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2024 | Book

Super-Twisting Sliding Mode Control with Accelerated Gradient Descent Method for Synchronous Reluctance Motor Control System Read chapter Read first chapter

Advances in Nonlinear Dynamics, Volume II

Proceedings of the Third International Nonlinear Dynamics Conference (NODYCON 2023)

Editor: Walter Lacarbonara

Publisher: Springer Nature Switzerland

Book Series : NODYCON Conference Proceedings Series

Part of: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik"

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About this book

This second of three volumes presents papers from the third series of NODYCON to be held in June of 2023. The conference papers reflect a broad coverage of topics in nonlinear dynamics, both traditionally placed in established streams of research as well as they stand as newly explored and emerging venues of research. These include• Multi-scale dynamics: multiple time/space scales, large system dynamics• Experimental dynamics: benchmark experiments, experimental methods,instrumentation techniques, measurements in harsh environments, experimentalvalidation of nonlinear models• Reduced-order modeling: center manifold reduction, nonlinear normal modes, normalforms• Systems with time and/or space delays• Nonlinear interactions in multi-dof systems: parametric vibrations, multiple external andautoparametric resonances.• Computational techniques: efficient algorithms, use ofsymbolic manipulators, integrationof symbolic manipulation and numerical methods, use of parallel processors.• Nonlinear system identification: parametric/nonparametric identification, data-drivenidentification• Multibody dynamics: rigid and flexible multibody system dynamics, impact and contactmechanics, tire modeling, railroad vehicle dynamics, biomechanics applications,computational multibody dynamics• Fluid/structure interaction• Nonlinear wave propagation in discrete and continuous media

Table of Contents

Frontmatter

Control of Nonlinear Systems

Frontmatter
Super-Twisting Sliding Mode Control with Accelerated Gradient Descent Method for Synchronous Reluctance Motor Control System
Abstract
We propose the new speed and optimal current vector control schemes for synchronous reluctance motors (SynRMs) to achieve fast dynamic response and high efficiency using the super-twisting sliding mode control (STSMC) algorithm and the accelerated gradient descent method (AGDM). Through the experimental testing using the 500WSynRM control system, the proposed STSMC-AGDM scheme shows the better speed control performance and motor efficiency, compared with the conventional proportional-integrator (PI) control with/without AGDM and STSMC without AGDM.
Hyunwoo Kim, Jun Moon
Vibration Control of Time-Varying Nonlinear Systems
Abstract
A predesigned shaped input command is proposed to control the residual vibration of a nonlinear system with time-varying parameters. The designing process of the proposed shaped command accounts for the changes in the system parameters during the maneuver as well as satisfies any predefined input and system constraints. Knowing that the hoisting and lowering operations when conveying a payload in an overhead crane induce a time-dependent natural frequency and a positive-negative damping-like behavior, the proposed controlling technique was tested by suppressing the induced residual payload oscillation of the overhead crane with simultaneous traveling and hoisting/lowering maneuvers. The numerical results demonstrate the performance of the proposed shaped command in suppressing the residual vibration regardless of the hoisting and lowering profiles used during the maneuver.
Abdullah A. Alshaya
Power Consumption Improvement in Position and Attitude Control of Spacecraft Using Electromagnetic Force Assist
Abstract
Electromagnetic force assist is proposed as a method to reduce power consumption in formation flight maneuvers between spacecraft that use auxiliary coils to generate electromagnetic forces in proximity operations. This paper estimates the potential improvement in power consumption (as indirect metric of potential propellant savings) in spacecraft maneuvers using RINGS (Resonant Inductive Near-field Generation Systems), a prototype system developed to investigate electromagnetic formation flight and wireless power transfer between spacecraft. An assessment of power consumption reduction is based on comparing the control effort required in selected 3-DOF maneuvers. The control effort performance of a linear quadratic Gaussian (LQG) controller for thruster-only maneuvers is used as baseline and is compared to the control effort when two other controllers (based on sliding mode control and feedforward control) provide electromagnetic force assist in addition to the baseline thrusters.
Hector Gutierrez, Solenne Lameaud, Oceane Topenot
Some Comments on Nonlinear Dynamic Behavior and Control of a 3rd-order Duffing Oscillator with External Force
Abstract
In this work, the nonlinear dynamic behavior of a 3rd-order Duffing oscillator with external force was numerically investigated. The oscillator has an additional nonlinear feedback equation of state coupled to the first equation and therefore has two parameters that determine coupling and control in 3rd-order Duffing oscillator with external force. With the nonlinear dynamic analyses, it was obtained using the maximum Lyapunov exponent sweeping the coupling parameters of the equations; in these analyses, we observed the emergence of shrimp patterns. Bifurcation diagrams, phase maps, and Poincaré maps were also used, which corroborated to determine and confirm the chaotic regions of the 3rd-order Duffing oscillator with external force. Once the regions were determined, a control design for chaos suppression was proposed that kept the 3rd-order Duffing oscillator with external force in periodic orbit, using the optimal linear feedback control due to its high computational efficiency.
Mauricio A. Ribeiro, Hilson H. Daum, Angelo M. Tusset, Jose M. Balthazar
Motion Control of a Pendulum via Magnetic Interaction
Abstract
The present study introduces a modified version of PD control for the case of a magnetically controlled pendulum. The response was observed in both experiments and numerical simulations taking into consideration the non-linearity posed by the system. The modified PD controller was compared to the standard counterpart for further concrete justification of its superiority. The results attained highlight the benefits of the modified PD control in all facets of control performance, namely, the efficiency, the accuracy of the representation of the interaction, the sensitivity on alterations of the control gains, as well as the prediction of the experimental response by the numerical simulation. Thus, the control method proposed can serve as a promising foundation for the further development of a non-contact position control technique for offshore wind turbine installation purposes.
Panagiota Atzampou, Peter Meijers, Apostolos Tsouvalas, Andrei Metrikine
Image-Based Aerial Grasping of a Moving Target Using Model Predictive Control
Abstract
The focus of this study is on utilizing vision-based aerial grasping to capture a moving target, which is achieved through the implementation of a model predictive control (MPC) approach that incorporates nonlinear prediction and linearization along the trajectory (MPC-NPLT). To enable aerial grasping of a moving target, an MPC-NPLT algorithm is developed that utilizes visual data extracted from the image. The time derivative of image features is extracted, and a quadratic cost function is formulated based on the linearized equations along the predictive horizon. Simulation results for movement in the x and y directions demonstrate that the proposed approach can provide satisfactory performance.
M. Moghanipour, A. Banazadeh
Efficiency Study of the Non-instantaneous Double Support Phase in HZD Controlled Bipedal Robot
Abstract
A study on the influence of a non-instantaneous double support phase on the energy efficiency and the stability of a bipedal walking robot with hybrid zero dynamics control is performed. The planar robot model consists of five rigid body segments and four actuated revolute joints. The periodic gait includes two alternating continuous single and double support phases as well as two discrete transition events. Two virtual actuators are introduced to create one degree of under-actuation in the double support phase. Periodic solutions of the gait are found via the numerical optimization, which minimizes the energy consumption of locomotion. The resulted efficiency and stability are compared against the common model approach with instantaneous double support phase. Despite the less efficiency, the extended controller with non-instantaneous double support phase improves the gait stability, which could be beneficial for the experimental validation on a robot prototype.
Yinnan Luo, Ulrich J. Römer, Marten Zirkel, Lena Zentner, Alexander Fidlin
Aeroelastic Limit Cycle Oscillations Due to Multi-element Control Surface with Freeplay
Abstract
Single control surface (CS) freeplay has been extensively investigated in the aeroelastic literature and several studies describe its effect on the limit cycle oscillations (LCO). Airworthiness regulations establish that this discontinuous nonlinearity needs to be considered in both CS and trailing-edge tab, if the latter one exists. In this context, the present study investigates the effects of freeplay from both CS and tab on the LCO. The four-degree-of-freedom typical section is considered, highlighting the main differences when compared with the freeplay of a single trailing-edge surface. The results show that higher amplitudes are identified for this configuration when compared to the classical case.
Larissa D. Wayhs-Lopes, Douglas D. Bueno, Carlos E. S. Cesnik
The Complete Bifurcation Analysis of Buck Converter Under Current Mode Control
Abstract
This chapter is devoted to the complete bifurcation analysis of the nonlinear dynamics of one of the most widely used switching power supplies – buck converter under current mode control. The research aims to identify the regions in the parameter space where the converter could operate as a source of robust chaotic oscillations. The construction of bifurcation maps and diagrams allows the detection of periodic and chaotic modes of operation, showing the complicated structure of bifurcation patterns and their interaction with chaotic attractors. The possible effects of the chaotic regimes on the general parameters of the power converter are also discussed.
Iheanacho Chukwuma Victor, Sergejs Tjukovs, Aleksandrs Ipatovs, Daniils Surmacs, Dmitrijs Pikulins
Reversing Along a Curved Path by an Autonomous Truck–Semitrailer Combination
Abstract
In this paper, the stability analysis of the reverse motion along a circular path is presented for the truck–semitrailer combination. The dynamics of the low-speed maneuver are investigated with the single track kinematic model, supplemented with the model of the steering system. The time delay emerging in the control loop is also considered. The actuation is achieved by the steering of the truck, for which a linear feedback controller is designed to ensure the stability of the motion; meanwhile, a geometry-based feedforward steering angle is also used to force the system to the desired path. Linear stability charts are calculated in order to properly tune the control gains of the feedback controller with respect to the curvature of the path.
Levente Mihályi, Dénes Takács

Synchronization

Frontmatter
Synchronization of Fractional Discrete-Time Complex Networks with Time Delays via Event-Triggered Strategy
Abstract
This paper is devoted to the synchronization problem of complex networks (CNs) by designing an event-triggered control scheme. The dynamics of CNs are modeled by fractional discrete-time difference equations with time delays. Then, the pinning event-triggered controlled fractional discrete-time complex networks (FDTCNs) are designed. A novel event-triggered control strategy and some sufficient conditions are derived for achieving synchronization. Finally, a representative example is given for illustration.
Xiaolin Yuan, Guojian Ren, Yongguang Yu, Wei Chen
Mirroring of Synchronization in Multilayer Configuration of Kuramoto Oscillators
Abstract
One of the most fundamental and important emergent phenomena observed in complex systems is synchronization [1], where the smaller parts of the larger coupled system behave in unison. Other fascinating phenomena in such systems include explosive transitions [2–5], chimeras [6, 7], amplitude death [8, 9], and so on. In these systems, it is possible to observe the simultaneous occurrence of emergent phenomena, such as synchronization, in distinctly different parts of the system. One example is “contagious yawning” where observing one individual yawn will trigger yawning in others. This has been observed across species [10–12] and is thought to be due to the synchronous activation of the mirror neuron system in the brain, which is triggered by observing specific actions [13]. This suggests that there is a section in the brain that mirrors the dynamics of what is visually observed from another individual. Other examples include fake news propagation and jamming in communication networks.
Dhrubajyoti Biswas, Sayan Gupta
Synchronization Based on Intermittent Sampling: PWL Multiscroll System
Abstract
Piecewise linear (PWL) systems are characterized by the interaction of continuous and discrete dynamics, leading to a high-level hierarchical decision structure, also known as hybrid systems with nonlinear behavior [1–3]. This type of agent is used in phenomenological modeling, e.g., chemical, climatological, and biological behaviors. One of their characteristic features is the generation of strange attractors, sometimes with multiple scrolls [4–8]. The term multiscroll, coined in the early 1990s, refers to the generation of attractors with more than two scrolls. In this context, the Chua system, with its characteristic double-wing attractor, is the precursor of all these [9].
José Luis Echenausía-Monroy, Jonatan Pena-Ramirez

Nonlinear Vibration Control

Frontmatter
Hoist Stabilization Design Method
Abstract
Helicopter payloads for aerial evacuation (MEDEVAC) rescues are difficult to stabilize once the patient begins to swing. As a result of oscillation forces during lifting, the payload begins to swing in three dimensions under the helicopter. Swinging can pose a threat to both the crew in the helicopter and the patient attached to the cable. We first demonstrate that a payload can be stabilized in two dimensions, before exploring a three-dimensional solution. We assume that the helicopter is in a “steady hover” over the patient [1].
David Reineke, Duy (Kyle) Nguyen, Luyi Tang, M. Lanzerotti, W. Lacarbonara
The Exact Closed-Form Expressions for Optimum Inertial Amplifier Coupled Nonlinear Friction Bearing Isolators
Abstract
Due to their superior vibration reduction capacity, the base isolators [3] are widely applied to passive vibration control devices. The base isolation devices are installed between the superstructure and foundation to reduce the superstructural dynamic responses. New Zealand bearing [1], lead rubber bearing [9], resilient friction base isolator, friction pendulum system [7], pure-friction system [10], elliptical rolling rods coupled base isolation, and elastomeric rubber bearings [8] are some of the nonlinear base isolators.
Sudip Chowdhury, Arnab Banerjee, Sondipon Adhikari
Control of an Acoustic Mode by a Digitally Created Nonlinear Electroacoustic Absorber at Low Excitation Levels: Experimental Results
Abstract
In this study, an acoustic mode of a tube is controlled by a digitally created nonlinear electroacoustic absorber (NEA) at low excitation levels, where the nonlinearity cannot be normally activated in passive vibro-acoustic absorbers. A comparison is carried out between a linear electroacoustic absorber, similar to a tuned mass damper (TMD) in mechanics, and a digital NEA. The innovative method for creating a NEA lies on real-time integration of the dynamics of the device. It permits to choose any behavior of the system by digitally programming the corresponding targeted dynamics. Here, a loudspeaker impedance control law with a cubic stiffness is considered, as this system is well-known in mechanics and provides nonlinear phenomena that are highlighted at low and moderate excitation levels in our study.
Maxime Morell, Manuel Collet, Emmanuel Gourdon, Alireza Ture Savadkoohi, Emanuele De Bono
Preliminary Numerical Analysis of the Vibro-Impact Isolation Systems Under Seismic Excitations
Abstract
Isolated structures, in the presence of strong seismic events such as near-fault earthquakes, encounter problems related to large displacements due to the high flexibility of the isolation floor. The undesirable effects of large displacements can cause damage to isolation systems or excessive increase in superstructure accelerations and high interstory drifts that originate due to impact with adjacent structures if the seismic gap is insufficient. In order to limit these undesirable effects, the authors propose a new integrated design methodology of vibro-impact isolation systems (V-IISs) that aims to control large displacements while limiting the increase in accelerations due to the impact phenomenon. Therefore, the present work shows a preliminary numerical analysis on single-degree-of-freedom (SDOF) base-isolated systems subjected to a known seismic excitation (Irpinia earthquake) and constrained by two deformable and dissipative devices, called bumpers. The results show that V-IISs are able to mitigate large displacements by providing appropriate control of accelerations.
Giuseppe Perna, Maurizio De Angelis, Ugo Andreaus
Maneuvering a Stick in Three-Dimensional Space Using Impulsive Forces
Abstract
The problem of maneuvering a stick in three-dimensional space using purely impulsive inputs is considered. A steady motion of the stick is one in which it is juggled between a sequence of configurations rotationally symmetric about the vertical axis; such a motion can be viewed as a periodic orbit. In particular, this work addresses the problem of transitioning from one steady orbit to another. The impulse controlled Poincaré map approach is used to achieve the desired control objective. Simulation results verify the efficacy of the control design for several maneuvers.
Aakash Khandelwal, Nilay Kant, Ranjan Mukherjee
Mitigating Vibration Levels of Mistuned Cyclic Structures by Use of Contact Nonlinearities
Abstract
In cyclic systems, manufacture tolerances and possible wear of the structure lead to small random variations (also called random mistuning) of the nominal (tuned) cyclic symmetric mechanical system. Most of the time, these imperfections result in systems with vibration levels higher than the tuned one and are thus detrimental. Friction nonlinearities are used in the nominal design as a damping mechanism to dissipate the vibrational energy. This paper combines the latest development of nonlinear reduction methodologies to assess the influence of friction and contact mechanism on a high-fidelity finite-element model of a bladed disk subjected to random mistuning. Through statistical studies, it is shown that the nonlinearities at stake tend to mitigate the negative influence of random mistuning on the amplification factor.
Samuel Quaegebeur, Benjamin Chouvion, Fabrice Thouverez

Sensors and Actuators

Frontmatter
Evaluating the Shape of a Deformed PVDF Wearable Pressure Sensors by Analyzing an Acoustic Traveling Wave
Abstract
The effect of the change in geometry of a strip due to rolling, folding, and stretching during its performance is discussed in this paper. The form of a flexible piezoelectric strip can considerably affect the time of flight (ToF) of an acoustic wave traveling alongside a strip. Different ToFs can follow the effect of curvature in the flexible strips, which can predict the geometrical shape of the strips performing as a flexible actuator or sensor.
Masoud Naghdi, Haifeng Zhang
Sensing Sound with Electrospun Piezo Materials on a 3D-Printed Structure
Abstract
The acoustic sensing capability of a nonwoven textile made of piezoelectric nanofibers electrospun on a 3D-printed cellular structure is investigated in this chapter. The nonwoven textile is made of a complex aggregation of piezoelectric nanofibers that form a porous material. The electro-mechanical response of the textile, once exposed to a sound source, is monitored through metallic electrodes that, in a sandwich configuration, let the nonwoven textile be directly exposed to sound. The functionality of this unique acoustic sensor was then validated by comparing the sensor’s response and the response of a commercial microphone when subjected to a 3-minute sweep sound from 10 Hz to 10KHz, with the sound source placed at 3 cm. The preliminary results confirmed the capability of this textile to greatly monitor acoustic waves, with the highest performance between 600 and 900 Hz. Such a frequency range makes these devices interesting to be used for micro-damage detection via ultra-light acoustic monitoring.
Krishna Chytanya Chinnam, Giulia Lanzara

Passive Energy Damping

Frontmatter
Free Balls in a Non-rotating Track Can Mitigate Rotor Vibration
Abstract
Vibration is an undesired response that increases the dynamic loads in rotor systems. The current study introduces a new design for a ball-in-track nonlinear energy sink (BIT-NES) able to mitigate rotor vibration. The proposed BIT-NES consists of a ball moving freely in a non-rotating circular track. A ball bearing is placed between the NES track and the primary rotor in order to prevent their rotation as one part. The relative rotation between the track and the rotor is a considerable change in the developed design compared to a typical automatic ball balancer. A test rig equipped with displacement sensors for the measurement of rotor vibration is used to test the developed BIT-NES over different angular speeds. Comparing the vibration amplitude of the primary rotor with and without the BIT-NES demonstrates the suppression effect of the absorber. Contrary to the typical automatic ball balancer that reduces rotor vibration only at high angular speeds beyond the critical speed, the advanced BIT-NES works at a wider speed range, including the small angular velocities below the rotor critical speed. Following this study that validates the effect of the modified BIT-NES in mitigating rotor vibration, parametric studies done on the influence of changing the design main parameters will be presented in an extended version.
Michael M. Selwanis, Mohammed M. Ibrahim, Mohamed S. Khadr, Ahmed F. Nemnem
Vibro-Impact NES: Nonlinear Mode Approximation Using the Multiple Scales Method
Abstract
The aim of the paper is to derive a closed-form approximation for a nonlinear mode of a system with a vibro-impact nonlinear energy sink. Hereto, the multiple scales method is used to analyze the dynamic behavior of a linear oscillator coupled with a vibro-impact nonlinear energy sink (VI NES). The steady-state response in the vicinity of 1:1 resonance is approximated. The resonance frequency of the examined nonlinear system for different excitation levels is estimated and the corresponding backbone curve is identified. The theoretical findings agree with the simulation results and represent a possible new approach for system identification.
Balkis Youssef, Remco I. Leine
Vibration Damping in Fiber-Reinforced Bistable Composites with Magnetic Particles
Abstract
Today one of the greatest engineering challenges in smart materials is the development of structural morphing materials. Multistable composites have the intrinsic ability to vary their shape, but they have some weaknesses that limit their usage in structural applications. For instance, bistable composites lose rigidity while snapping from one configuration to the other, and their transition to the new configuration is associated with undesired vibrations. This chapter focuses on solving such criticalities by inserting magnetic particles within the composite matrix. The exposure of such a bistable composite to a magnetic field allows to dampen these vibrations and increase the overall composite stiffness.
Alessandro Porrari, Giulia Lanzara
Magnetic Field and Ferrite Particles Interaction for Membranes with Augmented Shock-Absorption Capability
Abstract
New frontiers in multifunctional materials are rapidly moving towards the generation of magnetic nanocomposites that might find additional functionalities in their interaction with magnetic fields. Such nanocomposites are usually made of magnetic particles distributed in a polymeric matrix. The aim of this work instead is to investigate the shock absorption capability of a silicone membrane that is locally magnetized through an innovative design according to which magnetic micro-particles are encapsulated in a sphere. An experimental and theoretical approach is used to investigate both the mutual interaction of microparticles and their interaction, as an ensemble, with an external magnetic field. It is shown that the interaction with the field is enhanced when the microparticles are free to move within the sphere, and this is further maximized when they are embedded in a nonpolar liquid matrix. The preliminary investigation in terms of shock absorption capability highlights the great potential in using such spheres as functional components to achieve highly performing and, indeed, nondistructive small-size dampers.
Stefania Fontanella, Ginevra Hausherr, Shiela Meryl Cumayas Cabral, Antonio Loisi, Giulia Lanzara
Backmatter
Metadata
Title
Advances in Nonlinear Dynamics, Volume II
Editor
Walter Lacarbonara
Copyright Year
2024
Electronic ISBN
978-3-031-50639-0
Print ISBN
978-3-031-50638-3
DOI
https://doi.org/10.1007/978-3-031-50639-0

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