Center for Advanced Control Technologies (CACT)

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Advanced Control Research Lab (ACRL) -- Projects

Name: Aaron Radke           Homepage
Interactive, Web Based Control Tuning and Simulation
Demonstrate, test and tune control algorithms on the web with interactive tuning adjustments.


Name: Ramanathan Narayanan
Implementing the Active Disturbance Rejection Controller on a Rockwell 1756 M02AE Analog Servo Controller
Focuses on designing and implementing a digital Active Disturbance Rejection Controller (ADRC) algorithm for controlling an X Y positioning table system.  This system is typically used for high speed applications such as glass cutting, welding and transportation of components in assembly plants.  The mathematical model for the plant was developed based on the available system resources (hardware and software).  Then, the simulink model for both PI and ADRC were developed.  Both were then implemented on Rockwell Automation’s 1756 M02AE Analog Servo Controller connected to the X Y table setup.  The simulation and real time performance of the PID and ADRC based control systems are then compared.  An auto-tuning algorithm was developed for the ADRC controller ( yet to be implemented). Some of the further research in diverse areas are summarized as belows:

  • Implementation of the simulated or a new auto tuning algorithm for the ADRC controller would be an ideal add on for this project to complete the ADRC control design package for the X Y table setup.
  • Design a more sophisticated data acquisition system to accurately measure control signal, command profile etc. without or with noise during measurement.
  • This project has shown how Rockwell’s 1756M02AE controller module can be modified with our own control algorithm.  Other advanced control methods apart from ADRC could be implemented and tested with this controller.

Qing Zheng
Motion Control Design Optimization Using Genetic Algorithm
A genetic algorithm (GA) based tuning method is proposed for a class of motion control problems. Several control algorithms, such as the conventional proportional-integral-derivative control and its two variations, the parameterized loop-shaping control as well as the linear active disturbance rejection control, are applied to address a motion control problem.

Robert Miklosovic
Development of a Nonlinear Control Structure for Advanced Aero-Propulsion Systems
The challenge is in the application of a model-independent control structure, known as Active Disturbance Rejection Control (ADRC), to the general jet engine control problem and in the further enhancement of the technology to adaptively optimize the control for engine-to-engine variations and for slow degradations due to aging.  This approach uses an extended state observer to actively estimate and cancel the true dynamics of the system in real time.  Where modern multivariable control schemes are limited, ADRC offers a high degree of tunability, and will reduce the complexity of gain scheduling without sacrificing performance over the full envelope operational capability of the engine.  The scope of this research requires close collaboration with the NASA Glenn Research Center facilities and General Electric Aircraft Engines.


Name: Tong Ren
Fragility of Control Design Methods
Catastrophe theory” investigates the change in graphical form of various mathematical objects under smooth parameter variation. When a small perturbation of the parameters of a controller occurs, it may lead to a considerable change in the qualitative properties of the closed loop system. Such a controller is said to be “fragile.” Optimal controllers are particularly fragile. A fragile controller is deemed a “structurally unstable” controller.

WanKun Zhou
A Novel Approach for Tension and Velocities Regulation in Continuous Web Processing Lines
The strip tension as well as the roller velocities in web processing lines should be controlled accurately for the quality of products. In this research, a unique Active Disturbance Rejection Control (ADRC) strategy, which can actively compensate for dynamic changes in the system and unpredictable external disturbances, is proposed using an Extended State Observer (ESO) as a compensator for unknown factors. In addition, in order to directly control of web tension, a backstepping method is applied to compensate for the open-loop tension regulation. Simulation results show the effective and the remarkable disturbance rejection capability in coping with large dynamic variations commonly seen in web tension applications.

Chunming Yang
A Novel Design Approach And Software Implementation For Servo Systems
A systematic design approach for a servo system is proposed and implemented in CAD software. Based on the load characteristics and design objectives, the selection of the motors is optimized. A motor database is established. Then an automatic design of the servo controller is carried out based on the performance criteria defined by the user. A software simulation module within the package allows user to verify the design before the final implementation. A Graphical User Interface (GUI) is developed. It takes user from defination of load, motion profile, optimal selection of the motor and gearbox, to the digital or analog servo controller design and simulation. Finally the controller parameters obtained from simulation are converted to those for a particular industrial servo drive.

Rockwell industry software to control 2-axis XY table 

ControlLogix: control XY table for both torque mode and velocity mode

FlexLogix: C coded control algorithm to control XY table, we tested torque mode only.

Nice switch box simplifies the wiring.

Next step: Dspace and new control algorithms










Name: (Anne)Weiwen Wang
Nonlinear Control Strategies for Motion Systems
Analysis and design of extended state observer-based nonlinear control algorithm for the active magnetic bearing system and real-time embedded control design for Model 220 Industrial Emulator.


Shahid Parvez
Controlling Low-Frequency Mechanical Resonance In Industrial Servo Systems
Research focused on applying nonlinear control algorithms for disturbance rejection and control of a motor. The apparatus is a Kollmorgen SERVOSTAR 600 digital servo drive, which used to drive a motor exhibiting resonance. Nonlinear algorithms are implemented in Macro assembler flex firmware.


Jing Liu
Comparative Study of Differentiators and Integrators for Advanced Controller
Among the Pure Integrator, Nonlinear Integrator, Clegg Integrator and Modified Nonlinear Integrator, the Nonlinear Integrator demonstrates much better performance in simulation. The above conclusions are drawn from numerical simulation of a practical control system where disturbance and noise are incorporated to make it realistic.


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Last Updated: April 10, 2003