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Numerical approaches for residual vibration free positioning of elastic robots

MATERIALWISSENSCHAFT UND WERKSTOFFTECHNIK 2009年第3期40卷 161-168页

作者： Bachmayer, M. Zander, R. Ulbrich, H. Tech Univ Munich Lehrstuhl Angew Mech Munich Germany

Today increasing the speed of moving machines with the same or even better precision can often only be realized if flexibilities are taken into account. In order to avoid a stiffer and therefore heavier structure, the flexibility must be considered in the control design. Numerical optimization approaches as well as an analytical feed forward control for linearly actuated robots like placement machines or stacker cranes are presented. These methods help to reduce the time required for positioning in dynamic automation scenarios where the structure's elasticity is essential for achieving high positioning precision in a minimum of time. Backlash in the gear limits standard closed loop active damping controller's capabilities in respect to the achievable damping constant. Therefore, feedforward trajectories avoiding residual vibrations are desirable to reduce the positioning time to a structural given limit.

关键词： flatnessbased trajectory planning distributed parameter system elastic robot residual vibrations numerical optimization

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Trajectory Tracking Control and Vibration Control for a Rigid-Flexible Wing system

Trajectory Tracking Control and Vibration Control for a Rigi...

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第40届中国控制会议

作者： Xinyue Tang Tingting Wang Qiang Fu Chunhua Zhang Wei He Institute of Artificial Intelligence University of Science and Technology Beijing Key Laboratory of Knowledge Automation for Industrial Processes of Ministry of Education School of Automation and Electrical EngineeringUniversity of Science and Technology Beijing Automation Research Institute Co. Ltd.of China South Industries Group Corporation

This paper mainly proposes control laws to address trajectory tracking and vibration suppression problems for a twolink rigid-flexible wing system. Based on Hamilton’s principle, partial differential equations（PDEs） and ordinary differential equations（ODEs） are proposed to describe the dynamical model of the wing. The boundary controllers are designed to restrain the deformations both in bending and twisting, and to achieve the trajectory tracking. We can accurately regulate the motion of the wing to track a desired spatiotemporally varying trajectory with the implement of trajectory tracking control and vibration control. In addition, the stability of this wing system is proven by utilizing Lyapunov’s direct method. Finally, we can verify that the designed controllers are effective according to the numerical simulations.

关键词： Two-link rigid-flexible wing Trajectory tracking control Vibration control distributed parameter system

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Control of Billet Temperature Field by the Secondary Cooling in Continuous Casting of Steel

Control of Billet Temperature Field by the Secondary Cooling...

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International Conference on Process Control

作者： Karol Ondrejkovic Pavol Noga Lukas Tkac Gabriel Hulko Pavol Bucek Institute of Automation Measurement and Applied Informatics Slovak University of Technology in Bratislava Zeleziarne Podbrezova Research and Development Center

ISBN: (纸本)9781479909261

The paper presents simulation study on control of temperature field of steel billet during continuous casting. The cooling of steel billet is controlled with secondary cooling zone - a set of water jets divided into independent subzones. The temperature field evolution in time and space is described by non-linear partial differential equation. The solution of this equation is obtained numerically, using specialized finite element software ProCAST. Lumped-input and distributed-parameter-output system (LDS) is introduced, with the inputs being cooling water flow rates and the temperature field being the system's distributed output. Control synthesis in the system's feedback is solved in space and time direction. To represent the temperature field during setpoint changes a co-simulation interface was added to the DPS Blockset (Third-Party software product of The MathWorks). The interface block enables you to couple a finite element simulation in ProCAST and control scheme in Simulink. This feature brings you the full power of Simulink to extend the capabilities of finite element simulation.

关键词： Continuous casting Steel billet Temperature field Control Lumped-input and distributed-output system distributed parameter system Co-simulation

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Probabilistic PCA Based Spatio-Temporal Multi-Modeling for distributed parameter Processes

Probabilistic PCA Based Spatio-Temporal Multi-Modeling for D...

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第三十届中国控制会议

作者： QI Chenkun~1,LI Han-Xiong~2,ZHANG Xian-Xia~3,ZHAO Xianchao~1,LI Shaoyuan~4,GAO Feng~1 1.School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,P.R.China 2.Department of Manufacturing Engineering & Engineering Management,City University of Hong Kong,Hong Kong 3.Shanghai Key Laboratory of Power Station Automation Technology,School of Mechatronics and Automation,Shanghai University, Shanghai 200072,P.R.China 4.Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,P.R.China

Data-based modeling of unknown distributed parameter systems(DPSs) is very challenging due to their infinite-dimensional,nonlinear and even time-varying *** get a low-order model for applications,the principal component analysis(PCA) is often ***,as a linear dimension reduction,it only leads to one set of fixed spatial *** a good performance for nonlinear and time-varying DPSs could not be *** this study,a probabilistic PCA based spatio-temporal multi-modeling is *** to its multi-modeling mechanism,a better performance can be achieved,which is demonstrated by simulations.

关键词： distributed parameter system Spatio-temporal modeling Multi-modeling Probabilistic PCA

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Multi-Modeling for Nonlinear distributed parameter Processes Using Spatio-Temporal Kernel

Multi-Modeling for Nonlinear Distributed Parameter Processes...

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第三十一届中国控制会议

作者： Chenkun Qi~1,Han-Xiong Li~2,Shaoyuan Li~3,Xianchao Zhao~1 Feng Gao~1 1.School of Mechanical Engineering,Shanghai Jiao Tong University, State Key Laboratory of Mechanical system and Vibration,Shanghai 200240,China 2.Department of systems Engineering & Engineering Management,City University of Hong Kong,Hong Kong,China State Key Laboratory of High Performance Complex Manufacturing,Central South University,Changsha,China 3.Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China

Many industrial processes are nonlinear distributed parameter systems(DPS) that have significant spatio-temporal *** to different production and working conditions,they often need to work at a large operating range with multiple working ***,direct global modeling and persistently exciting experiment in a large working region are very costly in many *** spatio-temporal coupling and infinite-dimensional nature make the problem more *** this study,a kernel based spatio-temporal multi-modeling approach is proposed for the nonlinear DPS with multiple working *** effectiveness of the proposed modeling approach is verified by simulations.

关键词： distributed parameter system spatio-temporal modeling multi-modeling kernel model space/time separation

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Steel Billet Continuous Induction Heating–Numerical Model and Advanced Control

Steel Billet Continuous Induction Heating–Numerical Model a...

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2013 International Conference on Applied Mechanics,Materials,and Manufacturing(AMMM 2013)

作者： Juraj Kapusta Juraj Camber Gabriel Hulkó Institute of Automation Measurement and Applied InformaticsFaculty of Mechanical EngineeringSlovak University of Technology

Nowadays,the achievement of proper steel billets temperature profile is not the only design priority of induction heaters for hot forming applications. Due to its high operating costs,its design is constantly improving in terms of electrical and thermal efficiency. Therefore the more efficient multi-coil design starts to be more used in industrial practice. Numerical model of mentioned heater based on partial differential equations were solved by finite element method in virtual software environment. Primary goal of computer modeling was to investigate the thermal dynamics of four-module heater working in steady-state operation regime. Obtained data were applied to design an advanced control circuit based on distributed parameter systems theory. This may open up the opportunity to make further progress in induction heaters design.

关键词： Induction heating of steel Material properties Virtual software environments Temperature field Control distributed parameter system

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Stabilization of an Inhomogeneous Heat Equation Subject to Constraint

Stabilization of an Inhomogeneous Heat Equation Subject to C...

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International Conference on Control, Automation and systems

作者： Shuang Zhang Chuan Yang Shuangxi Nie Wei He School of Aeronautics and Astronautics University of Electronic and Technology of China School of Automation Engineering University of Electronic and Technology of China School of Automation and Electrical Engineering University of Science and Technology Beijing

ISBN: (纸本)9781479999767

In this paper, the constrained problem is investigated for an inhomogeneous heat equation with distributed load. The control objectives are to develop the control law so that the temperature can track a desired reference signal, and ensure that the temperature remains in a constrained space. We show that, with the proposed sliding-mode control method, the tracking error is bounded stable without violation of the constraint. Extensive simulations are provided to illustrate the performance of the control system.

关键词： distributed parameter system Sliding-mode control Heat equation Infinite dimensional system Constraint

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Modelling A Class of DPS by CNN-IENN and Application to Surfactant Flooding

Modelling A Class of DPS by CNN-IENN and Application to Surf...

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第32届中国过程控制会议(CPCC2021)

作者： Guanlin Li Shurong Li Zhe Liu College of Artificial Intelligence Beijing University of Posts and Telecommunications

Surfactant flooding(SF),a class of crucial tertiary recovery technology,is essentially a complex distributed parameter system(DPS) with a series of high dimensional partial differential equations(PDEs).It has considerable computational complexity to solve the first principle model ***,a data-driven neural network model based on convolutional and improved Elman neural network(CNN-IENN) is designed in this study,which has the following features:(i) we independently create a CNN to extract water saturation characteristics,which has a stable and efficient receptive field,(ii) adding a self-feedback weight to the acceptor layer is designed to enhance the capacity of ENN with the aid of a smaller scale of neurons,and(iii) a framework integrates the IENN within the CNN is proposed to improve the modelling in terms of accuracy,precision,and recall *** final output is water saturation of multiple reservoir grids,which can be captured based on the given surfactant injection scheme and the proposed data-driven ***,a real-life case study of SF is taken in this *** superiorities of the proposed modelling method in accuracy,precision,and recall rates are verified compared with two widely-recognized methods.

关键词： distributed parameter system Surfactant flooding Convolutional Neural Network Elman Neural Network

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Output Constraint Boundary Control of a Flexible Manipulator

Output Constraint Boundary Control of a Flexible Manipulator

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第三十九届中国控制会议

作者： Xiongbin Chen Yilin WU Ruifeng Xu Hongyi Qu Yu Liu Ke Yao School of Automation Science and Engineering South China University of Technology Department of Computer Science Guangdong University of Education

In this paper, in order to suppress the vibration and track the desired angle of a flexible manipulator effected by output constraints and external disturbances, the novel restricted boundary control laws with disturbance observers are *** barrier Lyapunov function is adopted to limit the tracking errors of the angle and the end-point displacement. Disturbance observers are designed to reject external disturbances. For the closed-loop system, the stability is proven. Numerical simulations show the feasibility of the proposed control schemes.

关键词： distributed parameter system Vibration control Output constraint Disturbance observer

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Arbitrary decay for boundary stabilization of Schrodinger equation subject to unknown disturbance by Lyapunov approach

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IFAC JOURNAL OF systemS AND CONTROL 2019年 7卷 100033-100033页

作者： Kang, Wen Guo, Bao-Zhu Univ Sci & Technol Beijing Sch Automat & Elect Engn Beijing 100083 Peoples R China Minist Educ Key Lab Knowledge Automat Ind Proc Beijing 100083 Peoples R China North China Elect Power Univ Dept Math & Phys Beijing 102206 Peoples R China Foshan Univ Sch Math & Big Data Foshan 528000 Peoples R China

This paper deals with the design of boundary control to stabilize one-dimensional Schrodinger equation with general external disturbance. The backstepping method is first applied to transform the anti-stability from the free end to the control end. A variable structure feedback stabilizing controller is then designed to achieve arbitrary assigned decay rate. The Galerkin approximation scheme is used to show the existence of the solution to the closed-loop system. The exponential stability of the closed-loop system is obtained by the Lyapunov functional method. A numerical example demonstrates the efficiency of the proposed control scheme. (c) 2019 Elsevier Ltd. All rights reserved.

关键词： distributed parameter system Schrodinger equation Lyapunov function Disturbance Boundary control

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