the dynamics of clamped beams under forces and moments are first formulated. The effects of the design parameters(cut-off frequency, gain, and damping ratio) on the stability and the performance are then investigated. The cut-off frequency should be selected not to affect the system stability. The magnitude of the open loop transfer function(OLTF) at the cut-off frequency should be small. As increasing the gain of the FVF controller, the magnitude of the OLTF is increased, so that the closed loop response can be reduced more. The enhancement of the OLTF at the cut-off frequency is reduced but the phase behavior around the cut-off frequency is distorted, as the damping ratio is increased. The control performance is finally estimated for the clamped beam. More than 10 dB reductions in velocity response can be achieved at the modal frequencies from the first to eighth modes.

A control algorithm using a combined feedback and adaptive control strategy was designed and implemented using digital and analog components. The objective of the controller is to attenuate the vibrations of an open cylinder. The frequency content of the force is broadband noise with a relatively strong harmonic component. Actuation is provided by piezoceramic actuators bonded to the cylinder surface. Both strain and strain rate sensors were developed for this control task. Strain sensing is accomplished by piezoelectric film and piezoelectric ceramic elements bonded to the cylinder. Strain rate sensing is accomplished using distributed piezoelectric film bonded to the cylinder surface together with an interface circuit. Results show that the adaptive controller rejects single frequency vibrations both with and without feedback control. However, by adding an analog feedback control loop, broadband disturbances are attenuated, and the adaptive controller performance is improved. >

In this paper, we propose an adaptive fuzzy output feedback control method for trajectory tracking control problem for robotic systems. Using Lyapunov method, we first develop a stable adaptive fuzzy state feedback control algorithm by assuming that the systems output and its derivatives are available for feedback control design. The algorithm combines fuzzy systems with robust adaptive controller. The fuzzy system approximates the certainty equivalent (CE)-based optimal controller while robustifying adaptive control term is used to cope with uncertainties that appeared from the effect of external disturbance, fuzzy approximation errors and other modeling errors. Then, an output feedback form of the position-velocity (state feedback) controller is proposed where unknown velocity signal is replaced by the output of model-free linear estimator. We show via asymptotic analysis that the tracking performance of the output feedback design can recover the performance achieved under the state feedback control design. Finally, the proposed method is implemented and evaluated on a 2-DOF robotic system to demonstrate the theoretical development for the real-time applications.

Integration of active vibration control methods with finite element models of smart laminated composite structures

PurposeTraditionally, each time a new design for a finite impulse response (FIR) filter is required, a new algorithm has to be developed specially for the FIR filter. Furthermore, corresponding hardware architecture must be designed specially to meet the requirement of the FIR specifications. The purpose of this paper is to propose an arithmetic logic unit (ALU)‐based universal FIR filter suitable for realization in field programmable gate arrays (FPGA), where various FIR filters can be implemented just by programming instructions in the ROM with identical hardware architecture.Design/methodology/approachRather than multiplier‐accumulator‐based architecture for conventional FIR, the proposed ALU architecture implements the FIR functions by using accumulators and shift‐registers controlled by the instructions of ROM. Furthermore, time division multiplexing access (TDMA) technique is employed to reduce the chip size. In addition, the proposed FIR architecture is verified in a SOC hardware and/or software co‐emulation system.FindingsAn ALU‐based universal FIR filter suitable for realization in FPGA is designed and verified in a SOC hardware/software co‐emulation system with example of a 64‐tap FIR filter design.Originality/valueA software‐based design method as well as TDMA scheme for the ALU‐based FIR filter are introduced, making FIR filter architecture universal, programmable, and consuming less FPGA resources.

Nowadays, the communications and computations has been performed by Digital Finite Impulse Response (FIR) filter. FIR filter is predominantly used in DSP applications for efficient implementations. FIR filter is able to declare a firm linear phase frequency characteristic with any type of amplitude frequency characteristic in a DSP system. A reconfigurable FIR filter architecture has been implemented using Least Mean Square (LMS) algorithm in the proposed scheme. The proposed scheme achieves better performance when compared to an existing scheme. The proposed method has been implemented in ModelSim tool and efficiency has been calculated by using the device Virtex 6 Low Power in Xilinx ISE Design Suite 12.4.

Torsional adaptive control of motor drive process in hybrid power system considering disturbance

Application of an active controller for reducing small-amplitude vertical vibration in a vehicle seat

Push carts are a convenient means of transportation. However, the transmission of vibrations to the transported materials when passing over bumps presents a significant issue. To solve this issue, we applied center of percussion (COP) to the casters. Furthermore, residual vibrations are reduced by installing an Inertia Force Generator (IFG) on the loading platform and applying control forces using Direct Inertia Force Control (DIFC). In previous studies, installing four IFGs on a loading platform and implementing a Direct Velocity Feedback (DVFB) control system based on DIFC was shown to reduce damping time. This study aims to enhance performance by extending the current Single-Input Single-Output vibration control system to a Four-Input Four-Output system. The Four-Input Four-Output vibration control system is designed using H-infinity control to enhance performance, ensure robustness to model uncertainties, and allow control design over specified frequency ranges. This report presents the design of the Four-Input Four-Output vibration control system based on H-infinity control theory and evaluates the performance of the obtained controller through impulse response simulations. Simulation results showed that the designed controller significantly reduced the damping time.

Digital filters play a central role in modern Digital Signal Processing (DSP) systems. Finite Impulse Response (FIR) filters can provide solutions with guaranteed stability and linear phase. However, the main disadvantage of conventional FIR filter designs is that they become computationally complex, especially in applications demanding narrow transition bandwidths. Therefore, designing FIR filters with very stringent specifications and a low complexity is currently an important challenge. In this chapter, a review of the recent methods to efficiently design low-complexity linear-phase FIR filters is presented. The chapter starts with an introduction to linear-phase FIR digital filters. Then, an overview of the design methods that have been developed in literature to design low-complexity FIR filters is presented. Finally, the most common and recent of these methods along with their corresponding special structures are explained.

Digital filters play a central role in modern digital signal processing (DSP) systems. Finite impulse response (FIR) filters can provide solutions with guaranteed stability and linear phase. However, the main disadvantage of conventional FIR filter designs is that they become computationally complex, especially in applications demanding narrow transition bandwidths. Therefore, designing FIR filters with very stringent specifications and a low complexity is currently an important challenge. In this chapter, a review of the recent methods to efficiently design low-complexity linear-phase FIR filters is presented. The chapter starts with an introduction to linear-phase FIR digital filters. Then, an overview of the design methods that have been developed in literature to design low-complexity FIR filters is presented. Finally, the most common and recent of these methods along with their corresponding special structures are explained.

Laser satellite communication has become especially attractive in recent years. However, because the laser beam is very narrow and there is a long distance between satellites, the laser communication channel is very sensitive to vibrations of the optical platform. These vibrations cause optical jitter, leading to the reduction of received signals and bit-error rate degradation. Consequently, optical jitter control with PAT (pointing acquisition and tracking) subsystems is a critical problem in laser satellite communication. To compensate for the platform vibration effectively in realtime, in this paper, an adaptive feedback control technique based on Youla-parameterization is presented, which can adapt to the current disturbance acting on the laser beam by adjusting its parameters in realtime to maintain optimal performance. The main idea is to use the well-known Youla parameterization formula to construct a feedback control scheme with the guaranteed closed loop stability, and the feedback controller is a function of plant coprime factors and a free parameter Q. For adaptive disturbance estimation, the free parameter Q is set to an adaptive finite impulse response (FIR) filter, the coefficients of which are updated by a recursive least-squares (RLS) algorithm in realtime. It is shown in experiment that the adaptive feedback control technique based on Youla-parameterization can reject the optical jitter caused by satellite platform vibration effectively and improve the performance of the system.

In this paper, an H∞ direct output feedback control algorithm through minimizing the entropy, a performance index measuring the tradeoff between H∞ optimality and H2 optimality, is employed to design the control system in reducing structural responses due to dynamic loads such as earthquakes. The control forces are obtained from the multiplication of direct output measurements by a pre-calculated time-invariant feedback gain matrix. To achieve optimal control performance, the strategy to select both control parameters γ and α is extensively investigated. The decrease of γ or increase of α results in better control effectiveness, but larger control force requirement. For a single degree-of-freedom (SDOF) damped structure, exact solutions of output feedback gains and control parameters are derived. It can be proved analytically that the LQR control is a special case of the proposed H∞ control. Direct velocity feedback control is effective in reducing structural responses with very small number of sensors and controllers compared with the DOFs of the structure. In active control of a real structure, control force execution time delay cannot be avoided. Relatively small delay time not only can render the control ineffective, but also may cause system instability. In this study, explicit formulas to calculate maximum allowable delay time and critical control parameters are derived for the design of a stable control system. Some solutions are also proposed to increase the maximum allowable delay time.