{"id":5,"date":"2012-10-24T09:04:50","date_gmt":"2012-10-24T09:04:50","guid":{"rendered":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/control\/"},"modified":"2020-11-08T10:09:22","modified_gmt":"2020-11-08T10:09:22","slug":"control","status":"publish","type":"page","link":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/control\/","title":{"rendered":"Motion and Motor Control (currently suspended)"},"content":{"rendered":"<p><span style=\"color: #ff0000\">(Currently, we are mainly focusing on energy storage &amp; management and wireless power transfer. At the same time, we always prepare for new opportunities in this field.)<\/span><\/p>\n<p><span style=\"font-size: 18px\">1. Background<\/span><\/p>\n<hr \/>\n<p style=\"text-align: justify\"><span style=\"font-size: 14px\">The low-order controllers such as the PID-based controllers are still predominant in industry. Further improvements on the low-order controller design would be both theoretically and practically important. In DSC lab, we are working on the theoretical aspects of the so-called polynomial method, and its applications in various systems such as multi-mass system, inverted pendulum, and electro-magnetic suspension. Unlike the trial-and-error-based design techniques in classical control, transient responses can be explicitly addressed in polynomial method. In its design procedure, control configuration is defined at the beginning, and then controller parameters are determined under a specific assignment of characteristic ratios and generalized time constant. Therefore, polynomial method is suitable for low-order controller design.<\/span><\/p>\n<p><span style=\"font-size: 18px\">2. Interests\u00a0<\/span><span style=\"font-size: 14px\">(please refer to our publications for details)<\/span><\/p>\n<hr \/>\n<ul>\n<li><span style=\"font-size: 14px\">Vibration suppression and disturbance rejection control of flexible systems<\/span><\/li>\n<li><span style=\"font-size: 14px\">Auto-tuning of control parameters<\/span><\/li>\n<li><span style=\"font-size: 14px\"><span style=\"line-height: 25.6px;background-color: initial\">Stabilization control of unstable structures<\/span><\/span><\/li>\n<\/ul>\n<p><span style=\"font-size: 18px\">3. Platforms<\/span><\/p>\n<hr \/>\n<ul>\n<li><span style=\"font-size: 14px\">Multi-mass expermental system: include a torsion test bench, drivers and a RTLinux-based realtime control system (Figs. 1-2).\u00a0 The torsion test bench is used for the emulation of a two- or three-mass system (Fig. 1). The torsional system&#8217;s gear inertia, load inertia, shaft elastic coefficient, friction load, and gear backlash angle are adjustable.<\/span><\/li>\n<li><span style=\"font-size: 14px\">Doubel Inverted pendulum system: used as an example for the research on extending the polynomial method to design multi-input-multi-output control systems (Fig. 3).<\/span><\/li>\n<li><span style=\"font-size: 14px\">Demo electro-magnetic suspension system for maglev applications (Fig. 4).<\/span><\/li>\n<\/ul>\n<p style=\"text-align: center\"><img fetchpriority=\"high\" decoding=\"async\" class=\"wp-image-398 size-full aligncenter\" src=\"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/mc1.png\" alt=\"\" width=\"800\" height=\"321\" srcset=\"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/mc1.png 800w, https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/mc1-300x120.png 300w, https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/mc1-768x308.png 768w\" sizes=\"(max-width: 800px) 100vw, 800px\" \/><\/p>\n<p style=\"text-align: center\"><span style=\"font-size: 14px\">Fig. 1. Experimental setup of torsion test bench<\/span><\/p>\n<p style=\"text-align: center\"><span style=\"font-size: 14px\"><img decoding=\"async\" class=\"wp-image-399 size-full aligncenter\" src=\"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/testSystem.jpg\" alt=\"\" width=\"662\" height=\"493\" srcset=\"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/testSystem.jpg 662w, https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/testSystem-300x223.jpg 300w\" sizes=\"(max-width: 662px) 100vw, 662px\" \/><\/span><\/p>\n<p style=\"text-align: center\"><span style=\"font-size: 14px\">Fig. 2. Experimental torsion system<\/span><\/p>\n<p style=\"text-align: center\"><img decoding=\"async\" src=\"http:\/\/111.186.59.5\/lab\/dsc\/images\/mv2.png\" alt=\"\" \/><\/p>\n<p style=\"text-align: center\"><span style=\"font-size: 14px\"><img decoding=\"async\" class=\"wp-image-400 size-full aligncenter\" src=\"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/mv2.png\" alt=\"\" width=\"500\" height=\"270\" srcset=\"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/mv2.png 500w, https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/mv2-300x162.png 300w\" sizes=\"(max-width: 500px) 100vw, 500px\" \/><\/span><\/p>\n<p style=\"text-align: center\"><span style=\"font-size: 14px\">Fig. 3. Double inverted pendulum system<\/span><\/p>\n<p style=\"text-align: center\"><span style=\"font-size: 14px\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-401 size-full aligncenter\" src=\"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/motion_suspension.jpg\" alt=\"\" width=\"500\" height=\"456\" srcset=\"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/motion_suspension.jpg 500w, https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-content\/uploads\/sites\/16\/2020\/10\/motion_suspension-300x274.jpg 300w\" sizes=\"(max-width: 500px) 100vw, 500px\" \/><\/span><\/p>\n<p style=\"text-align: center\"><span style=\"font-size: 14px\">Fig. 4. A demo electromagnetic suspension system for maglev applications<\/span><\/p>\n","protected":false},"excerpt":{"rendered":"<p>(Currently, we are mainly focusing on energy storage &amp; management and wireless power transfer. At the same time, we always prepare for new opportunities in this field.) 1. Background The low-order controllers such as the PID-based controllers are still predominant in industry. Further improvements on the low-order controller design would be both theoretically and practically [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":14,"comment_status":"closed","ping_status":"closed","template":"","meta":{"site-sidebar-layout":"default","site-content-layout":"default","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"default","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"class_list":["post-5","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-json\/wp\/v2\/pages\/5","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-json\/wp\/v2\/comments?post=5"}],"version-history":[{"count":10,"href":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-json\/wp\/v2\/pages\/5\/revisions"}],"predecessor-version":[{"id":655,"href":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-json\/wp\/v2\/pages\/5\/revisions\/655"}],"wp:attachment":[{"href":"https:\/\/sites.gc.sjtu.edu.cn\/dsc\/wp-json\/wp\/v2\/media?parent=5"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}