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A DIGITAL SEGMENTED REPETITIVE control ALGORITHM

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1994年第4期116卷 577-582页

作者： HU, JS TOMIZUKA, M UNIV CALIF BERKELEY DEPT MECH ENGNBERKELEYCA 94720

This paper presents the structure and analysis of the segmented discrete-time repetitive controller. The repetitive controller is designed to reject periodic disturbance and/or track periodic reference signal with known period. Resulted from the Internal Model Principle, the repetitive control law is applied to the entire control path. However, when crucial segments within a control path are of concern, the segmented repetitive control law, which applies control actions only to those segments, can be utilized to save the memory space. It is shown that such a segmented repetitive control system is stable if the original nonsegmented one is stable.

关键词： Signals control algorithms control systems control equipment

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INPUT OUTPUT LINEARIZATION USING TIME-DELAY control

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第1期114卷 10-19页

作者： YOUCEFTOUMI, K WU, ST Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge MA 02139

A control procedure that uses Time Delay control to achieve input/output linearization of a class of nonlinear systems is presented. The control system is characterized by a simple algorithm and enhanced robustness properties in comparison with current control algorithms. The paper first reviews the fundamentals of input/output linearization. The use of Time Delay control is then shown to result in an exact linear system for sufficiently small delay time. Modified controllers for systems with a low-pass filter are also investigated. Simulation results show that the algorithm works well with measurement noise. The controller is also tested on a single-link flexible arm to show the effectiveness of the simple algorithm in the control of complicated systems.

关键词： Delays Nonlinear systems Noise (Sound) algorithms control algorithms control systems Low-pass filters Robustness Simulation results control equipment Time delay systems Linear systems

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Operating Strategies for In-Plant Milk-Run Systems 15

Operating Strategies for In-Plant Milk-Run Systems

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15th IFAC Symposium on Information control Problems in Manufacturing

作者： Klenk, Eva Galka, Stefan Guenthner, Willibald A. Tech Univ Munich Inst Mat Handling Mat Flow Logist D-80290 Munich Germany

In-plant milk-run systems are transportation systems, where materials are delivered from a central storage area to several points of use on defined routes and in short intervals. Milk-run systems generally enable frequent deliveries in smaller lot sizes with short lead times and low inventory at the points of use. In real milk-run systems, the number of deliveries per interval varies due to, e.g., variations in the production program. To enable efficient and stable milk-run system operations, these systems therefore must be able to cope with peaks in the number of deliveries. We develop different strategies for handling these delivery peaks and evaluate them with respect to delivery: cost. lead time and service level using real material consumption data from two large companies from the automotive industry. (C) 2015, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Automobile industry control algorithms Lean manufacturing Logistics Milk-run systems Production systems Transportation control

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PROCESS-control EXPERIENCE AND A SELF-TUNING METHOD FOR A DISCRETE-TIME, FINITE TIME SETTLING controlLER-OBSERVER

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1977年第3期99卷 209-211页

作者： AUSLANDER, DM TOMIZUKA, M TAKAHASHI, Y UNIV CALIF BERKELEY DEPT MECH ENGNBERKELEYCA 94720

A self-tuning method is described for a simple discrete-time control algorithm presented in a previous paper. With self-tuning, the algorithm is a candidate for a new class of single-loop controllers that would be considerably more convenient to use than the present analog PID controllers. Experimental results are presented indicating the applicability of the tuning and control algorithms to typical, nonideal processes.

关键词： Process control control equipment control algorithms algorithms

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Investigation of Linear Higher Harmonic control Algorithm for Rotorcraft Vibration Reduction

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2021年第1期143卷 011008页

作者： Im, ByeongUk Lee, ChangBae Kee, YoungJung Shin, SangJoon Seoul Natl Univ Dept Aerosp Engn Gwanak Ro 1 Seoul 08826 South Korea Korea Aerosp Res Inst Rotorcraft Res Team 169-84 Gwahak Ro Daejeon 34133 South Korea Seoul Natl Univ Inst Adv Aerosp Technol Dept Aerosp Engn Gwanak Ro 1 Seoul 08826 South Korea

A linear quadratic Gaussian (LQG) controller for active vibratory loads reduction in helicopters is proposed based on a revisited higher harmonic control (HHC) input by active trailing-edge flaps (ATEFs). Conventional individual blade control (IBC) input is redefined using N - 1/rev interblade phase lead, N/rev collective, and N + 1/rev interblade phase lag signals where 1/rev frequency modulation originates from the multiblade coordinate (MBC) transform. A Mach-scaled flap blade is designed and analyzed by the multibody dynamics analysis DYMORE. A linear time-invariant representation is identified from N/rev envelopes of the input and output responses obtained by DYMORE analysis. A matlab/simulink closed-loop control simulation is designed using the identified state-space realization. The N/rev vibratory loads are reduced up to 52% with flap deflections and the linear control results match well with the nonlinear responses obtained from DYMORE. Furthermore, the multivariable closed-loop stability estimated by the loop transfer functions using disk margin analysis reveals sufficient gain and phase margins.

关键词： Stability Signals Deflection Matlab Blades Rotors Simulation Stress control algorithms Transfer functions control equipment Vibration

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Optimization of control system for modified configuration of a refrigeration unit

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Procedia Computer Science 2019年 159卷 2522-2532页

作者： Tomasz Łokietek Sławomir Jaszczak Piotr Nikończuk West Pomeranian University of Technology Szczecin Faculty of Maritime Technology and Transport Al. Piastow 41 71-065 Szczecin Poland West Pomeranian University of Technology Szczecin Faculty of Computer Science and Information Technology Żołnierska 49 71-210 Szczecin Poland

The paper presents an optimization of temperature control system for the refrigeration unit. Basic technological limits, which have influence on a control quality are also described. From a technological point of view the considered refrigeration unit operates in two modes. It allows the temperature stabilization inside the chamber despite the layer of frost growing up on the surface of evaporator. It is the main reason of changes dynamic parameters of the refrigeration unit. Authors analysed other technological factors, which may disturb a temperature inside of the cold chamber. The main idea was to find robust control algorithms for the temperature control, which makes a process stable in any working point. At the final part of paper the selected real time experiments were presented. It shows typical working modes of the refrigeration unit and proof robustness of developed and implemented control algorithm.

关键词： refrigeration unit control algorithms temperature control

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DISCRETE-TIME TIP POSITION control OF A FLEXIBLE ONE ARM ROBOT

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1992年第3期114卷 428-435页

作者： CETINKUNT, S WU, SJ ZENITH CONTROLS INC CHICAGO IL 60609 USA

A predictive adaptive control algorithm is developed for tip position control based on the zero-order-hold equivalence of the nondimensionalized dynamic model of a flexible robot arm. A lattice filter is utilized for the purpose of parameter identification. The proposed control scheme provides an optimal output feedback control and, together with the lattice filter parameter identifier, it forms a special self-tuning regulator. It is then compared with other methods, such as linear quadratic Gaussian and stable factorization. A stability criterion for this control algorithm is also presented. The effects of the actuator dynamics on the overall system response and stability are investigated. Actuator dynamics model parameters are chosen from the actual specifications provided by manufacturers.

关键词： Position control Actuators Stability Filters Adaptive control Dynamics (Mechanics) control algorithms Feedback Dynamic models algorithms Robots

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LEARNING control OF ROBOT MANIPULATORS

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1993年第2B期115卷 402-411页

作者： HOROWITZ, R Department of Mechanical Engineering University of California at Berkeley Berkeley CA 94720

Learning control encompasses a class of control algorithms for programmable machines such as robots which attain, through an iterative process, the motor dexterity that enables the machine to execute complex tasks. In this paper we discuss the use of function identification and adaptive control algorithms in learning controllers for robot manipulators. In particular, we discuss the similarities and differences between betterment learning schemes, repetitive controllers and adaptive learning schemes based on integral transforms. The stability and convergence properties of adaptive learning algorithms based on integral transforms are highlighted and experimental results illustrating some of these properties are presented.

关键词： Machinery Stability Motors Adaptive control algorithms control algorithms control equipment Manipulators Robots Engines

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PLEIADES-HR CMGs-BASED ATTITUDE control SYSTEM DESIGN, DEVELOPMENT STATUS AND PERFORMANCES

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IFAC Proceedings Volumes 2007年第7期40卷 834-839页

作者： Alain Thieuw Hervé Marcille ASTRIUM Satellites 31 rue des Cosmonautes 31004 TOULOUSE Cedex 6

Pléiades High Resolution Programme aims at realising a new class of optical observation system, characterised by imaging performances in the range of one meter resolution, large image fields and increased agility. The main feature of the Attitude control System (ACS) is to rely on a new type of actuator: a cluster of 4 control Moment Gyros (CMGs). The use of CMGs allows to reach high agility performances to meet the requirements induced by demanding imaging missions. This paper presents the design, development status and performances of the Pléiades-HR ACS based on a CMGs-cluster.

关键词： Actuators Agile control Attitude control Closed-loop control control algorithms Dynamics Guidance Systems Satellite control Validation

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ATTITUDE & ORBIT control SYSTEM FOR GALILEO IOV *

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IFAC Proceedings Volumes 2007年第7期40卷 25-30页

作者： Alexej Konrad Horst-Dieter Fischer Carsten Müller Wilfried Oesterlin GmbH PO Box 801169 D-81663 Munich Germany

The Galileo In Orbit Verification (IOV) program, consisting of 4 spacecrafts, is the first step towards an European satellite-based navigation system. The main objective of the IOV phase is to verify the proper functioning of the overall system before starting the next step - Galileo Full Operational Capability (FOC) - where the full deployment of 30 Galileo satellites will be performed. This paper gives an overview of the Galileo IOV Attitude and Orbit control (AOC) function with the focus being put on the spacecraft attitude control. The AOC is a part of the Avionics subsystem, manufacturing of which has been subcontracted to Astrium. The article also describes the overall requirements on the control system, the AOC hardware and operational architecture as well as selected details on the AOC algorithms with corresponding test results.

关键词： Satellite control Attitude control Attitude algorithms control systems Closed-loop control Feedback control control equipment control algorithms Discrete digital dynamics control Estimation algorithms Extended Kalman filters Estimators Statespace formulas Systems concepts

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