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检索条件"主题词=Control algorithms"

共 697 条记录，以下是161-170 订阅

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SEMI-ACTIVE SUSPENSION SYSTEMS FOR HEAVY-DUTY VEHICLES: MULTIBODY MODEL DEVELOPMENT, IDENTIFICATION AND control ALGORITHM EVALUATION

引用

ASME International Mechanical Engineering Congress and Exposition

作者： Grott, Matteo Biral, Francesco Oboe, Roberto Cis, Alberto Vincenti, Eugenio Univ Trent Dept Mech & Struct Engn I-38050 Trento TN Italy

ISBN: (纸本)9780791843833

The design of suspension systems for heavy-duty vehicles covers a specific field of automotive industry During the past few years there has been an increasing demand in power capabilities, loads and driving speeds of heavy duty vehicles. Therefore, off-highway vehicle manufacturers have shown their interest in employing new technologies. This work focuses on the investigation of hydro-pneumatic suspension systems for heavy duty vehicles, in particular on the benefits of a semi-active solution compared to a passive one. The main targets of this activity is the study of the dynamical behaviour of agricultural tractors and the design of a cost-effective controllable suspension, capable to adapt the tractor dynamical behaviour, under different road and load conditions. The work started with the development of a multibody model of the suspension test bench to be used for control solution comparisons. The multibody model was experimentally validated by characterizing the cylinder friction, tire parameters and Frequency Response (F.R.) of the suspension bench test equipped with a passive solution. As a last step the evaluation of different control algorithms for hydraulic semi-active suspension was carried out via Adams/Matlab co-simulation technique.

关键词： Cylinders control algorithms Matlab Simulation Model development Tires Vehicles Suspension systems Highways Construction equipment Design Friction Roads Automotive industry Stress Frequency response

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The Modified MFC Structure for control of Certain Class of Linear and Nonlinear Plants 21

The Modified MFC Structure for Control of Certain Class of L...

引用

21st International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Grzywacz, Bogdan West Pomeranian Univ Technol ZUT Fac Elect Engn KSiP Szczecin Poland

ISBN: (纸本)9781509018666

The concept of control of wide class of plants with use of modified MFC (Model Following control) structure has been proposed. The primary loop in MFC structure contains so-called "associated model". This model is controlled by algorithm which makes that process of generation of consecutive amplitudes of model reference response is governed by time-variable time-scale depending on error signal. The algorithm "disconnects" state variable scheme of "associated model" when difference between reference signal and model output is equal to zero. The transient state observed on model output can be easily modified by choice of gains influencing the rate of changes of model state variables. This algorithm yields perfect performance of model output process (lack of overshoots, stability). Using accessible signals representing model state variables, their derivatives as well as error signal one can generate input signal of real plant. For accurate model of plant the plant output signal perfectly follows the model output. The identification inaccuracies can be compensated by controller in secondary feedback loop, like in classic MFC structures. It has been shown that control process can be immediately evaluated with use of IAE criterion by reading of two co-ordinates of model reference response. The attached examples confirm impressive properties of control algorithm synthesized according to proposed methodology.

关键词： control algorithms time-variable time-scale MFC structure

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Model Predictive control for Electric Heaters

Model Predictive Control for Electric Heaters

引用

2nd International Conference on Industrial Informatics - Computing Technology, Intelligent Technology, Industrial Information Integration (ICIICII)

作者： Wei, Di Li, Xiangshun Lei, Cheng Wuhan Univ Technol Sch Automat Wuhan Peoples R China

ISBN: (纸本)9781509035755

Electric heaters are widely applied in the industrial areas of chemistry, power and manufacturing etc. It is very important to effectively and efficiently control the heater. The performance of the controller is vital to the control system of heater. The characteristics of heater and the control algorithm could decide the performance of the whole control system. In this paper, the model of the electric heater can be simplified as a linear system which can be described in the state space form. The controller based on model predictive is proposed to control the temperature process of the heater. Simulation results show the validity of the proposed controller.

关键词： electric heaters model predictive control control algorithms

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MULTI-OBJECTIVE OPTIMAL DESIGN OF AN ACTIVE AEROELASTIC CASCADE control SYSTEM FOR AN AIRCRAFT WING WITH A LEADING AND TRAILING control SURFACE

MULTI-OBJECTIVE OPTIMAL DESIGN OF AN ACTIVE AEROELASTIC CASC...

引用

Annual ASME Dynamic Systems and control Conference (DSCC)

作者： Chen, Yuekun Sardahi, Yousef Marshall Univ Sch Engn & Comp Sci Huntington WV 25755 USA

ISBN: (纸本)9780791884287

This paper presents a multi-objective optimal design of cascade controllers applied to an aircraft wing with a leading and trailing control surface driven by electromagnetic actuators (EMAs). The design of the control system is de-coupled into an inner (slave or secondary) and outer (master or primary) control algorithm. The master control algorithm is applied to the dynamics of the wing and its ailerons while two salve control loops are designed for the two EMAs. Then, a multi-objective and optimal design of the control algorithms is carried out. Three objectives are considered : 1) the speed of response of the slave controlled system must be faster than that of the master one, 2) the controlled system must be robust against external upsets, and 3) optimal energy consumption. The multi-objective optimization problem (MOP) is solved by the non-dominated sorting genetic algorithm (NSGA-II), which is one of the widely algorithms in solving MOPs. The setup parameters of the primary and secondary control algorithms are tuned during the optimization and the design objectives are evaluated. The solution of the MOP is a set of optimal cascade controllers that represent the trade-offs among the design objectives. Computer simulations show that the design objectives are achieved. However, some of the optimal solutions are practically infeasible because they respond poorly to external disturbances. Presented study may become the basis for multi-objective optimal design of active aeroelastic control systems.

关键词： control systems Cascades (Fluid dynamics) Aircraft Design Wings control algorithms control equipment Computer simulation algorithms Electromagnetic actuators Energy consumption Genetic algorithms Pareto optimization Tradeoffs Optimization Dynamics (Mechanics)

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DECENTRALISED control DESIGN FOR LOAD MITIGATION IN HORIZONTAL AXIS WIND TURBINES (HAWTS)

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30th International Conference on Ocean, Offshore and Arctic Engineering

作者： Sandquist, Fredrik Moe, Geir Anaya-Lara, Olimpo Norwegian Univ Sci & Technol NTNU Fac Engn Sci & Technol Trondheim Norway

ISBN: (纸本)9780791844373

In modern MW-size machines it has become a common practice to introduce controllers that provide active damping of turbine components to reduce blade, tower and drive-train loads, whilst optimising energy capture. However, as wind turbines become larger and more flexible, these controllers have to be designed with great care as the coupling between flexible modes increases and so does the potential to destabilise the turbine. The most direct method to address the above issues has been to exploit the pitch control capabilities. Individual Pitch control (IPC) has been proposed many times over the last few years for load mitigation. Bearing this in mind, this paper investigates two different approaches to design a controller to pitch each blade individually in the wind turbine operating region III. The first one is a decentralised control algorithm and the second one is an H-infinity loop shaping design. A controllability analysis of the wind turbine is also included in the paper. The investigation is conducted based on the NREL 5MW benchmark wind turbine. Turbine modeling and control is conducted in FAST and Simulink.

关键词： control algorithms Machinery Turbines control modeling Design Wind turbines Blades Trains control equipment Bearings Turbine components Horizontal axis wind turbines Stress Active damping

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control of Elastic Soft Robots based on Real-Time Finite Element Method

Control of Elastic Soft Robots based on Real-Time Finite Ele...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Duriez, Christian Univ Lille INRIA Shacra Team Lille France

ISBN: (纸本)9781467356411;9781467356435

In this paper, we present a new method for the control of soft robots with elastic behavior, piloted by several actuators. The central contribution of this work is the use of the Finite Element Method (FEM), computed in real-time, in the control algorithm. The FEM based simulation computes the nonlinear deformations of the robots at interactive rates. The model is completed by Lagrange multipliers at the actuation zones and at the end-effector position. A reduced compliance matrix is built in order to deal with the necessary inversion of the model. Then, an iterative algorithm uses this compliance matrix to find the contribution of the actuators (force and/or position) that will deform the structure so that the terminal end of the robot follows a given position. Additional constraints, like rigid or deformable obstacles, or the internal characteristics of the actuators are integrated in the control algorithm. We illustrate our method using simulated examples of both serial and parallel structures and we validate it on a real 3D soft robot made of silicone.

关键词： Soft robots Elastic robots Finite Element Method (FEM) Real-time constraints-based mechanics Mechanical Compliance control algorithms

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A MODEL-BASED LAYER-TO-LAYER control ALGORITHM FOR INK-JET 3D PRINTING

A MODEL-BASED LAYER-TO-LAYER CONTROL ALGORITHM FOR INK-JET 3...

引用

ASME 7th Annual Dynamic Systems and control Conference

作者： Lu, Lu Zheng, Jian Mishra, Sandipan Rensselaer Polytech Inst Troy NY 12180 USA

ISBN: (纸本)9780791846193

Ink-jet 3D printing is a promising technology for additive manufacturing, with the potential for impacting a wide variety of industries. In traditional ink-jet 3D printing, the part is built up by depositing droplets layer upon layer in an open-loop manner. Droplet and edge dimensions are typically predicted experimentally and are assumed to remain constant through the printing process. However there is no guarantee of consistent droplet shape and dimensions or the smoothness of the finished parts due to uncertainties in the manufacturing process. To address this issue, we propose a model-based feedback control law for ink-jet 3D printing that uses a height sensor for measuring profile height after each layer for determining the appropriate layer patterns for subsequent layers. Towards this goal, a simple model describing the relationship between profile height change and droplet deposition in the layer building process is first proposed and experimentally identified. Based on this model, a closed-loop layer-to-layer control algorithm is then developed for the ink-jet printing process. Specifically, the proposed algorithm uses a model prediction control algorithm to minimize the difference between the predicted height and the desired height and the predicted surface unevenness after a fixed number of layers. Experimental results show that the algorithm is able to achieve more consistent shapes between layers, reduced edge shrinking of the part, and smoother surface of the top layer.

关键词： Inks control algorithms Additive manufacturing

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Simulation and visualization of indoor-acoustics for robot control

Simulation and visualization of indoor-acoustics for robot c...

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9th International Conference on Computer Graphics and Imaging

作者： Schmitz, Norbert Wettach, Jens Deines, Eduard Dannenmann, Peter Bertram, Martin Berns, Karsten Hagen, Hans Univ Kaiserslautern Dept Comp Sci Int Res Training Grp Visualizat Large & Unstruct POB 3049 D-6750 Kaiserslautern Germany German Res Ctr Artificial Intelligence Kaiserslautern Germany Univ Kaiserslautern Dept Comp Sci Kaiserslautern Germany

ISBN: (纸本)9780889866447

An autonomous robot orientates itself by using information provided by its sensor systems. Besides distance sensors, optical and acoustic sensors play a vital role in fulfilling this task. In this paper we present a novel approach to simulate and visualize the acoustic properties of an indoor scene. This simulation data is used for testing and refining the control algorithms of an autonomous robot interacting with humans in an office environment. In order to enable a robot to interact with its environment and to perform its intended tasks in a context-sensitive manner, it must be capable of interpreting the information provided by its sensor systems. For testing these interpretation capabilities, certain environmental stimuli need to be provided to the robot in a controlled and repeatable manner. However, such stimuli are not available normally. The presented work provides a virtual testing environment that permits the realistic simulation and visualization of the acoustic properties of indoor-environments. Thus, it is possible to simulate and visualize the spread of sound waves within a room and to simulate the acoustic signals a robot receives at certain positions. Using such well-defined test conditions and a visual representation of the spread of sound in the test environment, it is now possible to find positions of special acoustic properties and to use them for testing the robot's reactions to acoustic events. On this basis, the robot's control algorithms can be refined accordingly.

关键词： virtual environments acoustics simulation visualization robotics control algorithms

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ON FAST DYNAMIC PROGRAMMING FOR POWER SPLITTING control OF PLUG-IN HYBRID ELECTRIC VEHICLES

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2nd Annual Dynamic Systems and control Conference (DSCC 2009)/Bath/ASME Symposium on Fluid Power and Motion control

作者： Bin, Y. Reama, A. Cela, A. Natowicz, R. Abderrahmane, H. Li, Y. Paris E Univ ESIEE Paris Dept Embeded Syst F-93162 Noisy Le Grand France

ISBN: (纸本)9780791848920

A Fast Dynamic Programming (FDP) algorithm is proposed to optimize the fuel consumption of the Plug-in Hybrid Electronic Vehicles (PHEV) over a prescribed driving cycle. Firstly, an innovative DP mathematical model for PHEV with reduced dimension is created. It composes of a linear state transfer equation and a quadratic cost function with 1 x 1 dimension. Based on this model, two algorithms expressed as the simple analytic forms are derived. One is the control algorithm for the optimal power splitting ratio (PSR) between the internal combustion engine (ICE) power and demand power Another is the recursive algorithm to calculate the optimization value of the fuel consumption. Then, the optimal output power of ICE (or electronic motor (END) and the optimal speed ratio of the gear position can be calculated rapidly as the consequence of using the algorithms with analytic forms. Finally, the simulation results confirm that the computational efficiency of the FDP control algorithm has been improved with a geometric ratio, while its control performance maintains in an acceptable range in contrast with conventional DP control algorithm.

关键词： Fuel consumption control algorithms Engines algorithms Motors Simulation results Dimensions Vehicles Optimization Dynamic programming Gears Internal combustion engines Cycles Hybrid electric vehicles

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Finite Time Response control of Affine Systems 16

Finite Time Response Control of Affine Systems

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16th International Carpathian control Conference (ICCC)

作者： Marin, Constantin Selisteanu, Dan Univ Craiova Dept Automat & Elect Craiova Romania

ISBN: (纸本)9781479973705

The paper presents an original method for Finite Time Response (FTR) control of the affine systems. The FTR property is specific to linear systems only, known in the literature as dead-beat algorithms. In this work, it is developed as a new procedure for the affine systems FTR synthesis, called the Equivalent Input Method (EIM). For this purpose it calculates an equivalent input which will determine, according to a quadratic criterion, the best approximation of the affine component. This way the system is approximated by an affine system with an input variable equal to the sum of the original input and the equivalent input, but having only a residual affine component. This residual affine component has a smaller norm than the initial affine component. Considering zero the residual affine component, a FTR linear system synthesis procedure is applied. In the real system, controlled by a FTR control law, the residual affine component creates at each step a disturbance that FTR algorithm seeks to cancel. This approach is justified by the fact that the disturbance residual affine component is much smaller in norm than the original affine component. Under certain circumstances, this residual affine component can be zero. The controllability and algorithm convergence is analyzed. The proposed EIM method can be applied also for nonlinear systems approximated by Piecewise Affine Subsystems (PWAS). An experimental platform has been designed in Matlab environment allowing implementation of various affine systems and their control algorithms. Simulation results are included to support the method presented in the paper.

关键词： finite time response variable structure systems control algorithms deadbeat algorithm

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