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检索条件"任意字段=20th International Conference on Methods and Models in Automation and Robotics, MMAR 2015"

共 95 条记录，以下是71-80 订阅

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Jordan neural network for modelling and predictive control of dynamic systems

Jordan neural network for modelling and predictive control o...

引用

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

作者： Antoni Wysocki Maciej Ławryńczuk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

this paper discusses the possibility of using a Jordan neural network as a model of dynamic systems and it presents a Model Predictive Control (MPC) algorithm in which such a network is used for prediction. the Jordan network is a simple recurrent neural structure in which only one value of the process input signal (from the previous sampling instant) and only one value of the delayed output signal of the model (from the previous sampling instant) are used as the inputs of the network. In order to obtain a computationally simple MPC algorithm, the nonlinear Jordan neural model is repeatedly linearised on-line around an operating point, which leads to a quadratic optimisation problem. Effectiveness of the described MPC algorithm is compared with that of the truly nonlinear MPC scheme with on-line nonlinear optimisation performed at each sampling instant.

关键词： Prediction algorithms Heuristic algorithms Predictive models Neural networks Computational modeling Optimization Data models

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Neural Networks for a Dynamic Decoupling of a Nonlinear MIMO Dynamic Plant

Neural Networks for a Dynamic Decoupling of a Nonlinear MIMO...

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international conference on methods and models in automation and robotics

作者： Pawe? Dworak Krzysztof Jaroszewski Chair of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin Szczecin Poland

ISBN: (纸本)9781479987023

In the paper a method of synthesis of a neural controller which goal is to reduce effects of coupling of the nonlinear multi-input multi-output (MIMO) plant inputs and outputs is presented. the designed neural controller contains a set of neural nets that determine values of parameters of linear decoupling controllers calculated for the adopted nonlinear plant model at its operating points. A known dynamic decoupling technique is used to generate training and evaluation data for the synthetized neural nets. the resulting neural (gain-scheduling) controller varies its parameters depending on the current plant operating point.

关键词： Dynamic Decoupling MIMO paper a method

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A multivariable low speed controller for a ship autopilot with experimental results

A multivariable low speed controller for a ship autopilot wi...

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

作者： Mirosław Tomera Department of Ship Automation Gdynia Maritime University Gdynia Poland

the paper presents the structure of the multivariable control system for the ship moving on the water surface at low speeds in three degrees of freedom. the speed controller determines the multidimensional force, i.e. the longitudinal, lateral and angular momentum, which should be applied to the hull of the ship. these forces are applied by actuators installed on the ship. the ship control system use three propellers: the bow tunnel thruster, the stern tunnel thruster, and the main propeller of the ship. Power distribution between the propellers is made by the thruster allocation system. the designed system was run on a training ship Blue Lady at Ship Handling Training Center on the lake Silm near Iława. No speed measurements were performed on the ship, and the measured quantities only included the position coordinates, measured by the DGPS system, and the ship heading, measured by the gyrocompass. the results of these measurements made the basis for estimating the surge, sway and yaw rates by the Kalman filter.

关键词： Marine vehicles Propellers Mathematical model Control systems Training Kalman filters Resource management

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Static model of steam/water cycle for thermal and economic analysis

Static model of steam/water cycle for thermal and economic a...

引用

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

作者： Maciej Huzarek Kazimierz Duzinkiewicz Robert Piotrowski Faculty of Electrical and Control Engineering Gdansk University of Technology (GUT) Gdansk Poland

the thermodynamic efficiency of typical conventional and nuclear power plants is insufficient. A large amount of the generated heat is removed to the environment and regarded as a waste. A solution which is commonly used to increase the efficiency and profitability of the existing and planned power plants refers to cogeneration of heat and power. To prepare sophisticated thermodynamic and economic analyses, a precise static model of the steam/water cycle of the considered power plant is essential. the paper presents a methodology to build a static model of the steam/water cycle of the Nuclear Power Plant with Pressurized Water Reactor. the discussed model was prepared using phenomenological and network approach, complemented by a precise reference model as data source. the prepared model is believed to be very useful in thermal and economic efficiency analysis.

关键词： Integrated circuit modeling Mathematical model Heating Turbines thermodynamics Approximation methods

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State-space representations for 2×2 hyperbolic systems with boundary inputs

State-space representations for 2×2 hyperbolic systems with...

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

作者： Krzysztof Bartecki Institute of Control and Computer Engineering Opole University of Technology Opole Poland

the paper discusses different abstract state-space representations for a class of linear distributed parameter systems of hyperbolic type defined on a one-dimensional spatial domain. It starts with the homogeneous state equation including the unbounded formal state operator. Based on the semigroup approach, some theoretical results of well-posedness and internal stability for the considered systems are given here. Next, the boundary and observation operators are introduced, taking a typical boundary inputs configuration as well as pointwise observations of the state variables. Consequently, the homogeneous state equation is extended to the so-called boundary control state/signal form. Finally, the most classical state-space representation involving typical (A, B, C)-triple of state, input and output operators is considered together with the definition of the Pritchard-Salamon class of infinite-dimensional systems.

关键词： Mathematical model Boundary conditions Heating Hilbert space Stability analysis Transmission line matrix methods Eigenvalues and eigenfunctions

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Iterative learning control of polyhydroxybutyrate production in a sequencing batch reactor

Iterative learning control of polyhydroxybutyrate production...

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

作者： Seyong Jung Jie Zhang Rui Oliveira School of Chemical Engineering and Advanced Materials Newcastle University Newcastle upon Tyne UK Chemistry Department FCT/Universidade Nova de Lisboa Caparica Portugal

this study investigates the iterative learning control of a sequencing batch reactor for the production of polyhydroxybutyrate (PHB). In order to overcome the effect of model plant mismatches and unknown disturbances, a batch to batch iterative learning control strategy with incrementally updated models is developed. the reference batch is taken as the immediate previous batch in order to cope with nonlinearities and process variations. After each batch, the newly obtained process operation data is added to the historical process data base and an updated linearised model is re-identified. To cope with colinearity in the modeling data, principal component regression and partial least squares regression are used in identifying batch-wise linearised models. the proposed technique has been successfully applied to a sequencing batch reactor for the production of PHB.

关键词： Inductors Mathematical model Sequential analysis Data models Trajectory Quality assessment Product design

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Application of subspace state-space identification methods on actuated multibody systems

Application of subspace state-space identification methods o...

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

作者： Mathias Marquardt Peter Dünow Sandra Baßler Frank Wobbe Business and Design Hochschule Wismar - University of Technology Wismar Germany Hochschule Wismar - University of Technology Business and Design Wismar Germany IAV GmbH - Ingenieurgesellschaft Auto und Verkehr Berlin Germany

In the last years subspace-based system identification methods have been developed for the application in open and even closed loop conditions. In this paper some of those methods are selected and applied to a nonlinear mechanical system in order to identify a local linear state space description of the underlying system. the considered plant is an actuated multibody system with two inputs and two outputs. the nonlinear nature of such a system leads to unstable behavior in some operating conditions so the system has to be operated in closed loop control during the identification procedure too. Considering these demands for the process of system identification the capability of subspace-based methods to identify stable and unstable MIMO systems using input-output data obtained from closed loop control experiments is investigated.

关键词： Mathematical model Technological innovation Eigenvalues and eigenfunctions MIMO Markov processes Robot kinematics

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A single 3-D feature-based visual servoing

A single 3-D feature-based visual servoing

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

作者： Christophe Doignon Control Vision and Robotics team ICube (UMR CNRS 7357) - University of Strasbourg France

In this paper we present a visual servo control technique by means of a single geometrical feature. the proposed approach refers to a multiple views information and a proper data representation. this work is motivated by tackling the control of an euclidean displacement inside a non-rigid environment, for performing an efficient feature selection and a quick outliers rejection. Precisely, the so-called Plücker coordinates, as originally known to be effective for 3-D straight line modeling, is shown here to be a relevant data representation. With visual measurements, this modeling allows to analyze the visual sensor displacement with respect to the object-of-interest motion, and it is very convenient while designing the state vectors and the kinematic control laws. Two sets of task functions and control laws are presented and these two families of motion are compared according to the considered degrees-of-freedom for rotational and translational velocities. To assess the proposed approach, real experiments with an industrial robot are performed. Results about the cameras displacement show the efficiency of this technique.

关键词： Visualization Kinematics Cameras Robot kinematics Visual servoing Servosystems

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Optimising approach to designing kernel PCA model for diagnosis purposes with and without a priori known data reflecting faulty states

Optimising approach to designing kernel PCA model for diagno...

引用

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

作者： Michał Grochowski Maciej Matczak Michał Sokołowski Electrical and Control Engineering Department Gdansk University of Technology Poland Synopsys Sp. z.o.o. Poland Apator Metrix Poland

Fault detection plays an important role in advanced control of complex dynamic systems since precise information about system condition enables efficient control. Data driven methods of fault detection give the chance to monitor the plant state purely based on gathered measurements. However, they especially nonlinear, still suffer from a lack of efficient and effective learning methods. In this paper we propose the two stages learning algorithm for designing the kernel Principal Component Analysis (kPCA) model parameters in two cases: with access to data reflecting the faulty states of the plant and without such data. the method is explained on simple testing example and verified in the case study showing the efficiency of detecting the leakages in drinking water distribution systems.

关键词： Data models Kernel Training Principal component analysis Testing Fault detection Monitoring

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CNC feed drive module model simplification and estimation of its parameters

CNC feed drive module model simplification and estimation of...

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international conference on methods and models in automation and robotics

作者： Pawel Waszczuk Faculty of Electrical Engineering Department of Industrial Automation and Robotics West Pomeranian University of Technology Szczecin Poland

ISBN: (纸本)9781479987023

Modelling of physical components such as spring-damper, mass or screw-nut mechanism gives opportunity to simulate actual behavior of a mechatronic system like a CNC feed drive module. Due to its complexity, it is crucial to conduct proper identification and then estimation process regarding only those parameters, which have the largest impact on the developed model. It is important to create functional physical model, because in practical use only those can be exploited. In this paper, a nonlinear model of a feed drive system is presented in details. Author propose a simplification method of differential equations, which were exploited to develop the model to facilitate estimation process. Results of simulations of developed model are included to confirm the correctness of made assumptions.

关键词： feed drive module nonlinear model identification estimation

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