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NASA NTRS1985

Adaptive Inverse Control for Rotorcraft Vibration Reduction

This thesis extends the Least Mean Square (LMS) algorithm to solve the mult!ple-input, multiple-output problem of alleviating N/Rev (revolutions per minute by number of blades) helicopter fuselage vibration by means of adaptive inverse control. A frequency domain locally linear model is used to represent the transfer matrix relating the higher harmonic pitch control inputs to the harmonic vibration outputs to be controlled. By using the inverse matrix as the controller gain matrix, an adaptive inverse regulator is formed to alleviate the N/Rev vibration. The stability and rate of convergence properties of the extended LMS algorithm are discussed. It is shown that the stability ranges for the elements of the stability gain matrix are directly related to the eigenvalues of the vibration signal information matrix for the learning phase, but not for the control phase. The overall conclusion is that the LMS adaptive inverse control method can form a robust vibration control system, but will require some tuning of the input sensor gains, the stability gain matrix, and the amount of control relaxation to be used. The learning curve of the controller during the learning phase is shown to be quantitatively close to that predicted by averaging the learning curves of the normal modes. For higher order transfer matrices, a rough estimate of the inverse is needed to start the algorithm efficiently. The simulation results indicate that the factor which most influences LMS adaptive inverse control is the product of the control relaxation and the the stability gain matrix. A small stability gain matrix makes the controller less sensitive to relaxation selection, and permits faster and more stable vibration reduction, than by choosing the stability gain matrix large and the control relaxation term small. It is shown that the best selections of the stability gain matrix elements and the amount of control relaxation is basically a compromise between slow, stable convergence and fast convergence with increased possibility of unstable identification. In the simulation studies, the LMS adaptive inverse control algorithm is shown to be capable of adapting the inverse (controller) matrix to track changes in the flight conditions. The algorithm converges quickly for moderate disturbances, while taking longer for larger disturbances. Perfect knowledge of the inverse matrix is not required for good control of the N/Rev vibration. However it is shown that measurement noise will prevent the LMS adaptive inverse control technique from controlling the vibration, unless the signal averaging method presented is incorporated into the algorithm.

Jacklin, Stephen A.↗

NASA NTRS1997

Nonclassical Flight Control for Unhealthy Aircraft

This research set out to investigate flight control of aircraft which has sustained damage in regular flight control effectors, due to jammed control surfaces or complete loss of hydraulic power. It is recognized that in such an extremely difficult situation unconventional measures may need to be taken to regain control and stability of the aircraft. Propulsion controlled aircraft (PCA) concept, initiated at the NASA Dryden Flight Research Center. represents a ground-breaking effort in this direction. In this approach, the engine is used as the only flight control effector in the rare event of complete loss of normal flight control system. Studies and flight testing conducted at NASA Dryden have confirmed the feasibility of the PCA concept. During the course of this research (March 98, 1997 to November 30, 1997), a comparative study has been done using the full nonlinear model of an F-18 aircraft. Linear controllers and nonlinear controllers based on a nonlinear predictive control method have been designed for normal flight control system and propulsion controlled aircraft. For the healthy aircraft with normal flight control, the study shows that an appropriately designed linear controller can perform as well as a nonlinear controller. On the other hand. when the normal flight control is lost and the engine is the only available means of flight control, a nonlinear PCA controller can significantly increase the size of the recoverable region in which the stability of the unstable aircraft can be attained by using only thrust modulation. The findings and controller design methods have been summarized in an invited paper entitled.

Lu, Ping↗

NASA NTRS2002

CATS-based Air Traffic Controller Agents

This report describes intelligent agents that function as air traffic controllers. Each agent controls traffic in a single sector in real time; agents controlling traffic in adjoining sectors can coordinate to manage an arrival flow across a given meter fix. The purpose of this research is threefold. First, it seeks to study the design of agents for controlling complex systems. In particular, it investigates agent planning and reactive control functionality in a dynamic environment in which a variety perceptual and decision making skills play a central role. It examines how heuristic rules can be applied to model planning and decision making skills, rather than attempting to apply optimization methods. Thus, the research attempts to develop intelligent agents that provide an approximation of human air traffic controller behavior that, while not based on an explicit cognitive model, does produce task performance consistent with the way human air traffic controllers operate. Second, this research sought to extend previous research on using the Crew Activity Tracking System (CATS) as the basis for intelligent agents. The agents use a high-level model of air traffic controller activities to structure the control task. To execute an activity in the CATS model, according to the current task context, the agents reference a 'skill library' and 'control rules' that in turn execute the pattern recognition, planning, and decision-making required to perform the activity. Applying the skills enables the agents to modify their representation of the current control situation (i.e., the 'flick' or 'picture'). The updated representation supports the next activity in a cycle of action that, taken as a whole, simulates air traffic controller behavior. A third, practical motivation for this research is to use intelligent agents to support evaluation of new air traffic control (ATC) methods to support new Air Traffic Management (ATM) concepts. Current approaches that use large, human-in-the-loop simulations are unquestionably valuable for this purpose, but pose considerable logistical, fiscal, and experimental control problems. First, data analysis is extremely complicated, owing simply to the large number of participants and data sources in such simulations. In addition, experienced human air traffic controllers working adjacent sectors tend to flexibly adapt to the evolving control problem - potentially shifting to other strategies than those under investigation. In addition, their performance is tightly coupled to the control interface, which in the development phase may support some concepts and supporting strategies better than others. A simple shift in strategy by one controller can change the character of a particular traffic scenario dramatically, which makes experimental comparison of ATC performance under different traffic scenarios difficult. Training a given team of controllers on operations under a new ATM concept for a sufficient period of time could avert such difficulties, but instituting an adequate training program is expensive and logistically difficult.

Callantine, Todd J.↗

NASA NTRS2002

Observer-Based Magnetic Bearing Controller Developed for Aerospace Flywheels

A prototype of a versatile, observer-based magnetic bearing controller for aerospace flywheels was successfully developed and demonstrated on a magnetic bearing test rig (see the photograph) and an actual flywheel module. The objective of this development included a fast, yet low risk, control development process, and a robust, high-performance controller for a large variety of flywheels. This required a good system model, an efficient development procedure, and a model-based controller that addressed the key problems associated with flywheel and bearing imbalance, sensor error, and vibration. The model used in this control development and tuning procedure included the flexible rotor dynamics and motor-induced vibrations. Such a model was essential for low-risk scheduling of speed-dependent control parameters and for reliable evaluation of novel control strategies. The successfully tested control prototype utilized an extended Kalman filter to estimate the true rotor principal-axis motion from the raw sensor position feedback. For control refinement, the extended Kalman filter also estimated and eliminated the combined effects of mass-imbalance and sensor runouts from the input data. A key advantage of the design based on the extended Kalman filter is its ability to accurately estimate both the rotor's principal-axis position and gyroscopic rates with the least amount of phase lag. This is important for control parameter scheduling to dampen the gyroscopic motions. Because of large uncertainties in the magnetic bearing and imbalance characteristics, this state-estimation scheme alone is insufficient for containing the rotor motion within the desired 1-mil excursion radius. A nonlinear gain adjustment based on an estimation of the principal-axis orbit size was needed to provide a coarse (nonoptimal), but robust, control of the orbit growth. Control current minimization was achieved with a (steepest gradient) search of synchronous errors in the principal-axis position input data. Actual flywheel tests of this observer-based controller (developed entirely in-house) at the NASA Glenn Research Center showed that the model correctly predicted the rotor orbit growth as a function of rotational speed, and it demonstrated the capability of gain adjustments to arrest this growth. Data from these tests on an actual flywheel module spun to 26,000 rpm proved that the controller was able to contain the shaft motion to within much less than 0.5 mils of radial excursion with axis currents less than 300 mA in root-mean-square estimate. The test speed range was limited because of thermal expansion concerns for this particular flywheel unit, not because of any deficiency in the controller. Simulations for this unit indicated that the controller should be robust up to its top operating speed of 60,000 rpm. Aside from these important achievements, and most significantly, it took less than 1 week to adapt this controller from the simple test rig to the actual flywheel and to demonstrate full five-axis levitation and control. This demonstration showed that both the controller and the model-based development and tuning framework are easily adaptable to a wide range of rotors and bearing configurations and, hence, are capable of reducing design risks and costs for many future flywheel technology developments.

Le, Dzu K.↗

NASA NTRS2003

Advances in Thrust-Based Emergency Control of an Airplane

Engineers at NASA's Dryden Flight Research Center have received a patent on an emergency flight-control method implemented by a propulsion-controlled aircraft (PCA) system. Utilizing the preexisting auto-throttle and engine-pressure-ratio trim controls of the airplane, the PCA system provides pitch and roll control for landing an airplane safely without using aerodynamic control surfaces that have ceased to function because of a primary-flight-control-system failure. The installation of the PCA does not entail any changes in pre-existing engine hardware or software. [Aspects of the method and system at previous stages of development were reported in Thrust-Control System for Emergency Control of an Airplane (DRC-96-07), NASA Tech Briefs, Vol. 25, No. 3 (March 2001), page 68 and Emergency Landing Using Thrust Control and Shift of Weight (DRC-96-55), NASA Tech Briefs, Vol. 26, No. 5 (May 2002), page 58.]. Aircraft flight-control systems are designed with extensive redundancy to ensure low probabilities of failure. During recent years, however, several airplanes have exhibited major flight-control-system failures, leaving engine thrust as the last mode of flight control. In some of these emergency situations, engine thrusts were successfully modulated by the pilots to maintain flight paths or pitch angles, but in other situations, lateral control was also needed. In the majority of such control-system failures, crashes resulted and over 1,200 people died. The challenge lay in creating a means of sufficient degree of thrust-modulation control to safely fly and land a stricken airplane. A thrust-modulation control system designed for this purpose was flight-tested in a PCA an MD-11 airplane. The results of the flight test showed that without any operational control surfaces, a pilot can land a crippled airplane (U.S. Patent 5,330,131). The installation of the original PCA system entailed modifications not only of the flight-control computer (FCC) of the airplane but also of each engine-control computer. Inasmuch as engine-manufacturer warranties do not apply to modified engines, the challenge became one of creating a PCA system that does not entail modifications of the engine computers.

Creech, Gray↗

DOE OSTI2019

Integrated current profile, normalized beta and NTM control in DIII-D

There is an increasing need for integrating individual plasma-control algorithms with the ultimate goal of simultaneously regulating more than one plasma property. Some of these integrated-control solutions should have the capability of arbitrating the authority of the individual plasma-control algorithms over the available actuators within the tokamak. Such decision-making process must run in real time since its outcome depends on the plasma state. Therefore, control architectures including supervisory and/or exception-handling algorithms will play an essential role in future fusion reactors like ITER. However, most plasma-control experiments in present devices have focused so far on demonstrating control solutions for isolated objectives. In this work, initial experimental results are reported for simultaneous current-profile control, normalized-beta control, and Neoclassical Tearing Mode (NTM) suppression in DIII-D. Neutral beam injection (NBI), electron-cyclotron (EC) heating & current drive (H&CD), and plasma current modulation are the actuation methods. The NBI power and plasma current are always modulated by the Profile Control category within the DIII-D Plasma Control System (PCS) in order to control both the current profile and the normalized beta. EC H&CD is utilized by either the Profile Control or the Gyrotron categories within the DIII-D PCS as dictated by the Off-Normal and Fault Response (ONFR) system, which monitors the occurrence of an NTM and regulates the authority over the gyrotrons. The total EC power and poloidal mirror angles are the gyrotron-related actuation variables. When no NTM suppression is required, the gyrotrons are used by the Profile Control category, but when NTM suppression is required, the ONFR transfers the authority over the gyrotrons to the NTM stabilization algorithm located in the Gyrotron category. Initial experimental results show that simultaneous control of different aspects of the plasma dynamics may improve the overall control and plasma performances. Also, the potential of the ONFR system to successfully integrate competing control algorithms is demonstrated.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

DOE OSTI2024

Practical Insights on Applying Simulation-Based Control Methods in Experimental Studies

Advanced nuclear reactors are crucial to the future of energy both in the United States and around the globe. In contrast to the current operating fleet, they are characterized as being deployable in remote locations and able to operate in semi-autonomous or autonomous fashion. This leap forward necessitates a new reactor control paradigm. Because advanced nuclear reactors are still under development in the United States, the creation of new control methods to achieve autonomous operations has been based on systems modeling and simulation. However, an important factor in successfully deploying these new control methods is the ability to seamlessly transition from simulation environments to real-world settings. Control methods tested in both simulation and experimental settings need to be investigated in the context of advanced reactor applications. This work developed a series of simple controllers for Idaho National Laboratory (INL)’s Microreactor Applications Research Validation and Evaluation (MARVEL) microreactor operating in load-following scenarios. These controllers were tested in both simulation and experimental settings, and a comparative performance analysis was performed. The simulation tests leveraged the Control and Optimization Modular Modeling Application for Nuclear Deployment (COMMAND) software developed in a previous stage of the current effort, along with the MARVEL Reactor Excursion and Leak Analysis Program (RELAP5-3D) and Monte Carlo N-Particle (MCNP) models. The experimental tests leveraged the COMMAND software, MARVEL models, and the U.S. Department of Energy Microreactor Program’s Microreactor Automated Control System (MACS). MACS was developed to serve as a control method testbed. It was customized to mirror the MARVEL microreactor, and COMMAND enabled MACS to emulate the physics of MARVEL. The load-following controller was developed using the simulation platform, with efforts to emulate real systems by introducing actuator saturation and noise. These factors were incrementally accounted for in the controller design. After finalizing the controller design, it was implemented with the experimental setup. The experimental conditions tested included an initial test under conditions similar to the final simulation test, and two additional scenarios. The first scenario introduced additional actuator saturation to account for equipment aging over time, which was unknown to the controller. The second scenario introduced sensor delay, a phenomenon anticipated with the use of remote operations or wireless communication in advanced reactors. These tests revealed several notable differences. While the controller performed well in simulation, it exhibited several limitations when transitioning to hardware. The main challenges involved maintaining the steady-state target power, as evidenced by larger error values between the true reactor power and setpoint power, as well as persistent oscillations in controlled reactor power. These issues could lead to unacceptable transient conditions in real reactor testing. Introducing actuator aging and stochastic delays in the experimental setup significantly impacted controller performance, resulting in increased overshoot and undershoot, and exacerbated error and oscillations previously mentioned. These findings underscore the importance of experimental testbeds for testing and validating control methods, as controllers developed using only theory and/or simulation may perform unexpectedly when applied to actual hardware. This research emphasizes the need for an experimental testbed for achieving such validation.

46 - INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AN↗

DOE OSTI2022

Study of Inverter Control Strategies on the Stability of Low-Inertia Microgrid Systems

This paper investigates the stability of low-inertia microgrid systems with two control strategies that have different percentages of grid-forming (GFM) inverters. The first control strategy has approximately 50% GFM inverters, and all the battery inverters are working in GFM control mode. Originally, the second control strategy has approximately 10% GFM inverters, with only two battery inverters working in GFM control mode and the rest working in grid-following (GFL) PQ control mode based on current control, which cannot stabilize the microgrid system. Then, the second control strategy is modified to change the GFM inverters from droop control to isochronous control and the GFL battery inverters from traditional current control to voltage control for power control. Both control strategies can maintain system stability; however, the first control strategy can better handle contingency events. The study indicates that 1) a microgrid system with a higher percentage of GFM inverters has better stability; and 2) a microgrid with a lower percentage of GFM inverters can have poor stability, but improved control strategies in inverters can improve system stability. This study improves the understanding of how different percentages of GFM inverters and inverter control strategies affect the system stability of low-inertia microgrids.

droop control↗

DOE OSTI2022

Study of Inverter Control Strategies on the Stability of Low-Inertia Microgrid Systems: Preprint

droop control↗

DOE OSTI2022

Study of Inverter Control Strategies on the Stability of Low-Inertia Microgrid Systems

droop control↗

DOE OSTI2019

Chapter 6: Wind Turbine Control Design

In this chapter, the author introduced wind turbine control, discussing sensors and actuators, operating regions, and the operational controller loops. The author then described the different levels of models needed in the controller development process, emphasizing that the models needed for control design are a simplification of the detailed models used in control simulation testing. Scripts used in conjunction with MATLAB are used to synthesize the controller, and detailed models are used for controller simulations. We described the design of the basic operational controller based on simplified models, including the generator torque controller for optimizing energy capture, and the blade pitch controller for regulating turbine speed (or power). The author described how to account for the effects of turbine nonlinearities and actuator dynamics and saturation. We then gave an overview of modern state-space control design methods, which are useful when designing a controller to meet multiple control objectives. The author also described a variety of advanced multivariable control methods. The author gave an overview of the use of advanced sensors (such as lidar sensors for upwind wind-speed measurements) and actuators (outboard blade aerodynamic devices used in 'smart' blade technology). The use of individual blade pitch, although not considered an advanced actuator, was also described. The author concluded with some special control issues for offshore floating systems.

17 WIND ENERGY↗

DOE OSTI2021

NEMA-Phase Compliant Traffic Signal Controller Module in SUMO

The controller modules in SUMO use a stage-based control structure. A phase is defined as a stage of all allowed movements at a time instance. However, traffic signal controllers used in North America widely use National Electrical Manufacturers Association (NEMA) phase definition. A NEMA phase is defined by a certain flow movement at an intersection. At one time, more than one NEMA phase could happen together as long as they do not conflict with each other. We can visualize the NEMA phases and timings in Ring-and-Barrier structured NEMA diagrams. For one controller, only one phase from a ring can be activated at a time. Phases from different rings could be activated together as long as they are not from the different sides of a barrier. When a controller is operated in fixed-time control mode, we can model the NEMA phase timing as a corresponding stage-based control timing without any issues. When introducing actuation into the signal control, a Ring-and-Barrier structured traffic signal controller can be more flexible than stage-based controller by allowing different possible phase combinations. We made two efforts in modeling Ring-and-Barrier structured controllers in SUMO. One is to translate a NEMA phases timing into SUMO-readable phases and timings as an additional file for SUMO. This translation worked well for fixed-time control. To model actuated control and coordinated actuated control, we augmented the SUMO source code by adding a Ring-and-Barrier structured controller module. This module could implement traffic signal timing from controllers using NEMA phases. We also augmented TraCI to be able to set new NEMA phase timings during simulations. We examined the Ring-and-Barrier structured traffic signal controller module by both visually observing the simulation animations and the simulation records. The developed control module can model the generalized Ring-and-Barrier structured traffic signal timing that is used in North America. SEE: https://github.com/eclipse/sumo/blob/main/src/microsim/traffic_lights/NEMAController.cpp

Wang, Qichao↗

NASA NTRS1998

A Method for Integrating Thrust-Vectoring and Actuated Forebody Strakes with Conventional Aerodynamic Controls on a High-Performance Fighter Airplane

A method, called pseudo controls, of integrating several airplane controls to achieve cooperative operation is presented. The method eliminates conflicting control motions, minimizes the number of feedback control gains, and reduces the complication of feedback gain schedules. The method is applied to the lateral/directional controls of a modified high-performance airplane. The airplane has a conventional set of aerodynamic controls, an experimental set of thrust-vectoring controls, and an experimental set of actuated forebody strakes. The experimental controls give the airplane additional control power for enhanced stability and maneuvering capabilities while flying over an expanded envelope, especially at high angles of attack. The flight controls are scheduled to generate independent body-axis control moments. These control moments are coordinated to produce stability-axis angular accelerations. Inertial coupling moments are compensated. Thrust-vectoring controls are engaged according to their effectiveness relative to that of the aerodynamic controls. Vane-relief logic removes steady and slowly varying commands from the thrust-vectoring controls to alleviate heating of the thrust turning devices. The actuated forebody strakes are engaged at high angles of attack. This report presents the forward-loop elements of a flight control system that positions the flight controls according to the desired stability-axis accelerations. This report does not include the generation of the required angular acceleration commands by means of pilot controls or the feedback of sensed airplane motions.

Lallman, Frederick J.↗

NASA NTRS1998

A System for Managing Replenishment of a Nutrient Solution Using an Electrical Conductivity Controller

Control of nutrient solution parameters is very important for the growth and development of plants grown hydroponically. Protocols involving different nutrient solution replenishment times (e.g. one-week, two-week, or two-day replenishment) provide manual periodic control of the nutrient solution's electrical conductivity (EC). Since plants take-up nutrients as they grow, manual control has a drawback in that EC is not held constant between replenishments. In an effort to correct this problem the Center for Food and Environmental Systems for Human Exploration of Space at Tuskegee University has developed a system for managing and controlling levels of EC over a plant's entire growing cycle. A prototype system is being tested on sweetpotato production using the nutrient film technique (NFT), and it is being compared to a system in which sweetpotatoes are grown using NFT with manual control. NASA has played an important role in the development of environmental control systems. They have become a forerunner in growing plants hydroponically with some control systems through the use of networked data acquisition and control using environmental growth chambers. Data acquisition systems which involve the use of real-time, calibration, set points, user panel, and graphical representation programming provide a good method of controlling nutrient solution parameters such as EC and pH [Bledsoe, 19931]. In NASA's Biomass Production Chamber (BPC) at Kennedy Space Center, control is provided by a programmable logic controller (PLC). This is an industrial controller which combines ladder computer logic which has the ability to handle various levels of electrical power. The controller controls temperature, light and other parameters that affect the plant's environment, in the BPC, the Nutrient Delivery System (NIX), a sub-system of the PLC, controls nutrient solution parameters such as EC, pH, and solution levels. When the nutrient EC measurement goes outside a preset range (120-130 mS/m) a set amount of a stock solution of nutrients is automatically added by a metering pump to bring the EC back into operating range [Fortson, 1992]. This paper describes a system developed at Tuskegee University for controlling the EC of a nutrient solution used for growing sweetpotatoes with an EC controller and a computer with LabView data acquisition and instrumentation software. It also describes the preliminary data obtained from the growth of sweetpotatoes using this prototype control system.

Davis, D.↗

NASA NTRS2011

A Piloted Evaluation of Damage Accommodating Flight Control Using a Remotely Piloted Vehicle

Toward the goal of reducing the fatal accident rate of large transport airplanes due to loss of control, the NASA Aviation Safety Program has conducted research into flight control technologies that can provide resilient control of airplanes under adverse flight conditions, including damage and failure. As part of the safety program s Integrated Resilient Aircraft Control Project, the NASA Airborne Subscale Transport Aircraft Research system was designed to address the challenges associated with the safe and efficient subscale flight testing of research control laws under adverse flight conditions. This paper presents the results of a series of pilot evaluations of several flight control algorithms used during an offset-to-landing task conducted at altitude. The purpose of this investigation was to assess the ability of various flight control technologies to prevent loss of control as stability and control characteristics were degraded. During the course of 8 research flights, data were recorded while one task was repeatedly executed by a single evaluation pilot. Two generic failures, which degraded stability and control characteristics, were simulated inflight for each of the 9 different flight control laws that were tested. The flight control laws included three different adaptive control methodologies, several linear multivariable designs, a linear robust design, a linear stability augmentation system, and a direct open-loop control mode. Based on pilot Cooper-Harper Ratings obtained for this test, the adaptive flight control laws provided the greatest overall benefit for the stability and control degradation scenarios that were considered. Also, all controllers tested provided a significant improvement in handling qualities over the direct open-loop control mode.

Cunningham, Kevin↗

DOE OSTI2018

Data Driven Temperature Control of Heat Exchangers

The following poster presents a couple of approaches for temperature control at heat exchanger’s exit. One of the approaches is based on using n-step ahead neural network while the other approach utilizes a combination of control + learning module for temperature control. Designing robust controllers for typical heat exchangers is very challenging primarily because of complexities associated with the synthesis of dynamics of industrial heat exchangers. Even if a dynamics model is synthesized, the accuracy of it would be called into question as there can be lot of unmodeled system dynamics and random noise in input parameters. In many situations, the degree of uncertainty in the model of system being controlled limits the utility of optimal control design. Controller can be manually tuned on the field but it is very difficult to determine manual adjustments that result in overall improvement. These practical challenges call for learning based approaches for temperature control that would result in optimal heat exchanger performance. We utilize the existing mathematical model for air-water system synthesized by Underwood and Crawford for testing our algorithms. Underwood and Crawford developed a model of heating coil by fitting a second-order non-linear equations to measurements of air and water temperature and flow rates obtained from the actual coil. The uncertainties in the model include air and water inlet temperatures and air-flow rate. These uncertainties are modeled as random variables that are sampled from a uniform distribution. The control variable is the water flow rate which is controlled for regulating the air-outlet temperature. Neural networks are frequently used in various literatures for learning time-series. We propose a modified version of neural networks known as n-step ahead neural network that take the state variables and output at time t as input to successfully predict output at time t+n. The variable n is a hyper-parameter which can be optimized based on performance constraints. The n-step ahead neural network was then trained on training data generated from experimental model to high training accuracies. This trained model performed appreciably in its objective to regulate outlet temperature of a heat exchanger. The second approach uses a combination of control and learning module for temperature regulation. The control module used is a proportional controller while the learning module used is steady state neural network. The steady state neural network is used to learn the controller output as a function of random variables and temperature set-point. The proportional controller is then used to compensate for transient behavior of linearized system around various operating points. The algorithm works effectively for temperature regulation as neural network captures the non-linear input-output behavior of closed loop system leaving proportional controller to compensate for steady state errors of a linearized plant. The proposed algorithm’s performances were evaluated against the performance of a PI controller. Further, the robustness of the algorithms were also studied in great detail under small perturbations around tuned parameters of the proposed algorithms.

Sundar, Sreenath↗

DOE OSTI2021

Open Building Control

Best practice control sequences are often not implemented correctly, or are not implemented at all, in large commercial buildings. This typically leads to 10-30 percent energy waste, along with reduced occupant productivity and unnecessary equipment wear. The current process of designing and implementing such control sequences is a manual process that starts with designers who often don’t have adequate training, then requires controls programmers to interpret and program a verbose written sequence. This process has been shown to fail to deliver high performance control sequences at scale. The Open Building Control project digitizes the current control delivery process. The project is developing tools for system designers to select control sequences, assess their energy performance and load flexibility potential using whole building simulation, specify the sequence for implementation using machine-to-machine translation by a control provider and formally testing the as-installed sequences by a commissioning agent. The project developed tools for each stage of this delivery process. The key innovation of the project is the development of the Control Description Language, a language that allows such a digitized control delivery process with end-to-end verification. Libraries of control sequences have been implemented using the Control Description Language, and their performance has been demonstrated using whole building energy simulation. An automated translation of such sequences to a commercial control product line has been conducted using a prototype translator. Tools for formal verification of as-installed control sequences relative to their specification have been developed and demonstrated. The American Society of Heating, Refrigerating and Air-Conditioning Engineers (ASHRAE) started the process of forming a committee to make this language an ASHRAE/ANSI Standard. This new standard will complement existing and emerging ASHRAE standards for building communication and semantic modeling by providing a standard for expressing the control logic - the actual brain of the building. We expect this language and the process it enables to be an important contribution to the deployment of high performance building control sequences at scale because it allows taming the complexity of the control delivery process, which is continually increasing due to the need for higher performance and increased load flexibility to meet goals for net zero energy and increased renewable integration.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS1987

A shared position/force control methodology for teleoperation

A flexible and computationally efficient shared position/force control concept and its implementation in the Robot Control C Library (RCCL) are presented form the point of teleoperation. This methodology enables certain degrees of freedom to be position-controlled through real time manual inputs and the remaining degrees of freedom to be force-controlled by computer. Functionally, it is a hybrid control scheme in that certain degrees of freedom are designated to be under position control, and the remaining degrees of freedom to be under force control. However, the methodology is also a shared control scheme because some degrees of freedom can be put under manual control and the other degrees of freedom put under computer control. Unlike other hybrid control schemes, which process position and force commands independently, this scheme provides a force control loop built on top of a position control inner loop. This feature minimizes the computational burden and increases disturbance rejection. A simple implementation is achieved partly because the joint control servos that are part of most robots can be used to provide the position control inner loop. Along with this control scheme, several menus were implemented for the convenience of the user. The implemented control scheme was successfully demonstrated for the tasks of hinged-panel opening and peg-in-hole insertion.

Lee, Jin S.↗