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Analysis of steady-state performance for cross-directional control

IEE PROCEEDINGS-control THEORY AND applications 2002年第5期149卷 433-440页

作者： Wills, AG Heath, WP Univ Newcastle Sch Elect Engn & Comp Sci Callaghan NSW 2308 Australia Univ Newcastle CIDAC Callaghan NSW 2308 Australia

The authors analyse the steady-state behaviour of a class of cross-directional controllers that are pertinent to general web-forming processes. Their analysis is framed in terms of the controllable space prescribed by the interaction matrix and general discrete orthonormal basis descriptions of both the input and output space under the assumption of closed-loop stability. The specific choice of controller defines (whether explicitly or implicitly) an additional assumed controlled space. It is well known that the controllable space determines a lower bound on output variation. They examine the implications of integral action and provide sufficient conditions for the steady-state output variation to achieve this lower bound. They confirm some intuitive results that connect the optimal constrained and unconstrained steady-state solutions for model-based control with no model mismatch. Model mismatch is usually detrimental to steady-state performance. This effect is interpreted in terms of leakage between the controllable and assumed controlled spaces, as well as their respective orthogonal complements.

关键词： optimal unconstrained steady-state solutions closed-loop stability sufficient conditions integral action predictive control steady-state performance model-based control control technology and theory model mismatch steel rolling mills transfer function matrix control system analysis stability criteria web-forming processes forming processes Optimal control general discrete orthonormal basis descriptions Algebra process control singular value decomposition Forming processes Discrete control systems interaction matrix discrete time systems leakage input space orthogonal complements paper-making machines closed loop systems output space control system analysis and synthesis methods transfer function matrices steady-state output variation control applications in manufacturing processes controllable space optimal constrained steady-state solutions closed-loop system Stability in control theory cross-directional control discrete-time linear time-invariant models plastic film extrusion systems

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A UNIFIED APPROACH TO THE DECOUPLED DISCRETE ADAPTIVE-control OF MANIPULATORS

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IEE PROCEEDINGS-D control THEORY AND applications 1985年第4期132卷 151-157页

作者： STOTEN, DP Department of Mechanical Engineering University of Bristol Bristol UK

The author has previously presented work concerned with the automatic control of industrial-type robots [1, 2]. The quite formidable problems of cross coupling of dynamics, extensive nonlinearities, unknown parameter changes and modelling errors were overcome by a technique of model reference adaptive control. Furthermore, the author has shown [3] that this technique is applicable to most types of industrial robots (according to a classification of Coiffet [4]). In this paper, we show that a simplification of the model of the robot yields a particularly attractive form of model reference adaptive controller, whereby the strategy for each link is decoupled from all the other strategies. The main advantages in this are that the controller design is much simpler than before, and that the amount of computation is reduced. Simulation studies support the view that the loss of information induced by the a priori choice of a simple robot model has little effect on the performance of the closed-loop system.

关键词： Self-adjusting control systems unified approach manipulators industrial robots Discrete control systems robot model control technology and theory controller design control system synthesis manufacturing processes model reference adaptive control systems closed-loop system discrete systems control applications in manufacturing processes Robotics control system analysis and synthesis methods model reference adaptive controller decoupled discrete adaptive control

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ROBUST NONLINEAR FEEDBACK-control FOR ROBOTIC MANIPULATORS

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IEE PROCEEDINGS-D control THEORY AND applications 1985年第4期132卷 134-143页

作者： TOURASSIS, VD NEUMAN, CP Department of Electrical and Computer Engineering Robotics Institute Carnegie-Mellon University Pittsburgh USA

Nonlinear feedback control algorithms for manipulators utilise the complete (coupled and nonlinear) dynamic model to decouple the robot joints. In this framework, we present a comparative evaluation of the computed-torque and direct-design control algorithms, and outline the practical problems introduced by modelling inaccuracies, unmodelled dynamics and parameter errors. We then formulate the α-computed-torque nonlinear feedback control algorithm which is robust in the presence of the aforementioned error sources. Numerical experiments with cylindrical robots confirm the robustness and applicability of our α-computed-torque algorithm.

关键词： Nonlinear control systems industrial robots parameter errors robotic manipulators control technology and theory nonlinear feedback control control system synthesis dynamic model cylindrical robots manufacturing processes computed torque algorithm control applications in manufacturing processes feedback Robotics nonlinear control systems control system analysis and synthesis methods direct-design control algorithms

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COMPUTER-AIDED-DESIGN OF NONLINEAR controlLERS FOR TORQUE controlLED ROBOT ARMS

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IEE PROCEEDINGS-D control THEORY AND applications 1984年第1期131卷 8-14页

作者： SAHBA, M MAYNE, DQ Department of Electrical Engineering Imperial College of Science & Technology London UK

The paper extends a design methodology for designing nonlinear controllers for torque-controlled robot arms. The controller consists of a nonlinear precompensator which makes the robot arm appear as a set of linear second-order systems (one linear system for each degree of freedom) and a linear feedback controller. The nonlinear controller is parametrised by the desired closed-loop transfer function, which is linear. This automatically achieves stability of the nominal system. The parameters of the controller, which are parameters, such as bandwidth, of the desired closed-loop transfer function, are then adjusted to satisfy engineering constraints such as hard constraints on the control (which is a nonlinear function of the state), robust performance and robust stability (maintenance of performance and stability despite variations in the parameters, such as friction and mass, of the robot arm). It is shown how recently developed optimisation-based design methods may be employed. An example is considered, and simulation results presented to illustrate the design procedure.

关键词： Nonlinear control systems control system CAD computer-aided-design linear feedback controller CAD Robotics torque controlled robot arms closed loop systems control applications in manufacturing processes nonlinear control systems closed-loop transfer function linear second-order systems industrial robots control technology and theory robust performance nonlinear precompensator nonlinear controllers Mechanical variables control torque control control engineering computing manufacturing processes controllers robust stability closed loop system controllers Industrial applications of IT Instrumentation control system analysis and synthesis methods

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VCM controller design with enhanced disturbance decoupling for precise automated manufacturing processes

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IET ELECTRIC POWER applications 2012年第8期6卷 575-582页

作者： Seok, J. -K. Kim, S. -K. Yeungnam Univ Sch Elect Engn Kyongsan 712749 Kyungbuk South Korea Korea Electrotechnol Res Inst High Voltage Testing Dept Changwon Si 642120 Gyeongsangnam D South Korea

In this study, a controller design of a voice coil motor (VCM) with enhanced disturbance rejection (or disturbance input decoupling) performance, especially for precise automated manufacturing processes, is proposed. The proposed disturbance decoupling strategies are twofold: (1) a dynamic stiffness-enhanced position-velocity controller and (2) state-filter-based disturbance input decoupling in a force control mode. First, a state-feedback style position-velocity controller is designed to meet tracking requirements and improve disturbance rejection in VCM control. In this control structure, the conflict in requirements between command tracking and disturbance rejection can be considerably alleviated. This design property provides powerful insights into achieving precise position control. To enhance the force control accuracy, a disturbance state filter for force control is also applied to estimate and compensate for the varying dynamics of VCM systems, such as non-linearly variable loads and other uncertainties. The state filter estimation accuracy in the presence of system parameter errors is fully analysed. In addition, both disturbance decoupling methods are computationally efficient and robust to other parameter errors. The proposed algorithms are implemented in a developed VCM actuator and verified to be appropriate for a VCM drive system with unknown disturbances.

关键词： Spatial variables control control applications in manufacturing processes enhanced disturbance decoupling control of electric power systems control structure voice coil motor force control Current control manufacturing processes electric current control control gear and apparatus control technology and theory control system synthesis command tracking state filter based disturbance input decoupling control system analysis and synthesis methods d.c. machines Actuating and final control devices velocity control state feedback enhanced disturbance rejection Small and special purpose electric machines process control Mechanical variables control Velocity, acceleration and rotation control manufacturing processes dynamic stiffness enhanced position velocity controller machine control coils position control precise automated manufacturing processes VCM controller design actuators a.c. machines disturbance state filter

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Process identifier and its application to industrial control

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IEE PROCEEDINGS-control THEORY AND applications 2000年第2期147卷 196-204页

作者： Crowe, J Johnson, MA Roche Prod Ltd Dalry KA24 5JJ Ayr Scotland Univ Strathclyde Ind Control Ctr Glasgow G1 1QE Lanark Scotland

Many industrial controllers use the relay experiment to estimate the system ultimate data for three-term controller tuning. However, for some systems the relay experiment describing function analysis fan produce poor estimates. The paper reports a new and more accurate method of finding system frequency response data including the system ultimate data. A full demonstration of the accuracy attainable by the new method is presented. The new method was motivated by a phase-locked loop concept. The additional flexibility to find gain and phase margins, or the peak resonance frequency is demonstrated. The paper includes the application of the module to closed-loop system identification and a brief discussion of the LabVIEW implementation.

关键词： Industrial processes tuning Simulation, modelling and identification control technology and theory three-term control LabVIEW manufacturing processes phase locked loops peak resonance frequency frequency response industrial controllers relay control three-term controller tuning process identifier Nonlinear control systems process control control in industrial production systems identification control system analysis and synthesis methods control applications in manufacturing processes gain margins phase-locked loop concept ultimate data phase margins

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Policy to cope with deadlocks and livelocks for flexible manufacturing systems using the max'-controlled new smart siphons

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IET control THEORY AND applications 2014年第16期8卷 1607-1616页

作者： Li, Shaoyong An, Aimin Wu, Hongmei Hou, Caiqin Cai, Ying Han, Xilian Wang, Ying Lanzhou Univ Technol Sch Civil Engn Lanzhou 730050 Peoples R China Lanzhou Univ Technol Coll Elect & Informat Engn Lanzhou 730050 Peoples R China Lanzhou Univ Technol Sch Sci Lanzhou 730050 Peoples R China

Both deadlocks and livelocks can result in the serious problems in running process of a flexible manufacturing system (FMS). This study proposes an iterative control policy for an FMS modelled with Petri nets on the basis of a combination of revised mixed integer programming and the concept of max'-controlled siphon, which can not only solve the smart siphons associated with deadlocks and livelocks in Petri nets directly, but also make them max'-controlled. Accordingly, an original Petri net system with deadlocks and livelocks can be turned into the live controlled one with a simple structure, and meanwhile no smart siphons can be found in it. It lays foundations for further analysis and control on deadlocks and livelocks. Compared with the existing methods in the literature, the proposed one is more general and effective. A theoretical analysis and several examples are given to demonstrate its efficiency and practical potentials.

关键词： deadlocks control applications in manufacturing processes smart siphons livelocks FMS max′-controlled siphon Petri nets Combinatorial mathematics Interpolation and function approximation (numerical analysis) iterative control iterative methods flexible manufacturing systems

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Enumeration of lost states of a suboptimal control model of a well-known S³PR

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IET control THEORY AND applications 2011年第11期5卷 1277-1286页

作者： Chao, D. Y. Natl ChengChi Univ MIS Taipei 116 Taiwan

Deadlocks halt a system completely causing a significant financial loss to a company. To resolve this problem, deadlock prevention (by adding monitors to problematic siphons) has been quite a popular research. Uzam and Zhou applied region analysis to a well-known (SPR)-P-3 to achieve a near-maximum permissive control policy. However, they do not list the lost states, which is essential to improve the control model. The lost states can be obtained by reachability analysis, which is a rather tedious process. Without theory, one could waste much time failing to reach more states and there is no effective solution so far in the literature. Thus, it is important to find out the condition where more states can be reached. If no more states can be reached, one should simply stop and remain satisfied with the suboptimal model obtained or employ weighted control arcs to reach more states. It is desirable to compute the gain of states without the costly reachability analysis when an alternative control policy is employed. It is interesting to explore which live states are lost in the first-met bad marking (FBM) method, which has not yet been available in the literature. This study presents the very first method to compute all lost states based on invariant without reachability analysis.

关键词： problematic siphon monitoring control applications in manufacturing processes lost state enumeration first-met bad marking method S3PR Combinatorial mathematics reachability analysis region analysis control technology and theory deadlock prevention flexible manufacturing systems manufacturing systems near-maximum permissive control policy system deadlocks Petri nets company financial loss Optimal control weighted control flexible manufacturing system suboptimal control model state gain suboptimal control

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PRACTICAL APPLICATION OF A HEURISTIC FUZZY RULE-BASED controlLER TO THE DYNAMIC control OF A ROBOT ARM

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IEE PROCEEDINGS-D control THEORY AND applications 1985年第4期132卷 190-203页

作者： MANDIC, NJ SCHARF, EM MAMDANI, EH Department of Electrical & Electronic Engineering Queen Mary College London UK

The paper reports results of the practical application of the self-organising controller to the simultaneous control of two interacting joints of a robot. The rationale for its use and the architecture of this heuristic fuzzy rule-based dynamic control approach are outlined. This shows it to be a relatively simple intelligent knowledge-based system capable of both learning and displaying a variable nonlinear input/output relationship. In both step response and tracking experiments the self-organising controller was found to perform better than a conventional PID controller under similar circumstances, although some tuning was required for the former system.

关键词： heuristic fuzzy rule-based controller self-organising controller Robotics interacting joints control applications in manufacturing processes dynamic control tracking robot arm Self-adjusting control systems industrial robots step response control technology and theory control system synthesis self-adjusting systems position control intelligent knowledge-based system manufacturing processes Spatial variables control control system analysis and synthesis methods

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Identifying temporal and spatial responses of cross machine actuators for sheet-forming processes

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IEE PROCEEDINGS-control THEORY AND applications 2002年第5期149卷 441-447页

作者： Chen, SC Subbarayan, R ABB Proc Ind Inc Columbus OH 43202 USA

The cross-machine direction (CD) control performance for sheet-forming processes is heavily dependent on the accuracy of the models that characterise the responses of all CD actuators. Adjustment of each CD actuator generally affects a portion of sheet in both machine (temporal) direction and cross-machine (spatial) direction. A method to identify CD actuator responses in both directions by utilising two-dimensional sheet variation measurements is described. The new modelling method allows simultaneous identification of individual two-dimensional responses for all CD actuators and avoids the severe impacts of conventional simple step tests.

关键词： cross-machine direction control performance Industrial processes temporal response Simulation, modelling and identification control technology and theory modelling method parameter estimation paper industry control system analysis spatial response optimal control forming processes Optimal control control applications in wood-processing, pulp and paper industries actuators process control Forming processes simultaneous 2D response identification sheet-forming processes production paper-machine two-dimensional sheet variation measurements spatial variables control control system analysis and synthesis methods control applications in manufacturing processes Paper and pulp industries cross machine actuators Spatial variables control optimal control performance

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