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作者： Barambones, Oscar Dept. of Automatic Control and System Engineering University of the Basque Country EUI Nieves cano 12 Vitoria Spain

ISBN: (纸本)9783902661463

This paper presents a speed control of an induction motor. The design uses an feedforward Artificial Neural Network (ANN) to implement a rotor speed estimator, and a robust control strategy based on the sliding-mode. The proposed control scheme also make use of the field oriented control theory to simplify the proposed control design. The stability analysis of the presented control scheme is provided using the Lyapunov stability theory. Finally simulated results show that the presented controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances. © 2009 IFAC.

关键词： Vector control (Electric machinery)

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Sliding mode control strategy for variable speed wind turbine

Sliding mode control strategy for variable speed wind turbin...

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2009 IEEE Conference on Emerging Technologies and Factory Automation, ETFA 2009

作者： Barambones, Oscar De Durana, Jose Maria Gonzalez Automatic Control and System Engineering Departament University of the Basque Country EUI de Vitoria Nieves cano 12 1006 Vitoria Spain

ISBN: (纸本)9781424427284

The efficiency of the wind power conversions systems can be greatly improved using an appropriate control algorithm. In this work, a robust control for variable speed wind power generation that incorporates a doubly feed induction generator is described. The electrical systems incorporates a wound rotor induction machine with backto-back three phase power converter bridges between its rotor and the grid. In the presented design it is applied the so called vector control theory. The proposed control scheme uses stator flux-oriented control for the rotor side converter bridge control and grid voltage vector control. The proposed robust control law is based on a sliding mode control theory, that, as it is well known, presents a good performance under system uncertainties. The stability analysis of the proposed controller under disturbances and parameter uncertainties is provided using the Lyapunov stability theory. Finally simulated results show, on the one hand that the proposed controller provides high-performance dynamic characteristics, and on the other hand that this scheme is robust with respect to the uncertainties that usually appear in the real systems. ©2009 IEEE.

关键词： Robust control

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The use of spring-orthosis to enhance performance of FES-assisted indoor rowing exercise (FAIRE)

The use of spring-orthosis to enhance performance of FES-ass...

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作者： Hussain, Z. Tokhi, M.O. Jailani, R. Department of Automatic Control and System Engineering University of Sheffield United Kingdom Faculty of Electrical Engineering University Teknologi MARA 40450 Shah Alam Selangor Malaysia

ISBN: (纸本)9783902661555

This paper describes a new technique in assisting indoor rowing exercise for paraplegics. It combines functional electrical stimulation with an energy storage element. A spring is introduced as an energy storage element that stores energy during the driving phase and transfers energy during recovery phase of rowing stroke. The technique is implemented with a dynamic simulation model. Fuzzy logic control is used to control the knee and elbow trajectories for smooth rowing manoeuvre. The generated level of electrical stimulation for activation of quadriceps and hamstrings muscles are recorded and analysed. In view of good results obtained, it is concluded that the new technique of rowing exercise for paraplegics using spring orthosis with proper rowing manoeuvre significantly contributes to assisting paraplegic indoor rowing exercise.

关键词： Energy storage

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Estimation of passive stiffness and viscosity in paraplegic: A dynamic leg model in Visual Nastran

Estimation of passive stiffness and viscosity in paraplegic:...

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作者： Jailani, R. Tokhi, M.O. Gharooni, S. Hussain, Z. Joghtaei, M. Ksm Kader Ibrahim, B.S. Department of Automatic Control and System Engineering University of Sheffield United Kingdom Faculty of Electrical Engineering University Teknologi MARA 40450 Shah Alam Selangor Malaysia

ISBN: (纸本)9783902661555

This paper presents investigations into pendulum test to measure passive knee motion from a paraplegic subject. The test is used to evaluate changes in the knee angular displacement, passive stiffness and viscosity. Then, genetic algorithm (GA) parameter optimization is used with Visual Nastran (Vn4D) to find passive stiffness and viscosity values for modelling the paraplegic leg. The best performance of the Vn4D leg model is achieved with the optimum values of the viscosity and the stiffness equal to 0.0031055 Nms/deg and 0.024244 Nm/deg respectively. The model was found to be the best Vn4D model with actual subject's leg properties to represent paraplegic leg model.

关键词： Parameter estimation

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Effect of Inclined Rowing Machine on FES-Assisted Indoor Rowing Exercise Performance

Effect of Inclined Rowing Machine on FES-Assisted Indoor Row...

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Asia International Conference on Modeling & Simulation

作者： Z. Hussain M.O. Tokhi R. Jailani S. Ahmad B.S KSM Kader Ibrahim Department of Automatic Control and System Engineering University of Sheffield UK

ISBN: (纸本)9781424441549

This paper describes the effect of inclined track in an indoor rowing machine on the rowing exercise for paraplegics. The indoor rowing exercise is introduced as a total body exercise for rehabilitation of function of lower extremities through the application of functional electrical stimulation (FES). A model of the machine is developed using the Visual Nastran (Vn4D) software environment. Nine different degrees of inclination are set. Fuzzy logic control is implemented to control the knee and elbow trajectories for each of the inclination angle. The generated level of electrical stimulations for activation of quadriceps and hamstrings muscles are recorded and analysed. The results show that the highest efficiency is achieved at 7deg of inclination. In view of good results obtained, it is concluded that different angles of track inclination significantly affect the level of electrical stimulation required to assist paraplegicspsila indoor rowing exercise.

关键词： Electrical stimulation Biological system modeling Mathematical model Muscles Fuzzy logic Knee Rails Neuromuscular stimulation Hip automatic control

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Robust fuzzy fault detection for non-linear stochastic dynamic systems

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Open Automation and control systems Journal 2009年第1期2卷 45-53页

作者： El-Ghatwary, Magdy G. Ding, Steven X. Industrial Electronic and Automatic Control Department Faculty of Electrical Engineering Menoufia University Menouf 32952 Menofia Egypt Institute for Automatic Control and Complex System University of Duisburg-Essen Germany

One of the difficults for fault detection techniques for non-linear stochastic systems via model-based methods is the design of residual generation. In this paper, a new fault detection (FD) approche for non-linear stochastic systems is proposed. The non-linear system is represented by a discrite Takagi-Sugeno (TS) fuzzy model. The use of (TS) theory allows to represent non-linear systems as a set of linear systems, which represent the local system behavior around different operating points. The global system behaviour is described by a fuzzy fusion of all systems. The FD system for each local sub system is designed by solving the corresponding Discrite Algebra Recati Equation (DARE). Optimization algorithm based on minimizing the residual covariance matrix is used to obtain a robust FD for global system behavior. The observer gain matrices are solved using a set of Linear matrix Inequalities (LMIs). © El-ghatwary and Ding;Licensee Bentham Open.

关键词： Fault detection

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Inclined ergometer to enhance fes-assisted indoor rowing exercise performance

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International Journal of Simulation: systems, Science and Technology 2009年第7期10卷 16-25页

作者： Hussain, Z. Tokhi, M.O. Gharooni, S. Jailani, R. Kader Ibrahim, B.S.K. Faculty of Electrical Engineering Universiti Teknologi MARA Malaysia Department of Automatic Control and System Engineering The University of Sheffield United Kingdom

Improving the FES-assisted indoor rowing exercise (FES-rowing) performance enables the spinal cord injury (SCI) people to perform hybrid FES-exercise in a higher level of intensity. High level of exercise volume and intensity can play a big role in prevention of cardiovascular disease, type 2 diabetes and obesity which is a significant threat to the health of people with chronic SCI. FES-rowing can be enhanced to achieved the high level exercise through the arrangement of the rowing ergometer. In this paper, the performance of FES-rowing using an adjustable inclined rowing ergometer is investigated. Two different methods to enhance the FES-rowing performance using inclined ergometer are implemented. A model of the adjustable inclined ergometer and humanoid are developed using the Visual Nastran (vN4D) software environment and validated by the experimental work. Fuzzy logic control is implemented to control the knee and elbow trajectories for smooth rowing manoeuvre. The generated level of electrical stimulations for activation of quadriceps and hamstrings muscles are recorded and analysed. The FES-rowing efficiency for both methods have been defined and illustrated. The results show the inclined ergometer with upper body effort is the best performance in enhancing the FES-rowing.

关键词： Fuzzy logic

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Analysis of IEC 61131-3 Compliance through PLCope XML interface

Analysis of IEC 61131-3 Compliance through PLCope XML interf...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： E. Esteez M. Marcos E. Irisarri Automatic Control and Systems Engineering Department Universty of the Basque Country Bilbao Spain Automatic Control and System Engineering Department University of Basque Country (UPV-EHU) Bilbao Spain Automatic Control and Systems Engineering Department University of the Basque Country Bilbao Spain

Industrial process measurement and control systems are used in most of the industrial sectors to achieve production improvement, process optimization and time and cost reduction. Integration, reuse, flexibility and optimization are demanded to adapt to a rapidly changing and competitive market. In fact, standardization is a key goal to achieve these goals. The international standardization efforts have lead to the definition to the IEC 61131 standard. Part 3 of this standard defines a software model for defining automation projects as well as 5 programming languages. Nowadays most of the programmable logic controllers vendors follow this standard at different levels, although each programming tool adds vendor specific particularities. In order to achieve tool interoperability and thus, reusability of code, the international organization PLCopen has defined an open XML interface. This paper presents an approach that analyzes at what extent an automation project developed within a programming environment and exported using the PLCopen XML interface, is IEC 61131-3 compliant. The conformity analysis is performed at different levels: data types, programming languages and software architecture, and different grades of compliance are defined for each conformity level.

关键词： IEC standards XML Electrical equipment industry Industrial control Standardization Automation Computer languages Time measurement Process control control systems

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Redundant dynamic modelling of the 3RRR parallel robot for control error reduction

Redundant dynamic modelling of the 3RRR parallel robot for c...

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European control Conference (ECC)

作者： Asier Zubizarreta Itziar Cabanes Marga Marcos Charles Pinto Eva Portillo Automatic Control and System Engineering Department University of the Basque Country Mechanical Engineering Department University of the Basque Country

The current trend in robotics is to achieve robust, high-speed and precise robots that fulfill the industry's requirements. Parallel robots are proposed as the best solution for some of these tasks due to the advantages offered by their parallel kinematic structure. However, in order to take the most of these advantages, advanced model-based control approaches are needed. In this paper, the dynamic model of the 3RRR is obtained in order to consider passive joint sensor data. The dynamic model developed is defined in a compact and structured form and is used to implement a novel redundant Computed Torque control Scheme. Experimental data show that this approach increases the trajectory tracking and positioning accuracy of the 3RRR planar parallel robot.

关键词： Mathematical model Joints Equations Robot sensing systems Parallel robots Kinematics Computational modeling

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Estimation of Passive Stiffness and Viscosity in Paraplegic: A Dynamic Leg Model in Visual Nastran

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IFAC Proceedings Volumes 2009年第13期42卷 581-586页

作者： R. Jailani M.O. Tokhi S. Gharooni Z. Hussain M. Joghtaei B.S.Ksm Kader Ibrahim Department of Automatic Control and System Engineering The University of Sheffield United Kingdom Faculty of Electrical Engineering University Teknologi MARA 40450 Shah Alam Selangor Malaysia

Abstract This paper presents investigations into pendulum test to measure passive knee motion from a paraplegic subject. The test is used to evaluate changes in the knee angular displacement, passive stiffness and viscosity. Then, genetic algorithm (GA) parameter optimization is used with Visual Nastran (Vn4D) to find passive stiffness and viscosity values for modelling the paraplegic leg. The best performance of the Vn4D leg model is achieved with the optimum values of the viscosity and the stiffness equal to 0.0031055 Nms/deg and 0.024244 Nm/deg respectively. The model was found to be the best Vn4D model with actual subject's leg properties to represent paraplegic leg model.

关键词： Dynamic modelling Parameters estimation Biomechanics

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