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8th Annual IEEE Energy Conversion Congress and Exposition (ECCE)

作者： Sridhar, Anantharaghavan Kollmeyer, Phillip J. Jahns, T. M. Univ Wisconsin WEMPEC Madison WI 53706 USA

ISBN: (纸本)9781509007370

For battery and ultracapacitor hybrid energy storage systems, the design and control of the DC-DC converter is an important stage of the system design process. The design approach for a model-based controller for a half-bridge DC-DC converter is presented with experimental results from a scaled test configuration. The contribution of this paper lies in presenting a well-behaved discrete-time system model, a controller tuning methodology, and an effective technique to address the nonlinear system response caused by discontinuous conduction. The results show that the controller bandwidth and command tracking that is achieved with the proposed techniques meet application requirements, and that reduced design effort is required for the presented tuning methodology, combined with helpful physical insights. The presented approach can also be generalized to other DC-DC converter systems.

关键词： DC-DC converter model-based control electric vehicles hybrid energy storage system ultracapacitor battery

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model-based control of Vapor-recompressed Batch Distillation Column

Model-based Control of Vapor-recompressed Batch Distillation...

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10th IFAC Symposium on Advanced control of Chemical Processes (ADCHEM)

作者： Vibhute, Madhuri M. Jogwar, Sujit S. Indian Inst Technol Bombay 400076 Maharashtra India

This article provides a comparison of control strategies for an economically attractive vapor-recompressed batch distillation (VRBD) column. A VRBD column exhibits nonlinear dynamics with strong inter-stream interactions due to energy-integration, which can give rise to difficulties in controlling the operation using traditional linear controllers. In this paper, we propose and compare model-based control strategies such as linear quadratic regulator (LQR), linear model predictive control (LMPC) and Globally linearizing controller (GLC) for a VRBD column to achieve desired distillate purity with minimum energy consumption. The effectiveness of these control strategies is illustrated using a simulation case study of benzene/toluene separation in a VRBD column. (C) 2018, IFAC (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Energy-integration heat pump batch distillation model-based control input/output linearization linear quadratic regulator model predictive control

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model-based control of the Mitsubishi PA-10 robot arm: Application to robot-assisted surgery

Model-based control of the Mitsubishi PA-10 robot arm: Appli...

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IEEE International Conference on Robotics and Automation

作者： Kennedy, CW Desai, JP Drexel Univ Program Robot Intelligent Sensing & Mechatron PRISM Lab Philadelphia PA 19104 USA

ISBN: (纸本)0780382323

The purpose of this paper is to present our results in developing a dynamic model of the Mitsubishi PA-10 robot arm for the purpose of low velocity trajectory tracking using low feedback gains. The PA-10 is ideal for precise manipulation tasks due to the backdrivabitity, precise positioning capabilities, and zero backlash afforded by its harmonic drive transmission (HDT). However, the compliance and oscillations inherent in harmonic drive systems, and the lack of any technical information on the internal dynamics of the transmission, make the development of an accurate dynamic model of the robot extremely challenging. The novelty of this research is therefore the development of a systematic algorithm to extract the model parameters of a harmonic drive transmission in the robot arm to facilitate model-based control. We have modeled all 7 joints of the Mitsubishi PA-10, and we have done several experiments to identify the various parameters of the harmonic drive system. We conclude with a sample trajectory tracking task which demonstrates our model-based controller for the Mitsubishi PA-10 robot arm.

关键词： Mitsubishi PA-10 model-based control harmonic drive transmission robot-assisted surgery

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Asymptotic statistical analysis for model-based control design strategies

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AUTOMATICA 2011年第5期47卷 1041-1046页

作者： Esparza, Alicia Agueero, Juan C. Rojas, Cristian R. Godoy, Boris I. Univ Newcastle Ctr Complex Dynam Syst & Control CDSC Newcastle NSW 2308 Australia Univ Politecn Valencia Dept Syst Engn & Control Valencia 46022 Spain Royal Inst Technol KTH ACCESS Linnaeus Ctr SE-10044 Stockholm Sweden

In this paper, we generalize existing fundamental limitations on the accuracy of the estimation of dynamic models. In addition, we study the large sample statistical behavior of different estimation-based controller design strategies. In particular, fundamental limitations on the closed-loop performance using a controller obtained by Virtual Reference Feedback Tuning (VRFT) are studied. We also extend our results to more general estimation-based control design strategies. We present numerical examples to show the application of our results. (C) 2011 Elsevier Ltd. All rights reserved.

关键词： System identification Maximum likelihood model-based control

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model-based control of Communication Networks

Model-Based Control of Communication Networks

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18th Annual International Mediterranean Conference on control and Automation (MED)

作者： Pietrabissa, Antonio Priscoli, Francesco Delli Univ Roma La Sapienza Comp & Syst Sci Dept DIS Rome Italy

ISBN: (纸本)9781424480920

This paper presents a design procedure for access and congestion control in communication networks. Motivated by an analysis of the characteristics of communication networks, the proposed approach makes use of model-based control methodologies, i.e. Internal model control, model Reference control and the Smith's principle. The design procedure is then applied to the problems of access control in satellite networks and congestion control in terrestrial packet networks. The resulting schemes, obtained with the aim of providing full link utilization and congestion avoidance, respectively, are equal to two protocols in the literature, and, additionally, are enhanced to provide robustness with respect to time-varying delays.

关键词： model-based control robust control communication networks

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model-based control for Fed-Batch Enzymatic Hydrolysis Reactor of Lignocellulosic Biomass 6

Model-Based Control for Fed-Batch Enzymatic Hydrolysis React...

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6th International Conference on control, Automation and Robotics (ICCAR)

作者： Areeya, Sukunya Tawai, Atthasit Sriariyanun, Malinee King Mongkuts Univ Technol NorthBangkok Sirindhorn Int Thai German Grad Sch Engn Dept Mech & Proc Engn Bangkok Thailand

ISBN: (纸本)9781728161396

In this study, model predictive control (MPC) based on a semi-mechanistic model with sugar products as a competitive inhibitor was developed for the fed-batch enzymatic hydrolysis of a dilute acid pretreated of lignocellulosic biomass. A classical proportional integral derivative (PID) controller cannot guarantee a satisfactory response. Therefore, to improve the controller response of more complicated systems such as nonlinear processes that need a more efficient control system, the model-based control strategies are needed. Generic model control (GMC) which is a simple structure as PM controller and MPC controller which is applying the advanced optimization algorithm to minimize the error of input variable deviations and predicted output variables are implemented to control the glucose concentration by the manipulation of the dilution rate. The performance of MPC controller is compared to PM and GMC controller. For the results of controller performance, MPC is the most superior controller assessed by settling time and performance criterions in terms of the Integral of Absolute value of Error (IAE) and Integral of Square of Error (ISE).

关键词： model predictive control the semi-mechanistic model the fed-batch reactor enzymatic hydrolysis process lignocellulosic biomass model-based control

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Advanced model-based control of a 6-DOF Hexapod Robot: A Case Study

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2010年第2期15卷 269-279页

作者： Abdellatif, Houssem Heimann, Bodo Leibniz Univ Hannover Inst Robot D-30167 Hannover Germany Leibniz Univ Hannover Inst Mechatron Syst Hannover Ctr Mechatron D-30167 Hannover Germany

In the vast majority of publications, it is noticeably claimed that parallel robots or manipulators are supposed to perform better than their serial counterparts. However, in practice, such mechanisms suffer from many problems, as theoretically provided potentials are difficult to exploit. This paper focuses on the issue of dynamics and control and provides a methodology to achieve accurate control for parallel manipulators in the range of high dynamics. The general case of a 6-DOF mechanism is chosen as the case study to substantiate the approach by experimental results. An important contribution is the emphasis on the structural properties of 6-DOF parallel robots to derive an appropriate and integrated control strategy that leads to the improvement of tracking performance by using only the available measurements of actuator positions. First, accurate and computationally efficient modeling of the dynamics is discussed. It is followed by presenting appropriate and optimal design of experimental parameter identification. The development of the control scheme begins with robust design of controller-observer for the single actuators. It is enhanced by a centralized feedforward dynamics compensation. Since systematic tracking errors always remain, a model-based iterative learning controller is designed to further increase the accuracy at high dynamics.

关键词： Dynamics identification model-based control parallel robots

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Distributed model-based control and Scheduling for Load Frequency Regulation of Smart Grids Over Limited Bandwidth Networks

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IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 2018年第5期14卷 1814-1823页

作者： Liu, Shichao Liu, Peter Xiaoping Soochow Univ Sch Comp Sci & Technol Suzhou Peoples R China Beijing Jiaotong Univ Sch Mech Elect & Control Engn Beijing 100044 Peoples R China Carleton Univ Dept Syst & Comp Engn Ottawa ON K1S 5B6 Canada

An integrated model-based control and scheduling scheme is proposed for the load frequency control (LFC) of large-scale power systems under the distributed structure and uncertainties. Specifically, the limited bandwidth constraint is considered when state observation is exchanged over shared communication networks. Each area controller uses the explicit models of its own and neighboring areas to predict state observations when the actual one is not available. At each transmission instant, the state observation of the scheduled area is broadcasted to the relevant areas and the model-based controllers are partially updated. By properly scheduling the transmission sequence and intervals, the stability of the power system can be guaranteed with a substantial reduction of the bandwidth usage and this is proven by performing a thorough theoretical analysis. Simulation results of a four-area power system verify that the proposed distributed model-based control scheme integrated with a proper scheduling strategy can greatly enhance the performance and the resiliency to parameter uncertainty in large-scale power systems.

关键词： Distributed control load frequency control (LFC) model-based control smart grids

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Suppression of transient vibration for geared mechanical system with backlash using model-based control

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JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING 2004年第1期47卷 327-334页

作者： Itoh, M Miyagi Natl Coll Technol Dept Mech Engn Natori Miyagi 9811239 Japan

This paper deals with a control technique of eliminating the transient vibration of a geared mechanical system with backlash. This technique is based on a model-based control in order to establish the damping effect at the driven machine part. The control model of dynamical compensator is composed of a linear reduced-order model related to the velocity control loop and the delay element related to the backlash. The control model estimates a load speed converted to the motor shift. The difference between the estimated load speed and the motor speed is calculated dynamically, and it is added to the velocity command to suppress the transient vibration of the load. This control model is easily obtained from design or experimental data and its algorithm can be easily installed in a DSP. This control technique is applied to a mechanical system composed of spur gears. Simulations and experiments show satisfactory control results.

关键词： servo mechanism gear vibration control transient vibration damping backlash model-based control

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Co-Design of Distributed model-based control and Event-Triggering Scheme for Load Frequency Regulation in Smart Grids

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IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 2020年第9期50卷 3311-3319页

作者： Liu, Shichao Luo, Wensheng Wu, Ligang Carleton Univ Dept Elect Ottawa ON K1S 5B6 Canada Harbin Inst Technol Sch Astronaut Harbin 150001 Peoples R China

In this paper, one new distributed load frequency regulation approach is proposed for smart power system operation under two specific practical constraints, including the limited communication resource and speed droop parametric uncertainty. To address these two constraints, the co-design of event-triggering communication scheme and distributed model-based controller is studied. Instead of using zero-order holders, the proposed model-based scheme is able to extend the maximum allowable time interval and thus reduce communication bandwidth usage. In the meantime, the proposed co-design scheme is able to get the model-based control parameters and event-triggering condition metrics simultaneously. This can loosen the conservation in the choice of control gains and event-triggering parameters faced by existing approaches where the control gains are fixed in prior. Comparisons on the multiple-area system confirm that this designed load frequency regulation method significantly reduces the number of required data transmissions without sacrificing the dynamic performance of the frequency and tie-line power. It is also shown that the proposed approach has great robustness to speed droop coefficient uncertainty.

关键词： Load modeling Uncertainty Power system dynamics Frequency control Observers Power grids Event-triggering condition frequency regulation model-based control uncertainties

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