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检索条件"任意字段=22nd International Conference on Methods and Models in Automation and Robotics, MMAR 2017"

共 64 条记录，以下是11-20 订阅

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Modelling Dynamics of Strongly Coupled Air Paths in Pneumatic Transport System for Milling Product 22

Modelling Dynamics of Strongly Coupled Air Paths in Pneumati...

引用

22nd international conference on methods and models in automation and robotics (mmar)

作者： Krauze, Oliwia Pawelczyk, Marek Silesian Tech Univ Inst Automat Control Gliwice Poland

ISBN: (纸本)9781538624029

In the milling circuit with an electromagnetic mill, a pneumatic system is used to transport the material and to maintain several parameters of the process. The pneumatic system contains three air inlets with controllable flaps and each inlet stream serves a different purpose, however, they are strongly physically coupled through the rest of the installation. Thus, position of each control flap strongly and nonlinearly affects the operating point of each inlet stream. Dynamics of air velocity within the main inlet pipe with respect to the setpoint of the main flap's position has been identified for multiple operating points of the installation, and the estimated models were checked and assessed. The resultant models may then be used to tune controller parameters for subsequent operating points. Identification and verification of the derived models was performed on data measured at an experimental milling installation.

关键词： identification optimization step responses dynamic models pneumatic systems

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New Interesting Facts About Minimum-Energy Perfect Control for LTI Nonsquare State-Space Systems 22

New Interesting Facts About Minimum-Energy Perfect Control f...

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22nd international conference on methods and models in automation and robotics (mmar)

作者： Hunek, Wojciech P. Opole Univ Technol Inst Control & Comp Engn Opole Poland

ISBN: (纸本)9781538624029

In this paper a breakthrough in the area of the minimum-energy perfect control for discrete-time state-space systems with different number of input and output variables is presented. Following the recently performed heuristic simulation studies corresponding to mentioned control strategy, the analytical confirmation is presented through this paper. Up to now, the statement that the so-called right sigma-inverse clearly outperforms the minimum-norm (T-) inverse in terms of minimum-energy of the MV/perfect control inputs design has been based on optimization tasks only. Therefore, the heuristic studies made in Matlab environment could not be treated as the representative ones in some sense, so far. Simple analytical illustrative example shows the big minimum-energy applicability of sigma-inverse over usage of classical minimum-norm one. Note that full proof is not given yet and still waiting for deep exploration.

关键词： Linear systems MIMO Discrete-time systems Delay effects Analytical models Optimization MATLAB

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Granular Jamming Manipulator filled with New Organic Materials 22

Granular Jamming Manipulator filled with New Organic Materia...

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22nd international conference on methods and models in automation and robotics (mmar)

作者： Sayyadan, Seyed Mohammad Zeyb Gharib, Faezeh Garakan, Alireza Islamic Azad Univ Sci & Res Branch Dept Mechatron Engn Tehran Semnan Iran

ISBN: (纸本)9781538624029

variations of both strength and stiffness in bulk, lightweight, and high energy efficiency are the main considerable factors of Granular Jamming Flexible Manipulators (GJFM)s. These factors have distinguished GJFMs from traditional manipulators and can be provided by the most important element of manipulator's bulk which is granular media as filler. Hence, granular materials should have lightweight and provide efficient strength and stiffness in each unique vacuum pressure. Moreover, the necessity of applying Organic Granular Materials (OGM)s was felt owing to their main properties including biodegradable ability, low cost, and availability. Therefore, in this research was striven to discover a new filler as a mix of black Pepper and Datura seeds by performing an experimental test. It was applied in a GJFM as filler, then the robot's performance was examined experimentally and the results are reported in the paper.

关键词： robotics flexible continue manipulator granular jamming organic material

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Backstepping-Based Sliding Mode Control of an Electro-Pneumatic Clutch Actuator 22

Backstepping-Based Sliding Mode Control of an Electro-Pneuma...

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22nd international conference on methods and models in automation and robotics (mmar)

作者： Prabel, Robert Aschemann, Harald Univ Rostock Chair Mechatron Rostock Germany

ISBN: (纸本)9781538624029

In this paper, a nonlinear control approach is presented for an electro-pneumatic clutch actuator for heavy trucks. A clutch is required at start-up or during gear shifts to disconnect the combustion engine from the gear box. This automated actuator provides the necessary actuation force according to the large torque transmitted through the power train. Based on a control-oriented system representation, a cascaded control structure is designed. The outer loop is related to the mechanical subsystem and guarantees an accurate tracking of desired trajectories for the clutch position using a backstepping-based sliding mode control. Furthermore, hysteresis effects of the nonlinear clutch force are addressed properly by a Bouc-Wen hysteresis model. The inner loop controls the internal pressure of the clutch actuator. A new nonlinear reduced-order observer is designed that estimates both the effective internal pressure and a mass flow offset. The benefits of the proposed control structure are

关键词： Force Actuators Lyapunov methods Atmospheric modeling Sliding mode control Valves Mechatronics

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Interval methods for the Implementation and Verification of Robust Gain Scheduling Controllers 22

Interval Methods for the Implementation and Verification of ...

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22nd international conference on methods and models in automation and robotics (mmar)

作者： Kersten, Julia Rauh, Andreas Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781538624029

This paper presents a novel approach for an interval-based gain scheduling control design aiming at a guaranteed stabilization of the system dynamics over a predefined time horizon. Due to the goal of asymptotic stability, the design aims at the temporal reduction of the widths of intervals representing worst-case bounds of the system states at a specific point of time. The main idea of the control approach is the computation of feedback gains for an initial state interval with a subsequent verification step. In this step, it is examined whether the control is valid over a finitely long prediction window. If the verification fails, the gain is adjusted after computing a bounding box of states that are reachable over the complete prediction window. In such a way, controller gains can be calculated off-line so that predefined performance criteria on the closed-loop structure are satisfied. Besides using interval analysis for the underlying reachability analysis, linear matrix inequality (LMI) techniques are employed for an efficient solution of the robust and/or optimal control design. The proposed design method is verified numerically for the control of an inverted pendulum as a prototypical benchmark application.

关键词： Robustness Mathematical model Asymptotic stability Linear matrix inequalities Uncertainty Eigenvalues and eigenfunctions Robust control

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Accelerating the Rate of Convergence for LMS-Like On-Line Identification and Adaptation Algorithms. Part 1: Basic Ideas 22

Accelerating the Rate of Convergence for LMS-Like On-Line Id...

引用

22nd international conference on methods and models in automation and robotics (mmar)

作者： Figwer, Jaroslaw Michalczyk, Malgorzata Glowka, Teresa Silesian Tech Univ Inst Automat Control Akad 16 PL-44100 Gliwice Poland

ISBN: (纸本)9781538624029

In the paper a modification enabling acceleration of the rate of convergence for LMS-like on-line identification and adaptation algorithms is proposed. This is based on an artificial decaying of initial conditions in recursive identification as well as adaptation algorithms. The decaying is done using a set of the most recent measurements. Properties of the algorithms with the proposed modification are compared with non-accelerated identification and adaptation

关键词： Acceleration Convergence Mathematical model Signal processing algorithms Adaptation models Steady-state Stability analysis

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Exponentially weighted aggregation of models for Wiener-Hammerstein system modelling 22

Exponentially weighted aggregation of models for Wiener-Hamm...

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22nd international conference on methods and models in automation and robotics (mmar)

作者： Wachel, Pawel Hasiewisz, Zygmunt Wroclaw Univ Sci & Technol Wroclaw Poland

ISBN: (纸本)9781538624029

In the paper the problem of Wiener-Hammerstein system (LNL) modelling by exponentially weighted aggregation of models is discussed. The class of systems under consideration admits ahnost any LNL objects even with infinite memory and virtually arbitrary nonlinear characteristic. Given the set of various possible models of the true system (being e.g. the result of prior identification attempts), the proposed approach yields mixed model that efficiently mimics input-output relationship of the genuine LNL system. Detailed analysis of the approach demonstrates good theoretical properties of the resulting (aggregated) model, whereas numerical simulations illustrate practical aspects of the considered method.

关键词： Zinc Dictionaries Manganese

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Simulation of hybrid systems with sliding modes 22

Simulation of hybrid systems with sliding modes

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22nd international conference on methods and models in automation and robotics (mmar)

作者： Suski, Damian Pytlak, Radoslaw Warsaw Univ Technol Inst Automat Control & Robot PL-02525 Warsaw Poland Warsaw Univ Technol Fac Math & Informat Sci PL-02525 Warsaw Poland

ISBN: (纸本)9781538624029

The paper concerns the problem of the numerical simulation of hybrid systems with sliding modes. We give an overview of the numerical simulation procedures which have been described in the literature and next we present our proposition of the simulation code. What differs our solution from others is the utilization of differential-algebraic equations (DAEs) during the simulation of a sliding motion phase. We discuss our solution in detail and present the numerical results for simulation of the exemplary nonlinear system.

关键词： Mathematical model Numerical models Trajectory Convergence Switches Numerical simulation Optimal control

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Direct Fuzzy Adaptive Control and Nonparametric Identification of Robot Manipulator with Elastic Joints 22

Direct Fuzzy Adaptive Control and Nonparametric Identificati...

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22nd international conference on methods and models in automation and robotics (mmar)

作者： Sasiadek, Jurek Z. Ulrich, Steve Krzyzak, Adam Carleton Univ Dept Mech & Aerosp Engn Ottawa ON K1S 5B6 Canada Concordia Univ Dept Comp Sci & Software Engn Montreal PQ H3G 1M8 Canada Westpomeranian Univ Technol Dept Elect Engn Szczecin Poland

In this paper an advanced control system for an elastic joint two-link flexible link robot manipulator is considered. The system uses controller with an adaptive fuzzy logic. Nonlinear friction in the joints is modele... 详细信息

ISBN: (纸本)9781538624029

关键词： Adaptation models Pragmatics Adaptive control Fuzzy logic Manipulator dynamics

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The Distributed Model Predictive Controller for the Nuclear Power Plant Turbo-Generator Set 22

The Distributed Model Predictive Controller for the Nuclear ...

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22nd international conference on methods and models in automation and robotics (mmar)

作者： Sokolski, Pawel Rutkowski, Tomasz Adam Duzinkiewicz, Kazimierz Gdansk Univ Technol Fac Elect & Control Engn Gdansk Poland

ISBN: (纸本)9781538624029

Typically there are two main control loops with PI controllers operating at each turbo-generator set. In this paper a distributed model predictive controller DMPC, with local QDMC controllers for the turbine generator, is proposed instead of a typical PI controllers. The local QDMC controllers utilize step-response models for the controlled system components. These models parameters are determined based on the proposed blackbox models of the turbine and synchronous generator, which parameters are identified on-line with the RLS algorithm. It has been found that the proposed DMPC controller realize the reference trajectories of the effective power and the angular velocity, and damp generator voltage oscillations with satisfactory quality in comparison to the typical control structure with the PID controllers.

关键词： Turbines Mathematical model Synchronous generators Control systems Predictive models Power system stability

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