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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Rafael Priego Daniel Schütz Birgit Vogel-Heuser Marga Marcos Dept. of Automatic Control and System Engineering ETSI Bilbao Basque Country University (UPV/EHU) Spain Technische Universitat Munchen Munchen Bayern DE

In recent years automation systems have been required to provide characteristics of flexibility and efficiency in order to cope with the fast changes of the market and consumer demands. To deal with these requirements, the industry has started to implement reconfiguration techniques in order to allow the automation system to reschedule the production, recover from faulty situations and to update the controller at run time, among others. Previous works of authors have been aimed at a model-based definition of the plant components and operations, related to a product. Additionally, automatic code generation has been proposed to obtain an optimal control sequence. This paper extends these previous works with an architecture that generates and updates the software architecture of a Programmable Logic controller during runtime, in response to changes on the plant layout, the product to be manufactured or the control hardware.

关键词： Load modeling Computer architecture Automation Planning Unified modeling language Production Software

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Fault Detection In Wastewater Treatment Plants Using Distributed PCA methods

Fault Detection In Wastewater Treatment Plants Using Distrib...

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IEEE Conference on Emerging Technologies and Factory Automation

作者： A. Sanchez-Fernandez M. J. Fuente G. I. Sainz-Palmero Department of System Engineering and Automatic Control EII University of Valladolid

ISBN: (纸本)9781467379304

This paper proposes a distributed fault detection and diagnosis method based on Principal Component Analysis (PCA) in a whole plant monitoring scheme. The method is based on the decomposition of the plant into multiple blocks using plant topology. A local PCA based fault detection method is applied in each block and the results are sent to the central node to fuse the information and to detect and diagnose faults in the global plant. This method is compared with the centralized PCA method and some distributed principal component analysis (DPCA) methods in a wastewater treatment plant (WWTP). The objective is to check which of the distributed methods implemented is the best one in terms of detecting faults and minimizing the communication cost between the blocks. Empirical results on the WWTP show that the DPCA method based on local models has very good results.

关键词： Defect detection Sewage treatment plants principal components analysis Passive Cutaneous Anaphylaxis Set of central axillary lymph nodes dichlormid Distribute faults plants

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Separable Nonlinear Model Predictive control via Sequential Quadratic Programming for Large-scale systems *

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IFAC-PapersOnLine 2015年第23期48卷 495-500页

作者： Liang Lu Department of Chemical and Biomolecular Engineering (BK21 Plus Program) Korea Advanced Institute of Science & Technology Daejeon Korea. Laboratory for Automatic Control and System Dynamics Technische Universität Chemnitz Chemnitz Germany.

In this paper, a sequential quadratic programming method is presented for largescale nonlinear and possibly non-convex model predictive control (MPC) optimization problem which is often set up with a separable objective function. By introducing the so-call consensus constraints to separate the couplings among the subsystems. The resulting QP subproblem is formulated in a separable form, which makes it possible to use the existing alternating direction methods, like ADMM, to efficiently compute Newton steps for the overall system in a distributed way. In order to enforce the convergence rate of the distributed computation, a distributed line search with local merit functions is also proposed.

关键词： Sequential quadratic programming separable model predictive control alternating direction method of multipliers nonlinear systems non-convex optimization large-scale optimization distributed line search

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A quantization method for haptic data lossy compression

A quantization method for haptic data lossy compression

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International Conference on Mechatronics (ICM)

作者： Tomohiro Nakano Seiji Uozumi Rolf Johansson Kouhei Ohnishi Graduate School of Science and Technology Keio University Yokohama Japan Department of Automatic Control Lund University Lund Sweden Department of System Design Engineering Keio University Yokohama Japan

In this paper, a quantization scheme for haptic data compression is proposed and the results of its application to a motion copying system are described. The data compression of image and audio data has been researched a lot. However, the data compression of haptic data has not been much researched yet although the amount of haptic data is large in general. The discrete cosine transform (DCT) is used for the lossy compression of haptic data in this paper. A new quantization scheme using characteristics of DCT is proposed. By using a proposed method, a larger signal-to-noise ratio compared to conventional method is achieved. In the experiment, the validity of the proposed method was verified.

关键词： Force Discrete cosine transforms Haptic interfaces Quantization (signal) Signal to noise ratio Predictive coding Data compression

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A microgrid library in a general simulation language 19

A microgrid library in a general simulation language

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Salazar, J. Tadeo, F. De Prada, C. Department of System Engineering and Automatic Control School of Industrial Engineering University of Valladolid Valladolid47011 Spain

ISBN: (纸本)9783902823625

A library in the EcosimPro environment, developed with the objective of providing the tools needed to integrate MicroGrids into multi-domain simulations is presented. Thus, practical simulated components of renewable energy sources (photovoltaic arrays, wind turbines), diesel generators, power electronic interfaces (DC/AC or AC/DC/AC), energy storage devices (batteries) are developed, in order to integrate them with the existing libraries of loads (such as electrical systems, hydraulic systems, chemical engineering process, etc). Components in the library are designed so they can be parametrized from data sheet information by general engineers, and then graphically connected to simulate under variable conditions specific real-life Microgrids. With this, different configurations and control strategies for Microgrids can be tested when operating on the real process. After presenting the main ideas behind the dynamic modelling of the components, the application to a case study is presented. © IFAC.

关键词： Digital libraries

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Persistent Tracking of a Dynamic Target by a Mobile Robot 33

Persistent Tracking of a Dynamic Target by a Mobile Robot

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第三十三届中国控制会议

作者： LIANG Xiao FANG Yongchun YANG Dedong Institute of Robotics and Automatic Information System Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University Shool of Control Science and Engineering Hebei University of Technology

ISBN: (纸本)9781479947249

A novel pursuing algorithm, together with a new experiment method, is introduced to drive a nonholonomic mobile robot tracking a dynamic target in the framework of pursuit-evasion game. Specifically, a pan-tilt with an on-board camera is attached to the mobile robot to construct a tracking system, which greatly improves the maneuverability compared with the traditional method. To keep the target close enough to the vision center of the camera, a control technique is devised according to its kinematic model and Lyapunov theory. By utilizing game theory, the viability set is determined. A tracking controller is employed to guarantee persistent tracking for the dynamic target, where the relative position between the target and the robot is successfully acquired from the visual measurements by the utilization of geometric analysis. Both simulation and experimental results are provided to illustrate the performance of the controller.

关键词： Nonholonomic Constraint,Camera Tracking,Mobile control,Lyapunov Theory

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Feedforward and feedback control of dynamic systems 19

Feedforward and feedback control of dynamic systems

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Hu, Wuhua Camacho, Eduardo F. Xie, Lihua School of Electrical and Electronic Engineering Nanyang Technological University Singapore Singapore Department of System Engineering and Automatic Control Escuela Superior de Ingenieros University of Sevilla Spain

ISBN: (纸本)9783902823625

Recently the control methods based on disturbance rejection have largely renewed our understanding of automatic control, especially the role of feedforward control. With the renewed understanding, this work presents a feedforward and feedback approach for control of general dynamic systems under a state tracking framework. This is realized by introducing a fictitious system model and employing a proper state and disturbance estimator. The resultant control scheme embodies a close cooperation between feedforward and feedback controls: Feedforward control rejects the general disturbance and embeds a reference state trajectory, whilst feedback control cancels the fictitious dynamics and enforces desired tracking error dynamics. A notable advantage of the approach is that control designs of linear and nonlinear systems can follow a common routine and the closed-loop stability is guaranteed under standard conditions. © IFAC.

关键词： Closed loop control systems

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Modelling and control of a semi-active suspension system

Modelling and control of a semi-active suspension system

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作者： Colina, A. Lerma, G. Cabanes, I. Iglesias, I. Department of Automatic Control and System Engineering University of the Basque Country Spain Industry and Transport Division Vehicle Dynamics Group Tecnalia Research and Innovation Spain

ISBN: (纸本)9789400774841

The suspension system is composed of several deformable elements such as springs and dampers, which connect the car body to wheels and absorb vibrations generated by road irregularities. The main purpose of suspension system is to isolate the vehicle body from disturbances in order to keep wheels in contact with the road surface to contribute to road holding, and in order to maximize passenger ride comfort. This paper describes a semi-active suspension system of 2 degrees of freedom (2DOF), typically referred to as a quarter car model. To design a suspension control system that improve ride comfort, dynamic modelling of semi-active suspension was developed. control strategies were implemented for these semi-active suspension systems using MATLAB® and Simulink® software. The results show that the semi-active suspension system controlled by a logical strategy minimizes vertical acceleration experienced by passengers, compared to passive suspension system. © Springer Science+Business Media Dordrecht 2014.

关键词： Wheels

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A Microgrid Library in a General Simulation Language

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IFAC Proceedings Volumes 2014年第3期47卷 3599-3604页

作者： J. Salazar F. Tadeo C. de Prada Department of System Engineering and Automatic Control School of Industrial Engineering University of Valladolid 47011 Valladolid Spain

关键词： MicroGrid Photovoltaic Arrays Wind Turbine Simulation Tools

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A model-based approach for achieving available automation systems 19

A model-based approach for achieving available automation sy...

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19th IFAC World Congress on International Federation of automatic control, IFAC 2014

作者： Priego, R. Armentia, A. Orive, D. Estévez, E. Marcos, M. University of the Basque Country Department of System Engineering and Automatics Bilbao48013 Spain Universidad de Jaén Dept. of Electronics and Automatic Control Jaen Spain

ISBN: (纸本)9783902823625

Nowadays automation systems are required to be flexible in order to cope with the ever changing requirements of the applications in terms of complexity, extensibility or dynamism. The use of reconfiguration techniques helps to meet these demanding requirements, but at the same time increase the complexity of the systems. This paper presents a supervisor architecture that allows maintaining the availability of a control system in spite of failures such as a node crash, by means of reconfigurations at the control level. To do this, the advantages that Model-Driven Development technology provides have been explored. © IFAC.

关键词： Automation

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