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IEEE International Conference on Industrial Technology (ICIT)

作者： P. Crnosija T. Bjazic R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

Traditional approaches to controller designs that guarantee fast compensation of load torque and reference variations result in design iterations and most of the time in poorer response for load torque variations. In this paper a reference model for desired drive behavior generation and optimization methods has been applied to achieve controller integral time constant lower than the maximum time constant of the PM brushless DC motor drive. Presented simulation results show that using reference model for desired drive behavior generation, it is possible to determine optimal controller parameters for faster (10 time) and better (2 time) load torque compensation than in the case of traditional design of speed controller parameters. Response due to reference input with constrained overshoot has been achieved using a filter in the servosystem input. Thereby, the proposed method demonstrates the design of a speed controller that is optimal for both load torque and reference variations and its verification with simulation are accomplished for a permanent magnet brushless dc motor drive.

关键词： Brushless DC motors Torque control Optimal control Time factors DC generators Optimization methods Magnetic separation Filters Servosystems Design methodology

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Towards the parallel computing based on quality of service

Towards the parallel computing based on quality of service

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International Symposium on Parallel and Distributed computing

作者： R.Y.S. Kawasaki L.A.H.G. Oliveira C.R.L. Frances D.L. Cardoso M.M. Coutinho A. Santana Department of Computer Science UFPA Belem Para Brazil Department of Computer Engineering and Automation UFRN Natal Rio Grande do Norte Brazil Laboratory of Applied Computing UFPA Belem Para Brazil

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A fuzzy track-keeping autopilot for ship steering

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Proceedings of the Institute of Marine engineering, Science and Technology Part A: Journal of Marine engineering and Technology 2003年第2期 23-29页

作者： Omerdic, E. Roberts, G.N. Vukic, Z. Mechatronics Research Centre University of Wales College Newport United Kingdom University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia Department of Mechatronics United Kingdom IFAC Technical Committee on Marine Systems United Kingdom IFAC Technical Committee on Mechatronic Systems United Kingdom Department of Control Engineering University of Zagreb Faculty of Electrical Engineering and Computing Croatia IEEE Control Systems/Robotics Automation Society Croatia

In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.

关键词： Ships

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Work distribution for parallel ZSweep algorithm

Work distribution for parallel ZSweep algorithm

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Brazilian Symposium on Computer Graphics and Image Processing (SIBGRAPI)

作者： R. Farias C. Bentes A. Coelho S. Guedes L. Goncalves National Laboratory for Scientific Computing LNCC Petropolis Rio de Janeiro Brazil Department of Systems Engineering State University of Rio de Janeiro Brazil Electronic Computing Center NCE Federal University of Rio de Janeiro Brazil Department of Computer Enginnering and Automation Federal University of Rio Grande do Norte Brazil

Distributed systems such as clusters of PCs are low-cost alternatives for running parallel rendering systems, but they have high communication overhead, and limited memory capacity on each processing node. We focus on the strategy for distributing the parallel rendering work among the PCs. A good distribution strategy provides better load balance, and avoids the need for replicating data on the relatively small memory of each PC. Our goal is to study different distribution strategies on the scope of the Parallel ZSweep algorithm, introducing in PZSweep another work distribution strategy: work stealing. This strategy allows a decentralized control of the work to be done, and provides a dynamic load redistribution. We propose two different algorithms to select the processor that will be "stolen" and show that the simplest one, nearest neighbor, was the most efficient. We also showed that the load redistribution schemes strongly depended on the initial load distribution, with an interleaved assignment, our systems could outperform the original parallel ZSweep algorithm. We conclude that for running large datasets on a cluster of PCs, parallel ZSweep requires dynamic load distribution strategy.

关键词： Personal communication networks Distribution strategy Clustering algorithms Costs Laboratories Scientific computing Systems engineering and theory automation Distributed control Nearest neighbor searches

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Bridge testing and monitoring with a measurement system based on the industrial communication network 1

Bridge testing and monitoring with a measurement system base...

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1st IMEKO TC20 Conference on Civil engineering Metrology 2002

作者： Simunic, Zelimir Gasparac, Ivan Pavlovic, Bozidar Vrazic, Mario Croatian Institute for Bridge and Structural Engineering Brozova 6a ZagrebHR-10000 Croatia Department of Electric Machines Drives and Automation Faculty of Electrical Engineering and Computing Unska 3 ZagrebHR-10000 Croatia

Bridge testing and especially monitoring are very important for evaluating the structure state. Using modern technologies (ICT) it is possible to achieve on-line permanent monitoring and therefore we are trying to des... 详细信息

ISBN: (纸本)9781634391894

关键词： Telecommunication networks

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A reinforcement learning approach to obstacle avoidance of mobile robots

A reinforcement learning approach to obstacle avoidance of m...

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International Workshop on Advanced Motion Control (AMC)

作者： K. Macek I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Croatia

One of the basic issues in the navigation of autonomous mobile robots is the obstacle avoidance task that is commonly achieved using a reactive control paradigm where a local mapping from perceived states to actions is acquired. A control strategy with learning capabilities in an unknown environment can be obtained using reinforcement learning where the learning agent is given only sparse reward information. This credit assignment problem includes both temporal and structural aspects. While the temporal credit assignment problem is solved using core elements of the reinforcement learning agent, solution of the structural credit assignment problem requires an appropriate internal state space representation of the environment. In this paper, a discrete coding of the input space using a neural network structure is presented as opposed to the commonly used continuous internal representation. This enables a faster and more efficient convergence of the reinforcement learning process.

关键词： Learning Mobile robots Control engineering computing Automatic control Neural networks Fuzzy logic Path planning Robotics and automation Navigation State-space methods

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ATM available bit rate congestion control with on-line network model identification

ATM available bit rate congestion control with on-line netwo...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： D. Brscic I. Petrovic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

In this paper, the design of available bit rate (ABR) congestion control in ATM (asynchronous transfer mode) networks is considered. The goals of congestion control are high link utilization, low cell loss, and low network delay. Various algorithms for congestion control can be found in the literature. Most of them are based on a network model, which is assumed to be known. In this paper a recursive least square (RLS) algorithm for on-line identification of the network model is implemented and combined with a generalized predictive controller (GPC) and with an I-controller based on the Smith predictor. Simulations were carried out to prove the effectiveness of the proposed algorithms.

关键词： Bit rate Asynchronous transfer mode Traffic control Automatic control Communication system traffic control Control design Bandwidth Switches Process control Control engineering computing

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Experimental investigations of the rubber-asphalt sliding pair dynamics

Experimental investigations of the rubber-asphalt sliding pa...

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作者： Božić, Ante Petrović, Ivan Perić, Nedjeljko Matuško, Jadranko Poclain-Hydraulics Industrie Direction Technique B.P.N. 106 60411 Verberie Cedex France University of Zagreb Faculty of Electrical Engineering and Computing Department for Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

ISBN: (纸本)0791836290

A laboratory model for experimental investigations of the rubber-asphalt sliding pair has been designed with the purpose of better understanding of dynamic behavior of the friction force in the contact patch between the car tire and the road. Its design is described and some experimental results are given. These results confirm that it is essential to use a dynamic friction model in order to describe friction force in contact between the car tire and the road. Moreover, they indicate that the existing dynamic friction models might be physically incorrect regarding the change of friction coefficient for an asperity bristle passing through the contact surface. Copyright © 2002 by ASME.

关键词： Tribology

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Toolkit for PID dominant pole design

Toolkit for PID dominant pole design

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： I. Branica I. Petrovic N. Peric Systemcorn Zagreb Croatia Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

This work presents dominant pole design (DPD) methodology, one MATLAB implementation of DPD and its usage. DPD for PI and PID controllers is derived, and on this basis MATLAB toolkit for three-pole method (3PM) has been developed. The least squares procedure for finding functional dependence of PID controller parameters on process parameters is described. This least squares procedure has been applied to the first order process with dead time (FODT) obtained functional dependence, expressed through tuning formulas, is presented. Performance of PID controller tuned with 3PM tuning formulas is compared to the performance of PID controller tuned with integral criteria derived tuning formulas. Observed characteristics of DPD method are given at the end of the paper.

关键词： Three-term control Control systems Design methodology MATLAB Equations Automatic control Least squares methods Process control Industrial control State feedback

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Milestone report coordinating committee on computer control 15th

Milestone report coordinating committee on computer control

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15th World Congress of the International Federation of Automatic Control, 2002

作者： Verbruggen, Henk B. Park, Jaehyun Halang, Wolfgang Irwin, George Zalewski, Janusz Faculty of Information Technology and Systems Delft University of Technology Delft Netherlands Department of Automation Engineering Inha University Incheon Korea Republic of Faculty of Electrical Engineering Fern Universität Hagen Germany Intelligent Control and Systems Group School of Electrical and Electronic Engineering Queen's University Belfast United Kingdom Department of Electrical and Computing Engineering University of Central Florida Orlando United States

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