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Speed calculation methods in electrical drive with non-ideal position sensor

Speed calculation methods in electrical drive with non-ideal...

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

作者： Dominik Łuczak Krzysztof Nowopolski Krzysztof Siembab Bartłomiej Wicher Institute of Control and Information Engineering Poznan University of Technology Poznan Poland

In this paper three methods of electric motor angular speed calculation are compared. the source of the measurement signal is a 14-bit absolute encoder. the authors compared the well-known classic methods M with more advanced approaches. First of the complex methods is based on utilization of phase loop lock system in an estimation process using on-line system model. the third method discussed in the paper is focused on application of Chebyshev filter. Short description of all of the mentioned method is followed by simulation and experimental results. the results are presented on an instance of permanent magnet synchronous motor drive, with both speed controller and speed calculation algorithms implemented in a digital signal processor system.

关键词： Phase locked loops Low-pass filters Transfer functions Digital filters Position measurement Chebyshev approximation Mathematical model

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Modelling an accelerometer for robot position estimation

Modelling an accelerometer for robot position estimation

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

作者： Zdzisław Kowalczuk Tomasz Merta Faculty of Electronics Telecomm. and Informatics Gdańsk University of Technology Gdańsk Poland Dept. of Robotics and Decision Systems (ETI) Gdańsk University of Technology Gdańsk Poland

the article describes a new model of a MEMS accelerometer for usage in inertial measurement units (IMU). Such units allow to measure orientation and location of the sensor/system and therefore can be applied for systems positioning. the main purpose of the paper is to model pertinent accelerometer functions substantial in determination of the location of the sensor by means of double integration of acceleration. the model takes into account static and dynamic working conditions. Based on this model an estimator is constructed that allows us to test the developed system in terms of the effects of rotational dynamics. Computer simulations are applied to illustrate the performance of the estimator for simulated measurement signals. the results obtained show what conditions must be met in order to properly determine the linear acceleration with accelerometer measurements.

关键词： Acceleration Accelerometers Robot sensing systems Noise Gravity Micromechanical devices

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2D systems based iterative learning control design for multiple-input multiple-output systems

2D systems based iterative learning control design for multi...

引用

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

作者： Lukasz Hladowski thanh Van Dinh Krzysztof Galkowski Eric Rogers Chris T Freeman Institute of Control and Computation Engineering University of Zielona Gora Poland Electronics and Computer Science University of Southampton UK

Iterative learning control can be applied to systems that repeat the same task over a finite duration with resetting to the starting location once each one is complete. the novel feature is the use of information from previous executions of the task in order to update the control signal applied during the next one and thereby sequentially improve performance. Linear iterative learning control laws can be designed using 2D systems theory and recently experimental validation of such designs for single-input single-output examples has been reported. this paper gives the first results on extending this approach to systems with more than one input and output.

关键词： MIMO Vectors Stability analysis Asymptotic stability State-space methods Robots Convergence

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Estimating the time-varying parameters of SDE models by maximum principle

Estimating the time-varying parameters of SDE models by maxi...

引用

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

作者： Darya V. Filatova Andrzej Orłowski Vasilii Dicoussar Jan Kochanowski University in Kielce Kielce Poland Kielce Poland Dorodnicyn Computing Centre of RAS Moscow Russian Federation

We present a parameter estimation method of stochastic differential equations with time-varying coefficients, where data can be observed at discrete points of time. Our objective is to develop the uniform mathematical technique to solve the parameter estimation problem for stochastic differential equations with both ordinary and fractional Brownian motions. this estimation principle is based on the replacement of a stochastic differential equation by a system of ordinary differential equations, which present the moment functions, and on the application of the Pontryagin's maximum principle to find the optimal estimates of the time-varying coefficients of the initial equation. the key point is the constraints structural selection, which leads to major modifications of algorithms of analytical and numerical solutions. this estimation method is applied to study the North Atlantic herring population dynamics.

关键词： Estimation Equations Stochastic processes Differential equations Parameter estimation Optimal control Sociology

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Data-driven self-tuning control by iterative learning control with application to optimize the control parameter of turbocharged engines

Data-driven self-tuning control by iterative learning contro...

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

作者： René Noack Torsten Jeinsch Adel Haghani Abandan Sari Nick Weinhold Adel Haghani Abandan Sari Institute of Automation University of Rostock Rostock Germany Universitat Rostock Rostock Mecklenburg-Vorpommern DE Department Powertrain Mechatronics Gasoline Engine Systems IAV GmbH Gifhorn Germany

the applications of iterative learning control (ILC) in control of modern process and mechatronic system have received more attentions in recent years. this is due the fact that ILC does not depend on physical model of the system. In the application of ILC in automotive industry, the restriction is that these methods calculate the input value and the tuning of an available controller with fixed structure is not possible. To solve this problem a method is proposed in this paper which consists of two main steps: the first step is the calculation of an input variable, based on an ILC algorithm, and the second step is the optimization of the given parameters of the feedforward controller. the performance and effectiveness of the proposed method are shown with experiments on a test vehicle with an one stage turbocharged gasoline motor with wastegate.

关键词： Vectors Feedforward neural networks Optimization Engines Tuning Atmospheric modeling Mathematical model

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Design of an optimized sliding mode control for loaded double inverted pendulum with mismatched uncertainties

Design of an optimized sliding mode control for loaded doubl...

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

作者： Manar Lashin Ahmed Ramadan Hossam S. Abbass Ahmed Abo-Ismail Mechatronics and Robotics Eng. Dept. Egypt-Japan University of Science and Technology Egypt Computers and Automatic Control Dept. Tanta University Tanta Egypt Electrical Engineering Dept. Assuit University Assuit Egypt

In this paper, the stabilization problem of loaded double inverted pendulum using an optimized state feedback sliding mode control is investigated. ADAMS/Matlab co-simulation environment is used for building a virtual nonlinear model for loaded double inverted pendulum system and the state feedback sliding mode control law is designed for stabilizing the system. Mismatched uncertainties represented by payload variations is considered. Genetic Algorithms are used to optimize the parameters of the sliding mode controller based on a performance index containing the sum of squared errors. the proposed control scheme can significantly suppress chattering effect and improves the performance of the system against uncertainties. Simulation results show the effectiveness of the approach and the robustness of the system against payload changes.

关键词： Mathematical model Payloads Uncertainty MATLAB Robustness Optimization Vectors

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New results for position estimation in electro-magnetic actuators using a modified discrete time class A/B model reference approach

New results for position estimation in electro-magnetic actu...

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

作者： Florian Straußerger Manuel Schwab Tristan Braun Johannes Reuter Hochschule Konstanz Technik Wirtschaft und Gestaltung Konstanz Baden-WÃ¼rttemberg DE Institute of System Dynamics University of Applied Sciences Konstanz Konstanz Germany

In this paper, a number of new results are presented that have been achieved with a previously suggested approach for estimating the armature position of electro-magnetic actuators. With the assumption that only current and voltage measurements are available, a discrete time model reference adaptive system (MRAS) is used. It is shown that by identification of the parameters of the electrical subsystem, an accurate estimate for the armature position can be obtained. A combination of two discrete time MRAS methods is proposed in order to take advantage of their complementary properties. It is shown in practical experiments that with this approach robust and fast estimation of the electrical parameters is achieved and the position estimation can thus be solved in real world applications. Moreover, the dependencies of the electrical parameters on the magnetic hysteresis are shown.

关键词： Solenoids Actuators Current measurement Position measurement Adaptation models Transfer functions Estimation

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A new cognitive approach based on dynamic evolution of the grey hazy set

A new cognitive approach based on dynamic evolution of the g...

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

作者： Weiwei Qu Zonghai Chen Department of Automation University of Science and Technology of China Hefei China Network Information Center Southwest University of Science and Technology Mianyang China

ISBN: (纸本)9781479938926

Representation of spatial information in unpredictable environments is restricted by uncertainty, complexity, and unreliability issues of mobile robots and their environments. In this context, a new cognitive approach based on the dynamic evolution of the grey hazy set will be proposed. the dynamic evolution of the grey hazy set is able to emulate human gradually cognitive experience about how to analyze the environment best step by step without needing accurate information. Subsets of the grey hazy set, including embryo set, growing set, mature set and evidence set, possess different but correlative qualitative expression of information on successively cognitive phase. Since it is easy to describe most indoor environments using line-segments, the proposed approach hierarchically utilizes line-segments to represent the environmental information. the example in corridor is provided to verify the effectiveness of the proposed approach in simulating human's intelligence of environmental information expression and reasoning.

关键词： Cognition Embryo Mobile robots Data mining Robot sensing systems Uncertainty

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Nonlinear models of BPSK Costas loop

Nonlinear models of BPSK Costas loop

引用

international conference on Informatics in Control, automation and robotics (ICINCO)

作者： E. V. Kudryashova O. A. Kuznetsova N. V. Kuznetsov G. A. Leonov S. M. Seledzhi M. V. Yuldashev R. V. Yuldashev Faculty of Mathematics and Mechanics Saint-Petersburg State University Saint-Petersburg Russia Dept. of Mathematical Information Technology University of Jyväskylä Finland

Rigorous nonlinear analysis of the physical model of Costas loop is very difficult task, so for analysis, simplified mathematical models and numerical simulation are widely used. In the work it is shown that the use of simplified mathematical models, and the application of non rigorous methods of analysis may lead to wrong conclusions concerning the operability of Costas loop.

关键词： Mathematical model Voltage-controlled oscillators Binary phase shift keying Analytical models Data models Phase locked loops Numerical models

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Optimal control of storage system based on intelligent techniques

Optimal control of storage system based on intelligent techn...

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

作者： Apostolos Tsagaris Department of Automation Technological Educational Institute of Thessaloniki (ATEI) Thessaloniki Greece

In order to obtain high productivity industrial automatic storage systems should complete the storage tasks in minimum of time with the maximum of performance. Optimization is the key point of this problem. this paper proposes a method for intelligent storage system, which optimizes the storing process by deciding the optimum slot that an object will occupy in a warehouse. Depending on the weight, each object has to be stored in a different space. the method is based on genetic algorithm. Genetic algorithms are used in order to optimise the allocation of storage slots at the shortest time. the duration of storage is monitored and used as feedback to the system so as to optimize the algorithm. the system is integrated with PLC and custom SCADA system which gathered the necessary information from the PLC via an OPC server. Any delay of the system is taken into account using feedback of the completion time, so that the operation error is introduced in the application, which is trained to improve its operation in the next loop. the proposed framework improves the placement of objects in specific warehouse slots.

关键词： Genetic algorithms Biological cells Servers Software Sociology Statistics Artificial intelligence

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