This paper presents the application of a Discrete Adaptive Observer (DAO) to an IBM Head/Disk Assembly system. Because of the difficulties in tuning, a genetic algorithm is implemented off-line to obtain optimal obser...
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This paper presents the application of a Discrete Adaptive Observer (DAO) to an IBM Head/Disk Assembly system. Because of the difficulties in tuning, a genetic algorithm is implemented off-line to obtain optimal observer parameters for the DAO. Simulations show that the genetic algorithm is successful in choosing appropriate observer gains. Furthermore, as a result of these optimal gains, the observer state and parameter estimates converge accurately and quickly.
The paper presents the proposal of an cacsd (computeraidedcontrolsystemdesign) environment integrated with an ERP (enterprise resource planning) system, aimed at the study, design and optimization of controllers f...
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The paper presents the proposal of an cacsd (computeraidedcontrolsystemdesign) environment integrated with an ERP (enterprise resource planning) system, aimed at the study, design and optimization of controllers for the most varied shop floor plants, from mechatronics systems to industrial processes. More specific optimization, control and supervision methods in the the company are very important and necessary at the shop floor level; at this level, the motivation to integrate machines and production cells to the higher hierarchical levels of the company appears in a most expressive way. The VIEnCoD (virtual instrumentation based integrated environment for controller design) assists such objectives by giving integral support to the whole controlsystem development cycle, from the phase of identification and modelling of the plant to controller synthesis.
Tracking a target from a dynamic platform (i.e. aircraft, ground vehicle) requires a servo architecture that includes an outer track loop and an inner rate loop that stabilizes the line of sight (LOS). This paper focu...
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ISBN:
(纸本)078035446X
Tracking a target from a dynamic platform (i.e. aircraft, ground vehicle) requires a servo architecture that includes an outer track loop and an inner rate loop that stabilizes the line of sight (LOS). This paper focuses on the rate loop design and the effects of friction and cable restraint on it's performance. Adaptive friction and feedback compensators are designed to improve tracking performance. The adaptive feedback compensator is tuned so that the gimbal response follows that of a reference model.
We present an optimizing control method for electric district heating and cooling (DHC) plants. The purpose of the method is to minimize the operating cost of the plants. The optimization models are constructed by inp...
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ISBN:
(纸本)078035446X
We present an optimizing control method for electric district heating and cooling (DHC) plants. The purpose of the method is to minimize the operating cost of the plants. The optimization models are constructed by input-output properties of the components into mixed 0-1 linear programming problem. The advanced feature of the method is to be able to handle 1) double-bundle heat pumps, 2) thermal storage tanks, and 3) peak-cut strategy. The numerical example shows that the optimization result based on the method gives appropriate schedule for DHC plant operation.
The defining characteristic of a networked controlsystem (NCS) is having a feedback loop that passes through a local area computer network. This paper considers nonlinear systems controlled in this manner, and demons...
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ISBN:
(纸本)078035446X
The defining characteristic of a networked controlsystem (NCS) is having a feedback loop that passes through a local area computer network. This paper considers nonlinear systems controlled in this manner, and demonstrates that for sufficiently high transmission rates, the network may be considered transparent. Three methods of scheduling data packets are compared: a static scheduler (token ring), the Try-Once-Discard (maximum-error-first) scheduler with continuous priority levels, and the Try-Once-Discard scheduler with discrete priority levels. The third method is of particular interest when only a small number of bits are available for collision resolution. Asymptotic stability is guaranteed in the first two cases, and ultimate uniform boundedness in the third. In the final section, simulations demonstrate the theoretical results. The contributions of this paper are two-fold: first, it extends the earlier results on NCS to nonlinear systems, and second, it allows for finite word-length message identifiers.
controller synthesis for protecting the vehicle from spin is described as a robust stabilization problem against perturbations of rear cornering force. The controller is designed by gain-scheduled H infinity control t...
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ISBN:
(纸本)078035446X
controller synthesis for protecting the vehicle from spin is described as a robust stabilization problem against perturbations of rear cornering force. The controller is designed by gain-scheduled H infinity control theory so that the closed-loop system satisfies an H infinity norm condition guaranteeing the stability of the vehicle. The controller adjusts the braking force distribution to the right and the left wheels. The result has been tested by executing experiment. The experimental results showed that the designed controller can robustly stabilizes the vehicle and protects it from spin under the presence of large perturbations of rear cornering force.
We propose here an adaptive observer for estimation of a road friction coefficient, which is important for vehicle control. The observer needs driving torque and wheel speeds of driven and non-driven wheels as inputs....
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ISBN:
(纸本)078035446X
We propose here an adaptive observer for estimation of a road friction coefficient, which is important for vehicle control. The observer needs driving torque and wheel speeds of driven and non-driven wheels as inputs. The road friction coefficient is assumed to be represented by a product of a known function and an unknown parameter to be estimated by an adaptive law. It is shown that non-robust adaptive law can get the true value, if there are no disturbance. However, it diverges when disturbances are added. Periodical σ-modification is proposed here as a robust adaptive law. The estimation robustness against disturbances can be improved with the law. Numerical simulation results are presented to show the effectiveness of the law.
One of the typical nonlinear system is a pendulum. Cause of difficulties of controlling a pendulum is miss-matching of number between inputs and outputs , that is to say, single input, and double outputs. The feature ...
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ISBN:
(纸本)078035446X
One of the typical nonlinear system is a pendulum. Cause of difficulties of controlling a pendulum is miss-matching of number between inputs and outputs , that is to say, single input, and double outputs. The feature of a pendulum is nonlinear as to angle and linear as to cart position. Another point, is that state equations do not have terms of position of a cart. In addition, the angle of a pendulum must satisfy the dynamic equation at horizontal line. In order to swing up a pendulum of these properties, first, we define a reference angle of a pendulum which satisfies the dynamic equation at horizontal line. After the pendulum goes up around upright position, we change the curve of reference angle so that the pendulum standstill at the origin. In other word, when the pendulum system becomes a linear time-invariant system, we define the ideal curves of both angle and position which will converge to the origin. The angle of the pendulum is controlled by SFC (Simulator-based Foresight control) all the way which can be applicable for a non-affine nonlinear system.
This paper describes a graphical evaluation of the robust stability in a frequency domain based on the results from our previous paper in which the extension of Popov's criterion to discrete-time systems was expre...
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ISBN:
(纸本)0780345304
This paper describes a graphical evaluation of the robust stability in a frequency domain based on the results from our previous paper in which the extension of Popov's criterion to discrete-time systems was expressed in an explicit form. The controlsystem de scribed herein is a sampled-data controlsystem with one time-invariant nonlinear element (sector nonlinearity) in the forward path. Considering the application to a computer-aidedcontrolsystemdesign (cacsd), Re Rill present an evaluation method of the robust stability in connection with the size of sector nonlinearity and the gain margin on a gain-phase diagram (i.e., a modified Nichols chart). We will show two results as numerical examples: one is where Aizerman's conjecture was approved, and the other is where it was not.
A trial evaluation of commercially available computer-aidedcontrolsystems design (cacsd) tools has been successfully completed. In this study, engineers responsible for the production powertrain controlsystem used ...
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A trial evaluation of commercially available computer-aidedcontrolsystems design (cacsd) tools has been successfully completed. In this study, engineers responsible for the production powertrain controlsystem used the cacsd tools to develop subsystem features that comprise approximately 60 percent of a complete engine control algorithm. Powertrain control algorithms are a rich combination of supervisory logic that determines the operating mode of the powertrain system and the associated transformations from controller input to output that are appropriate for that mode. In this paper, we present: 1) the characteristics of an executable software specification methodology that captures this rich behavior; and 2) automated procedures for verifying the software realization of the specified behavior.
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