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检索条件"任意字段=25th International Conference on Methods and Models in Automation and Robotics"

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Finite Element Modeling for Heat Transfer Processes Using the Method of Integro-Differential Relations with Applications in Control Engineering 19

Finite Element Modeling for Heat Transfer Processes Using th...

引用

19th 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)9781479950812

Control design of spatially distributed thermal systems is a task that is necessary for a large variety of engineering applications. Early lumping techniques, that are applicable in this case, follow the methodology of first discretizing the infinite-dimensional system model and subsequently using the discretized model for a finite-dimensional control design. For that purpose, the governing partial differential equations are commonly reduced to a finite-dimensional set of ordinary differential equations. In this paper, the corresponding task is solved by an optimization-based version of the Method of Integro-Differential Relations (MIDR). On the one hand, the MIDR allows one to quantify and systematically influence the approximation quality and, on the other hand, to use the resulting models directly for control and state observer design. In the following, the MIDR is applied to a fundamental problem of linear heat transfer in tube-like structures for which cylindrical coordinates are a suitable choice for modeling the dynamic behavior in all three space directions. Illustrative simulation results of fundamental control and state estimation approaches conclude this paper. these simulation results serve as the basis for a future experimental validation of the presented modeling techniques on a laboratory test rig that is currently being built up at the Chair of Mechatronics at the University of Rostock.

关键词： approximation theory control engineering control system synthesis finite element analysis heat transfer integro-differential equations multidimensional systems observers optimisation partial differential equations MIDR approximation quality discretized model dynamic behavior modeling finite element modeling finite-dimensional control design finite-dimensional set fundamental control heat transfer processes infinite-dimensional system model linear heat transfer lumping techniques method of integro-differential relations optimization-based version ordinary differential equations spatially distributed thermal systems state estimation approaches state observer design tube-like structures Approximation methods Boundary conditions Heat transfer Heating Mathematical model Polynomials Temperature distribution

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Observer-Based Real-Time Frequency Analysis for Combustion Engine-Based Power Trains with Applications to Identification and Control 19

Observer-Based Real-Time Frequency Analysis for Combustion E...

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19th international conference on methods and models in automation and robotics (MMAR)

作者： Rauh, Andreas Ehret, Juliane Aschemann, Harald Univ Rostock Chair Mechatron D-18059 Rostock Germany

ISBN: (纸本)9781479950812

the typical motion of a combustion engine, such as the four-stroke Otto engine, is characterized by a periodic variation of its torque over the rotation angle of the driven shaft. this torque variation leads to the effect of time-varying accelerations and angular velocities. Modeling approaches for combustion engines that can be used for the implementation of control strategies for corresponding engine test rigs can follow two different approaches. Firstly, it is possible to describe the torque variations on the basis of the thermodynamic processes in the interior of the cylinder. Secondly, black box models can be derived on the basis of a frequency analysis of the measured torque and/or the measured angular velocities and accelerations. Especially, black box models belonging to the second class are sufficient if a synchronization of a combustion engine with an electric motor/generator unit acting on the same driven shaft is desired. However, classical frequency analysis techniques such as the Fast Fourier Transform are usually only applicable offline. therefore, an online-applicable observer approach is developed in this paper which allows for the real-time frequency analysis of measured angular velocities. the estimation results, for both stationary and non-stationary operating points, are then applied on the one hand for a system identification and on the other hand for the implementation of control strategies in the framework of combustion engine test rigs. A numerical stability analysis and experimental results conclude this paper.

关键词： Otto cycle angular measurement electric motors fast Fourier transforms internal combustion engines numerical stability observers shafts torque velocity measurement angular velocities angular velocity measurement black box models combustion engine synchronization combustion engine test rigs control strategies driven shaft electric generator unit electric motor unit fast Fourier transform four-stroke Otto engine frequency analysis techniques modeling approaches nonstationary operating point numerical stability analysis observer-based real-time frequency analysis online-applicable observer approach power trains system identification thermodynamic processes time-varying accelerations Angular velocity Engines Ice Observers Shafts Torque Vectors ANGULAR VELOCITY Torque Fast Fourier transform SHAFT combustion engine Powertrain thERMODYNAMIC PROCESSES control strategy angular velocity measurement Otto cycle Angle measurement Observers System identification Electric motors Frequency analysis

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Identification of inertial model for oscillating system

Identification of inertial model for oscillating system

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

作者： J. Kurek Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland

there is presented a method for calculation of inertial model for an open-loop oscillating system based on the system step response. Presented method is simple and can be easily used in automatic control practice. Identified model can be applied in control algorithms more advanced than the PID controller, for instance in the predictive control.

关键词： Predictive models Robots Educational institutions Prediction algorithms Predictive control Transfer functions Approximation methods

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On applications of robotic representation of molecules

On applications of robotic representation of molecules

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

作者： Michał Adamczyk Ignacy Duleba Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In this paper a robotic representation of chemical compounds was proposed. the representation allows to model chemical molecules similarly to open-chain manipulators with tree-like structures. Transformations between known chemical representations (formats) and robotic one were established and the representations were compared to. Possible applications of the robotic representation were enumerated and illustrated on a simple example.

关键词： Robot kinematics Manipulators Kinematics Chemicals Chemical compounds

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Selection of reduction parameters of Rational Krylov methods for complex MIMO LTI models using evolutionary algorithm

Selection of reduction parameters of Rational Krylov methods...

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

作者： Marek Rydel Włodzimierz Stanisławski Department of Electrical Opole University of Technology Opole POLAND

this paper presents the determination of optimal reduction parameters for complex models of the Rational Krylov methods with using Evolutionary Algorithm. the presented algorithms facilitate a precise reduction of linear time invariant, multi-input and multi-output models. the elaborated algorithms are particularly significant for MIMO models, for which the individual channels differ significantly from each other. the prepared algorithms have been applied for the reduction of the subsystems models of a BP-1150 steam boiler.

关键词： Mathematical model Reduced order systems Approximation error Computational modeling Vectors Evolutionary computation

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Dynamic singularities in nonlinear control of underactuated pendulum-like models

Dynamic singularities in nonlinear control of underactuated ...

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

作者： Adam Wojciech Łukomski Department of Control and Measurements West Pomeranian University of Technology Szczecin

the paper presents an analysis of dynamic singularities in n-link pendulum-like models that are controlled using input-output feedback linearisation. the dynamic singularities are caused by the decoupling matrix being singular for particular configurations. the examples include 3-link planar pendulum, 3-link 3D pendulum and a simplified humanoid-like robot model. Partial stabilisation results are presented for specific physical parameters.

关键词： Transmission line matrix methods three-dimensional displays Solid modeling Numerical models Mathematical model Robots Knee

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Adaptive face identification for small-scale social dynamic environment

Adaptive face identification for small-scale social dynamic ...

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

作者： Mateusz Żarkowski Chair of Cybernetics and Robotics Wroclaw University of Technology

this article focuses on the problem of modifying the standard face identification approach for use in small-scale social dynamic environments, by focusing on adaptability rather than robustness. A design of adaptive face identification system is presented, along with the employed methods of online learning. the problem of ensuing bias-variance dilemma of an adaptive system is described and solved. the system is shown to be able to aptly adapt to new information and changes the environment, the final classification rate on MUG database was near 99%.

关键词： Face Adaptive systems Feature extraction Vectors Solid modeling Robots Databases

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Path following control algorithm for planar holonomic N-link manipulators using non-singular path parametrization

Path following control algorithm for planar holonomic N-link...

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

作者： Joanna Płaskonka Chair of Cybernetics and Robotics Wroclaw University of Technology Wroclaw Poland

In the paper a description of a planar holonomic N-link manipulator relative to a path is presented. the path parametrization method is based on a non-orthogonal projection of the robot on the path and the Serret-Frenet frame moving along a curve. the new control algorithm for N-link manipulators is proposed. the effectiveness of the algorithm for a planar three-link manipulator is examined by computer simulations.

关键词： Robot kinematics Equations Manipulator dynamics Mathematical model Transmission line matrix methods

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Comparison of improving servo drive position accuracy methods

Comparison of improving servo drive position accuracy method...

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

作者： Bogdan Broel-Plater Krzysztof Jaroszewski Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin Szczecin Poland

the main aim of this paper is to present a new start-aid method to control servo drive in case of very small velocity and distance changes are required. Using resetting of integration in the position controller and friction compensation as well as the initial phase correction - start-aid methods are compared and results of simulations are presented. Moreover, models of the drive and friction are delivered and schemas of control systems are presented.

关键词： Friction Servomotors Mathematical model DC motors Permanent magnet motors Equations

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An algorithm for design of deadbeat controllers of spatially invariant systems

An algorithm for design of deadbeat controllers of spatially...

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

作者： Petr Augusta Krzysztof Gałkowski Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Prague Czech Republic Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland

In the paper we deal with control of spatially invariant systems described by parabolic partial differential equations with one temporal and one spatial variables. We propose an algorithm for design of deadbeat controllers. the algorithm is based on polynomial methods. It consists in solving a linear equation with bi-variate polynomials. Numerical example and simulations are included.

关键词： Mathematical model Polynomials Transfer functions Heating Algorithm design and analysis Arrays

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