The use of a digital twin to reconfigure a nonlinear internal model controller
The use of a digital twin to reconfigure a nonlinear internal model controller
A reconfigurable feedback controller based on a digital twin is illustrated using simulations of a system with a time-varying nonlinear backlash. The control system consists of a motor driving the position of a flexible structure through a lead screw subject to backlash, whose gap angle changes over time. An internal model control (IMC) approach is utilised as the feedback path to increase the linear controller robustness. When a backlash is considered in the model, it is shown that although the linear IMC remain asymptotically stable, its performance deteriorates. A nonlinear IMC (NIMC) approach improves the closed-loop system’s transient behaviour. When the backlash model used in the NIMC is exact, the NIMC can follow the reference model. However, residual vibrations are observed if the backlash model is not estimated precisely. A digital twin of the system is used to estimate the backlash gap angle and to re-design the backlash model for the NIMC via asynchronous communication, thus ensuring the stability of the feedback system.
Vered, Yoav
c13938de-457b-4e25-b57b-7471c7bc832a
Elliott, Stephen
721dc55c-8c3e-4895-b9c4-82f62abd3567
September 2022
Vered, Yoav
c13938de-457b-4e25-b57b-7471c7bc832a
Elliott, Stephen
721dc55c-8c3e-4895-b9c4-82f62abd3567
Vered, Yoav and Elliott, Stephen
(2022)
The use of a digital twin to reconfigure a nonlinear internal model controller.
In ISMA2022.
15 pp
.
Record type:
Conference or Workshop Item
(Paper)
Abstract
A reconfigurable feedback controller based on a digital twin is illustrated using simulations of a system with a time-varying nonlinear backlash. The control system consists of a motor driving the position of a flexible structure through a lead screw subject to backlash, whose gap angle changes over time. An internal model control (IMC) approach is utilised as the feedback path to increase the linear controller robustness. When a backlash is considered in the model, it is shown that although the linear IMC remain asymptotically stable, its performance deteriorates. A nonlinear IMC (NIMC) approach improves the closed-loop system’s transient behaviour. When the backlash model used in the NIMC is exact, the NIMC can follow the reference model. However, residual vibrations are observed if the backlash model is not estimated precisely. A digital twin of the system is used to estimate the backlash gap angle and to re-design the backlash model for the NIMC via asynchronous communication, thus ensuring the stability of the feedback system.
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PreprintTheuseofadigitaltwintoreconfigureanonlinearinternalmodelcontroller
- Author's Original
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Published date: September 2022
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Local EPrints ID: 471405
URI: http://eprints.soton.ac.uk/id/eprint/471405
PURE UUID: 8df47887-fad6-45fc-b4f6-aa36e5c87a46
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Date deposited: 07 Nov 2022 17:53
Last modified: 16 Mar 2024 22:38
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Author:
Yoav Vered
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