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Data-based tuning of PI controllers for vertical three-tank systems

Data-based tuning of PI controllers for vertical three-tank ...

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9th international conference on informatics in control, automation and robotics, icinco 2012

作者： RǍdac, Mircea-Bogdan Bigher, Bogdan-Alexandru Precup, Radu-Emil Petriu, Emil M. Dragoş, Claudia-Adina Preitl, Stefan Stînean, Alexandra-Iulia Dept. of Automation and Appl. Inf. Politehnica University of Timisoara Bd. V. Parvan 2 300223 Timisoara Romania School of Electrical Eng. and Computer Science University of Ottawa 800 King Edward Ottawa ON K1N 6N5 Canada

ISBN: (纸本)9789898565211

this paper suggests the application of Iterative Feedback Tuning (IFT) as a data-based control technique to parameter tuning of PI controllers dedicated to vertical three-tank systems. the level control in the first two tanks is carried out using a multivariable control system structure which consists of two control loops, one for each level. the two PI controllers in these control loops are first tuned in terms of the Modulus Optimum method. New IFT algorithms are proposed in order to ensure the performance improvement of level control systems by means of six steps assisted by experiments. the experimental results show the strong performance improvement obtained after few iterations of IFT algorithms in terms of a model reference tracking optimization problem. Copyright © 2012 SciTePress.

关键词： Level control

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Development of Self Support Device and control for Operating the Wheelchair for Upper Limb Disabled Persons 13

Development of Self Support Device and Control for Operating...

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13th international conference on informatics in control, automation and robotics (icinco)

作者： Itami, Taku Yabunaka, Toshihito Yano, Ken'ichi Kobayashi, Yasuyuki Aoki, Takaaki Nishimoto, Yutaka Mie Univ Dept Mech Engn 1577 Kurimamachiya Cho Tsu Mie 5148507 Japan LUMINOUS JAPAN CO LTD 68 Hagae Murakami 9593134 Japan Gifu Univ Hosp Dept Rehabil & Orthoped 1-1 Yanagido Gifu 5011193 Japan Gifu Univ Sch Med Dept Surg Nursing 1-1 Yanagido Gifu 5011193 Japan

ISBN: (纸本)9789897581984

Nowadays, it has been actively expanded to develop assist robots attached directly. In this study, we focused on developing an exoskeletal robot, specifically, a force transmission robot with a rotary drive type ratchet mechanism, to enable users with upper limb disability to make use of their residual function to achieve better function of their upper limbs. A lock/unlock mechanism on the elbow joint is effectively used to transmit the user's residual function around the shoulder to the hand. We conducted verification experiments on whether the developed mechanism enables the user to transfer the remaining force in the shoulder joint to operation force in the hand. three subjects with C5 and C6 spinal cord injury with disabilities affecting their hands, lower limbs, and trunk muscles performed the verification experiment with the developed device. We confirmed that they could operate a wheelchair on a slope and on grass when using the developed device, and they could use their residual function around the shoulder more strongly. It can be expected to rehabilitation effect.

关键词： Exoskeleton Rehabilitation Operating Analysis Electromyographic(EMG) Signals

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HIERARCHICAL PERFORMANCE-ORIENTED control OF FLEXIBLE MANUFACTURING CELLS

HIERARCHICAL PERFORMANCE-ORIENTED CONTROL OF FLEXIBLE MANUFA...

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6th international conference on informatics in control, automation and robotics

作者： Fahmy, Sherif Balakrishnan, Subramaniam ElMekkawy, Tarek Univ Manitoba Dept Mech & Mfg Engn Winnipeg MB R3T 5V6 Canada

ISBN: (纸本)9789898111999

In a job shop, each product may have a different processing route through the system. Automated Flexible Manufacturing Cells (FMC) that adopt this flow pattern are highly prone to deadlocks. A supervisor is a controller that uses available data via feedback loops to characterize the current behavior of the cell, and modify the equipment controllers to achieve the desired operational specifications in a deadlock-free manner. this paper proposes a hierarchical control system divided into an upper level scheduler and a lower level supervisor to control FMCs. the scheduler is responsible for determining a deadlock-free allocation of the resources that optimizes some performance measure, based on the current production requirements, and the supervisor guarantees that the flow plan (behavior) determined by the scheduler is realized on the shop floor. For that purpose, a formal method that can transform a production schedule into a supervisor, in real time, is also proposed. the supervisor is an augmented Marked Graph (MG) that captures all the events that can take place in the cell. the proposed approach is validated by generating and simulating the supervisors for two benchmark problems.

关键词： Deadlock-free scheduling Flexible manufacturing cells Hierarchical control Job shops Marked graphs Petri nets

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informatics in control, automation and robotics 2009

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丛书名： Lecture Notes in Electrical Engineering

2009年

作者： Juan Andrade Cetto Jean-Louis Ferrier Joaquim Filipe

ISBN: (数字)9783642002717

ISBN: (纸本)9783642002700

the present book includes a set of selected papers from the 5th "international conference on informatics in control automation and robotics" (icinco 2008), held in Funchal-Madeira, Portugal, 11-15 May 2008. the conference was organized in three simultaneous tracks: "Intelligent control Systems and Optimization", "robotics and automation" and "Systems Modeling, Signal Processing and control". the book is based on the same structure. the purpose of this conference is to bring together researchers, engineers and practitioners interested in the application of informatics to control, automation and robotics. informatics applications are pervasive in many areas of control, automation and robotics, and this conference intends to emphasize this connection, therefore, most papers highlight applications of Information Technology (IT) in these areas and present ideas on how to solve problems using IT, both in R&D and industrial applications. A diversity of papers are included in the book, ranging from papers describing advanced prototypes, systems, tools and techniques to papers presenting surveys indicating future directions.

关键词： control theory automation robotics

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Using modelling and simulation as a service (msaas) for facilitating flexibility-based optimal operation of distribution grids 15

Using modelling and simulation as a service (msaas) for faci...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Stüber, Moritz Exel, Lukas Frey, Georg Chair of Automation and Energy Systems Saarland University Campus A5 1 Saarbrücken66123 Germany

ISBN: (纸本)9789897583216

In this contribution, initial results of a research project on modelling and simulation as a service (MSaaS) within the context of optimal operation of distribution grids by exploiting flexibility are summarized. Based on a brief description of service-oriented architecture (SOA), definitions and key aspects of MSaaS as well as open conceptual and technical challenges are outlined. Some specific aspects and challenges are then related to a possible application: a service that predicts the flexibility that a power-to-heat system can offer is implemented as an instance of MSaaS. the calculations are based on the current state of the system and a model defined in the equation-based, object-oriented language Modelica, as well as historical data when available. thereby, an accurate and reliable representation of the flexiblity becomes available that facilitates its use for system balancing, energy market participation and grid operations. this functionality is exposed through a representational state transfer (REST)-based service interface, designed to allow for the straightforward integration with existing systems and other virtual resources. the service architecture and initial results of the implementation are described. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： Information services

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Performance optimization in intelligent manufacturing: Decision support system for value engineering in flour mills

Performance optimization in intelligent manufacturing: Decis...

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Keller, Jürg P. Agarwal, Mukul Institute for Automation University of Applied Sciences and Arts Northwestern Switzerland Steinackerstrasse 5 5210 Brugg-Windisch Switzerland Corporate Technology Bühler AG 9240 Uzwil Switzerland

ISBN: (纸本)9789898565716

the performance of modern flour mills depends crucially on value-engineering decisions involving optimal mixing of up to 80 intermediate product streams into at most 6 final product streams during continuous operation. Optimal mixing decision depends on given physical properties and yields of intermediate streams, goals and constraints on physical properties and yields of final streams, physical and quality constraints on mixing decision variables, and qualitative judgments relating value of final streams to their physical properties. In a previous work, the authors presented an interactive tool that guided the production personnel towards an optimal decision for fractions of each intermediate stream that should be piped to each final stream. this tool could exploit multiple Linear Programming computations and graphic user-interface to enable scenario overview and manoeuvring with no perceptible time lag. However, it cannot be used in a majority of flour mills where each intermediate stream is diverted to a single final stream using physical flaps. the mixed-integer programming required in this case renders the tool too slow for interactive use. In this work, a new tool is developed for the prevalent case of discrete decision variables, which enables computations and graphic interface for scenario manoeuvring without prohibitive time lag.

关键词： Decision support systems

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Architectural approach for the implementation of a position control system for a boat-like inspection robot

Architectural approach for the implementation of a position ...

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5th international conference on informatics in control automation and robotics, icinco 2008

作者： Walter, Christoph Krüger, Tino Strauß, Gunnar Elkmann, Norbert Fraunhofer Institute for Factory Operation and Automation Sandtorstrasse 22 Magdeburg 39106 Germany STILL GmbH Berzeliusstrasse 10 Hamburg 22113 Germany

ISBN: (纸本)9783642002700

Here we present the position control system of a swimming inspection robot for large underground concrete pipes that are partially filled with wastewater. the system's hardware consists of a laser-based measurement system for position determination and a mechanical rudder to move the robot laterally within the pipe. To automatically adapt the position control system to different environment conditions, a self-tuning controller is presented. We show how the necessary software components were implemented as part of a non real-time CORBA-based [1] distributed system. the controller has hybrid requirements regarding latency and interarrival times of computed position values. We describe the supporting data-flow architecture and the fault tolerance mechanism. this control application integrates real-time and non real-time components. © 2009 Springer-Verlag Berlin Heidelberg.

关键词： Fault tolerance

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Cognitive parameter adaption in regular control structures using process knowledge for parameter adaption

Cognitive parameter adaption in regular control structures u...

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10th international conference on informatics in control, automation and robotics, icinco 2013

作者： Schmid, Martin Berger, Simon Reinhart, Gunther Project Group RMV of Fraunhofer IWU Beim Glaspalast 5 Augsburg Germany Institute for Machine Tools and Industrial Management Technical University Munich Munich Germany

ISBN: (纸本)9789898565709

the colour control system of an offset printing machine is one example, where modern information processing technologies allow an improved process control and higher resource efficiency. It is not possible to measure the printing quality during production start. So no regular closed loop control can be used. For better system behaviour a simulation model is integrated to calculate the printing quality at any time. To get an optimal process performance, a high simulation quality must be ensured, which includes a compensation of process simulation inaccuracies as well as variable influences. therefore a cognitive system is installed, which measures the most important influences like the used paper and many other process parameters. After each production the right model parameters will be calculated by identification algorithms. So a data set with influences and parameters is available. For the next production run the best-fitting parameters for the simulation model can be calculated by a Neural Network. Additionally wear and deposits, which change the machine's performance, can be compensated. the simulation accuracy and the process control quality rises, which enables a faster run-up. Savings of paper, ink, energy and time allow an economic application of this control concept.

关键词： Process control

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informatics in control, automation and robotics 1

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丛书名： Lecture Notes in Electrical Engineering

1000年

作者： Joaquim Filipe Juan Andrade Cetto Jean-Louis Ferrier

ISBN: (数字)9783540856405

ISBN: (纸本)9783540856399

the present book includes a set of selected papers from the fourth “international conference on informatics in control automation and robotics” (icinco 2007), held at the University of Angers, France, from 9 to 12 May 2007. the conference was organized in three simultaneous tracks: “Intelligent control Systems and Optimization”, “robotics and automation” and “Systems Modeling, Signal Processing and control”. the book is based on the same structure. icinco 2007 received 435 paper submissions, from more than 50 different countries in all continents. From these, after a blind review process, only 52 where accepted as full papers, of which 22 were selected for inclusion in this book, based on the classifications provided by the Program Committee. the selected papers reflect the interdisciplinary nature of the conference. the diversity of topics is an important feature of this conference, enabling an overall perception of several important scientific and technological trends. these high quality standards will be maintained and reinforced at icinco 2008, to be held in Funchal, Madeira - Portugal, and in future editions of this conference. Furthermore, icinco 2007 included 3 plenary keynote lectures given by Dimitar Filev (Ford Motor Company), Patrick Millot (Université de Valenciennes) and Mark W. Spong (University of Illinois at Urbana-Champaign).

关键词： control and Systems theory Applications of Mathematics control, robotics, Mechatronics Artificial Intelligence Systems theory, control

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Comparison of constraint-handling techniques used in artificial bee colony algorithm for auto-tuning of state feedback speed controller for PMSM 15

Comparison of constraint-handling techniques used in artific...

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15th international conference on informatics in control, automation and robotics, icinco 2018

作者： Szczepanski, Rafal Tarczewski, Tomasz Erwinski, Krystian Grzesiak, Lech M. Department of Automatics and Measurement Systems Nicolaus Copernicus University Grudziadzka 5 Torun87-100 Poland Institute of Control and Industrial Electronics Warsaw University of Technology Koszykowa 75 Warsaw00-662 Poland

ISBN: (纸本)9789897583216

this article focuses on comparison of two constraint-handling techniques: Deb’s Rules (DR) and Augmented Lagrangian (AL) applied to Artificial Bee Colony (ABC) algorithm that is used for auto-tuning of state feedback speed controller (SFC) for permanent magnet synchronous motor (PMSM). the task of the optimization algorithm is to determine the elements of Q and R weighting matrices in linear quadratic regulator (LQR) optimization process. Chosen matrices guarantee the best performance according to given optimization criteria. Safety and proper operation of the motor requires the use of constraint-handling (C-H) technique. the ABC in its original version cannot handle the constrained optimization problems, therefore necessary modifications of considered optimization algorithm are depicted. Simulation and experimental results showed that AL technique allows to obtain a better convergence of ABC algorithm and a better performance of the PMSM drive than DR technique. Copyright © 2018 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved

关键词： State feedback

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