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Forward-model-based control system for robot manipulators

ROBOTICA 2004年第2期22卷 155-161页

作者： Osypiuk, R Finkemeyer, B Wahl, FM Tech Univ Braunschweig Inst Robot & Proc Control D-38106 Braunschweig Germany Tech Univ Szczecin Dept Elect Engn PL-70313 Szczecin Poland

Although numerous sophisticated nonlinear control algorithms exist in literature, it is still state of the art to use simple linear joint controllers in industrial robotic systems. Most nonlinear concepts are based on a more or less accurate inverse model of the robot. In this paper a forward model-based control system, the so-called model Following control (MFC), for robot manipulators is presented. Its theoretical basics and its concept are explained. The quality and the applicability of the MFC control concept has been analyzed in many experiments. The MFC system is compared with classical linear controllers and nonlinear feed forward controllers with respect to robustness. Qualitative as well as quantitative results are presented and discussed.

关键词： model-based control modelling feedforward control model following control

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Identification of friction and rigid-body dynamics of parallel kinematic structures for model-based control

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MULTIBODY SYSTEM DYNAMICS 2004年第3期11卷 273-294页

作者： Grotjahn, M Heimann, B Abdellatif, H Leibniz Univ Hannover Hannover Ctr Mechatron D-30167 Hannover Germany

Until now, the experimental identification of the dynamics of parallel robots is restricted to simple models in combination with adaptive control algorithms. This gap is closed by a new approach presented in this paper, which is suited for even complex parallel kinematic structures. The approach consists of two steps and utilizes simple point-to-point (PTP) motions that lead to a separation of friction and rigid-body dynamics. In the first step, local models are determined for a lot of different configurations, i.e. end-effector positions. In the second step, the overall friction model and the overall rigid-body model are calculated from the local models by linear Least-Squares estimators. The use of linear estimators is based on a formulation of the dynamic equations, which is linear with respect to a dynamic parameter vector of minimal dimension. This formulation is automatically obtained by an algorithm, which utilizes Jourdain's principle of virtual power. The experimental application of the identified model to model-based feedforward control of the innovative hexapod PaLiDA, which has been developed by the Institute of Production Engineering and Machine Tools of the University of Hannover, proves the capability and efficiency of the presented algorithms.

关键词： parallel kinematics closed-loop mechanisms multi-body dynamics friction identification model-based control

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EFFECTIVE IMPLEMENTATION OF CONSERVATIVE model-based control ALGORITHM

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CHEMICAL ENGINEERING COMMUNICATIONS 1994年第1期128卷 135-141页

作者： RANGAIAH, GP KRISHNASWAMY, PR [a]Department of Chemical Engineering National University of Singapore 0511 Singapore

Recently a digital control algorithm, known as Conservative model based controller (CMBC), with superior performance compared to many other currently popular controllers was discussed in the literature. It provides offset-free performance;however a large number of terms will have to be included in the algorithm to achieve this. This paper describes two modification to ensure zero offset with limited number of terms in the algorithm. These modifications are evaluated through simulation by considering a few typical first order with dead time (FODT) processes. Both modifications provide offset-free performance, and either could be employed depending on the nature of the process response data on hand.

关键词： model-based control DIGITAL control ALGORITHM FEEDBACK control

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Experimental approach applied to practical classes on digital control systems: A contribution from model-based control theory

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INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING EDUCATION 2020年第2期57卷 99-132页

作者： Serra, Ginalber L. O. Fed Inst Educ Sci & Technol Sao Luis Maranhao Brazil

In this paper, an experimental procedure used efficiently and successfully for teaching in practical classes of digital control course for undergraduate students who are attending the fifth year in Industrial Electrical Engineering at Federal Institute of Education, Sciences and Technology, in Brazil, is presented. The adopted methodology is characterized by the following steps: modeling of the dynamic system to be controlled from experimental data, model-based digital controller design according to pre-established performance specifications and implementation of the designed digital controller. The experiments are performed on a data acquisition platform, in real time, based on high performance virtual/electronics instrumentation, at Laboratory of Computational Intelligence Applied to Technology. Results from an experimental activity, developed by students in the digital control course, illustrate the main practical aspects that must be taken into account in design and implementation of real time digital PI/PID control.

关键词： Digital control PID controller control education control laboratory model-based control

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Differential-geometric model-based control (DGMBC): A software package for controller design

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COMPUTERS & CHEMICAL ENGINEERING 2008年第7期32卷 1569-1588页

作者： Panjapornpon, Chanin Soroush, Masoud Seider, Warren D. Drexel Univ Dept Chem & Biol Engn Philadelphia PA 19104 USA Univ Penn Dept Chem & Biomol Engn Philadelphia PA 19104 USA

This paper presents a new software package, called differential-geometric model-based control (DGMBC), which carries out symbolic manipulations to automatically generate differential-geometric, model-based controllers and subsequently tests the designed controller. This prototype software was developed to simplify the industrial implementation and testing of differential-geometric, model-based controllers on lumped-parameter processes. DGMBC has a user-friendly interface that allows a user to enter process model equations and parameters easily. The user interface was developed using Visual Basic and linked to MATHEMATICA using MathLink. The user enters the process model (set of ordinary differential equations), and the software generates an analytical model-based controller, if an analytical solution exists. The resulting analytical model-based controller (set of ordinary differential and algebraic equations) can be in FORTRAN, C, or MATLAB format. DGMBC can also simulate the closed-loop process responses. The application and implementation of DGMBC 1.0 are shown using three chemical and biochemical process examples with varying levels of complexity. An analytical model-based controller is designed for each of the processes, and simulation results showing the closed-loop process responses are presented. (C) 2007 Elsevier Ltd. All rights reserved.

关键词： controller design software model-based control input-output linearization feedback linearization numerical simulation computer-aided design software

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A novel model-based control strategy for aerobic filamentous fungal fed-batch fermentation processes

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BIOTECHNOLOGY AND BIOENGINEERING 2017年第7期114卷 1459-1468页

作者： Mears, Lisa Stocks, Stuart M. Albaek, Mads O. Cassells, Benny Sin, Gurkan Gernaey, Krist V. Tech Univ Denmark Dept Chem & Biochem Engn DK-2800 Lyngby Denmark Leo Pharma AS Ballerup Denmark Novozymes AS Bagsvaerd Denmark

A novel model-based control strategy has been developed for filamentous fungal fed-batch fermentation processes. The system of interest is a pilot scale (550L) filamentous fungus process operating at Novozymes A/S. In such processes, it is desirable to maximize the total product achieved in a batch in a defined process time. In order to achieve this goal, it is important to maximize both the product concentration, and also the total final mass in the fed-batch system. To this end, we describe the development of a control strategy which aims to achieve maximum tank fill, while avoiding oxygen limited conditions. This requires a two stage approach: (i) calculation of the tank start fill;and (ii) on-line control in order to maximize fill subject to oxygen transfer limitations. First, a mechanistic model was applied off-line in order to determine the appropriate start fill for processes with four different sets of process operating conditions for the stirrer speed, headspace pressure, and aeration rate. The start fills were tested with eight pilot scale experiments using a reference process operation. An on-line control strategy was then developed, utilizing the mechanistic model which is recursively updated using on-line measurements. The model was applied in order to predict the current system states, including the biomass concentration, and to simulate the expected future trajectory of the system until a specified end time. In this way, the desired feed rate is updated along the progress of the batch taking into account the oxygen mass transfer conditions and the expected future trajectory of the mass. The final results show that the target fill was achieved to within 5% under the maximum fill when tested using eight pilot scale batches, and over filling was avoided. The results were reproducible, unlike the reference experiments which show over 10% variation in the final tank fill, and this also includes over filling. The variance of the final tank fill is reduced b

关键词： fermentation control modelling fed-batch process optimization model-based control

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Adaptive analytical model-based control for SI engine air-fuel ratio

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2008年第4期16卷 763-768页

作者： Muske, Kenneth R. Jones, James C. Peyton Franceschi, E. M. Villanova Univ Coll Engn Ctr Nonlinear Dynam & Control Villanova PA 19085 USA Villanova Univ Dept Elect & Comp Engn Villanova PA 19085 USA

An adaptive, state-space, model-predictive controller for spark ignition (SI) engine air-fuel ratio control is developed and presented in this brief. The linear model-based controller is an analytical controller that does not require online optimization. The model parameters for the predictive controller and the time-varying delay compensation are adapted based on the current measured engine speed and load. These process model parameters and time delays are identified from engine operating data. A Kalman filter is used to estimate the model and disturbance states of the system. The controller is demonstrated on a Ford 2-L I4 engine.

关键词： adaptive control delay system engines model-based control time-varying systems

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Toward model-based control of non-linear hydraulic networks

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JOURNAL OF VIBRATION AND control 2013年第14期19卷 2145-2153页

作者： Tahavori, Maryamsadat Jensen, Tom Norgaard Kallesoe, Carsten Leth, John Wisniewski, Rafael Aalborg Univ Dept Elect Syst DK-9220 Aalborg Denmark Grundfos Management AS Bjerringbro Denmark

Water leakage is an important component of water loss. Many methods have emerged from urban water supply systems (WSSs) for leakage control, but it still remains a challenge in many countries. Pressure management is an effective way to reduce the leakage in a system. It can also reduce the power consumption. To have a better understanding of leakage in WSSs, to control pressure and leakage effectively, and for optimal design of WSSs, suitable modeling is an important prerequisite. In this paper a model with the main objective of pressure control and consequently leakage reduction is presented. Following an analogy to electric circuits, first the mathematical expression for pressure drop over each component of the pipe network (WSS) such as pipes, pumps, valves and water towers is presented. Then the network model is derived based on the circuit theory and subsequently used for pressure management in the system. A suitable projection is used to reduce the state vector and to express the model in standard state-space form.

关键词： model-based control nonlinear systems hydraulic networks

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Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

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ROBOTICA 2022年第8期40卷 2815-2830页

作者： Hassani, Ali Khalilpour, S. A. Bataleblu, Abbas Taghirad, Hamid D. KN Toosi Univ Technol Fac Elect Engn Ind Control Ctr Excellence Adv Robot & Automated Syst ARAS Tehran *** Iran

Optimal mechanical design, model-based control, and robot dynamic calibration mainly rely on the analytical formulation of robot dynamics. In this paper, the kinematics equations of a general 3-UPU translational parallel manipulator (TPM) are derived, and then, by using the principle of the virtual work theorem, the full implicit dynamic model is derived. Furthermore, by making some modifications, the explicit dynamic formulation of the robot is attained, which is the basis of a wide range of advanced model-based controllers. To validate the proposed formulation, a prototype of the 3-UPU TPM is modeled in MSC-ADAMS(R) software, and the results of the dynamic formulation are validated using this model. The results show the high accuracy of the proposed dynamic formulation presented in this article.

关键词： 3-UPU TPM parallel robots dynamics explicit dynamic formulation virtual work method model-based control

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Identification test design for multivariable model-based control: An industrial perspective

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control ENGINEERING PRACTICE 2014年第1期22卷 165-180页

作者： Darby, Mark L. Nikolaou, Michael CMiD Solut Houston TX USA Univ Houston Houston TX 77204 USA

The design of plant tests to generate data for identification of dynamic models is critically important for development of model-based process control systems. Multivariable process identification tests in industry continue to rely on uncorrelated input signals, even though investigations have shown the benefits of other input designs which lead to correlated, higher-amplitude input signals. This is partly due to difficulties in formulating and solving computationally tractable problems for identification test design. In this work, related results are summarized and extended. Connections between different designs that target D-optimality or integral controllability are established. Related concepts are illustrated through simulation case studies. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： model-based control Multivariable systems Design of experiments Constraints control-relevant identification Ill-conditioned systems

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