Page 19 - ASME DSCC 2015 Program

Technical Program

Hierarchical Control of Multi-Domain Power flow in Mobile Systems: ConTRIBuTED SESSIon
Part II: Aircraft Application 1-1-1 WA2 Mechatronics
Invited session paper. DSCC2015-9904 George Bellows B 10:00am–12:00pm
Matthew A. Williams, Justin P. Koeln, Andrew G. Alleyne, University of
Illinois at Urbana-Champaign, Urbana, IL, United States Session Chair: George Chiu, Purdue University
This two-part paper presents the development of a hierarchical control Session Co-Chair: Sheng li, Zhejiang University of Technology
framework for the control of power flow throughout large-scale systems.
Dynamic Characteristics and Stability Analysis of Two-dimensional
Part II presents the application of the graph-based modeling framework
(2D) Electro-hydraulic Proportional Directional Valve
and three-level hierarchical control framework to the power systems of an
Contributed regular paper. DSCC2015-9610
aircraft. The simplified aircraft system includes an engine, electrical, and
thermal systems. A graph based approach is used to model the system Sheng Li, jian ruan, Bin Meng, Wenang jia, hongyan xie, Zhejiang
University of Technology, Hangzhou, Zhejiang Province, China
dynamics, where vertices represent capacitive elements such as fuel
tanks, heat exchangers, and batteries with states corresponding to the A 2D electrohydraulic proportional directional valve is proposed, which
temperature and state of charge. Edges represent power flows in the form integrates both direct and pilot operation of the valve. In this valve, the
of electricity and heat, which can be actuated using control inputs. The output magnetic force of the proportional solenoid is converted to rotate the
aircraft graph is then partitioned spatially into systems and subsystems, and spool through a thrust-torsion coupling and thus the pressure in the valve
temporally into fast, medium, and slow dynamics. These partitioned graphs sensitive chamber is varied. The varied pressure exerted on the areas of the
are used to develop models for each of the three levels of the hierarchy. spool end produces a hydrostatic force to move the spool linearly, which will
Simulation results show the benefits of hierarchical control compared to a rotate the spool reversely. Theoretical analysis is carried to the proposed
centralized control method. valve and the effects of the key geometric parameters on the dynamic char-
Hierarchical Control of Multi-Domain Power flow in Mobile Systems: acteristics of the 2D valve and stability are investigated. Experiments are
Part I: framework Development and Demonstration also designed to access to the characteristics of the valve working under
Invited session paper. DSCC2015-9908 direct and pilot operation. The 2D electrohydraulic valve can work properly
for both direct operation and pilot operation. The hysteresis and frequency
Justin P. Koeln, Matthew A. Williams, Andrew G. Alleyne, University of response are measured and the results are within the acceptable range in
Illinois at Urbana-Champaign, Urbana, IL, United States
practical engineering application required of the directional proportional
This two-part paper presents the development of a hierarchical control valve.
framework for the control of power flow throughout mobile systems. These
Adaptive Robust Tip Tracking Control for Single-link flexible Beam
vehicles are comprised of multiple interconnected systems each with mul-
Contributed regular paper. DSCC2015-9638
tiple subsystems which exhibit dynamics over a wide range of timescales.
These interconnections and the timescale separation pose a significant jianfeng Liao, cong Li, xiaocong Zhu, Zhejiang University, Hangzhou,
challenge when developing an effective control strategy. Part I presents the China, Bin Yao, Purdue University West Lafayette, IN, United States
proposed graph-based modeling approach and the three-level hierarchical This paper presents an inversion-based adaptive robust tip tracking control
control framework developed to directly address these interconnections strategy that results in high tracking performance while guaranteeing the
and timescale separation. The mobile system is represented as a directed robustness for a class of linear motor driven single-link flexible beam. To
graph with vertices corresponding to the states of the vehicle and edges address the non-minimum phase characteristics of the system, the inversion
capturing the power flow throughout the vehicle. The mobile system and control is achieved by applying output redefinition technique as well as de-
the corresponding graph are partitioned spatially into systems and subsys- fining the new output at the tip of the flexible beam. In addition, the adaptive
tems and temporally into vertices of slow, medium, and fast dynamics. The robust control (ARC) is introduced to deal with the parameter uncertainties
partitioning facilitates the development of models used by model predictive and model uncertainties and to guarantee transient and steady state track-
controllers at each level of the hierarchy. A simple example system is used ing performance. Comparative simulations and actual experiments based
to demonstrate the approach. Part II utilizes this framework to control the on linear motor driven flexible beam system are carried out to verify the
power flow in the electrical and thermal systems of an aircraft. Simulation re- effectiveness of the proposed control strategy.
sults show the benefits of hierarchical control compared to centralized and
Juggler System: Hybrid Model and Implementation
decentralized control methods.
Contributed regular paper. DSCC2015-9738
Santiago Jiménez, nicanor Quijano, Carlos Rodriguez, Universidad de los
Andes, Bogota, Colombia
The description of the physical implementation of a juggler system is pre-
sented, including its movement control to achieve a specific objective. A hy-
brid model to analyze and predict the behavior of both the platform and the
ball is studied and implemented. A multi-agent implementation is proposed
to synchronize its movements and show how a group of oscillating systems
are able to reach a common work point.
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