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Journals

2011 European Journal of Control

Multivariable Robust Control for a 500W Self-Humidified PEMFC System

 

Fu-Cheng Wang, Liu-Hsu Lin and Ming-Cheng Chou

 

 

Abstract
This paper illustrates the integration and control of a 500 W self-humidified proton exchange membrane fuel cell (PEMFC) system. From the system point of view, the PEMFC can be regarded as a two-input-two-output system with the inputs of hydrogen and oxygen, and the outputs of cell voltage and current. By identification techniques, we find transfer functions of the PEMFC system at different operating points, and treat the un-modeled dynamics as system uncertainties. In this way, robust control strategies can be applied to stabilize the system and to increase the system performance. This paper describes the design of a standard H-infinity robust controller for stabilizing the PEMFC system, and further applies fixed-order robust control and robust PID control algorithms for controller simplification. Finally, the system performance and efficiency are experimentally verified. The results show the effectiveness of these controllers.

2011 Vehicle System Dynamics

Vehicle Suspensions with a Mechatronic Network Strut

 

Fu-ChengWang and Hsiang-An Chan

 

 

Abstract
This paper applies a novel mechatronic network strut to vehicle suspensions and discusses the benefits of system performance. The proposed mechatronic strut consists of a ball-screw inerter and permanent magnet electric machinery, such that the system impedance can be realised through a combination of mechanical and electrical networks. Applying the mechatronic strut to vehicle suspensions, we evaluate the improvement of system performance using passive electrical networks. Furthermore, a prototype mechatronic strut is constructed for properties verification. Finally, nonlinearities of the mechatronic strut are taken into account to modify the suspension design. From the simulation and experimental results, the proposed mechatronic network strut is shown to be effective.

2011 Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science

Designing and Testing a Hydraulic Inerter

 

Fu-Cheng Wang, Min-Feng Hong and Tz-Chien Lin

 

 

Abstract
This article proposes a novel hydraulic inerter and experimentally verifies its properties. The inerter is a true two-terminal mechanical network element, which was invented to substitute for the mass in mechanical/electrical analogies. Previously, inerter concepts have been realized by rack-and-pinion and ball-screw devices. This article introduces a new hydraulic inerter device in which the forces are translated by hydraulic means. The dynamics of the device is discussed and experimentally verified. On the basis of the results, the proposed hydraulic inerter is shown to be effective.
Conference

2011 Proceedings of the 14th Asia Pacific Vibration Conference

Vibration Control of an Optical Table by Mechatronic Inerter Networks

 

Fu-Cheng Wang and San-Ho Yang

 

 

Abstract
This paper applies a newly developed mechatronic inerter network to control the vibrations of an optical table. As technology is advanced, the requirements for vibration control are becoming increasingly stringent. Therefore, optical tables are normally applied to precision systems to suppress two main vibrations: load disturbances from the machine and ground disturbances from the environment. However, the suspension settings need to be stiff to isolate the load disturbances but soft to suppress the ground disturbances. Therefore, we apply disturbance response decoupling techniques for independent treatment of these two vibration sources. We combine a mechatronic inerter network with spring-damper sets to suppress ground disturbances in a passive way, and use piezoelectric transducers to actively improve load responses. Based on the simulation and experimental results, the design is deemed effective.

2011 Proceedings of the SICE Annual Conference

Control and Integration of a Fuel-Cell Powered Wheelchair

 

Fu-Cheng Wang, Yu-Shu Chiang and Yee-Pien Yang

 

 

Abstract
This paper proposes a fuel-cell powered wheelchair. As an alternative energy source, fuel-cell has drawn much attention and research. To improve mobility for people with walking disability, we combine a fuel cell module with two battery sets to provide long-lasting power for an electrical wheelchair. The study is carried out in three steps: the fuel-cell control, power management, and system integration. First, we apply multivariable robust control strategies to regulate the hydrogen and air flow rates of a proton exchange membrane fuel cell module, which provides steady electrical power for the system. Second, we design a serial power-train, where the fuel-cell charges two Lithium Iron battery sets which in turns drive the wheelchair’s motors. Lastly, the aforementioned subsystems are integrated for experimental verification. The results demonstrate the effectiveness of the proposed system.

2011 Proceedings of the SICE Annual Conference

Vibration Control of an Optical Table by Piezoelectric Transducers

 

Fu-Cheng Wang and San-Ho Yang

 

 
Abstract
This paper proposes the design and control of an optical table. As technology is advanced, the requirements for vibration control are becoming increasingly stringent. Optical tables are normally applied to suppress vibrations for improving system performances. There are two main vibration sources, namely load disturbances from the machine and ground disturbances from the environment. However, the suspension settings to isolate these two disturbances are conflicting: they need to be soft for the ground disturbances but stiff for the load disturbances. Therefore, we apply disturbance response decoupling techniques to independently treat these two vibration sources: using passive elements to suppress ground disturbances, and active piezoelectric transducers to improve load responses. From the simulation and experimental results, the design is deemed effective.

2011 Proceedings of the 18th IFAC World Congress

Robust Control of a Two-Axis Piezoelectric Nano-Positioning Stage

 

Fu-Cheng Wang, Yan-Chen Tsai, Chin-Hui Hsieh, Lian-Sheng Chen and Chung-Huang Yu

 

 

Abstract
This paper applies robust control to a two-axis piezoelectric nano-positioning stage. As technology develops, the precision requirement for positioning platforms is becoming increasingly stringent. Since a traditional mechanical transmission structure cannot achieve high precision, a piezoelectric actuator is usually applied to drive the mechanism because of its high resolution, high accuracy, and large driving force. However, the non-linear dynamic characteristics of piezoelectric materials, such as hysteresis, might degrade system performance. Therefore, in the present study, we model a piezoelectric stage as a linear system, and regard the nonlinear factors as system uncertainties. We then apply robust control strategies to guarantee system stability and performance. Lastly, the designed controllers are implemented for experimental verification. The results demonstrate the effectiveness of these robust controllers.n

2011 Proceedings of the 22nd International Symposium on Dynamics of Vehicles on Roads and Tracks

A Full-Train with Inerters: Stability and Performance

 

Fu-Cheng Wang, Min-Ruei Hsieh and Hsueh-Ju Chen

 

 

Abstract
This paper discusses the use of inerters to improve the stability and performance of a thirty-seven degree-of-freedom full-train model. We build the nonlinear full-train model in AutoSim, and obtain the linearised model for analysis in Matlab. We consider three basic suspension layouts, and optimize the suspension parameters for two indexes: the critical speed and passenger’s comfort. From the optimization results, inerters are deemed effective in improving the stability and performance of the full-train system.

2011 Proceedings of the 4th International Conference on Human System Interaction

Synchronized Robust Control of a Gait Trainer

 

Fu-Cheng Wang, Chung-Huang Yu, Chia-Hui Chen, Tai-Yu Chou and Chen-En Tsai

 

 

Abstract
This paper proposes synchronized robust control for an active gait trainer. We design an active gait trainer, which composes of linkage mechanism and motors, to produce preferred gait traces for people with walking disability. The goal of this work is to simultaneously control the motors to mimic normal gaits. By finding the transfer functions of the mechanism and motors, we design robust controllers to regulate the trainer in a synchronic way. The designed controllers are implemented on a cRIO system for experimental verification. From the results, the proposed synchronized robust control is deemed effective.

Domestic Conference

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