During the design of a new car, vibration tests on a hydraulic test rig are important to adjust c... more During the design of a new car, vibration tests on a hydraulic test rig are important to adjust comfort and durability properties of the new prototype. To make the vibration tests representative for the further lifetime of the vehicle, reference signals (accelerations) are measured during a test drive on a special test track. These reference signals (targets) are reproduced on the test rig, by controlling its hydraulic actuators. The calculation of the control signals for the hydraulic actuators such that the measured accelerations or forces on the test rig match the targets is a multivariable tracking problem. Current industry practice to solve this problem is to use an off-line iterative process. This paper describes how an on-line feedback controller for the test rig can be designed, which compares the measured accelerations on the test rig with the targets. Extending the current test rig with this high-performance feedback controller allows to reduce the number of off-line itera...
The calculation of the control signals for the hydraulic actu- ators, such that the measured sign... more The calculation of the control signals for the hydraulic actu- ators, such that the measured signals on the test rig match the reference signals, is a multiple-input-multiple-output (MIMO) tracking problem. Current industry practice to solve this MIMO-tracking problem is to use an off-line it- erative process. Often a lot of iterations are required to ob- tain accurate tracking, due to
Proceedings of the 2004 American Control Conference, 2004
Abstract-MIMO-identification and robust MIMO-controller design are cumbersome. As a result, MIMO-... more Abstract-MIMO-identification and robust MIMO-controller design are cumbersome. As a result, MIMO-systems are often controlled by decentralized control systems, which consist of independent SISO-controUers based on the diagonal elements of the system. The ...
Proceedings of the 44th IEEE Conference on Decision and Control, 2005
ABSTRACT The multivariable tracking accuracy on an automotive vibration test rig can be improved ... more ABSTRACT The multivariable tracking accuracy on an automotive vibration test rig can be improved by extending the current industrial off-line iterative feedforward procedure with a real time feedback controller. This paper compares two MIMO feedback controller design procedures in practice. First DK-iteration is used. This is the most common μ-synthesis method to design robust MIMO-controllers. Secondly a controller based on decoupling design is tested. This is a two step procedure. Step one is the calculation of a transformation of the inputs and the outputs to decouple the system as accurately as possible. Step two is the design of a decentralized controller (combination of independent SISO-controllers) for the transformed system. While the control design based on decoupling, using standard SISO H ∞ techniques is much simpler and more straightforward, the performance is comparable to that of the controller based on μ-synthesis.
Shock and vibration testing of railway applications is regulated by the European Norm EN 61373. W... more Shock and vibration testing of railway applications is regulated by the European Norm EN 61373. Within the norm, acceleration spectra are specified by level, slope and cut-off frequencies. Tolerance on the spectra is +/-3dB, which require carefully generated random driving signals and a reliable response of the global testrig-specimen system. Random driving signals with appropriate power spectra can be obtained by filtering white noise signals or by using random multisine signals. The deterministic character of the amplitude spectrum of a multisine is one of the main advantages of this type of excitation over white noise excitation. It can be shaped exactly to any desired specification. Moreover, it provides a better signal to noise ratio at all excited frequency lines. In addition, multi-sine signals are periodic, therefore avoiding leakage errors in the estimated power spectra. The reliability of the response of the global testrig-specimen system to the driving signal is improved ...
Proceedings of the 2003 American Control Conference, 2003., 2003
Within the framework of tracking controller design for an automotive vibration test rig, a new co... more Within the framework of tracking controller design for an automotive vibration test rig, a new control strategy is developed which is applicable to square multiple-input-multiple-output systems (MIMO-systems) with a certain degree of symmetry. Classical MIMO-controller design is a three step procedure: response measurement, MIMO-identification and MIMO-controller design. The latter two steps are often very cumbersome due to the multivariable character
Within the framework of the tracking problem on an automotive vibration test rig, a new control s... more Within the framework of the tracking problem on an automotive vibration test rig, a new control strategy is developed which is applicable to square multiple-input-multiple-output systems (MIMO-systems) with a certain degree of symmetry. Classical MIMO-controller design is a three step procedure: response measurement, MIMO-identification and MIMO-controller design. The latter two steps are often very cumbersome. In this paper, a new procedure is proposed which avoids these steps. It consists of the following steps: response measurement, almost decoupling of the MIMO-system into multiple single-input-single-output systems (SISO- systems) by transformations of the inputs and the outputs, SISO-identification of the decoupled systems, and multiple SISO-controller design. The great advantage of the decoupled model, is that it allows the use of well- understood, robust SISO-controller design methods. This paper shows that the automotive vibration test rig can be described with a decoupled ...
During the design of a new car, vibration tests on a hydraulic test rig are important to adjust c... more During the design of a new car, vibration tests on a hydraulic test rig are important to adjust comfort and durability properties of the new prototype. To make the vibration tests representative for the further lifetime of the vehicle, reference signals (accelerations) are measured during a test drive on a special test track. These reference signals (targets) are reproduced on the test rig, by controlling its hydraulic actuators. The calculation of the control signals for the hydraulic actuators such that the measured accelerations or forces on the test rig match the targets is a multivariable tracking problem. Current industry practice to solve this problem is to use an off-line iterative process. This paper describes how an on-line feedback controller for the test rig can be designed, which compares the measured accelerations on the test rig with the targets. Extending the current test rig with this high-performance feedback controller allows to reduce the number of off-line itera...
The calculation of the control signals for the hydraulic actu- ators, such that the measured sign... more The calculation of the control signals for the hydraulic actu- ators, such that the measured signals on the test rig match the reference signals, is a multiple-input-multiple-output (MIMO) tracking problem. Current industry practice to solve this MIMO-tracking problem is to use an off-line it- erative process. Often a lot of iterations are required to ob- tain accurate tracking, due to
Proceedings of the 2004 American Control Conference, 2004
Abstract-MIMO-identification and robust MIMO-controller design are cumbersome. As a result, MIMO-... more Abstract-MIMO-identification and robust MIMO-controller design are cumbersome. As a result, MIMO-systems are often controlled by decentralized control systems, which consist of independent SISO-controUers based on the diagonal elements of the system. The ...
Proceedings of the 44th IEEE Conference on Decision and Control, 2005
ABSTRACT The multivariable tracking accuracy on an automotive vibration test rig can be improved ... more ABSTRACT The multivariable tracking accuracy on an automotive vibration test rig can be improved by extending the current industrial off-line iterative feedforward procedure with a real time feedback controller. This paper compares two MIMO feedback controller design procedures in practice. First DK-iteration is used. This is the most common μ-synthesis method to design robust MIMO-controllers. Secondly a controller based on decoupling design is tested. This is a two step procedure. Step one is the calculation of a transformation of the inputs and the outputs to decouple the system as accurately as possible. Step two is the design of a decentralized controller (combination of independent SISO-controllers) for the transformed system. While the control design based on decoupling, using standard SISO H ∞ techniques is much simpler and more straightforward, the performance is comparable to that of the controller based on μ-synthesis.
Shock and vibration testing of railway applications is regulated by the European Norm EN 61373. W... more Shock and vibration testing of railway applications is regulated by the European Norm EN 61373. Within the norm, acceleration spectra are specified by level, slope and cut-off frequencies. Tolerance on the spectra is +/-3dB, which require carefully generated random driving signals and a reliable response of the global testrig-specimen system. Random driving signals with appropriate power spectra can be obtained by filtering white noise signals or by using random multisine signals. The deterministic character of the amplitude spectrum of a multisine is one of the main advantages of this type of excitation over white noise excitation. It can be shaped exactly to any desired specification. Moreover, it provides a better signal to noise ratio at all excited frequency lines. In addition, multi-sine signals are periodic, therefore avoiding leakage errors in the estimated power spectra. The reliability of the response of the global testrig-specimen system to the driving signal is improved ...
Proceedings of the 2003 American Control Conference, 2003., 2003
Within the framework of tracking controller design for an automotive vibration test rig, a new co... more Within the framework of tracking controller design for an automotive vibration test rig, a new control strategy is developed which is applicable to square multiple-input-multiple-output systems (MIMO-systems) with a certain degree of symmetry. Classical MIMO-controller design is a three step procedure: response measurement, MIMO-identification and MIMO-controller design. The latter two steps are often very cumbersome due to the multivariable character
Within the framework of the tracking problem on an automotive vibration test rig, a new control s... more Within the framework of the tracking problem on an automotive vibration test rig, a new control strategy is developed which is applicable to square multiple-input-multiple-output systems (MIMO-systems) with a certain degree of symmetry. Classical MIMO-controller design is a three step procedure: response measurement, MIMO-identification and MIMO-controller design. The latter two steps are often very cumbersome. In this paper, a new procedure is proposed which avoids these steps. It consists of the following steps: response measurement, almost decoupling of the MIMO-system into multiple single-input-single-output systems (SISO- systems) by transformations of the inputs and the outputs, SISO-identification of the decoupled systems, and multiple SISO-controller design. The great advantage of the decoupled model, is that it allows the use of well- understood, robust SISO-controller design methods. This paper shows that the automotive vibration test rig can be described with a decoupled ...
Uploads
Papers by David Vaes