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DESIGN OF A VISION GUIDED MECHATRONIC QUADROTOR SYSTEM USING DESIGN FOR control METHODOLOGY

TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING 2016年第2期40卷 201-219页

作者： Mohebbi, Abolfazl Achiche, Sofiane Baron, Luc Ecole Polytech Dept Mech Engn Montreal PQ Canada

Designing mechatronic systems is known to be both a very complex and tedious process. This complexity is due to the high number of system components, their multi-physical aspects, the couplings between different engineering domains and the interacting and/or conflicting design objectives. Due to this inherent complexity and the dynamic coupling between subsystems of mechatronic systems, a systematic and multi-objective design approach is needed to replace the traditionally used sequential design methods. The traditional approaches usually lead to functional but non optimal designs solutions. In this paper, and based on an integrated and concurrent design approach called "Design-for-control" (DFC), a quadrotor UAV equipped with a stereo visual servoing system is used as a case study. After presenting the dynamics and the control model of the Quadrotor UAV and its visual servoing system, the design process has been performed in four iterations and as expected, the control performance of the system has been significantly improved after finishing the final design iteration.

关键词： mechatronics integrated design concurrent quadrotor visual servoing

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Active Compressor Surge control System by Using Piston Actuation: Implementation and Experimental Results

Active Compressor Surge Control System by Using Piston Actua...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Uddin, Nur Gravdahl, Jan Tommy Norwegian Univ Sci & Technol NTNU Dept Engn Cybernet OS Bragstads Plass 2D N-7491 Trondheim Norway

A novel implementation and experimental test results of a piston actuated active surge control system (PAASCS) On a laboratory scale pipeline compressor system are presented. The experimental test, is done to prove the concept of stabilizing compressor surge by dissipating the plenum energy using a piston actuation. The PAASCS's controller is applying y-control introduced in (Uddin and Gravdahl, 2016), which only uses feedback from pressure measurements at the compressor discharge and in the plenum. Practical aspects of implementing the PAASCS are presented including: flow rrieasurerrient generating a compressor map based on a compressor performance test, piston design, and the test setup. The experimental test results show that the PAASCS is able to stabilize surge and prove the concept of PAASCS with the advantage of y-control which stabilizes compressor surge by using feedback from pressure measurements only. (C) 2016, IFAC (International Federation or Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Compressor active surge control pitot tube flow measurement linear actuator hardware in the loop test experimental

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New Architectures for Hierarchical Predictive control

New Architectures for Hierarchical Predictive Control

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Zavala, Victor M. Univ Wisconsin Dept Chem & Biol Engn Madison WI 53706 USA

We analyze the structure of the Euler-Lagrange (EL) conditions of a long-horizon optimal control problem. The analysis reveals that the conditions can be solved by using block Gauss-Seidel (GS) schemes. We prove that such schemes can be implemented in the primal space by solving sequences of short-horizon optimal control problems. This analysis also reveals that a traditional receding-horizon (RH) scheme is equivalent to performing a single GS sweep. We have also found that we can use adjoint information from a coarse long-horizon problem to construct terminal penalties that correct the policies of the RH scheme. We observe that this scheme can be interpreted as a hierarchical controller in which a coarse high-level controller transfers long-horizon information to a low-level, short-horizon controller of fine resolution. The results open the door to a new family of hierarchical control architectures that can handle multiple time scales systematically. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： RH hierarchical control time scales Euler-Lagrange

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Latent Autoregressive Gaussian processes Models for Robust System Identification

Latent Autoregressive Gaussian Processes Models for Robust S...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Mattos, Cesar Lincoln C. Damianou, Andreas Barreto, Guilherme A. Lawrence, Neil D. Univ Fed Ceara Dept Teleinformat Engn Ctr Technol Campus Pici Fortaleza Ceara Brazil Univ Sheffield Dept Comp Sci Sheffield S Yorkshire England Univ Sheffield SITraN Sheffield S Yorkshire England

We introduce GP-RLARX, a novel Gaussian process (GP) model for robust, system identification. Our approach draws inspiration front nonlinear autoregressive modeling with exogenous inputs (NARX) and it encapsulates a novel and powerful structure referred to as latent autoregression. This structure accounts for the feedback of uncertain values during training and provides a natural framework for free simulation prediction. By using a Student-t likelihood, GP-RLARX can be used in scenarios where the estimation data contain non-Gaussian noise in the form of outliers. Further, a variational approximation scheme is developed to jointly optimize all the hyperparameters of the model from available estimation data. We perform experiments with five widely used artificial benchmarking datasets with different levels of outlier contamination and compare GP-RLARX with the standard GP-NARX model and its robust variant, GP-tVB. GP-RLARX is found to outperform the competing him by a relatively wide margin, indicating that our latent autoregressive structure is more suitable for robust system identification. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Modelling and system identification dynamic modelling Gaussian process outliers autoregressive models

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Staged Microbial Fuel Cells with Periodic Connection of External Resistance

Staged Microbial Fuel Cells with Periodic Connection of Exte...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Recio-Garrido, Didac Tartakovsky, Boris Perrier, Michel Ecole Polytech Montreal Dept Chem Engn CP 6079 SuccCtr Ville Montreal PQ H3C 3A7 Canada Natl Res Council Canada 6100 Royalmount Ave Montreal PQ H4P 2R2 Canada

Reactor staging is widely used in wastewater treatment where treatment norms are achieved by connecting two or more reactors in series. The first reactor operates at high carbon source loads and the last reactor performs the final polishing. Microbial Fuel Cells (MFCs) are bioelectrochemical devices designed for direct electricity production from organic matter. Periodic connection of the MFC external electrical resistance was demonstrated to increase performance. An engineering tool to understand this periodic mode of operation is developed. Effluent quality control can be ensured by developing control strategies able to reject variability in the influent concentration while tracking a desired set-point. (C) 2016, IFAC (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Microbial fuel cell dynamic modelling reactors in series intermittent operation effluent quality-control PID

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Perpetual Learning Framework based on Type-2 Fuzzy Logic System for a Complex Manufacturing process

Perpetual Learning Framework based on Type-2 Fuzzy Logic Sys...

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17th IFAC symposium on control, Optimization and Automation in Mining, Mineral and Metal processing (MMM)

作者： Baraka, Ali Panoutsos, George Cater, Stephen Univ Sheffield Dept Automat Control & Syst Engn Mappin St Sheffield S1 3JD S Yorkshire England TWI Ltd Welding Inst Wallis Way Rotherham S60 5TZ S Yorkshire England

This paper introduces a perpetual type-2 Nemo-Fuzzy modelling structure for continuous learning and its application to the complex thermo-mechanical metal process of steel Friction Stir Welding (FSW). The 'perpetual' property refers to the capability of the proposed system to continuously learn from new process data, in an incremental learning fashion. This is particularly important in industrial/manufacturing processes, as it eliminates the need to retrain the model in the presence of new data, or in the case of any process drift. The proposed structure evolves through incremental, hybrid (supervised/unsupervised) learning, and accommodates new sample data in a continuous fashion. The human-like information capture paradigm of granular computing is used along with an interval type-2 neural-fuzzy system to develop a modelling structure that is tolerant to the uncertainty in the manufacturing data (common challenge in industrial/manufacturing data). The proposed method relies on the creation of new fuzzy rules which are updated and optimised during the incremental learning process. An iterative pruning strategy in the model is then employed to remove any redundant rules, as a result of the incremental learning process. The rule growing/pruning strategy is used to guarantee that the proposed structure can be used in a perpetual learning mode. It is demonstrated that the proposed structure can effectively learn complex dynamics of input-output data in an adaptive way and maintain good predictive performance in the metal processing case study of steel FSW using real manufacturing data. (C) 2016, IFAC (International Federation control) Hosting By Elsevier Ltd. All rights reserverd.

关键词： perpetual learning incremental learning fuzzy neural networks granular computing type-2 fuzzy systems friction stir welding metal processing

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Dynamic Simulation and Visualisation of Fermentation: Effect of process Conditions on Beer Quality

Dynamic Simulation and Visualisation of Fermentation: Effect...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Rodman, Alistair D. Gerogiorgis, Dimitrios I. Univ Edinburgh Sch English IMP Kings BldgMayfield Rd Edinburgh EH9 3JL Midlothian Scotland

Fermentation is the central, most important unit operation in alcoholic beverage manufacturing and has already been studied by means of first-principles dynamic models, which explicitly consider the temperature effects and employ parameterisations obtained using industrial beer brewing campaign data. Nevertheless, the precise effect of initial conditions on beer quality: and flavour has not been documented. Multi-objectilie optimisation encompasses ethyl alcohol maximization and batch duration minimisation, but must also quantitatively monitor all the critical flavour components (Rodman & Gerogiorgis. 2016). Dynamic simulation and visualisation of the key (ethyl alcohol, ethyl acetate, diacetyls) concentrations is pursued for varying initial condition (sugar concentration, pitching rate. active yeast fraction) parameters, and hundreds of thousands of possible temperature manipulation profiles over the entire brewing horizon. Feed sugar content is confirmed to govern attainable alcohol concentration, but our notable finding is that pitching rate is a very efficient manipulation, in contrast to the weak effect of initial active yeast fraction. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： dynamic simulation visualisation beer fermentation initial conditions attainable envelope

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Dual control and Information Gain in controlling Uncertain processes

Dual Control and Information Gain in Controlling Uncertain P...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： La, H. C. Potschka, A. Schloeder, J. P. Bock, H. G. Interdisciplinary Ctr Sci Comp IWR INF 368 D-69120 Heidelberg Germany

In controlling uncertain processes, it is decisive to utilize information provided by measurements in order to estimate parameters and states. Nonlinear Model Predictive control (NMPC) is a popular method to implement feedback control and deal with uncertainties. Conventional NMPC or nominal control, however, sometimes does not provide enough information for system estimation, leading to unsatisfactory performance. Dual control attempts to strike a balance between the two goals of enhancing system estimation and optimizing the nominal objective function. In this paper, we analyze the performance of these strategies through the interplay between the performance control task and the information gain task in connection with Optimal Experimental Design. Examples illustrate the conflict and agreement between the two tasks and explain why in some cases nominal control performs well. It is also observed that measurement noise provides excitation helping to improve the quality of estimates. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Nonlinear Model Predictive control Dual control Parameter and State Estimation

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Multi-Objective Optimal control Study of Fed-Batch Bio-Reactor

Multi-Objective Optimal Control Study of Fed-Batch Bio-React...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： Patel, Narendra Padhiyar, Nitin Vishwakarma Govt Engn Coll Dept Chem Engn Ahmadabad 382424 Gujarat India Indian Inst Technol Gandhinagar Dept Chem Engn Ahmadabad 382424 Gujarat India IIT Gandhinagar Ahmadabad Gujarat India

Evolutionary Algorithms have been successfully applied for offline optimal control problems of fed-batch bio-reactors. In such problems, productivity-yield maximization is carried out by optimizing the transient feed recipe. However, this is usually done for a fixed fed-batch time. The optimum batch time can be computed by solving single objective optimal control problems multiple times with different fed-batch times. Since this approach is quite computationally expensive, we in this work formulate a multi-objective optimization (MOO) problem to find the minimum fed-batch time along with maximizing productivity-yield. Such an MOO approach will result in saving significant computational effort. A single parameter based fast mesh sorting with multi objective differential evolution is used in this work for solving MOO problems. We have considered a case study of optimal control of fed-batch reactor for secreted protein production with volume constraint in this work. (C) 2016, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Attainable Region Multi-objective Optimization mesh sort fed-batch reactor optimal control

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A Revised Technique of Stiction Compensation for control Valves

A Revised Technique of Stiction Compensation for Control Val...

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11th IFAC symposium on dynamics and control of process systems including Biosystems

作者： di Capaci, Riccardo Bacci Scali, Claudio Huang, Biao Univ Pisa Dept Civil & Ind Engn Pisa Italy Univ Alberta Dept Chem & Mat Engn Edmonton AB Canada

A well-established compensation technique to remove oscillations caused by control valve stiction is the two-moves method. However, the actual versions of this technique present major drawbacks, as the long time for implementation and, mostly, some strong assumptions on the valve position in oscillation. A recent version of two-moves compensation has proven to reduce the time of execution. Nevertheless, this method does not allow the control loop to handle set point tracking and disturbance rejection. The present paper proposes a revised version of two-moves stiction compensation method, which overcomes previous limitations. This new approach is based on the estimation of controller output associated with the desired valve position at the steady-state, by using the amplitude of oscillation before compensation and through the estimate of valve stiction, obtainable with specific techniques. In this case, fast responses are possible as well as a complete removal of the oscillation. In addition, set point tracking and disturbance rejection are guaranteed, by monitoring the control error and by switching temporarily to a standard PI(D) controller. Simulation examples and applications to a pilot plant show the effectiveness of the proposed method. (C) 2016, IFAC (International Federation of Automatic control) Hosting, by Elsevier Ltd. All rights reserved.

关键词： Loop performance monitoring control valve stiction compensation two-moves method

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