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Technical Briefs

Damping Injection by Reset Control

[+] Author and Article Information
Cesáreo Raimúndez1

 Nonlinear Control Group, Department of Systems & Control Engineering, University of Vigo, Vigo, Spain 36310 cesareo@uvigo.es (Bio)Process Engineering Group, Department of Food Technology, IIM-CSIC, Vigo, Spain 36208e-mail: afvillaverde@iim.csic.escesareo@uvigo.es

Antonio Barreiro

 Nonlinear Control Group, Department of Systems & Control Engineering, University of Vigo, Vigo, Spain 36310 abarreiro@uvigo.es (Bio)Process Engineering Group, Department of Food Technology, IIM-CSIC, Vigo, Spain 36208e-mail: afvillaverde@iim.csic.esabarreiro@uvigo.es

Alejandro F. Villaverde

 Nonlinear Control Group, Department of Systems & Control Engineering, University of Vigo, Vigo, Spain 36310  (Bio)Process Engineering Group, Department of Food Technology, IIM-CSIC, Vigo, Spain 36208e-mail: afvillaverde@iim.csic.es

1

Corresponding author.

J. Dyn. Sys., Meas., Control 134(2), 024504 (Dec 30, 2011) (5 pages) doi:10.1115/1.4005369 History: Received June 04, 2010; Revised September 15, 2011; Published December 30, 2011; Online December 30, 2011

This paper presents a method for using reset control as an alternative way of obtaining dissipation for a class of port-Hamiltonian systems. One advantage of this approach is the simplicity of its implementation, which requires only a velocity observer. Another advantage is its robustness to modeling uncertainties, since it can be calculated independently of the plant structure. A gantry crane is selected as case study, yielding simulation and experimental results that show the good performance of this technique.

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Figures

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Figure 1

2D overhead crane arrangement

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Figure 2

Evolution of the crane states (simulation)

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Figure 3

Evolution of the controller energy flow (simulation)

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Figure 4

Experimental plant: the Inteco 3DCrane

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Figure 5

Evolution of the crane’s cart positions (experiments)

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Figure 6

Evolution of the controller energy flow (experiments)

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