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Hybrid adaptive optimal control of anaerobic fluidized bed bioreactor for the de-icing waste treatment

JOURNAL OF BIOTECHNOLOGY 2003年第2期102卷 165-175页

作者： Seok, J Korea Inst Sci & Technol Water Environm & Remediat Ctr Seoul 130650 South Korea

Hybrid adaptive control strategy was developed and tested for the degradation of propylene glycol, a major component in de-icing waste, in an anaerobic fluidized bed bioreactor (AFBR). A linearized model with time-varying parameters was first employed to describe the dynamic behavior of the AFBR using a recursive off-line system identification method. A hybrid adaptive control strategy was then tested using a recursive off-line system identification routine followed by an on-line adaptive optimal control algorithm. The objective of the controller was to achieve the desired set point value of the propionate concentration (stand-alone control output variable) by manipulating the dilution rate (control input variable). To do so, the optimal control law was developed by minimizing a cost function with constraint equations. This novel idea was successfully applied to the underlying system for 200 h. The set point (700 mg HPr l(-1)) was achieved even in the case where the feed concentration suddenly increased by 50% (9000 mg HPr l(-1) to 13 500 mg HPr l(-1)). (C) 2003 Elsevier Science B.V. All rights reserved.

关键词： linearized model adaptive optimal control anaerobic fluidized bed bioreactor de-icing wastes propylene glycol system identification

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Settling time minimization in PLL frequency synthesizers 1

Settling time minimization in PLL frequency synthesizers

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1st IEEE International Conference on Circuits and Systems for Communications

作者： Min, M Männama, V Paavle, T Tallinn Univ Technol Dept Elect EE-19086 Tallinn Estonia

ISBN: (纸本)5742202601

To minimize the frequency settling time, an attempt to optimize the parameters of the 3(rd) order PLL frequency synthesizer (FS) is described in this paper. Using the quasi-continuous analysis, the analytical expressions for calculating the suboptimal ratios of parameters for the loop filter are derived, expecting the linear transfer characteristic of phase-frequency detector (PFD), and constant gain of the voltage controlled oscillator (VCO). The proposed analytical results can serve as the basis for optimizing the low pass filter (LPF) parameters to ensure the fastest frequency switching process in the PLL FS at a predicted value of the residual frequency error. For practical use, the impact of parameter tolerances to the actual settling time is considered. It is shown that the minimum settling time is considerably sensitive to the values of the LPF component parameters.

关键词： frequency synthesizer linearized model quasi-continuous analysis settling time residual error

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An integrated approach to the control of magnetically confined plasmas

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FUSION ENGINEERING AND DESIGN 2001年 56-57卷 705-709页

作者： Albanese, R Ambrosino, G Ariola, M Bagatin, M Bellina, F Bettini, P Borghi, CA Chitarin, G Coccorese, E Formisano, A Fresa, R De Magistris, M Gnesotto, F Guarnieri, M Marchiori, G Martone, R Pironti, A Ribani, PL Rubinacci, G Stella, A Trevisan, F Villone, F Univ Udine Dipartimento Ingn Elettr Gest & Meccan I-33100 Udine Italy Univ Reggio Calabria I-89060 Reggio Di Calabria Italy Univ Naples Federico II I-80125 Naples Italy Univ Padua I-35131 Padua Italy Univ Bologna I-40136 Bologna Italy Univ SUN I-80131 Naples Italy Consorzio RFX I-35127 Padua Italy Univ Cassino I-03043 Cassino Italy

In this paper, a short review of the work done in the framework of a nation-wide research programme on 'models and Methods for Plasma Control in Magnetically Confined Fusion Experiments' is presented. The broad aim of the overall programme is to develop and propose a new effective and reliable approach to the on-line plasma control for future fusion experiments, starting from the today's theoretical background, validated by experimental evidence from a number of tests performed on existing experiments. The proposed formulation to approach the control problem is a linearized model in terms of suitable state variables and input/output relationships. The basic project has been subdivided into four major areas of investigation: the linearized response plasma model, the three-dimensional electromagnetic model, the identification techniques and finally the plasma control requirements. The most remarkable results, achieved so far in each area above, are presented in the paper. (C) 2001 Elsevier Science B.V. All rights reserved.

关键词： electromagnetic model linearized model plasma control

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Measurement of robustness for biped locomotion using a linearized Poincare map

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ROBOTICA 1996年第3期14卷 253-259页

作者： Cheng, MY Lin, CS [a1]Department of Electrical and Computer Engineering University of Missouri-Columbia Columbia MO65211 (USA)

Many studies on control of dynamic biped walking have been done in the past two decades. While the biped dynamics is highly nonlinear, the stability analysis, if done, is usually based on a linearized model. The validity of the linearized model may become questionable if the walking involves states that are too far away from the operating point. In this paper, an approach for evaluating the robustness based on the linearized Poincare map is suggested and examined. The Poincare map is a useful tool to investigate the periodic motion of a dynamic system. Using the Poincare map, one can study an associated discrete time map instead of studying the continuous time system directly. Investigation of stability of a periodic motion can be reduced to the study of the stability of a fixed point of the Poincare map. The computational method that results in a measurement for evaluating the robustness of biped locomotion is developed. Our simulation study has verified that the suggested measurement is a good indicator.

关键词： biped locomotion Poincare map linearized model

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Active damping control for electrodynamic suspension systems without mechanical transducers

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IEEE TRANSACTIONS ON MAGNETICS 1996年第5期32卷 5055-5057页

作者： Brunelli, B Casadei, D Serra, G Tani, A Dipartimento di Ingegneria Elettrica Bologna Univ. Italy

In this paper an electrodynamic suspension system for maglev vehicles is analysed, in which the active damping of the vertical oscillations is obtained without position, velocity and acceleration transducers. The damping effect is accomplished controlling the supply voltage of the damping coil to respond to current changes due to vertical oscillations. The stability of the suspension system is investigated by a linearized analysis of the model equations, emphasising the influence of the voltage regulator parameters. The performance of the damping system, in terms of step response and ride quality, is also discussed.

关键词： Acceleration active damping control Coils Control systems Damping electrodynamic suspension system Electrodynamics linearized model maglev vehicle Magnetic levitation mechanical variables control ride quality stability Stability analysis step response Transducers Vehicles vertical oscillations Voltage control voltage regulator

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Delay model for Competitive Economic Systems

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Systems Science and Systems Engineering 1996年第2期6卷 162-166页

作者： DENG Feiqi(Institute of System Engineering,Northeast Institute ofHeavy Machinery, Qiqihar 161042, China)FENG Zhaoshu LIU Yongqing(Research Section of System Science, South China Universityof Technology, Guangzhou 510641, China)

In this paper, a delay model for competitive economyic system is presented to replace the Walras-Samuelson model, some analyses are given and a stability criterion is given. Finally,some remarks are given to show the ... 详细信息

关键词： price competitive system dynamic behavior delay linearized model Lyapunovfunctional stability sharp condition.

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COMPUTER-ASSISTED GENERATION OF ROBOT DYNAMIC-modelS IN AN ANALYTICAL FORM

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ACTA APPLICANDAE MATHEMATICAE 1985年第1期3卷 49-70页

作者： VUKOBRATOVIC, M KIRCANSKI, N MIHAILO PUPIN INST BELGRADE YUGOSLAVIA

An algorithm for constructing dynamic models of single-arm robots is presented in this paper. Motion equations of robots in analytical form are derived applying a fully automated procedure. It is shown that the solution of a direct and/or inverse problem based on the analytical model requires considerably fewer floating-point multiplications/additions than is the case with previously-developed numerical methods. The developed method is therefore very suitable for real-time application of robot dynamic models. The developed program package is illustrated using the example of Stanford manipulator.

关键词： 93A99 68K05 Multivariable systems sensitivity model linearized model redundancy symbolic model adaptive control optimal graph structural matrice on-line computation dynamic model Coriolis effects programming language

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Routh Approximant Dynamic Equivalents for Power Systems

引用

IFAC Proceedings Volumes 1979年第5期12卷 58-65页

作者： A.S. Rao S.S. Lamba S.V. Rao Electrical Engineering Department I.I.T. New Delhi-110029 India

Routh approximant method is used to reduce the order of a single machine infinite bus system with excitation control. This is accomplished by reducing the synchronous machine and the excitation system separately and combining them to form the lower dimensional model. A method to obtain dynamic equivalent for a 2 machine system is аlso presented. Making use of the output matrix of the reduced order model the variation of the rotor angle δ can easily be found.

关键词： modelling dynamic equivalents dynamic stability Routh approximants Excitation system output matrix aggregated output linearized model

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STABILITY ANALYSIS OF linearized NUCLEAR-REACTOR BY FINITE-ELEMENT METHOD

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JOURNAL OF NUCLEAR SCIENCE AND TECHNOLOGY 1977年第8期14卷 551-557页

作者： IMASAKI, M OOKI, M KYUSHU INST TECHNOL DEPT ELECT ENGN TABATA KU KITAKYUSHU FUKUOKA JAPAN

Revised December 13, 1976To examine the stability of the natural mode. the followinv method is develooed. Atfirst, the characteristic equation is derived by applying the finite element method to the basic equation for the natural mode. Then, the Nyquist stability criterion is applied to this equation for the present purpose. Using this method, the lowest threshold values of the moderator temperature coeffi-cient are evaluated by trial and error for the azimuthal modes : 1, cos θ, cos 29, cos 3θ. Thereupon these results are compared with those of the previous method, which used the flux shape mode as a basis of modal expansion. Both agreed well. Based on these results, we may conclude that the previous analysis gives a good approximation for the lowest threshold value of an azimuthal mode, although a more extensive study is needed for a reactor of different composition. We can examine the stability of the natural mode by this method without evaluatingthe actual shape of radial modes, but we cannot thereby distinguish their relative stabil-ities

关键词： characteristic equation natural mode finite element method Nyquist stability criterion threshold values moderator temperature coefficient azimuthal mode linearized model space-time kinetics flux shape mode reac-tor stability numerical solution analytical solution accuracy

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