the article focuses on deployment of model based control algorithms which have passed the stage of simulation analysis in Simulink. the target software platform is OROCOS framework within Linux Xenomai - a real-time o...
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the article focuses on deployment of model based control algorithms which have passed the stage of simulation analysis in Simulink. the target software platform is OROCOS framework within Linux Xenomai - a real-time operational system. First, the algorithm of transforming of an automatically generated code from Simulink scheme into an OROCOS component is presented. Next, the proposed procedure is discussed and evaluated from the perspective of the control engineer's needs.
this paper describes in detail the implementation of the multimodal user interface for people with disabilities. the user interface can be used with multiple sensors such as eye tracker, brain wave scanner, speech rec...
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this paper describes in detail the implementation of the multimodal user interface for people with disabilities. the user interface can be used with multiple sensors such as eye tracker, brain wave scanner, speech recognizer and sip/puff device. the system makes it possible to use multiple sensors simultaneously or disable some sensors. New sensors can be integrated without changing other components of the system. We evaluated the performance of the system in the text input task. the results showed increased performance when using multiple sensors simultaneously.
A development of advanced control methods based on robustness, optimality and prediction is an important and challenging task. In recent years, a new control approaches have emerged to replace or augment conventional ...
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A development of advanced control methods based on robustness, optimality and prediction is an important and challenging task. In recent years, a new control approaches have emerged to replace or augment conventional control engineering methods. the paper presents: design, verification and comparison of three advanced methods (IMC, MPC, PLM) applied in the control of dynamic processes with complex dynamics. In this paper three different methods were tested and applied to the position control of pneumatic servodrives. the presented and tested methods guarantee robust stability and high performance of the pneumatic servodrives control.
the paper describes a nonlinear controller design technique for a servo drive in the presence of: 1) nonlinear friction (or any other load torque), 2) a flexible shaft that connects the motor and the load. the shaft i...
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the paper describes a nonlinear controller design technique for a servo drive in the presence of: 1) nonlinear friction (or any other load torque), 2) a flexible shaft that connects the motor and the load. the shaft is characterized by the stiffness and the damping coefficients. the proposed controller is based on adaptive backstepping, modified by the use of command filtering. Although in the presence of damping the model is not in a strict-feedback form, the proposed approach allows to accomplish the rigorous proof of the closed-loop system stability. Several experiments prove the control effectiveness and robustness against un-modelled dynamics.
Baseline in signals is a relatively complicated problem in analysis of signals obtained in various analytical techniques such as chromatography and spectroscopy. In this article there are presented results of tests on...
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Baseline in signals is a relatively complicated problem in analysis of signals obtained in various analytical techniques such as chromatography and spectroscopy. In this article there are presented results of tests on four algorithms for a baseline estimation in chromatographic signals. Two of them are based on a polynomial fitting in a region of detected peaks. Another two algorithms, i.e. assymetric least squares method and iterative polynomial fitting withthe automatic treshold, estimate the baseline under the whole signal and generally does not require peak detection. the tests of the algorithms are performed on both simulated and experimental signals.
A direct model reference adaptive controller for dissolved oxygen reference trajectory tracking in an aerobic reactor for nutrient removal at the activated sludge wastewater treatment plant is proposed and investigate...
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A direct model reference adaptive controller for dissolved oxygen reference trajectory tracking in an aerobic reactor for nutrient removal at the activated sludge wastewater treatment plant is proposed and investigated. the reference trajectory is prescribed on-line by an upper control layer of the plant overall control system. the controller design utilises a different time scales in the internal dissolved oxygen dynamic and disturbance inputs. the controller is validated by simulation using real data records.
this paper illustrates the application of point-parametric modeling for model predictive control applications in dynamic networks. the point-parametric modelling methodology is applicable to a variety of large scale c...
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this paper illustrates the application of point-parametric modeling for model predictive control applications in dynamic networks. the point-parametric modelling methodology is applicable to a variety of large scale complex systems such as drinking water distribution systems, power networks, transportation networks and telecommunication networks. Robust parameter estimation provided by point-parametric modelling technology is addressed. the models developed are suitable for model predictive controller design. A numerical example based on drinking water distribution system is used to illustrate the point-parametric modeling for water quality prediction.
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 control...
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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.
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 cruc...
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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.
In the paper an approach to parametric continuous-time input-output linear dynamic system identification based on a randomized search method is presented. During identification experiment the excitation signal is gene...
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In the paper an approach to parametric continuous-time input-output linear dynamic system identification based on a randomized search method is presented. During identification experiment the excitation signal is generated directly from D/A converter that is equipped only with zero-order or first-order hold filter - the corresponding low-pass analogue reconstruction filter is not used. In this experiment only samples of the system output signal are gathered. In the corresponding data acquisition system there is no analogue antialiasing filter. Samples of the system output signal are acquired with a deterministic constant or random sampling interval. Properties of the presented approach are illustrated by simulation experiments.
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