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检索条件"任意字段=2014 19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014"

共 101 条记录，以下是81-90 订阅

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Identification of vertical VTOL movement model based on use of local linear models

Identification of vertical VTOL movement model based on use ...

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

作者： Roman Czyba Wojciech Janusz Grzegorz Szafrański Silesian University of Technology Gliwice Poland

In this paper we present the identification process of VTOL platform vertical movement model. VTOL platform used during the research was quadrotor equipped with ultrasonic range finder. We would like to model forces acting on the platform body which are result of the propulsion system. In order to develop this model, we had to employ two step procedure. In the first stage we had to estimate thrust forces during the experiment. then we have used nonlinear modeling technique based on use of local linear models to obtain dynamic model relating throttle inputs with throttle forces.

关键词： Ultrasonic variables measurement Acoustics Rotors Aerodynamics Mathematical model Propulsion Acceleration

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A gain-scheduled multivariable LQR controller for permanent magnet synchronous motor

A gain-scheduled multivariable LQR controller for permanent ...

引用

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

the paper presents a gain-scheduled LQR control system for a nonlinear model of permanent magnet synchronous motor (PMSM). the most popular cascade FOC (Field Oriented Control) structure including a few single-loop PI control systems is replaced with a single multivariable state feedback controller. Due to a nonlinear nature of the PMSM dynamics equations the developed gain-scheduled controller is tuned in relation to the changeable operating conditions of the motor. In order to ensure zero steady-state speed error the system synthesis is carried out by means of the LQ optimal control method with state vector augmentation. the presented simulation results show that the use of gain-scheduled controller may improve control quality.

关键词： Control systems Vectors Permanent magnet motors Rotors Torque Mathematical model Adaptation models

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Modeling and identification of a fractional-order discrete-time SISO Laguerre-Wiener system

Modeling and identification of a fractional-order discrete-t...

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

作者： Rafal Stanisławski Krzysztof J. Latawiec Marcin Gałek Marian Łukaniszyn Department of Electrical Control and Computer Engineering Opole University of Technology Opole Poland

this paper presents a new implementable strategy for modeling and identification of a fractional-order discrete-time nonlinear block-oriented SISO Wiener system. the concept of modeling of a linear dynamics by means of orthonormal basis functions (OBF) is employed to separate linear and nonlinear submodels, which enables a linear regression formulation of the parameter estimation problem. Finally, discrete-time Laguerre filters are uniquely embedded in modeling of the fractional-order dynamics, eliminating the disastrous bilinearity issue. Simulation experiments show a very good identification performance for a fractional-order Laguerre-based Wiener model, both in terms of low prediction errors and accurate reconstruction of the actual system characteristics.

关键词： Computational modeling Mathematical model Nonlinear dynamical systems Predictive models Adaptation models Stability analysis Approximation methods

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New results for position estimation in electro-magnetic actuators using a modified discrete time class A/B model reference approach

New results for position estimation in electro-magnetic actu...

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

作者： Florian Straußerger Manuel Schwab Tristan Braun Johannes Reuter Hochschule Konstanz Technik Wirtschaft und Gestaltung Konstanz Baden-WÃ¼rttemberg DE Institute of System Dynamics University of Applied Sciences Konstanz Konstanz Germany

In this paper, a number of new results are presented that have been achieved with a previously suggested approach for estimating the armature position of electro-magnetic actuators. With the assumption that only current and voltage measurements are available, a discrete time model reference adaptive system (MRAS) is used. It is shown that by identification of the parameters of the electrical subsystem, an accurate estimate for the armature position can be obtained. A combination of two discrete time MRAS methods is proposed in order to take advantage of their complementary properties. It is shown in practical experiments that with this approach robust and fast estimation of the electrical parameters is achieved and the position estimation can thus be solved in real world applications. Moreover, the dependencies of the electrical parameters on the magnetic hysteresis are shown.

关键词： Solenoids Actuators Current measurement Position measurement Adaptation models Transfer functions Estimation

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2D systems based iterative learning control design for multiple-input multiple-output systems

2D systems based iterative learning control design for multi...

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

作者： Lukasz Hladowski thanh Van Dinh Krzysztof Galkowski Eric Rogers Chris T Freeman Institute of Control and Computation Engineering University of Zielona Gora Poland Electronics and Computer Science University of Southampton UK

Iterative learning control can be applied to systems that repeat the same task over a finite duration with resetting to the starting location once each one is complete. the novel feature is the use of information from previous executions of the task in order to update the control signal applied during the next one and thereby sequentially improve performance. Linear iterative learning control laws can be designed using 2D systems theory and recently experimental validation of such designs for single-input single-output examples has been reported. this paper gives the first results on extending this approach to systems with more than one input and output.

关键词： MIMO Vectors Stability analysis Asymptotic stability State-space methods Robots Convergence

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Optimal control of storage system based on intelligent techniques

Optimal control of storage system based on intelligent techn...

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

作者： Apostolos Tsagaris Department of Automation Technological Educational Institute of Thessaloniki (ATEI) Thessaloniki Greece

In order to obtain high productivity industrial automatic storage systems should complete the storage tasks in minimum of time with the maximum of performance. Optimization is the key point of this problem. this paper proposes a method for intelligent storage system, which optimizes the storing process by deciding the optimum slot that an object will occupy in a warehouse. Depending on the weight, each object has to be stored in a different space. the method is based on genetic algorithm. Genetic algorithms are used in order to optimise the allocation of storage slots at the shortest time. the duration of storage is monitored and used as feedback to the system so as to optimize the algorithm. the system is integrated with PLC and custom SCADA system which gathered the necessary information from the PLC via an OPC server. Any delay of the system is taken into account using feedback of the completion time, so that the operation error is introduced in the application, which is trained to improve its operation in the next loop. the proposed framework improves the placement of objects in specific warehouse slots.

关键词： Genetic algorithms Biological cells Servers Software Sociology Statistics Artificial intelligence

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Speed calculation methods in electrical drive with non-ideal position sensor

Speed calculation methods in electrical drive with non-ideal...

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

作者： Dominik Łuczak Krzysztof Nowopolski Krzysztof Siembab Bartłomiej Wicher Institute of Control and Information Engineering Poznan University of Technology Poznan Poland

In this paper three methods of electric motor angular speed calculation are compared. the source of the measurement signal is a 14-bit absolute encoder. the authors compared the well-known classic methods M with more advanced approaches. First of the complex methods is based on utilization of phase loop lock system in an estimation process using on-line system model. the third method discussed in the paper is focused on application of Chebyshev filter. Short description of all of the mentioned method is followed by simulation and experimental results. the results are presented on an instance of permanent magnet synchronous motor drive, with both speed controller and speed calculation algorithms implemented in a digital signal processor system.

关键词： Phase locked loops Low-pass filters Transfer functions Digital filters Position measurement Chebyshev approximation Mathematical model

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Modelling an accelerometer for robot position estimation

Modelling an accelerometer for robot position estimation

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

作者： Zdzisław Kowalczuk Tomasz Merta Faculty of Electronics Telecomm. and Informatics Gdańsk University of Technology Gdańsk Poland Dept. of Robotics and Decision Systems (ETI) Gdańsk University of Technology Gdańsk Poland

the article describes a new model of a MEMS accelerometer for usage in inertial measurement units (IMU). Such units allow to measure orientation and location of the sensor/system and therefore can be applied for systems positioning. the main purpose of the paper is to model pertinent accelerometer functions substantial in determination of the location of the sensor by means of double integration of acceleration. the model takes into account static and dynamic working conditions. Based on this model an estimator is constructed that allows us to test the developed system in terms of the effects of rotational dynamics. Computer simulations are applied to illustrate the performance of the estimator for simulated measurement signals. the results obtained show what conditions must be met in order to properly determine the linear acceleration with accelerometer measurements.

关键词： Acceleration Accelerometers Robot sensing systems Noise Gravity Micromechanical devices

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the average 6 DOF path estimation with the use of initial approximation curve

The average 6 DOF path estimation with the use of initial ap...

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

作者： Lukasz Fracczak Leszek Podsedkowski Maciej Moll Technical University of Lodz Faculty of Production Engineering Lodz Poland Instytut Centrum Zdrowia Matki Polki Klinika Kardiologi Lodz Poland

the paper presents the average path estimation algorithm. this algorithm is based on the approximation curve, which shape should by defined as closely as possible to the shape of the analyzed path. With the use of this initial curve, the data space is divided into the intervals. All of the interval paths points are averaged individually. After the calculations, there is only one average point for each path. Next, these average points are averaged to one point in each interval. the set of these averaged points define the average path. thanks to this algorithm the input paths can be non-linear and independent of time. the analyzed path can begin and end in any point in the 6DOF space, as well as reverse and loop. this paper presents the general model description and example of the use of the presented algorithm.

关键词： Approximation methods Trajectory Mathematical model Surgery Equations Approximation algorithms Robots

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Estimating the time-varying parameters of SDE models by maximum principle

Estimating the time-varying parameters of SDE models by maxi...

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

作者： Darya V. Filatova Andrzej Orłowski Vasilii Dicoussar Jan Kochanowski University in Kielce Kielce Poland Kielce Poland Dorodnicyn Computing Centre of RAS Moscow Russian Federation

We present a parameter estimation method of stochastic differential equations with time-varying coefficients, where data can be observed at discrete points of time. Our objective is to develop the uniform mathematical technique to solve the parameter estimation problem for stochastic differential equations with both ordinary and fractional Brownian motions. this estimation principle is based on the replacement of a stochastic differential equation by a system of ordinary differential equations, which present the moment functions, and on the application of the Pontryagin's maximum principle to find the optimal estimates of the time-varying coefficients of the initial equation. the key point is the constraints structural selection, which leads to major modifications of algorithms of analytical and numerical solutions. this estimation method is applied to study the North Atlantic herring population dynamics.

关键词： Estimation Equations Stochastic processes Differential equations Parameter estimation Optimal control Sociology

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