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检索条件"任意字段=2013 18th International Conference on Methods and Models in Automation and Robotics, MMAR 2013"

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Real-time implementation of a Type-2 Fuzzy Logic Controller to control a DC servomotor with different defuzzification methods

Real-time implementation of a Type-2 Fuzzy Logic Controller ...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Haytham M. Fayek I. Elamvazuthi Universiti Teknologi PETRONAS Seri Iskandar Perak MY

this paper presents the design and real-time implementation of a Type-2 Fuzzy Logic Proportional-Integral Controller (T2FLPIC) to control the position of a DC servomotor, which controls a robotic arm. Numerous type-2 defuzzification methods were implemented and judged against each other. A comparative analysis with the conventional Type-1 Fuzzy Logic Proportional-Integral Controller (T1FLPIC) and a PID controller demonstrates that the T2FLPIC has much improved performance than the T1FLPIC and the PID controller. this improvement is evident when it comes to handling of system disturbances and noise.

关键词： Servomotors Fuzzy logic Manganese Real-time systems Noise Uncertainty Fuzzy sets

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A model reference adaptive control strategy for a self-balancing chair

A model reference adaptive control strategy for a self-balan...

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international conference on methods and models in automation and robotics (mmar)

作者： Florian Straussberger Manuel Schwab Michael Huber Christian Baumann Markus Fink Andreas Michaels Matthias Kasch Johannes Reuter Constance University of Applied Sciences

this paper describes the control aspects and results of a student project called “MonoChair”. the goal was to have students walk through a complete control systems development cycle. the focus in this contribution is put on the design of a stabilizing linear controller, a sensitivity analysis in order to study the impact of parameter variations, and the design and test of an adaptive controller using a model reference approach. the linear controller has been implemented on the physical system and has extensively been tested in driving experiments. the adaptive controller has been tested in simulations and implemented on the physical plant as well. Initial experimental results are presented. A video showing the performance with the nominal linear controller can be found on [1].

关键词： Mathematical model Adaptation models Wheels Vectors Equations Control systems Adaptive control

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Modelling, investigation, simulation, and PID current control of Active Magnetic Levitation FEM model

Modelling, investigation, simulation, and PID current contro...

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international conference on methods and models in automation and robotics (mmar)

作者： Adam Piłat Department of Automatics and Biomedical Engineering AGH - University of Science and Technology Kraków Poland

this elaboration presents the numerical model of the Active Magnetic Levitation (AML). the model is developed in the 2D axis symmetry mode. the Finite Element Method is used to calculate the magnetic field. the Ordinary Differential Equation is solved simultaneously to simulate the levitated object motion. the model is solved in the time domain, together with the levitated object motion being simulated. A few investigation simulations are realized to diagnose the basic properties of the model. the PID current mode controller is used to drive the coil and keep the object levitated in the desired position. the electromagnetic force and magnetic flux density are investigated to analyze the AML non-linearities. Finally, the conclusions towards the experimental research are given.

关键词： Mathematical model Electromagnets Coils Iron Numerical models Electromagnetic forces Magnetic levitation

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Adatpive LQR control system for the nonlinear 4-DoF model of a container vessel

Adatpive LQR control system for the nonlinear 4-DoF model of...

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international conference on methods and models in automation and robotics (mmar)

作者： Michał Brasel Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin Szczecin Poland

In the paper an adaptive Linear-Quadratic (LQR) control system for Multi-Input, Multi-Output (MIMO) nonlinear dynamic plants is presented. A nonlinear four-Degrees-of-Freedom (4-DoF) mathematical model of a singlescrew, high-speed container vessel is used as a MIMO plant. the main task of the proposed system is control the course angle and forward speed of the ship according to the changing hydrodynamic operating conditions. Due to the strongly nonlinear nature of the equations of the ship motions adaptive LQR controller is tuned according to the current operating point of the ship. the system synthesis is carried out by linearization of the nonlinear model of the ship at its nominal operating points in the steady-state. the final part of the paper includes results of simulation tests of the proposed control system carried out in the MATLAB/Simulink environment.

关键词： Marine vehicles Mathematical model Adaptation models Control systems Containers MIMO Vectors

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Modeling aspects of nonlinear steering machine of conventional ships

Modeling aspects of nonlinear steering machine of convention...

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international conference on methods and models in automation and robotics (mmar)

作者： Viorel Nicolau Universitatea Dunarea de Jos din Galati Galati RO

the conventional ships have one main aft thruster, and a rudder actuated by the steering machine (SM), which generates yaw moments to control the yaw angle. SM is a nonlinear system with absolute stability. Considering only yaw angle and mono-variable autopilots, SM can be simplified, taking into account only two limitations: the maximum rudder angle and rudder rate. But for smart autopilots, the nonlinear SM model with tri-positional hysteretic controller (thC) must be considered. In this paper, a new nonlinear SM model, with inertia of hydraulic mass driven by the servomotor, is proposed. Behavior aspects, compared with classic SM from literature, are studied. Both nonlinear and simplified linear proposed models have better behavior, with more realistic responses. Also, limitations and influence on yaw and roll motions are presented.

关键词： Marine vehicles Servomotors Numerical models Mathematical model Nonlinear systems Load modeling Educational institutions

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Neural network based LQ control of a semiactive quarter-car model

Neural network based LQ control of a semiactive quarter-car ...

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international conference on methods and models in automation and robotics (mmar)

作者： Piotr Krauze Jerzy Kasprzyk Politechnika Slaska Gliwice PL

the paper presents an application of LQ control dedicated to a semiactive quarter-car model (2 degrees of freedom) which includes nonlinear model of a magnetorheological (MR) damper. Optimal control gains are derived based on known quarter car model parameters and limitations imposed on absolute vertical velocities of sprung and unsprung masses as well as on desired force generated by MR damper. Solutions of the algebraic Riccati equation obtained for LQ continous time infinite horizon problem using system output and control weights matrices are approximated using neural network. the static feedforward neural network model was identified using Levenberg-Marquardt backpropagation method in order to map nonlinear relations between system variables limitations and control gains. the algorithm was adapted to the semiactive system using a linearized inverse MR damper model. Simulation based analysis of vibration mitigation was carried out in frequency domain for different experiments conditions; the analysis justifies application of neural networks in LQ based control of semiactive suspension.

关键词： Shock absorbers Vehicles Artificial neural networks Mathematical model Analytical models

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the fuzzy-neuro development system FUZNET

The fuzzy-neuro development system FUZNET

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international conference on methods and models in automation and robotics (mmar)

作者： Petr Cermak Miroslav Pokorny Research Institute of the IT4Innovations Centre of Excellence Silesian University in Opava Bezruc Sq. 13 746 01 Opava Czech Republic Department of Informatics and Applied Mathematics Moravian University College Olomouc Jeremenkova 1142/42 77200 Olomouc Czech Republic

the Fuzzy-neural development system is presented in two versions. the First version is the implementation in C, C++ with interface to Matlab or other programs using DLL calling. the second implementation is newer, conform to Referential transparency. For implementation we choose functional programming language Scheme. the Scheme version R5RS is adopted on different platforms like PC, microprocessors and FPGAs. this allows easy transfer of Scheme code on mentioned platforms. there is presented short programming example of Takagi Sugeno Kang fuzzy rule based model in form of the Fuzzy Neural Network. the possible applicatons of the proposed development system are presented.

关键词： Fuzzy neural networks Field programmable gate arrays Educational institutions Optimization Genetic algorithms Shape Predictive models

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Fuzzy logic-based adaptive control system prototypying for laboratory scaled overhead crane

Fuzzy logic-based adaptive control system prototypying for l...

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international conference on methods and models in automation and robotics (mmar)

作者： Jarosław Smoczek Janusz Szpytko Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

the prototyping process of a fuzzy logic-based anti-sway control scheme for the laboratory scaled overhead crane is described. the software-hardware equipment of control system, as well as the contact and contactless techniques of sway angle of a payload sensing which have been implemented on the laboratory stand are presented. Proposed anti-sway control system is based on a set of the linear controllers determined at the selected operating points using a pole placement method (PPM) and the fuzzy interpolation of controllers parameters within the range of scheduling variables: rope length and mass of a payload. the control algorithm, a linear dynamic model of a planar crane, as well as the fuzzy schedulers of controllers and model's parameters were implemented using structured text (ST) on the PAC system with RX3i controller. the softwarehardware tools allows to automate the crane's models identifications for the selected operating points, determine the controllers parameters, validate the closed-loop system through real-time simulating on the PAC system and finally pass to conducting the experiments on the laboratory device.

关键词： Cranes Control systems Payloads Laboratories Mathematical model Interpolation Hardware

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Interval-based sliding mode observer design for nonlinear systems with bounded measurement and parameter uncertainty

Interval-based sliding mode observer design for nonlinear sy...

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international conference on methods and models in automation and robotics (mmar)

作者： Luise Senkel Andreas Rauh Harald Aschemann Chair of Mechatronics University of Rostock Rostock Germany

the estimation of non-measurable state variables as well as the reliable identification of unknown system parameters are important prerequisites for the design and implementation of controllers for nonlinear dynamic systems. However, these tasks are often impeded by the nonlinearity of dynamic system models as soon as observer techniques are sought for, which can be used for large operating ranges. Moreover, parameters and measured data are typically only known within given tolerance bounds. Such uncertainty makes the proof of the asymptotic stability of the error dynamics of classical state observers quite difficult. therefore, a novel interval-based sliding mode observer providing point-valued estimates is presented in this paper which is designed in such a way that asymptotic stability can be guaranteed by means of an online evaluation of a suitable Lyapunov function. Furthermore, an efficient strategy for the adaptation of the switching amplitude of the observer's variable structure part is presented to reduce the amplification of measurement noise as far as possible if time-varying state variables and time-invariant system parameters are estimated simultaneously. An illustrative example, describing the longitudinal dynamics of a vehicle, is presented to highlight the practical applicability of the observer.

关键词： Observers Switches Trajectory Vectors Measurement uncertainty Vehicle dynamics Lyapunov methods

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Modelling and simulation of a reconfigurable wheelchair with a sit-to-stand facility for a disabled child

Modelling and simulation of a reconfigurable wheelchair with...

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international conference on methods and models in automation and robotics (mmar)

作者： Khaled M Goher Sultan Qaboos University Muscat OM

this paper discusses the modelling and simulation of a reconfigurable wheelchair with a sit-to-stand facility for a disabled 25kg child. the prototype is designed in SolidWorks® and simulated in MATLAB® to get the suitable forces that have to be provided by the motors to activate the system. three different techniques will be used in modelling the wheelchair. SolidWorks® software package will be used in the initial stage in order to get an estimation of the necessary motor power. A second model of the system will be built using SimMechanics Matlab toolbox®. In order to check the results obtained from both approaches; SolidWorks and SimMechanics, the model built designed by SolidWorks is embedded in SimMechanics where the system has been simulated for the third time. In all the three simulation stages; the system is considered to do a complete cycle of motion; sit-to-stand and a stand-to-sit. the system performance has been detected based on an open loop scenario where no control is implemented as this stage. Further analysis of the system has been done considering the energy consumption in two different modes; sit-to-stand mode and a forward straight line motion for a prescribed distance.

关键词： Mathematical model Solid modeling Wheelchairs Torque Robots Senior citizens Numerical models

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