Pd control of a press platform and a proof of stability using the hunt-crossley model

Jeong Un Nam; Yun Jae Yang; Sun Lim; Tae Woong Yoon

doi:10.5302/j.icros.2019.18.0207

Pd control of a press platform and a proof of stability using the hunt-crossley model

Jeong Un Nam, Yun Jae Yang, Sun Lim, Tae Woong Yoon

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

This paper presents a PD force controller for a press platform to inspect the surface of a wind power blade. The Hunt-Crossly model is employed for the platform, where the force is composed of a nonlinear spring and a damper. Considering the shape of the probe, this model is more accurate than the linear spring-damper models because it captures some of the nonlinearities of the platform. However, the nonlinearities make it harder to assess the stability of the closed-loop. This problem is solved by designing a Lyapunov function and an invariant set, which leads to a stability proof. Simulations and experiments are performed, and the results are consistent with this mathematical analysis. The effectiveness of the control scheme is also observed in the simulations and experiments.

Original language	English
Pages (from-to)	187-193
Number of pages	7
Journal	Journal of Institute of Control, Robotics and Systems
Volume	25
Issue number	3
DOIs	https://doi.org/10.5302/j.icros.2019.18.0207
Publication status	Published - 2019 Jan 1

Keywords

Hunt-Crossley model
Invariant set
Lyapunov stability
PD force control
Wind power blade

ASJC Scopus subject areas

Software
Control and Systems Engineering
Applied Mathematics

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10.5302/j.icros.2019.18.0207

Cite this

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title = "Pd control of a press platform and a proof of stability using the hunt-crossley model",

abstract = "This paper presents a PD force controller for a press platform to inspect the surface of a wind power blade. The Hunt-Crossly model is employed for the platform, where the force is composed of a nonlinear spring and a damper. Considering the shape of the probe, this model is more accurate than the linear spring-damper models because it captures some of the nonlinearities of the platform. However, the nonlinearities make it harder to assess the stability of the closed-loop. This problem is solved by designing a Lyapunov function and an invariant set, which leads to a stability proof. Simulations and experiments are performed, and the results are consistent with this mathematical analysis. The effectiveness of the control scheme is also observed in the simulations and experiments.",

keywords = "Hunt-Crossley model, Invariant set, Lyapunov stability, PD force control, Wind power blade",

author = "Nam, {Jeong Un} and Yang, {Yun Jae} and Sun Lim and Yoon, {Tae Woong}",

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AU - Nam, Jeong Un

AU - Yang, Yun Jae

AU - Lim, Sun

AU - Yoon, Tae Woong

PY - 2019/1/1

Y1 - 2019/1/1

N2 - This paper presents a PD force controller for a press platform to inspect the surface of a wind power blade. The Hunt-Crossly model is employed for the platform, where the force is composed of a nonlinear spring and a damper. Considering the shape of the probe, this model is more accurate than the linear spring-damper models because it captures some of the nonlinearities of the platform. However, the nonlinearities make it harder to assess the stability of the closed-loop. This problem is solved by designing a Lyapunov function and an invariant set, which leads to a stability proof. Simulations and experiments are performed, and the results are consistent with this mathematical analysis. The effectiveness of the control scheme is also observed in the simulations and experiments.

AB - This paper presents a PD force controller for a press platform to inspect the surface of a wind power blade. The Hunt-Crossly model is employed for the platform, where the force is composed of a nonlinear spring and a damper. Considering the shape of the probe, this model is more accurate than the linear spring-damper models because it captures some of the nonlinearities of the platform. However, the nonlinearities make it harder to assess the stability of the closed-loop. This problem is solved by designing a Lyapunov function and an invariant set, which leads to a stability proof. Simulations and experiments are performed, and the results are consistent with this mathematical analysis. The effectiveness of the control scheme is also observed in the simulations and experiments.

KW - Hunt-Crossley model

KW - Invariant set

KW - Lyapunov stability

KW - PD force control

KW - Wind power blade

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Pd control of a press platform and a proof of stability using the hunt-crossley model

Abstract

Keywords

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