Livelong education in electro-mechanical industry is increasingly important as it allows practicing engineers and technicians to gain the knowledge necessary to cope withthe fast development and consequently with hig...
详细信息
ISBN:
(纸本)9781467321242
Livelong education in electro-mechanical industry is increasingly important as it allows practicing engineers and technicians to gain the knowledge necessary to cope withthe fast development and consequently with higher demands on their workplaces. this paper addresses different aspects of development and execution of such industrial training. Concrete solutions and results are presented including: (1) extensive international knowledge needs analysis in electro-mechanical sector, (2) e-learning solutions for industry including learning management systems and application of remote working stations/experiments for practical part of the training and (3) examples of the training modules from robotics developed for industry. Applied solutions and education methodology is evaluated by feedback obtained from the training participants. Based on a gained experience a long-term perspective and possible further development direction of modern industrial education is also addressed.
this paper presents an easily implementable method for determining the set of PID controllers that stabilize an LTI system with or without a time delay while satisfying certain robustness requirements. the adopted app...
详细信息
ISBN:
(纸本)9781467321242
this paper presents an easily implementable method for determining the set of PID controllers that stabilize an LTI system with or without a time delay while satisfying certain robustness requirements. the adopted approach, which does not require approximating the time delay or solving complex non-algebraic equations, draws directly on the graphic approach suggested in [1], [2], [3] for PI controllers and first-order-plus-dead-time processes. In particular, it is shown that, on suitable cross sections of the parameter space, the boundary of the regions where a given H-infinity margin is ensured is the envelope of families of ellipses whose centres lie on the stability boundary. the loci of constant crossover frequencies, strictly related to the achievable passbands, are also displayed. the technique is applied to some benchmark examples withthe aid of dedicated software.
this paper develops a new set of stability conditions for asymptotic stability of two-dimensional linear systems described by Roesser and Fornasini-Marchesini state-space modelsthrough extensive use of the Kalman-Yak...
详细信息
ISBN:
(纸本)9781467321242
this paper develops a new set of stability conditions for asymptotic stability of two-dimensional linear systems described by Roesser and Fornasini-Marchesini state-space modelsthrough extensive use of the Kalman-Yakubovich-Popov lemma. the resulting tests are formulated in terms of a convex optimization problem over linear matrix inequality constraints. Testing the resulting conditions only requires computations on matrices with constant entries with consequent computational load advantages when compared with alternatives, especially when direct extension to stabilizing control law design is required. Illustrative numerical examples are also given.
the concept of control of plants represented by (1) has been proposed. Using (2),(3),(4),(5) one can determine plant input U(t) forming its output as Y(T), where "new" time T depending on time-scale A(t) is ...
详细信息
ISBN:
(纸本)9781467321242
the concept of control of plants represented by (1) has been proposed. Using (2),(3),(4),(5) one can determine plant input U(t) forming its output as Y(T), where "new" time T depending on time-scale A(t) is defined by dT=A(t) dt, whereas Y(t) is plant "reference" output obtained for A=1. Signal A(t) is obtained as result of static operation A(t)=q(e(t)), where q(0)=0 and e(t) is control system error. the technical applications can base on MFC structure (Fig. 4). the idea of control is simple: if e(t)=A(t)=0, then model (2) is decoupled, values of its state variables and output y are conserved. Because Y follows y (Fig. 4), then changes of plant output are stopped too. If e(t)=A(t) not equal 0, then y and Y tend to reference signal y(o) and rate of follow-up action depends on q(e(t)). During this process the consecutive outputs of model and plant are y(T) and Y(T). thus, the "reference" response Y(t) defines Y(T). the impressive results illustrating properties of proposed concept are shown in Fig. 5,6. Application of described method simplifies the analysis of system dynamics and yields perfect results of follow-up action (lack of overshoots, short setting times). the idea for SISO case has been generalized to form enabling control of MIMO plants.
To handle complexity in large scale control problems, a popular approach is to impose hierarchical control structures. Hierarchical control can be interpreted as an attempt to handle complex problems by decomposing th...
详细信息
ISBN:
(纸本)9781467321242
To handle complexity in large scale control problems, a popular approach is to impose hierarchical control structures. Hierarchical control can be interpreted as an attempt to handle complex problems by decomposing them into smaller subproblems and reassembling their solutions into a "functioning" hierarchical structure. It typically involves a number of control layers operating on different time scales that may be clock driven or event driven. Signals on different levels of the control hierarchy may be of different granularity representing phenomena like measurement aggregation when passing from lower to higher level control. Within a suitable formal framework guaranteeing certain consistency conditions, complexity reduction is achieved by interpreting specifications for lower control levels as abstractions of the plant under low level control. An essential task within a hierarchical control synthesis procedure is then to come up with a suitable choice of specifications for the individual control layers. Because of the dual role of these specifications, this typically involves a non-trivial trade-off. E. g., imposing a less strict specification for a control layer will facilitate the control synthesis task for this layer, but will make the control synthesis task for higher level control more difficult. In this paper, this trade-off is formally investigated for a specific scenario, where the top control layer is only responsible for the timing of certain discrete events, and where the abstraction it is based on can be represented by a timed event graph (TEG).
In this article we address the problem of expanding literature-known model of quadrotor dynamics and the benefits it brings. this extended model is used together with LQR controller to show the capability of controlle...
详细信息
In this article we address the problem of expanding literature-known model of quadrotor dynamics and the benefits it brings. this extended model is used together with LQR controller to show the capability of controlled flight and intuitive 3D trajectory composition.
Stability of a system described by the time-varying nonlinear 3-D Fornasini-Marchesini model is considered. there are given notions of stability of the system and theorem for stability and asymptotic stability of the ...
详细信息
Stability of a system described by the time-varying nonlinear 3-D Fornasini-Marchesini model is considered. there are given notions of stability of the system and theorem for stability and asymptotic stability of the system which can be considered as the Lyapunov stability theorem extension for the system.
A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then...
详细信息
A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then related to a function minimization problem over the system trajectory. It is shown that such minimization problems are strictly related to the Lyapunov condition.
Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Prop...
详细信息
Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Propagation through Time is applied as the identification method. Vertical hot water tank serves as the illustration of application to single dimensional case. methods of generalization on three dimensional case are suggested.
暂无评论