The main objective of the Multilevel Advanced Railways Conflict resolution and Operation control (MARCO) project is to find suitable algorithms to optimise train traffic when normal schedules are somehow disturbed. Th...
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The main objective of the Multilevel Advanced Railways Conflict resolution and Operation control (MARCO) project is to find suitable algorithms to optimise train traffic when normal schedules are somehow disturbed. These algorithms are tested on several modelled rail and metro networks, undergoing the most frequently occurred disturbances of everyday life. A demonstrator verifies their applicability under the given circumstances.
This paper addresses the position-control problem with variable gains for robot manipulators. We present a new regulator based on a hyperbolic-sine structure with tuning rules for control gains. It is demonstrated tha...
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This paper addresses the position-control problem with variable gains for robot manipulators. We present a new regulator based on a hyperbolic-sine structure with tuning rules for control gains. It is demonstrated that the equilibrium point of the closed-loop system is globally, asymptotically stable according to Lyapunov theory. By using a similar methodology, this concept can be extended to other unbounded controllers such as PD and PID. In order to show the usefulness of the proposed scheme and with the purpose of validating its asymptotical stability property, an experimental comparison involving constant gains controllers, for example: simple PD, PID and hyperbolic-tangent schemes vs variable-gains hyperbolic-sine and PD control schemes, was performed by using a three degree-of-freedom, direct-drive robot manipulator.
This paper is concerned with the control of a prismatic joint using a high performance industrial microcontroller, designed and bilt for low cost applications. A modular system with its intrinsic advantages was implem...
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This paper is concerned with the control of a prismatic joint using a high performance industrial microcontroller, designed and bilt for low cost applications. A modular system with its intrinsic advantages was implemented consisting of a main, an analog I/O, a pulse-width modulator and a power drive boards. The robot prismatic joint is driven by a DC servomotor coupled to a shaft encoder, which provides directly data for calculating position, velocity and acceleration. The software controls all the key parameters such as feedback gain, response rate and motor safe area operating limits. A distributed architecture is proposed with a master 16 bit processor transformation of coordinates and to give directions to each individual axis.
An inverse problem of dynamics is considered, namely, it is necessary to reconstruct unknown controls (perturbations) applied to a nonlinear dynamical system and generating an observable motion of the system. The info...
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An inverse problem of dynamics is considered, namely, it is necessary to reconstruct unknown controls (perturbations) applied to a nonlinear dynamical system and generating an observable motion of the system. The information for reconstruction is obtained by approximate measurements of varying informational sets of the system. The reconstruction is carried out in real time. This problem is known to be ill-posed. It is proposed to solve it by means of constructive, physical feasible, regularizing positional algorithms for the stable dynamical approximation of unknown controls.
PID controllers have been the most commonly used industrial controllers. A linear PID controller is usually adequate for a nominal process. However, it often behaves poorly for a process with changes or uncertainties ...
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PID controllers have been the most commonly used industrial controllers. A linear PID controller is usually adequate for a nominal process. However, it often behaves poorly for a process with changes or uncertainties in operating conditions or environmental parameters. A nonlinear PID controller is introduced in this paper to alleviate this limitation. The controller gain and integral time are automatically adjusted according to the control error. Two simple nonlinear functions are proposed for the controller gain and integral time respectively. The proposed nonlinear controller is applied to two processes, a linear robotic process and a nonlinear thermoplastic injection molding process. Application examples show that the proposed nonlinear PID controller outperforms the linear PID controller in set-point tracking and load disturbance rejection.
The Process Environment Toolbox for MATLAB/SIMULINK has been created to make laboratory experiments with real time control algorithms very easy. The main goal was to augment MATLAB/SIMULINK in such a way that makes it...
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The Process Environment Toolbox for MATLAB/SIMULINK has been created to make laboratory experiments with real time control algorithms very easy. The main goal was to augment MATLAB/SIMULINK in such a way that makes it possible to perform control system design and simulations and control experiments with real word plants within the same program. The application of the toolbox to the stabilization of an inverted pendulum by a special type of fuzzy controller is presented.
The intelligent assembly or disassembly concept integrates the control and the planning of an automated material handling system based on a set of mobile robots. This work presents and analyses some results in path tr...
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The intelligent assembly or disassembly concept integrates the control and the planning of an automated material handling system based on a set of mobile robots. This work presents and analyses some results in path tracking control on complex plane trajectories for a differential wheeled mobile robot with memorized trajectories. For the same model of the robot, the control uses alternatively two different algorithms. The first one is a bang-bang algorithm and the second is a classical solution in path tracking control.
Seismic loads on piping system due to earthquakes can cause excessive vibrations, which can lead to serious instability resulting in damage or complete failure of piping system. Vibrations in the piping system can be ...
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Seismic loads on piping system due to earthquakes can cause excessive vibrations, which can lead to serious instability resulting in damage or complete failure of piping system. Vibrations in the piping system can be reduced using passive control, active control, semiactive control and hybrid control. In this paper, semi-active magnetorheological (MR) dampers have been studied to mitigate seismic response and vibration control in piping system used in the process industries, fossil and fissile fuel power plant. The performance of MR dampers using various control algorithms is explored. A study is also conducted on the performance of control due to variation in the command voltage of MR dampers. The effectiveness of the MR dampers in terms of the reduction in responses, namely, displacements, accelerations and base shear of the piping system are compared with uncontrolled and passive controlled responses. This study is carried out under four artificial earthquake motions with increasing amplitudes in all the three directions of motion. The analytical results demonstrate that the MR dampers under particular optimum parameters are very effective and practically implementable for the seismic response mitigation, vibration control and seismic requalification of piping system.
A three leveled event production model and scheme of control elaborated on that model is proposed in this paper. Scheme of control is presented as a flow of events and commands in structure of technologically controll...
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A three leveled event production model and scheme of control elaborated on that model is proposed in this paper. Scheme of control is presented as a flow of events and commands in structure of technologically controlled object, automation system, SCAD A, event model, human - operator. Abilities of system's protection from human errors are shown that are provided by personnel action restrictions which introduced as dialog schemes. Dialog of operator with agent is proposed. Solver of the agent is based on ontology of object domain; it allows to execute coordination of processes using logical analysis of the experience accumulated in ontology.
First we show that continuous piecewise-affine systems are equivalent to max-min-plus-scaling systems (i.e., systems that can be modeled using maximization, minimization, addition and scalar multiplication). Next, we ...
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First we show that continuous piecewise-affine systems are equivalent to max-min-plus-scaling systems (i.e., systems that can be modeled using maximization, minimization, addition and scalar multiplication). Next, we consider model predictive control for these systems. In general, this leads to nonlinear non-convex optimization problems. However, we present a method based on canonical forms for max-min-plus-scaling functions to solve these optimization problems in a more efficient way than by just applying nonlinear optimization as was done in previous research.
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