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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Jakub Mozaryn Arkadiusz Winnicki Michal Micewicz Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw

This paper presents the design of a discrete Linear-Quadratic-Gaussian (LQG) controller for the electro-hydraulic servodrive position control. The controller is based on the identified linear model of the system. There are given experimental results of the proposed control system and a comparison with a control system with Proportional-Derivative (PD) controller.

关键词： Kalman filters Covariance matrices Actuators Linear systems Pistons Observers

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New formulas for approximation of multi-inertial systems, by the FOLPD models, based on two-point identification

New formulas for approximation of multi-inertial systems, by...

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2018 IASTED International Conference on Modelling, Simulation and Identification ,MSI 2018

作者： Byrski, Jędrzej Byrski, Witold Department of Applied Computer Science AGH University of Science and Technology Krakow30059 Poland Department of Automatic Control and Robotics AGH University of Science and Technology Krakow30059 Poland

ISBN: (纸本)9780889869943

In this paper new simple formulas for identification of the time constant T and time delay τ of the First Order Lag Plus time Delay model (FOLPD) will be presented. FOLPD model is very useful e.g. for PID controller self-tuning. Two cases will be considered. In the first case, the identified FOLPD model will approximate the dynamics of any unknown multi-inertial system. In the second case, the FOLPD model will be used for approximation of the second order inertial system with known time constants T1, T2. In both cases, the identification of desired FOLPD model will result from the best fitting of the system and FOLPD model step responses. This will be achieved by comparing of these characteristics in two specially selected points. Presented formulas for FOLPD parameters, in the first case, depend on these two selected points. In the second case FOLPD parameters will depend only on the known values of the second order system's time constants T1 and T2. © 2018 Proceedings of the IASTED International Conference on Modelling, Simulation and Identification, MSI 2018. All rights reserved.

关键词： Time delay

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Trends and perspectives in proportional pneumatics

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IOP Conference Series: Materials Science and Engineering 2020年第1期997卷

作者： M Avram A I Sgârciu C Bucşan Mechanical Engineering Mechatronics and Robotics Department POLITEHNICA University of Bucharest Bucharest Romania Automatic Control and Informatics Department POLITEHNICA University of Bucharest Bucharest Romania

Trends and perspective directions in the field of pneumatic equipment and systems are first identified in the paper. Special attention is given to identifying the equipment and systems that can be adapted to the requirements imposed by a new industrial revolution - Industry 4.0. Pneumatics will continue to be an important domain and the paper presents arguments for that. The current stage of proportional pneumatics is presented and a comparison between analog and digital proportional pneumatics is made. In the final part of the paper an experimental model of a distributor controlled with modulated pulses is presented. The distributor is integrated in a system that controls the pressure in a reference volume.

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Integrated Drive System of Robotic Arm Joint Used in a Mobile Robot

Integrated Drive System of Robotic Arm Joint Used in a Mobil...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： P. Tomaszuk A. Łukowska M. Rećko K. Dzicrzck Departmenr of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland

The objective of the article is the design of compact cycloidal gear with built-in brushless motor and integrated driver. The assumption of the project is lightweight joint with high ratio and durability to use in a mobile robot. The main advantage of a cycloidal gear is low backlash and self-locking. One of the most significant design problems is off-axial work of some gear parts. The internal part which directly transfers torque is being put into off-axis motion by the eccentrical shaft. The solution to restoring axial movement is the application of the second stage which is orientated backwards to the first stage. The created unit is a differential pair of gears with input and output shafts move in one axis. The specificity of this system requires a difference of ratio by one between both stages to work correctly. A brushless DC motor has been applied to maintain compact size of joint. This kind of electric motor allows for precise control of angle and speed. Moreover, it can halt in any desired position while withholding the torque. The internal driver based on STM32 microcontroller unit with ARM-Cortex core is used to control the drive. Thanks to DC/DC converter power supply unit of the driver is adapted to use the same power source as the motor. A measure of the motor current allows the driver to calculate load and prevents winding overcurrent even when the motor is not rotating. The absolute magnetic encoder is fitted to precisely determine the inclination of joint. The most significant advantage of the integrated joint is standalone construction with own control unit. control algorithm adjusts inclination and load. This independent module communicates with other units using CAN-bus. Robot's central computer sends only set values of angle, speed and acceleration.

关键词： Gears Brushless DC motors Shafts Synchronous motors Robots

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Obstacle Detection and Avoidance System for Unmanned Multirotors

Obstacle Detection and Avoidance System for Unmanned Multiro...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Adam Stulgis Leszek Ambroziak Miroslaw Kondratiuk Automatic Control and Robotics Department Bialystok University of Technology Bialystok Poland

The paper presents the simple method for obstacle detection and avoidance designed for small unmanned multi-rotors. The system is using laser scanner information and supports the pilot during the manual flights. The proposed obstacle avoidance algorithm was described in details. The main aim of the work were the in-flight test. The tests were divided into two stages - with static obstacle and with dynamic one. The results were presented in the UAV trajectories plot and PWM control signal time plots. Obtained results validate the effectiveness of the proposed collision avoidance method. Described approach helps to ensure collision free conditions for UAV operators. Also the proposed anti-collision system could be easily used in autonomous flight stages of UAVs.

关键词： Collision avoidance Pulse width modulation Laser radar Unmanned aerial vehicles Lasers Classification algorithms Manuals

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Simple Human Walking Modelling

Simple Human Walking Modelling

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BIOMDLORE International Conference

作者： Aneta Łukowska Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland

The stability of human while walking or running is the ability to maintain the upright posture during locomotion. The behavior of the inverted pendulum is very similar to maintaining a balance by a human being. Inverted pendulums are mostly used to analyze modern control algorithms. This system is one of most known problems in control theory and dynamics. It is a physical pendulum with a center of mass above the suspension point. The inverted position is gained by using a control system which is monitoring the angle of the rod and balancing the pendulum. The purpose of presented work was to explained fundamental dynamic of walking on an enhanced version of the linear inverted pendulum.

关键词： Legged locomotion Mathematical model Hip Foot Biological system modeling Dynamics

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The Concept of a Spectrophotometer for Soil Sample Testing

The Concept of a Spectrophotometer for Soil Sample Testing

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BIOMDLORE International Conference

作者： Barbara Kuc Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538623978

The objective is to present conception of creation a spectrophotometer used by students during different competitions to test a soil samples collected by Mars rover. In the first paragraph, there is information about the application of spectrophotometry and about the aim of this work. In the second paragraph includes a description of basics information about the spectrophotometer and its principle of operation. The third paragraph described elements of electronics and wiring, mechanical part needed to correct action and measurements values. This paper also describes necessary steps in measurement method and requirements that device must fulfil. In order to verify the operation of the device, it will be compared with the operation of a specialized spectrophotometer which is written in the paragraph called “Requirement”.

关键词： Diffraction Diffraction gratings Pollution measurement Soil Absorption Soil measurements Wavelength measurement

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Standalone Integrated Wheel Drive Module for Use in Electric Powered Wheelchair

Standalone Integrated Wheel Drive Module for Use in Electric...

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BIOMDLORE International Conference

作者： Piotr Tomaszuk Department of Automatic Control and Robotics Bialystok University of Technology Bialystok Poland

ISBN: (纸本)9781538623978

This article proposes wheel equipped with BLDC motor and control unit for electric powered wheelchairs. It is characterized by compact size, no gear, lightweight, long life and high efficiency. The most critical part is motor which is directly connected to the wheel. The direct drive requires an appropriate motor. Brushless motor is designed to this project using FEM analysis of Magnetic flux losses and efficiency. Next step is the mechanical design of the simple, functional prototype. This solution contains a low amount of parts and keeps the possibly low-cost design.

关键词： Wheelchairs Wheels Brushless motors Stators Rotors Brakes Conferences

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Model Reference control for 2-D System

Model Reference Control for 2-D System

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Jerzy E. Kurek Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland

The Model Reference control algorithm for SISO 2-D system is presented. The algorithm is simple one and can be easily used in practice. It enables simple design of 2-D system. The proposed approach is illustrated by n... 详细信息

关键词： control systems Adaptation models Mathematical model Numerical models Solid modeling Transfer functions Adaptive control

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Optimality and Sensitivity of Least-Distance and Avoidance Solutions in Multicriteria Optimization

Optimality and Sensitivity of Least-Distance and Avoidance S...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Andrzej M.J. Skulimowski Department of Automatic Control and Robotics Decision Sciences Laboratory Krakow Poland

This paper investigates sensitivity and optimality of distance scalarizing solutions in multicriteria problems with reference sets. When approaching reference values, this preference requirement results in solving an equivalent second-level scalar optimization problem with a certain distance measure to be minimized. In a situation where the reference set contains values to be avoided within the solution process, distance maximization with respect to this set is a natural technique. The reference sets may arise as relaxed criteria space constraints and are non-precisely defined. Therefore, we provide sufficient conditions ensuring the stability of solutions with respect to reference set perturbations. For various reasons, including trajectory safety, the above problem may be particularly relevant in the case of avoidance values, which are usually defined with a native uncertainty. We propose a sensitivity analysis method based on investigating the properties of attainable criteria values minimizing the distance to perturbed reference sets. Two problems of this kind are formulated and solved. An application to selecting compromise trajectories in multicriteria optimal control with two reference multifunctions is outlined in the final part of this paper.

关键词： Optimization Sensitivity Trajectory Optimal control Reservoirs Minimization Stability criteria

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