Simultaneously acting backlash and Coulomb friction induce long standstill periods or stable limit cycles in speed- and postion-controlled elastic systems. The extended Harmonic Balance yields linear measures to reduc...
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This paper describes an adaptive speed governor of hydroelectric generating set, which can adjust its parameters automatically with the variation of operating conditions. An 8086 16-bit microprocessor supports the gov...
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This paper describes an adaptive speed governor of hydroelectric generating set, which can adjust its parameters automatically with the variation of operating conditions. An 8086 16-bit microprocessor supports the governor with the aid of special software. A new configuration of direct model reference adaptive control (MRAC) system is developed which can be used in non-minimum phase systems. The hydroelectric generating sets have wider stable ranges and higher frequency-following accuracy using the adaptive governors than those using conventional PID regulators.
A new and widespread crisis resulting from the reduction in oil supply has made its impact not only upon regional energy demand but also on regional economic development. Hokkaido region of Japan has a heavy foreign a...
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A new and widespread crisis resulting from the reduction in oil supply has made its impact not only upon regional energy demand but also on regional economic development. Hokkaido region of Japan has a heavy foreign and interregional trade deficit but an abundant potential of energy and also good prospects for regional development. We have estimated the foreign and interregional trade deficit by using model reference adaptive controlmodel, and the reduction of the foreign and interregional trade deficit of Hokkaido by the substitution of oil energy with soft energy utilization and by the location of high technology industries. As for the analytical results, the reductions in the foreign and interregional trade deficit of Hokkaido by the substitution oil energy with soft energy utilization and by the location of high technology industries have demonstrated a high level of success. Besides this, the economically direct and indirect impacts of alternative investments in the soft energy industrie have been estimated to be at high level in Hokkaido.
Properties of velocity gradient algorithms at the presence of disturbances and in nonstationary conditions are considered. The aim of investigation is a receiving of recommendations for an employment and determination...
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Properties of velocity gradient algorithms at the presence of disturbances and in nonstationary conditions are considered. The aim of investigation is a receiving of recommendations for an employment and determination algorithms efficiency regien. Comparative analysis is based on the Lyapunov’s method and simulation data.
A nonlinear model reference adaptive control system is formulated using a nonlinear autoregressive moving average model derived from discrete-time Volterra series. The theory is shown to be useful for the control of n...
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A nonlinear model reference adaptive control system is formulated using a nonlinear autoregressive moving average model derived from discrete-time Volterra series. The theory is shown to be useful for the control of nonlinear processes, applying to a physiological problem, i.e. artificial respiration which controls alveolar carbon dioxide concentration within a desired range of value, eliminating the effect of irregular metabolic rate change. This is a successive study to the control of artificial respiration based on a partial model matching method with an appropriate referencemodel, which requires only a limited knowledge of a respiratory system, under the condition that the effect of metabolic rate change cannot be recognized at all. The design of the control system based on the proposed model reference adaptive control method does not require any knowledge about a respiratory system except for a rough knowledge about its structure. This enables us to control alveolar CO concentration to have an appropriate value or a clinically desirable dynamic characteristics given beforehand by doctors, when the respiration must be urgently controlled, although accurate control may not be possible as parameters of a patient cannot be known on the spot.
model reference adaptive control is applied to the control of non-linear systems represented by the Wiener model, wherein the non-linearity is any-order poly-nominal. The adaptive algorithms proposed in this paper gua...
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model reference adaptive control is applied to the control of non-linear systems represented by the Wiener model, wherein the non-linearity is any-order poly-nominal. The adaptive algorithms proposed in this paper guarantee the asymptotic stability of the error between the plant output and that of the referencemodel by using only input and output measurements. The concept of growing at the same rate is applied in the stability proof. Smoothing the output response is also considered. To illustrate the validity, the proposed adaptive algorithms are demonstrated by a numerical example.
This paper presents a study of the control of a fluidized bed catalytic reactor using the model reference adaptive control algorithm with independent tracking and regulation objectives as presented by Landau and Lozan...
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This paper presents a study of the control of a fluidized bed catalytic reactor using the model reference adaptive control algorithm with independent tracking and regulation objectives as presented by Landau and Lozano (1981). The purpose of the control is to maintain the temperature of the reactor as near as possible to a desired set value (490°C). Some of the heat produced by the exothermal reaction taking place between propylene, ammonia and oxygen is carried away by a ventilator. The control action is based on a low order mathematical model with time varying parameters. This method of control results in a significantly improved control for both servo and regulatory control.
In the literature to date there is a dichotomy between results on continuous- and discrete-time modelreferencecontrol. This is highlighted in the case of continuous-time systems having relative degree greater than o...
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In the literature to date there is a dichotomy between results on continuous- and discrete-time modelreferencecontrol. This is highlighted in the case of continuous-time systems having relative degree greater than one. It is known that, for rapid sampling, these systems always give rise to a non-stably invertible discrete-time system and thus discrete modelreferencecontrol is ruled out. On the other hand, there are many results pertaining to continuous-time modelreferencecontrol of such systems. This apparent paradox can be resolved by a slight modification to the discrete-time model format as shown later. This alternative model is used to develop a new discrete model reference adaptive control law and a convergence analysis for the algorithm is presented.
An industrial robot is composed of a multidegree-of-freedom mechanism, associated actuator subsystems, and a computer based control system. In general, it is difficult to accurately control the motion of mechanical ma...
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An industrial robot is composed of a multidegree-of-freedom mechanism, associated actuator subsystems, and a computer based control system. In general, it is difficult to accurately control the motion of mechanical manipulators by the usual linear control methods, because of the complex nonlinearities of mechanical dynamics and parameter uncertainty. Strong coupling among the actuator subsystems occurs, due to the influence of the inertial forces in the mechanical parts which causes interaction between links. Thus, when the nonlinearities are essential, linear approximations give poor results and the complete dynamic models have to be considered. In the present work the complete nonlinear dynamic model of the robotic manipulator is considered together with its joint actuator (i.e. d.c. motor) dynamics. A control law of the robotic system is developed based on the well known”model reference adaptive control” (MRAC) approach. An exhaustive study of a decoupled referencemodel of the who1 e robotic system is proposed which possesses strong stability properties. The paper is completed by sane simulation results on trajectory following control of a 3-link manipulator.
The design of a multivariable sliding mode controller based on the equations of motion of an unmanned aircraft or remotely piloted vehicle (RPV)is described and an emphasis on robust eigenstructure assignment is given...
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The design of a multivariable sliding mode controller based on the equations of motion of an unmanned aircraft or remotely piloted vehicle (RPV)is described and an emphasis on robust eigenstructure assignment is given. The linear and nonlinear model responses are compared when subjected to the same variable-structure control design. The ability of the controller to cope with uncertain parameter variations is investigated as a problem of robustness assessment. It is shown that after sliding has commenced, the response of the objective system is tracked by the corresponding nonlinear or perturbed system. A measure of sensitivity is defined as the proximity of the actual system modal structure and response to that of the designed objective. The nonlinear system with variable- structure controller is also shown to be robust in the sense that this objective response is always recovered after a disturbance or parameter variation. (Author)
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