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HEADING control system design FOR A MICRO-USV BASED ON AN ADAPTIVE EXPERT S-PID ALGORITHM

POLISH MARITIME RESEARCH 2018年第2期25卷 6-13页

作者： Miao, Runlong Dong, Zaopeng Wan, Lei Zeng, Jiangfeng Harbin Engn Univ Sci & Technol Underwater Vehicle Lab Harbin Heilongjiang Peoples R China Wuhan Univ Technol Sch Transportat 122 Luoshi Rd Wuhan 430070 Hubei Peoples R China

The process of heading control system design for a kind of micro-unmanned surface vessel (micro-USV) is addressed in this paper and a novel adaptive expert S-PID algorithm is proposed. First, a motion control system for the micro-USV is designed based on STM32-ARM and the PC monitoring system is developed based on Labwindows/CVL Second, by combining the expert control technology, S plane and PID control algorithms, an adaptive expert S-PID control algorithm is proposed for heading control of the micro-USV. Third, based on SL micro-USV developed in this paper, a large number of pool experiments and lake experiments are carried out, to verify the effectiveness and reliability of the motion control system designed and the heading control algorithm proposed. A great amount of comparative experiment results shows the superiority of the proposed adaptive expert S-PID algorithm in terms of heading control of the SL micro-USV.

关键词： micro unmanned surface vessel (micro-USV) control system design adaptive expert S-PID algorithm heading control pool experiment lake experiment

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Precise Modeling Suitable for control system design based on Impulse Response 15

Precise Modeling Suitable for Control System Design based on...

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15th IEEE International Workshop on Advanced Motion control (AMC)

作者： Teranishi, Kaoru Shimada, Naoki Natl Inst Technol Ishikawa Coll Adv Course Elect & Mech Engn Tsubata Ishikawa Japan Natl Inst Technol Ishikawa Coll Dept Elect & Informat Engn Tsubata Ishikawa Japan

ISBN: (纸本)9781538619469

The modeling accuracy influences the performance of model-based control. However, a conventional method does not accurately identify a plant model, and includes modeling errors generated through approximations. In this study, the authors propose a process of modeling for application to a control system design. The proposed method consists of three parts. First, an impulse response estimation method using a time-stretched pulse is applied to elucidate the frequency characteristics of the plant. Next, a complex cepstrum analysis conducted to reduce quantization errors of the estimation result is described. Finally, the estimated frequency characteristics are modeled using BiQuad filters. The validity of the proposed method is confirmed through a numerical simulation of an integral-type servo control. The results show that the proposed method suppresses the transient vibrations of the responses and their external disturbance responses.

关键词： control system design system identification OATSP complex cepstrum analysis BiQuad filter

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control system design and validation platform development for small pressurized water reactors (SPWR) by coupling an engineering simulator and MATLAB/Simulink

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ANNALS OF NUCLEAR ENERGY 2017年 102卷 309-316页

作者： Sun, Peiwei Zhao, Huanhuan Liao, Longtao Zhang, Jianmin Su, Guanghui Xi An Jiao Tong Univ Sch Nucl Sci & Technol 28 Xianning West Rd Xian 710049 Shaanxi Peoples R China Nucl Power Inst China Sci & Technol Reactor Syst Design Technol Lab Chengdu 610041 Sichuan Peoples R China

Significant progress has been made in the development of the small pressurized water reactors (SPWR). Unique characteristics of the SPWR deliver challenges to its control system design. In order to facilitate the control system design process and enhance its efficiency, it is important and necessary to establish a control system design and validation platform. Using shared memory technology, an engineering simulator coupled with MATLAB/Simulink is employed to achieve this objective. Shared memory is an efficient method to exchange data within programs. Dynamic data exchange and simulation time synchronization methods are particularly treated. To verify the platform, an SPWR with its control system is modeled using the platform and the simulator. Thermal-hydraulic modeling of the SPWR is carried out using Relap5, and its nodalization is introduced. The objectives of the control strategy are to maintain the average coolant temperature linearly varying with the reactor power and steam pressure constant. A preliminary SPWR control system is designed with proportional-integral-derivative (PID) controllers, and is implemented in MATLAB/Simulink associated with the engineering simulator. Subsequently, in order to evaluate the performance of the established simulation platform, transients of abrupt load changes and wide range load changes are simulated and simulation results are verified against those obtained from the engineering simulator alone. It is demonStrated that simulation results of both platforms are consistent with each other, which proves that the coupling of engineering simulator and MATLAB/Simulink is successful. Therefore, the established simulation platform can be committed to control system design and validation. Furthermore, it is revealed that the designed control strategy is able to regulate the process parameters such as coolant average temperature and steam pressure to the desired values. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： Small pressurized water reactor control system design Numerical simulation Thermal-hydraulic modeling Engineering simulator

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control system design for a novel minimally invasive surgical robot

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COMPUTER ASSISTED SURGERY 2016年第sup1期21卷 46-54页

作者： Ai, Yue Pan, Bo Fu, Yili Wang, Shuguo Harbin Inst Technol State Key Lab Robot & Syst Harbin Peoples R China

A novel separate robotic system for minimally invasive surgery (MIS) has been presented in this paper. control system architectures were designed, basing on versatile performance criteria. The compact control and mechanical structure were suitable for medical environment. Function and safety design satisfying medical application were integrated into the robot system as well. Additionally, intuitive control algorithm solved the problems of hand-eye incoordination and workspace mismatch between master hands and slave arms during the master-slave control process. A series of experiments have been accomplished to evaluate the performance of the robotic system at last. The results demonstrated that the robotic system was capable of executing surgical operation intuitively and implementing auxiliary functions perfectly, which meant that the control system was feasible and reliable.

关键词： control system design intuitive control function design MIS robot master-slave control

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control system design for Furnaces With Multiple Parallel Passes

Control System Design for Furnaces With Multiple Parallel Pa...

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11th IFAC Symposium on Dynamics and control of Process systems including Biosystems

作者： Ojasvi, Aryan Kumar Kaistha, Nitin Indian Inst Technol Kanpur Dept Chem Engn Kanpur 208016 Uttar Pradesh India

systematic control system design for process furnaces with multiple parallel tube passes is addressed. The control objectives arc to regulate furnace outlet temperature while holding the temperature rise across the individual tubes to be the same (tube pass heat load balancing). With respect furnace throughput (F-tot), two operating scenarios arc considered;I F-tot is held constant and (ii) short term transient variability in F-tot is acceptable. Alternative systems, CSI-CS3, arc synthesized and quantitatively evaluated for their closed loop dynamic performance to expected load/servo changes. The Scenario 1 heat load balancing problem is shown to exhibit strong multivariable dynamic interaction and the control benefit of dynamic matrix control is quantified. Based on the results, recommendations arc made on the suitability of the alternative control systems in industrial settings. (C) 2016, IFAC (International Federation of Antomatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： control system design Process Equipment Furnaces Dynamic Modeling Multivariable systems

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A metamorphic controller for plant control system design

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MODELING IDENTIFICATION AND control 2016年第3期37卷 159-169页

作者： Klopot, T. Skupin, P. Choinski, D. Cupek, R. Fojcik, M. Silesian Tech Univ Fac Automat Elect & Comp Sci Ul Akad 16 PL-44100 Gliwice Poland Sogn Og Fjordane Univ Coll Fac Sci & Engn Svanhaugevegen 1 N-6812 Forde Norway

One of the major problems in the design of industrial control systems is the selection and parameterization of the control algorithm. In practice, the most common solution is the PI (proportional-integral) controller, which is simple to implement, but is not always the best control strategy. The use of more advanced controllers may result in a better efficiency of the control system. However, the implementation of advanced control algorithms is more time-consuming and requires specialized knowledge from control engineers. To overcome these problems and to support control engineers at the controller design stage, the paper describes a tool, i.e., a metamorphic controller with extended functionality, for selection and implementation of the most suitable control algorithm. In comparison to existing solutions, the main advantage of the metamorphic controller is its possibility of changing the control algorithm. In turn, the candidate algorithms can be tested through simulations and the total time needed to perform all simulations can be less than a few minutes, which is less than or comparable to the design time in the concurrent design approach. Moreover, the use of well-known tuning procedures, makes the system easy to understand and operate even by inexperienced control engineers. The application was implemented in the real industrial programmable logic controller (PLC) and tested with linear and nonlinear virtual plants. The obtained simulation results confirm that the change of the control algorithm allows the control objectives to be achieved at lower costs and in less time.

关键词： model-based design parallel design programmable logic controller control system design simulation

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control system design for nano-positioning using piezoelectric actuators

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SMART MATERIALS AND STRUCTURES 2016年第2期25卷

作者： Shan, Jinjun Liu, Yanfang Gabbert, Ulrich Cui, Naigang York Univ Dept Earth & Space Sci & Engn Toronto ON M3J 2R7 Canada Harbin Inst Technol Dept Aerosp Engn Harbin 150006 Peoples R China Univ Magdeburg Inst Mech D-39106 Magdeburg Germany

This paper presents a systematic control system design for nano-positioning of a piezoelectric actuator (PEA). PEAs exhibit hysteresis nonlinearity, which can dramatically limit the application and performance of linear feedback control theory. Thus the hysteresis is compensated for based on the Maxwell resistive capacitor (MRC) model first. Then a proportional plus integral (PI) controller and a proportional double integral plus lead compensation (PII&L) controller are designed for the hysteresis-compensated PEA to account for model uncertainty, disturbance, and noise. The robust stability of both controllers is proved. The effectiveness of the proposed control scheme is demonstrated experimentally. Both controllers achieve fast precise positioning. The 2% settling times for the PI controller and the PII&L controller are 1.5 ms and 4.7 ms, respectively. The positioning resolution is upto 1 nm for both controllers.

关键词： piezoelectric actuator nano-positioning control system design hysteresis compensation creep nonlinearity

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Multivar A MATLAB based MIMO control system design Application 8

Multivar A MATLAB based MIMO Control System Design Applicati...

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8th International Conference on Computational Intelligence and Communication Networks (CICN)

作者： Blackwell, Crystal Sastry, Musti K. S. Univ West Indies Dept Elect & Comp Engn St Augustine Campus St Augustine Trinidad Tobago

ISBN: (纸本)9781509011445

dA newly developed, MATLAB-based, MIMO control design application, named Multivar has been designed for researchers, engineers and engineering students who are investigating and designing MIMO control systems. This application has greater operation flexibility than its predecessors because of its two modes - Function mode (which allows users to access the individual functions in any stage of the control design process) and GUI mode (a wizard-based approach utilizing the functions from the Function mode). The application can support more input model types than its predecessors as it is capable of supporting LT1 systems that either contain or do not contain time delays. It also provides support in the areas of model creation, conversion, approximation and analysis, input-output pairing, decoupling, controller design, and evaluation, while adding techniques that are not found in other toolboxes such as SVD analysis and decoupling. In addition, it allows the user to save or export the final control design or compare with saved designs so that the users might select the design that best satisfies their needs.

关键词： MIMO systems MATLAB toolbox control system design Input output Pairing Decoupling

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control system design of Self-balanced Bicycles by control Moment Gyroscope

Control System Design of Self-balanced Bicycles by Control M...

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Chinese Intelligent Automation Conference (CIAC)

作者： He, Jiarui Zhao, Mingguo Tsinghua Univ Robot Control Lab Beijing 100084 Peoples R China

ISBN: (纸本)9783662464663;9783662464656

The unmanned bicycle, as a type of unmanned vehicles, has become a research hotspot recently, and one of the most challenging problems for its realization is the method to keep the bicycle balanced. In this paper, we analyze the dynamic model of self-balanced bicycles using a control Moment Gyroscope (CMG). The gyroscopic theory shows that by making the spinning flywheel precess, the CMG module generates a moment to resist the gravitational moment and keep the bicycle balanced. According to the gyroscopic theory, we design the mechanical structure and control system of the CMG device and use state feedback control to configure the poles in order to keep the system stable. We obtain the possible feedback coefficient according to the behavior of our system by MATLAB simulations and then adjust the feedback coefficient to get a more stable and robust system through physical experiments. The results of our physical experiments show that the feedback control method can been used to keep the bicycle balanced.

关键词： Balanced control system design control moment gyroscope State feedback

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design of enhanced two-dimensional self-optimizing control system for batch process

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COMPUTERS & CHEMICAL ENGINEERING 2025年 195卷

作者： Ye, Lingjian Yang, Zeyu Shen, Feifan Yuan, Xiaofeng Huzhou Univ Sch Engn Huzhou Key Lab Intelligent Sensing & Optimal Contr Huzhou 313000 Peoples R China NingboTech Univ Sch Informat Sci & Engn Ningbo 315100 Zhejiang Peoples R China Cent South Univ Sch Automat Changsha 410083 Peoples R China

In this paper, we design two-dimensional self-optimizing control (2D-SOC) systems for batch processes. In the framework of 2D-SOC, linear combinations of measurements are controlled along the time and batch axis, respectively, which work jointly to achieve near-optimal operation of batch process. Firstly, the global SOC approach is extended to enhance the self-optimizing performance in a wider range of disturbance space. In the presence of active-set changes, an improved solution method is presented to meet the constraint satisfactions. Then, a novel compensation algorithm is proposed to adjust the setpoints of within-batch controlled variables, which can efficiently improve the process optimality in the presence of tracking errors of batch-to-batch controlled variables and active constraint back-offs. A simple linear compensation law is optimally derived. Finally, the enhanced 2D-SOC design approach is systematically applied to two simulated batch processes, where its enhanced performances are verified.

关键词： Batch process control system design Self-optimizing control Optimal operation

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