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ROBUST COMPUTED TORQUE SCHEMES FOR MECHANICAL MANIPULATORS - NONADAPTIVE VERSUS ADAPTIVE

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 1991年第2期113卷 324-327页

作者： CHEN, YH GEORGIA INST TECHNOL GEORGE W WOODRUFF SCH MECH ENGNATLANTAGA 30332

We consider the tracking control problem of mechanical manipulators in the presence of uncertainty. Two classes of control algorithms are proposed. If the possible bound of the uncertainty is known, a class of nonadaptive robust computed torque control schemes is used. The control guarantees the tracking error to be confined within a specified region after a finite time. If the bound of uncertainty is unknown, a class of adaptive robust computed torque control schemes is used. The control guarantees the tracking error to converge to zero. Both classes of controls are continuous. No statistical information on the uncertainty is ever assumed.

关键词： Errors Torque Tracking control control algorithms Uncertainty Torque control Manipulators

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Modelování a simulace robustních řídicích algoritmů pro EC motory

Modelování a simulace robustních řídicích algoritmů p...

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作者： Smilek, Jan Brno University of Technology

Tato práce se zabývá problematikou vývoje algoritmů pro řízení bezkartáčového střídavého (BLAC) motoru. Nejprve je vypracována rešeršní studie, obsahují... 详细信息

Tato práce se zabývá problematikou vývoje algoritmů pro řízení bezkartáčového střídavého (BLAC) motoru. Nejprve je vypracována rešeršní studie, obsahující odvození matematického modelu EC motoru a přehled vybraných metod senzorového i bezsenzorového řízení. Dále práce představuje realizaci simulačního modelu, sestaveného v prostředí Matlab/Simulink s využitím toolboxu SimPowerSystems. V následující části je popsána realizace algoritmu senzorového řízení motoru s využitím Hallových senzorů a odhadu polohy. Poté je představen modul pro bezsenzorový odhad polohy a způsob jeho implementace do stávajícího modelu pro zvýšení robustnosti řídicího algoritmu. Poslední část práce se zabývá tvorbou grafického prostředí pro změnu vybraných parametrů modelu a shrnuje a porovnává dosažené výsledky.

关键词： EC motor BLAC řídicí algoritmy odhad polohy matematický model Simulink EC motor BLAC control algorithms position estimation mathematical model Simulink Text

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A New Approach to the Direct Synthesis of a Digital controller

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IFAC Proceedings Volumes 1989年第18期22卷 171-176页

作者： A. De Carli A. Kozlovic Department of Computer and Systems Sciences University of Rome “La Sapienza” Via Eudossiana 18 I 00184 Roma Italy

A procedure for the design of digital controllers, without referring to the analytical model of the closed loop system, is presented. The pocedure can be applied when the model of the plant is available and the sampling time is fixed. The main requirements of a closed-loop system are defined by referring to the step and the frequency responses. By applying a spline function approximation, the sampled values of the impulsive response of closed-loop system are directly worked out. From these latter the controller is synthetized as a non recursive filter by applying a deconvolution approach. Since the implementation of a non recursive filter could require a computing time not compatible with the sampling time, a recursive filter can be deduced from the sampled values of the impulsive response of the controller. Identification procedures, based on the least square approximation, can be suitably used to this aim. An appropriate choice of the structure of the recursive filter allows to improve the accuracy without increasing its order. A CAD program, based on the proposed procedure, has been assembled by using only few commads of the MATLAB package. The program has been organized so as it can be by people not acquainted with the control of digital systems but intesested to improve the performance of the closed-loop system by using a signal processor for implementing the controller.

关键词： control algorithms numerical controllers signal processors

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Parallel algorithms for the Cholesky Factor of Generalized Lyapunov Equations 1

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IFAC Proceedings Volumes 1998年第4期31卷 201-206页

作者： David Guerrero Valencia Hernández E. José Román Antonio M. Vidal Universidad Politécnica de Valencia. Dept. Sistemas Informáticos y Computación. Camino de Vera. s/n 46071 Valencia Spain. Tel. 34-6-3877356

In this work the solution of generalized Lyapunov equations using an extension of Hammarling’s method is described. Lyapunov equations are used in multiple applications, e.g. model reduction in linear control problems. The sequential algorithms have been implemented making use of standard linear algebra libraries BLAS and LAPACK, and they include block versions. In the parallel algorithms, libraries PBLAS and ScaLAPACK have been used. Experimental results show good performances. A cluster of PC's connected via Fast Ethernet under Linux operating system has been used to obtain the experimental results.

关键词： control algorithms Model Reduction Lyapunov Equation Parallel Computation

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Design and Research on Power Systems and algorithms for controlling Electric Underground Mining Machines Powered by Batteries

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ENERGIES 2021年第13期14卷 4060页

作者： Kozlowski, Artur Boloz, Lukasz Inst Innovat Technol EMAG Lukasiewicz Res Network Leopolda 31 PL-40189 Katowice Poland AGH Univ Sci & Technol Fac Mech Engn & Robot Dept Machinery Engn & Transport A Mickiewicza Av 30 PL-30059 Krakow Poland

This article discusses the work that resulted in the development of two battery-powered self-propelled electric mining machines intended for operation in the conditions of a Polish copper ore mine. Currently, the global mining industry is seeing a growing interest in battery-powered electric machines, which are replacing solutions powered by internal combustion engines. The cooperation of Mine Master, Lukasiewicz Research Network-Institute of Innovative Technologies EMAG and AGH University of Science and Technology allowed carrying out a number of works that resulted in the production of two completely new machines. In order to develop the requirements and assumptions for the designed battery-powered propulsion systems, underground tests of the existing combustion machines were carried out. Based on the results of these tests, power supply systems and control algorithms were developed and verified in a virtual environment. Next, a laboratory test stand for validating power supply systems and control algorithms was developed and constructed. The tests were aimed at checking all possible situations in which the battery gets discharged as a result of the machine's ride or operation and when it is charged from the mine's mains or with energy recovered during braking. Simulations of undesirable situations, such as fluctuations in the supply voltage or charging power limitation, were also carried out at the test stand. Positive test results were obtained. Finally, the power supply systems along with control algorithms were implemented and tested in the produced battery-powered machines during operational trials. The power systems and control algorithms are universal enough to be implemented in two different types of machines. Both machines were specially designed to substitute diesel machines in the conditions of a Polish ore mine. They are the lowest underground battery-powered drilling and bolting rigs with onboard chargers. The machines can also be charged by external

关键词： battery drive battery power supply self-propelled mining machines electric mining machines control algorithms

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Exponential Stabilization of a Class of Monodimensional Distributed Parameter Systems by Boundary controller

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JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND control-TRANSACTIONS OF THE ASME 2016年第6期138卷 064501-064501页

作者： Ivanescu, Mircea Univ Craiova Dept Mechatron 13 Cuza St Craiova 200585 Romania

This paper treats the control problem of a class of monodimensional (1D) hyperbolic differential models with nonlinear components by using the boundary controller, the state measuring, and the control action on the boundary of the system. This controller is easy to implement from point of view of measuring techniques and actuation. The proposed algorithm provides the exponential convergence to the desired reference trajectory and rejects the effect of the nonlinear components by using the constraints in state space. A maximum principle of this class of system is inferred in order to evaluate the effect of boundary control. A constructive Lyapunov-based proof of convergence of the control algorithm is carried out. Numerical simulations of a technical model are presented.

关键词： control systems control equipment Robots Distributed parameter systems Trajectories (Physics) algorithms control algorithms Computer simulation Boundary-value problems

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A Comprehensive Study of Key Electric Vehicle (EV) Components, Technologies, Challenges, Impacts, and Future Direction of Development

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ENERGIES 2017年第8期10卷 1217页

作者： Un-Noor, Fuad Padmanaban, Sanjeevikumar Mihet-Popa, Lucian Mollah, Mohammad Nurunnabi Hossain, Eklas Khulna Univ Engn & Technol Dept Elect & Elect Engn Khulna 9203 Bangladesh Univ Johannesburg Dept Elect & Elect Engn ZA-2006 Auckland Pk South Africa Ostfold Univ Coll Fac Engn Kobberslagerstredet 5 N-1671 Krakeroy Fredrikstad Norway Oregon Tech Dept Elect Engn & Renewable Energy Klamath Falls OR 97601 USA

Electric vehicles (EV), including Battery Electric Vehicle (BEV), Hybrid Electric Vehicle (HEV), Plug-in Hybrid Electric Vehicle (PHEV), Fuel Cell Electric Vehicle (FCEV), are becoming more commonplace in the transportation sector in recent times. As the present trend suggests, this mode of transport is likely to replace internal combustion engine (ICE) vehicles in the near future. Each of the main EV components has a number of technologies that are currently in use or can become prominent in the future. EVs can cause significant impacts on the environment, power system, and other related sectors. The present power system could face huge instabilities with enough EV penetration, but with proper management and coordination, EVs can be turned into a major contributor to the successful implementation of the smart grid concept. There are possibilities of immense environmental benefits as well, as the EVs can extensively reduce the greenhouse gas emissions produced by the transportation sector. However, there are some major obstacles for EVs to overcome before totally replacing ICE vehicles. This paper is focused on reviewing all the useful data available on EV configurations, battery energy sources, electrical machines, charging techniques, optimization techniques, impacts, trends, and possible directions of future developments. Its objective is to provide an overall picture of the current EV technology and ways of future development to assist in future researches in this sector.

关键词： electric vehicle energy sources motors charging technologies effects of EVs limitations of EVs energy management control algorithms global EV sales trends and future developments

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Review of snake robots in constrained environments

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ROBOTICS AND AUTONOMOUS SYSTEMS 2021年 141卷 103785-103785页

作者： Liu, Jindong Tong, Yuchuang Liu, Jinguo Imperial Coll London Hamlyn Ctr London England Chinese Acad Sci Shenyang Inst Automat SIA State Key Lab Robot Beijing Peoples R China Chinese Acad Sci Inst Robot & Intelligent Mfg Beijing Peoples R China Univ Chinese Acad Sci Beijing Peoples R China

Snake robots have advantages of terrain adaptability over wheeled mobile robots and traditional articulated robot arms because of their limbless thin body structure and high flexibility. They have extensive applications in tasks such as rescue, disaster recovery, inspection and minimally invasive surgery. Current research on snake robots is mainly focused on snake-like locomotion and the embodiment of these motion gaits for different applications. Modular structure and real-time control algorithms are two key aspects for snake robots operating in constrained environments. This review will attempt to address both. First, a review on the snake motion and the body structure is provided, which outlines the biological foundation of all snake robots. This is followed by the mechanical structure of snake robots, especially the structure of elemental snake modules. Finally, control algorithms for variant terrain contours and obstacle avoidance are discussed. The review also outlines emerging application areas and potential future directions of snake robots. (C) 2021 Elsevier B.V. All rights reserved.

关键词： Snake robots Joint structure control algorithms Constrained environment

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Fundamentals in Selecting Input and Output Variables for Composting Process Automatic controllers

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COMPOST SCIENCE & UTILIZATION 2010年第1期18卷 6-21页

作者： Papadimitriou, Efstathios K. Bidlingmaier, Werner Gea, Teresa Reclay Holding GmbH Cologne Germany Bauhaus Univ Weimar Waste Management Chair D-99423 Weimar Germany Univ Autonoma Barcelona Dept Chem Engn ETSE E-08193 Barcelona Spain

This paper provides a critical analysis of the fundamental principles involved in the selection of input and output variables for automatic controllers of composting processes. Research results and technological advancements make available a number of parameters which may be used by a composting process controller. Parameters based on ventilation have been identified as the most appropriate controller output variables. On-line monitoring of odour generation potential and pathogen destruction has not become feasible, although recent advances indicate potential for electronic noses and biosensors. On-line measurement of reaction rate heavily depends on the suitability of microbial respirometric methods. Water content of the material being composted may be useful in on-line evaluation of reaction rate if relationships between water loss rate and respiration rate are adequately described. Developments in artificial intelligence offer, however, new avenues regarding real-time estimation of reaction rates. In general, the first experiences from application of artificial intelligence on composting process control indicate potential for substantial utility.

关键词： Composting Studies control algorithms Ventilation Variables controllers

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Operator Error Based Design of Position controllers for Dynamically Slow Systems

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IFAC Proceedings Volumes 2013年第5期46卷 517-522页

作者： Mark D. Elton Wayne J. Book HUSCO International Waukesha WI USA 53189 USA (Tel: 404-385-1882 Georgia Institute of Technology Atlanta GA 30332 USA (Tel: 404-894-3247)

Previous work has found that performance with position control exceeds that with rate control except for dynamically slow systems, such as hydraulic machines. In an effort to extend the intuitiveness of position control to these systems, a novel human-machine interface was applied to a dynamically slow system. This paper analyzes the cost in time and in control effort of the errors operators made while controlling the position of a dynamically slow system. From this analysis, two “smoothing” position controllers were designed and tested on the same system. The first controller, the best fit controller , showed significant improvement for tracking tasks and maintained the near optimal performance of the full state feedback position controller on point-to-point motion tasks. The second controller, the time elimination controller , showed statistically similar performance on all of the tasks to the full state feedback position controller.

关键词： Human-machine interface control algorithms position control human error

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