Stewart-Gough platform (SGP) is a popular parallel type manipulator that involves a 6 degrees of freedom (DOF) motion. In this paper, the process of mathematical modelling of SGP is presented. Two selected control alg...
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ISBN:
(纸本)9781728173818;9781728173801
Stewart-Gough platform (SGP) is a popular parallel type manipulator that involves a 6 degrees of freedom (DOF) motion. In this paper, the process of mathematical modelling of SGP is presented. Two selected control algorithms that use PID controllers and weighted PID controllers are designed. Both control systems using these algorithms are implemented in MATLAB environment as well as on the actual SGP. Parameters of the controllers are optimized withthe use of different integral performance criteria. Tests of the designed control systems on the computer model and on the SGP are presented.
the problems of water quality sensors and actuators placement in drinking water distribution systems (DWDSs) are addressed as separate, primarily. However, against the background of control systems theory, the nature ...
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ISBN:
(纸本)9781728173818;9781728173801
the problems of water quality sensors and actuators placement in drinking water distribution systems (DWDSs) are addressed as separate, primarily. However, against the background of control systems theory, the nature of DWDSs dynamics indicates that these both problems are interdependent and impact the design of related water quality monitoring and control structures and algorithms. the research work presented in this paper is to investigate the state-of-the-art in this field and discuss the problems of water quality sensors and actuators placement within DWDS and to highlight the potential benefits of considering the joint task of their allocation.
In the paper the accuracy estimation for fractional, positive state space model of heat transfer process is presented. the new criterion of the external positivity for this model is presented. Next the parameters of t...
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ISBN:
(纸本)9781728173818;9781728173801
In the paper the accuracy estimation for fractional, positive state space model of heat transfer process is presented. the new criterion of the external positivity for this model is presented. Next the parameters of the model are estimated via numerical minimization of the Mean Square Error (MSE) and FIT cost functions. Finally the externally positive models are compared to non-positive. Results of simulations show that the positive model is more accurate in the sense of considered cost functions than non positive.
Efficient maintenance of industrial equipment requires degradation monitoring and prediction. Currently used prediction models are mostly deterministic and cannot consider uncertainty inherent to degradation measureme...
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ISBN:
(纸本)9781728173818;9781728173801
Efficient maintenance of industrial equipment requires degradation monitoring and prediction. Currently used prediction models are mostly deterministic and cannot consider uncertainty inherent to degradation measurements. In this paper we propose using time series models obtained using Facebook Prophet algorithm to predict the evolution of degradation of turbomachinery. We Illustrate our considerations with data from large scale industrial centrifugal compressors. Our predictions are promising and confidence intervals cover the predictions well.
Marine sciences require the use of Autonomous Underwater Vehicles (AUV) for their missions in order to perform unmanned duties like deep-sea explorations. AUV require to reject turbulence disturbances while regulating...
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ISBN:
(纸本)9781728173818;9781728173801
Marine sciences require the use of Autonomous Underwater Vehicles (AUV) for their missions in order to perform unmanned duties like deep-sea explorations. AUV require to reject turbulence disturbances while regulating their trajectory. In this paper, a position controller applying the Generalized Proportional Integral (GPI) observer to an Autonomous Underwater Vehicle (AUV) in order to maintain the desired trajectory and reject the environment perturbations is given. the mathematical model and the performance of the GPI shows a precise and fast tracking control through simulations.
the problem of PID type controller tuning has been addressed in this paper. In particular, a method of selection of PD settings based on the solution of linear-quadratic optimisation problem using the energy criterion...
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ISBN:
(纸本)9781728173818;9781728173801
the problem of PID type controller tuning has been addressed in this paper. In particular, a method of selection of PD settings based on the solution of linear-quadratic optimisation problem using the energy criterion has been investigated. thus, the possibility of transforming optimal settings of the linear-quadratic regulator into the settings of the controller in the classical control system has been given. the presented methodology has been used during synthesis of control system for a two-wheeled balancing robot. Finally, the performance of the proposed control system has been validated by simulation in Matlab/Simulink environment withthe use of a two-wheeled balancing robot model.
Model Predictive Control (MPC) is an advanced method of process control. Despite its usefulness, it is applied mostly for large industrial processes. In the paper, a model predictive algorithm for a glass forehearth i...
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ISBN:
(纸本)9781728173818;9781728173801
Model Predictive Control (MPC) is an advanced method of process control. Despite its usefulness, it is applied mostly for large industrial processes. In the paper, a model predictive algorithm for a glass forehearth is presented. the problem of molten glass temperature stabilisation under external disturbances is especially important during the glass conditioning, so the use of an adaptive predictive controller seems to be reasonable. the controller tuning utilizes linear models of the process, that can be obtained on-line. Modifications of the known continuous-time MPC approach are described. the most important difference is the original method of measurable disturbances compensation and its implementation in the algorithm. the developed controller was tested using the process model with distributed parameters (Partial Differential Equation). the experimental results are presented in the paper.
Sliding mode control strategies are an excellent method of ensuring stability of plants subject to disturbance and model uncertainties. However, even though such strategies guarantee at least asymptotic stability of t...
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ISBN:
(纸本)9781728173818;9781728173801
Sliding mode control strategies are an excellent method of ensuring stability of plants subject to disturbance and model uncertainties. However, even though such strategies guarantee at least asymptotic stability of the controlled plant, they have no direct way of providing a specific state trajectory. this is particularly significant when the controlled system is operating under practical constraints, which typically cannot be enforced in sliding mode control. To remedy this issue, in this paper we propose a new approach to sliding mode controller design. the new method involves defining a reference trajectory, which can be tracked by all system states with minimal control effort. In particular, a reference trajectory based on the cosine function has been designed for a class of second order dynamical systems. It has been demonstrated that the sliding mode controller using this reference trajectory can satisfy the given state and input constraints.
In this paper, a model predictive control (MPC) combined with a discrete-time stationary Kalman filter as an observer for non-measureable states and input disturbances is presented as a simple and industrially applica...
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ISBN:
(纸本)9781728173818;9781728173801
In this paper, a model predictive control (MPC) combined with a discrete-time stationary Kalman filter as an observer for non-measureable states and input disturbances is presented as a simple and industrially applicable approach for controlling the electric power of a solid oxide fuel cell (SOFC). the developed controller was tested in a simulation in terms of its robustness under consideration of model uncertainties and measurement noise. the results were compared with a PI output-feedback controller combined with a feedforward control and an internal model control (IMC). For the MPC the framework conditions are equal to the PI controller and the IMC. Since these conditions can be reproduced by simulations, we can omit a rerun of the experiments. As a result, the MPC provides comparable results and presents as the better of the two alternative controllers.
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