作者：
Gang XiongTimo R. NybergPaper Machine Automation
Automation and Control Institute Tampere University ofTechnology P.O. Box 692 FIN-33101 Tampere. FINLAND T. +358 3 365 2644 F. +358 3 365 3950 Paper Machine Automation
Automation and Control Institute Tampere University ofTechnology P.O. Box 692 FIN-33101 Tampere. FINLAND T. +358 3 365 2142 F. +358 3 365 3950
The solvents recovering process in lubrication oil production needs a lot of energy, and has large stagnancy, strong coupling, time delay and interference etc. To measure the quality of solvents on-line is difficult. ...
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The solvents recovering process in lubrication oil production needs a lot of energy, and has large stagnancy, strong coupling, time delay and interference etc. To measure the quality of solvents on-line is difficult. How to assure the quality and save energy is discussed. A non-linear predictive control is proposed frrstly. Because the mathematical model used for energy optimization can't meet actual need, a combined modeling and optimization strategy is then proposed. Intelligent database, adaptive modeling, combined control and optimization, expert control and intelligent alarming etc. are used to improve the function of the device clearly. Actual production results prove that the system is a great success.
At the Boliden’s concentrator in Aitik, the bulk flotation constitutes an important part of the process for extracting valuable minerals from the ore. A series of flotation cells consists of five tanks connected in c...
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At the Boliden’s concentrator in Aitik, the bulk flotation constitutes an important part of the process for extracting valuable minerals from the ore. A series of flotation cells consists of five tanks connected in cascade with control valves between the tanks and a slowly varying flow of mineral slurry into the first tank. This paper deals with a comparative study of control strategies for level control in a flotation series in Aitik. The aim is to show the potential performance improvements due to taking into account couplings between the process state variables. Two control strategies are considered; a decoupling controller and an LQ optimal multivariable controller. Experiments with both structures show a significant enhancement of the level control performance as compared to the original SISO design.
The control of the fluidised bed boilers can be studied as a layered system, which contains two main layers. The long-term operation of the process is optimised in the upper layer and the stabilising control loops are...
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The control of the fluidised bed boilers can be studied as a layered system, which contains two main layers. The long-term operation of the process is optimised in the upper layer and the stabilising control loops are in the lower layer. These two main layers can be connected in a direct or indirect way. At the optimisation level, the flue gas emissions have to be minimised and the thermal efficiency of a boiler has to be maximised. The optirnisation is impossible, if stabilising controllers do not work properly. Combustion power control (CPC) is used to stabilise burning.
The simply control system on the basis of the single chip microprocessor Motorola HC11 was created. This unit is applicable especially for the small technological processes and in the laboratory conditions. It enables...
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The simply control system on the basis of the single chip microprocessor Motorola HC11 was created. This unit is applicable especially for the small technological processes and in the laboratory conditions. It enables to connect maximally 8 analogue and 8 discrete inputs and on the outputs side 8 discrete outputs. The control unit is equipped by the real time running software with the possibilities to display important information either on the small LCD display (two rows, 16 columns) or by the help of the serial communication to send the data to. the high level computer system to display them there. For the automatic control there is possible to use several control algorithms.
This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete walking cycle is divided in two phases: i ) single support - ...
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This paper addresses the problem of modelling and control of a biped robot by combining Cartesian-based position and force control algorithms. The complete walking cycle is divided in two phases: i ) single support - in which it is studied the trajectory controllability based on simple motion goals and ii ) exchange of support - in which the forward leg should absorb the impact and then gradually accept the robot’s weight. The contact of the foot with the constrained surface is modelled through linear spring-damper systems. The control algorithms are simulated and their effectiveness and robustness are discussed.
The strict definition of games with separated dynamics with a set of players of arbitrary capacity, with different game durations for various players is given. The base of the definition is the condition of informatio...
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The strict definition of games with separated dynamics with a set of players of arbitrary capacity, with different game durations for various players is given. The base of the definition is the condition of informational consistency which is to be satisfied by an ordered collection of informational functions according to the players. This condition describes the correct receiving of information by the participants of a conflict control process adequate to reality. The theorem of necessary and sufficient conditions of informational consistency for an ordered collection of informational functions is proved.
This paper describes the control of quasi-resonant converters. Because of control difficulties caused by the high nonlinearity of converter components, an adaptive fuzzy control algorithm is proposed. The results of c...
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This paper describes the control of quasi-resonant converters. Because of control difficulties caused by the high nonlinearity of converter components, an adaptive fuzzy control algorithm is proposed. The results of computer simulation is presented to show the effectiveness of the proposed control.
Scan orbital welding of cylindrical vessel, flange, and piping parts is performed by their rapid revolution under a radially or axially translated heat source, with its power modulated so as to implement a specified t...
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Scan orbital welding of cylindrical vessel, flange, and piping parts is performed by their rapid revolution under a radially or axially translated heat source, with its power modulated so as to implement a specified thermal distribution. Thus, the plasma-arc welding torch sweeps the stainless steel surface to generate a desirable temperature field and the concomitant material features. A numerical simulation of the thermal field is developed for off-line analysis. On this basis, a lumped thermal regulator of the heat-affected zone, employing infrared temperature feedback at a single spot, as well as standard PI, gain scheduling, and self-tuning control algorithms is tested. The thermal model is also employed for real-rime torch efficiency identification and compensation. The numerical reference model serves as the basis for an in-process adaptive thermal control system to regulate the temperature field, using thermal feedback from the infrared pyrometer. A distributed-parameter control strategy with guidance of the torch,notion and power by a new weighted attraction strategy to randomly sampled points, is tested on scan-welded flanges. The regulator is validated computationally and experimentally and its applicability To other scanned processing of materials is considered.
A control method is introduced to permit the retrofit of a large class of commercially available industrial robots with a contact force control capability. In this control algorithm, the outer force loop modifies the ...
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A control method is introduced to permit the retrofit of a large class of commercially available industrial robots with a contact force control capability. In this control algorithm, the outer force loop modifies the desired position input trajectory by solving two sets of differential equations as initial value problems. Experimental results, obtained on a CRS Robotics Corporation A460 six degree of freedom industrial robot, are presented which demonstrate the effectiveness of the proposed approach.
This paper presents analysis of a particular force tracking control problem for rectilinear hydraulic actuators governed by a servovalve. It presents no new theory, bur rather uses a revealing model reduction insight ...
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This paper presents analysis of a particular force tracking control problem for rectilinear hydraulic actuators governed by a servovalve. It presents no new theory, bur rather uses a revealing model reduction insight coupled with Classical analysis to explain a physical phenomenon. As such, this work is an attempt to explain why a seemingly innocuous problem is more subtle than initially believed. A motivation for this problem is given along with prior attempts at a simple solution. It is shown that simple controller solutions are quite adequate for other types of control objectives such as force regulation or position tracking. However, most simple solution methods are shown to be inadequate for force tracking due to fundamental limitations of the problem formulation. Due to an inherent feedback mechanism, the poles of the plant being forced by the hydraulic actuator become zeros of the open loop force transfer function. Therefore, more advanced control algorithms are shown to be a necessity rather than a luxury.
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