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21 pages, 11705 KiB

Open AccessArticle

Application of Opposition-Based Learning Jumping Spider Optimization Algorithm in Gas Turbine Coupled Cooling System

by Dazhi Wang, Tianyi Li, Yongliang Ni, Keling Song and Yanming Li

Actuators 2023, 12(10), 396; https://doi.org/10.3390/act12100396 - 23 Oct 2023

Viewed by 1178

A gas turbine cooling system is a typical multivariable, strongly coupled, nonlinear system; however, the randomness and large disturbances make it difficult to control the variables precisely. In order to solve the problem of precise process control for multi-input and multi-output coupled systems [...] Read more.

A gas turbine cooling system is a typical multivariable, strongly coupled, nonlinear system; however, the randomness and large disturbances make it difficult to control the variables precisely. In order to solve the problem of precise process control for multi-input and multi-output coupled systems with flow, pressure, and temperature, this article conducts the following research: (1) Designing a secondary circuit for waste hot water and establishing a water-circulating gas turbine cooling system to improve the efficiency of waste heat utilization. (2) Identifying the coupled system model and establishing a mathematical model of the coupling relationship based on the characteristic data of input and output signals in the gas turbine cooling system. (3) Designing a coupled-system decoupling compensator to weaken the relationships between variables, realizing the decoupling between coupled variables. (4) An Opposition-based Learning Jumping Spider Optimization Algorithm is proposed to be combined with the PID control algorithm, and the parameters of the PID controller are adjusted to solve the intelligent control problems of heat exchanger water inlet flow rate, pressure, and temperature in the gas turbine cooling system. After simulation verification, the gas turbine cooling system based on an Opposition-based Learning Jumping Spider Optimization Algorithm can realize the constant inlet flow rate, with an error of no more than 1 m³/h, constant inlet water temperature, with an error of no more than 0.2 °C, and constant main-pipe pressure, with an error of no more than 0.01 MPa. Experimental results show that a gas turbine cooling system based on the Opposition-based Learning Jumping Spider Optimization Algorithm can accurately realize the internal variable controls. At the same time, it can provide a reference for decoupling problems in strongly coupled systems, the controller parameter optimization problems, and process control problems in complex systems. Full article

(This article belongs to the Special Issue Applications of Intelligent Control in Actuators Systems)

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18 pages, 7060 KiB

Open AccessArticle

Torque Increase Strategy for Induction Motor in the Field-Weakening Region Based on Model Predictive Control

by Jingtao Huang, Shuai Liu, Peng Zhang and Yanan Wang

Actuators 2023, 12(10), 395; https://doi.org/10.3390/act12100395 - 22 Oct 2023

Viewed by 1279

Abstract

In the field-weakening region, the traditional field-weakening method for induction motor drives based on model predictive control (MPC) is to take a no-load operation as the premise and adjust the flux reference in the cost function proportional to the inverse of the rotor [...] Read more.

In the field-weakening region, the traditional field-weakening method for induction motor drives based on model predictive control (MPC) is to take a no-load operation as the premise and adjust the flux reference in the cost function proportional to the inverse of the rotor speed, which leads to poor torque output. This paper presents a novel field-weakening method for IM drives based on MPC. Considering the induction motor field-weakening limiting conditions and according to the speed adaptive field-weakening strategy with a voltage closed-loop, the speed adaptive field-weakening controllers were designed to optimize the references of the excitation current and torque current. In the rotor field-orientation d–q coordinate system, the stator flux amplitude and torque reference values were optimized by the optimal distribution current. Then, according to the dead-beat control principle, they were converted into an equivalent stator flux vector reference. Moreover, the stator voltage vector reference can be obtained. For an induction motor fed by a three-level neutral point clamped (3L-NPC) inverter, the cost function was constructed by combining all the constraints, including the voltage vector, the neutral potential balance, and the switching frequency. In this way, the high-performance field-weakening operation for the induction motor based on a model predictive control can be realized. The simulation and experiment results show that the proposed method can increase the torque output by 22% in the field-weakening region; at the same time, the steady characteristics and the dynamic response performance can be maintained well. Full article

(This article belongs to the Special Issue Applications of Intelligent Control in Actuators Systems)

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25 pages, 7694 KiB

Open AccessArticle

Sliding Mode Active Disturbance Rejection Control of Permanent Magnet Synchronous Motor Based on Improved Genetic Algorithm

by Shuai Li, Henian Li, Hai Wang, Chunlai Yang, Jingsong Gui and Ronghua Fu

Actuators 2023, 12(5), 209; https://doi.org/10.3390/act12050209 - 19 May 2023

Cited by 2 | Viewed by 1157

Abstract

Sliding mode control has been widely used to control permanent magnet synchronous motors (PMSM). However, the parameters of the sliding mode controller are difficult to be tuned, which makes the control performance of PMSM hard to be improved. A nonlinear sliding mode control [...] Read more.

Sliding mode control has been widely used to control permanent magnet synchronous motors (PMSM). However, the parameters of the sliding mode controller are difficult to be tuned, which makes the control performance of PMSM hard to be improved. A nonlinear sliding mode control method that integrated a nonlinear reaching law (NRLSMC) and extended state observer (ESO) is proposed in this paper, whose parameters are tuned by an improved genetic algorithm (IGA). The control performance of the nonlinear reaching law in the nonlinear sliding mode controller is analyzed, whose stability is verified based on the Lyapunov theorem. An extended state observer is integrated into the above controller to further improve the anti-interference capability, and compensate for the observed external disturbance of the system into the speed controller in sliding mode. The optimal parameters of the above sliding mode control are tuned by IGA combined with the system speed loop model. The performance of the proposed controller is numerically simulated in MATLAB/Simulink and verified in a control system rapid control prototype (RCP) experimental platform built based on dSPACE 1202. Numerical simulation and experimental results show that the proposed controller can make the PMSM control system with the advantages of no overshoot, fast response, and strong robustness. Full article

(This article belongs to the Special Issue Applications of Intelligent Control in Actuators Systems)

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18 pages, 6701 KiB

Open AccessArticle

Target Tracking of Snake Robot with Double-Sine Serpentine Gait Based on Adaptive Sliding Mode Control

by Zhifan Liu, Wu Wei, Xiongding Liu and Siwei Han

Actuators 2023, 12(1), 38; https://doi.org/10.3390/act12010038 - 10 Jan 2023

Cited by 2 | Viewed by 1609

Abstract

This paper studies the target tracking control strategy of a snake robot and proposes an adaptive sliding mode control method. The strategy ensures the robot follows the target path by controlling the joint angle through feedback, pushing the robot to reach the target [...] Read more.

This paper studies the target tracking control strategy of a snake robot and proposes an adaptive sliding mode control method. The strategy ensures the robot follows the target path by controlling the joint angle through feedback, pushing the robot to reach the target position through gait function. In order to achieve target tracking, a kinematic model of a snake robot was first established in this paper. Then, we used double-sine serpentine gait to solve the problem of low steering efficiency caused by regular serpentine gait, and we explored the relationship between control parameters and robot steering. On the basis of gait, in order to further improve the efficiency of target tracking for the snake robot, an adaptive sliding mode control method, based on a new sliding mode reaching law, was proposed. Finally, the effectiveness and practicability of the proposed strategy was demonstrated by comparative analysis and simulation experiments. Full article

(This article belongs to the Special Issue Applications of Intelligent Control in Actuators Systems)

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27 pages, 3924 KiB

Open AccessArticle

An Adaptive Dynamic Surface Technology-Based Electromechanical Actuator Fault-Tolerant Scheme for Blair Mine Hoist Wire Rope Tension Control System

by Xiao Chen, Zhencai Zhu, Tianbing Ma, Jucai Chang, Xiangdong Chang and Wanshun Zang

Actuators 2022, 11(10), 299; https://doi.org/10.3390/act11100299 - 18 Oct 2022

Cited by 1 | Viewed by 2057

Abstract

As an important equipment for deep well hoisting, the safe and stable operation of the Blair mine hoist is vital for the development and utilization of deep mineral resources. However, it is always a challenging task to keep consistent wire rope tension in [...] Read more.

As an important equipment for deep well hoisting, the safe and stable operation of the Blair mine hoist is vital for the development and utilization of deep mineral resources. However, it is always a challenging task to keep consistent wire rope tension in the event of an actuator fault. In this study, an adaptive dynamic surface technology-based actuator fault-tolerant scheme is proposed. A fault observer with a neural network adaptation term is designed to estimate the loss of actuator efficiency caused by faults. Considering the redundant characteristic of the two actuators, a novel dynamic surface technology-based controller with a fuzzy assignment and state constraints is developed to eliminate the impact of fault. The stability of the closed-loop system under the proposed strategy is theoretically proved by rigorous Lyapunov analysis. Comparative experiments under various conditions are carried out on a xPC based mine hoist platform, and the results show the applicability together with the superiority of the proposed scheme. Full article

(This article belongs to the Special Issue Applications of Intelligent Control in Actuators Systems)

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22 pages, 4151 KiB

Open AccessArticle

Implementation of Iterative Learning Control on a Pneumatic Actuator

by James Rwafa and Farzad Ghayoor

Actuators 2022, 11(8), 240; https://doi.org/10.3390/act11080240 - 22 Aug 2022

Cited by 1 | Viewed by 1668

Abstract

Pneumatic actuators demonstrate various nonlinear and uncertain behavior, and as a result, precise control of such actuators with model-based control schemes is challenging. The Iterative Learning Control (ILC) algorithm is a model-free control method usually used for repetitive processes. The ILC uses information [...] Read more.

Pneumatic actuators demonstrate various nonlinear and uncertain behavior, and as a result, precise control of such actuators with model-based control schemes is challenging. The Iterative Learning Control (ILC) algorithm is a model-free control method usually used for repetitive processes. The ILC uses information from previous repetitions to learn about a system’s dynamics for generating a more suitable control signal. In this paper, an ILC method to overcome the nonlinearities and uncertainties in a pneumatic cylinder-piston actuator is suggested. The actuator is modeled using MATLAB SimScape blocks, and the ILC scheme has been expanded for controlling nonlinear, non-repetitive systems so that it can be used to control the considered pneumatic system. The simulation results show that the designed ILC controller is capable of tracking a non-repetitive reference signal and can overcome the internal and payload uncertainties with the precision of 0.002 m. Therefore, the ILC can be considered as an approach for controlling the pneumatic actuators, which is challenging to obtain their mathematical modeling. Full article

(This article belongs to the Special Issue Applications of Intelligent Control in Actuators Systems)

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19 pages, 2388 KiB

Open AccessArticle

Adaptive Transition Gait Planning of Snake Robot Based on Polynomial Interpolation Method

by Xiongding Liu, Guangjie Lin and Wu Wei

Actuators 2022, 11(8), 222; https://doi.org/10.3390/act11080222 - 05 Aug 2022

Cited by 7 | Viewed by 2169

Abstract

This paper mainly studies the transition gait planning by updating the parameters of snack robot motion control function through ROS nodes, including a straight running gait into a turning gait. In the practical scenario, when changing the control parameters, the joint angle of [...] Read more.

This paper mainly studies the transition gait planning by updating the parameters of snack robot motion control function through ROS nodes, including a straight running gait into a turning gait. In the practical scenario, when changing the control parameters, the joint angle of the snake robot will increase or decrease sharply, and the angular velocity and angular acceleration of the driving joints will also change, which results in oscillation and sideslip of the body. In the turning scene, the visual tracking will loss if the head joint of the snake robot causes the lateral movement and oscillation. To solve those problems, firstly, the dynamic model of the snake robot’s gait of serpentine movement is established. Then, we propose a method based on polynomial interpolation compensation to solve the body oscillation and sideslip caused by nodes updating. To further improve the efficiency of snake robot’s gait switching, an optimal dichotomy interpolation time search is proposed to realize the snake robot’s adaptive transition gait. Finally, some simulation experiments are verified the effectiveness of the proposed method. Full article

(This article belongs to the Special Issue Applications of Intelligent Control in Actuators Systems)

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Other

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15 pages, 3609 KiB

Open AccessEssay

Adaptive Gait Generation for Hexapod Robots Based on Reinforcement Learning and Hierarchical Framework

by Zhiying Qiu, Wu Wei and Xiongding Liu

Actuators 2023, 12(2), 75; https://doi.org/10.3390/act12020075 - 09 Feb 2023

Cited by 3 | Viewed by 2477

Abstract

Gait plays a decisive role in the performance of hexapod robot walking; this paper focuses on adaptive gait generation with reinforcement learning for a hexapod robot. Moreover, the hexapod robot has a high-dimensional action space and therefore it is a great challenge to [...] Read more.

Gait plays a decisive role in the performance of hexapod robot walking; this paper focuses on adaptive gait generation with reinforcement learning for a hexapod robot. Moreover, the hexapod robot has a high-dimensional action space and therefore it is a great challenge to use reinforcement learning to directly train the robot’s joint angles. As a result, a hierarchical and modular framework and learning details are proposed in this paper, using only seven-dimensional vectors to denote the agent actions. In addition, we conduct experiments and deploy the proposed framework using a real hexapod robot. The experimental results show that superior reinforcement learning algorithms can converge in our framework, such as SAC, PPO, DDPG and TD3. Specifically, the gait policy trained in our framework can generate new adaptive hexapod gait on flat terrain, which is stable and has lower transportation cost than rhythmic gaits. Full article

(This article belongs to the Special Issue Applications of Intelligent Control in Actuators Systems)

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