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Proportional control

About: Proportional control is a research topic. Over the lifetime, 3756 publications have been published within this topic receiving 49050 citations.


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Proceedings ArticleDOI
01 Nov 2007
TL;DR: A method to optimize the walking pattern of a humanoid robot for forward speed using suitable metaheuristics and a feedback control mechanism that starts the next step at the moment of foot contact is presented.
Abstract: We present a method to optimize the walking pattern of a humanoid robot for forward speed using suitable metaheuristics Our starting point is a hand-tuned open-loop gait that we enhance with two feedback control mechanisms First, we employ a P-controller that regulates the foot angle in order to reduce angular velocity of the robot's body Second, we introduce a phase resetting mechanism that starts the next step at the moment of foot contact Using a physics-based simulation, we demonstrate that such feedback control is essential for achieving fast and robust locomotion

41 citations

Journal ArticleDOI
TL;DR: A robust predictive torque control (R-PTC) strategy for the N-segment three- phase PMSM (N*3-phase PMSM) is proposed in this article, which can effectively improve the accuracy and robustness of predictive control performance under the parameters mismatch.
Abstract: The permanent magnet synchronous motor (PMSM) has become a core component of electromechanical energy conversion in the modern industrial field. In order to expand the application of the PMSM in the field of high-power traction, a robust predictive torque control (R-PTC) strategy for the N -segment three-phase PMSM ( N *3-phase PMSM) is proposed in this article. First, the output characteristics of the N *3-phase PMSM are illustrated with the finite-element analysis method, and the mathematical model is established. Then, the six-segment three-phase PMSM predictive control system driven by six parallel inverters is designed to generate the required torque. Furthermore, the influence of the parameter mismatch on the predicted torque and stator flux is taken into consideration based on the conventional predictive torque control (PTC). Finally, a novel R-PTC method with the proportional controller is developed for the N *3-phase PMSM, which can effectively improve the accuracy and robustness of predictive control performance under the parameters mismatch. The simulation and experimental results verify that, compared with the conventional PTC, the proposed R-PTC method can make the predicted stator flux and torque value accurately track its reference values while achieving lower stator flux and torque ripple.

41 citations

Journal ArticleDOI
TL;DR: The dynamic performance of the proposed P/PI speed control mode switching scheme assures a desired tracking response curve with minimal oscillation and settling time over the entire set of operating conditions.
Abstract: Conventional proportional/proportional-integral (P/PI) speed controller for today's servo drives has to be manually tuned at the controller switching set point by trial and error, which may translate into drive system downtime and a subsequent loss of productivity. The adjustable drive performance is heavily dependent on the quality of expert knowledge. The performance becomes inadequate in applications where the operating conditions change in a wide range, i.e., tracking command, acceleration/deceleration time, and load disturbances. In this paper, we discuss the demands on simple controls/setups for industry servo drives. Analyzing the frequency content of the motor torque command, P/PI speed control mode switching is automatically performed with only a prior knowledge of the mechanical time constant. The dynamic performance of the proposed scheme assures a desired tracking response curve with minimal oscillation and settling time over the entire set of operating conditions. For a comprehensive comparison of conventional P/PI control scheme, we carried out extensive tests on an actual servo system.

41 citations

Journal ArticleDOI
TL;DR: In this article, a finite state machine (FSM) sequencing control strategy for air-handling unit (AHU) controllers is presented. But the FSM control strategy represents a paradigm shift in the way sequencing logic is developed, illustrated, and implemented for the control of HVAC systems.
Abstract: Air-handling unit (AHU) controllers commonly use sequencing logic to determine the most economic way to use the components of the AHU to maintain the supply air temperature at a setpoint value. The objective of this paper is to introduce the finite state machine (FSM) sequencing control strategy for AHUs and to compare this strategy with a traditional split-range sequencing control strategy. The FSM control strategy represents a paradigm shift in the way sequencing logic is developed, illustrated, and implemented for the control of HVAC systems. Simulation results obtained from representative weather data for each month of the year are presented to demonstrate the performance of the two sequencing strategies with respect to the controller gains (proportional gain and integral time) used for the heating coil, cooling coil, and mixing box dampers. Simulation results demonstrate that in comparison to the split-range control strategy, the FSM control strategy leads to more stable operation of the AHU when the...

41 citations

Journal ArticleDOI
TL;DR: Adaptive minimum variance control is implemented to maintain the optimal performance in the case in which the system is time varying when operating the actively controlled optical trap in a complex environment.
Abstract: This paper presents a theoretical and experimental investigation of the Brownian motion control of an optically trapped probe. The Langevin equation is employed to describe the motion of the probe experiencing random thermal force and optical trapping force. Since active feedback control is applied to suppress the probe's Brownian motion, actuator dynamics and measurement delay are included in the equation. The equation of motion is simplified to a first-order linear differential equation and transformed to a discrete model for the purpose of controller design and data analysis. The derived model is experimentally verified by comparing the model prediction to the measured response of a 1.87 microm trapped probe subject to proportional control. It is then employed to design the optimal controller that minimizes the variance of the probe's Brownian motion. Theoretical analysis is derived to evaluate the control performance of a specific optical trap. Both experiment and simulation are used to validate the design as well as theoretical analysis, and to illustrate the performance envelope of the active control. Moreover, adaptive minimum variance control is implemented to maintain the optimal performance in the case in which the system is time varying when operating the actively controlled optical trap in a complex environment.

41 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20237
202217
202162
2020110
2019150
2018150