检索结果-内蒙古大学图书馆

Close-Loop System Identification Using Over-sampling Scheme and Its Estimate Accuracy Analysis

Journal of Shanghai University(English Edition) 2005年第5期9卷 437-444页

作者：胡怀中孙连明刘文江 Faculty of Automation and Control Xi'an Jiaotong University Xi'an 710049 P. R. China Department of Electrical Engineering Keio University Yokohama Japan

A new identification method for a linear discrete-time closed-loop system is proposed based on an output over-sampling scheme. When the system outputs are over-sampled the new output sequences would contain more information about the plant structure. Using general least squares method （GLS） the plant over-sampled model should be recognized. Then the original plant model should be obtained by its relationship with the over-sampled model. Compared with conventional approaches the advantage of the new method is that even if the ordinary identifiability conditions are not satisfied, a close-loop system can be identified by using the oversampled output without utilizing any external test signal. Accuracy analysis shows the relationship between the estimation error and the over-sampling rate. Numerical simulation illnstrates its effectiveness.

关键词： system identification close-loop over-sampling estimate accuracy.

来源：评论

学校读者我要写书评

暂无评论

Development of a nonlinear dynamic model for a servo pneumatic positioning system

Development of a nonlinear dynamic model for a servo pneumat...

引用

IEEE International Conference on Mechatronics and automation

作者： Shu Ning G.M. Bone Control Automation and Electrical Group Hatch Limited Mississauga ONT Canada Department of Mechanical Engineering McMaster University Hamilton ONT Canada

A parametric dynamic model of a pneumatic servo system is useful for its computer simulation, mechatronic design and control algorithm design. Pneumatic servo positioning systems have advantages that include: inexpensive, clean, safe and high ratio of power to weight. However, they are difficult to accurately model. In this paper a methodology for deriving a nonlinear dynamic model for a pneumatic servo system is presented. The model includes cylinder dynamics, payload motion, friction and valve characteristics. Methods for estimating the model parameters from simple experiments are also described. It is shown that the standard mass flow rate valve model is not well suited to an open-center proportional valve. A new valve model is developed that more accurately fits the measured data. The proposed modeling methodology does not require special measurement equipment or disassembly of the system hardware. This is an advantage for a pneumatic servo system that is in continuous use. Experimental results demonstrating the ability of the model to predict the measured piston position and cylinder chamber pressures are included.

关键词： Nonlinear dynamical systems Servomechanisms Power system modeling Valves Algorithm design and analysis Computer simulation Mechatronics Payloads Friction Parameter estimation

来源：评论

学校读者我要写书评

暂无评论

Comparison of real-time network traffic estimator models in gain scheduler middleware by unmanned ground vehicle network-based controller

Comparison of real-time network traffic estimator models in ...

引用

Annual Conference of Industrial Electronics Society

作者： Z. Li R. Vanijjirattikhan M.-Y. Chow Y. Viniotis Advanced Diagnosis Automation and Control (ADAC) Laboratory Department of Electrical and Computer Engineering North Carolina State University Raleigh NC USA

We propose a gain scheduler middleware (GSM) module, for use in IP network-based control applications. The network traffic estimator (NTE) module of GSM must provide good estimation of the real-time network delay in order for the overall IP network-based control to provide satisfactory results. In this paper, we demonstrate the advantages of the NTE module vs. non-delay estimation control. Five delay estimation models are introduced and compared by using three typical network delay datasets. A network-based control of an unmanned ground vehicle (UGV) path-tracking problem is used to illustrate the performance of the NTE model. Simulation results show that the generalized exponential model outperforms the other models on the three criteria, including the UGV tracking error, travelling time and the computation time of the estimation model.

关键词： Communication system traffic control Traffic control Intelligent networks Middleware Land vehicles Communication system control control systems Automatic control Delay estimation GSM

来源：评论

学校读者我要写书评

暂无评论

INTELLIGENT control OF BIPED ROBOT WITH HETEROGENEOUS LEGS

引用

IFAC Proceedings Volumes 2005年第1期38卷 181-186页

作者： Binrui Wang Xinhe Xu Jindong Tan Key Laboratory of Process Industry Automation Ministry of Education Institute of AI and Robotics Northeastern University Shenyang 110004 China Department of Electrical and Computer Engineering Michigan Technological University Houghton MI 49931 USA

Intelligent bionic leg (IBL) is important for above-knee amputees. Biped robot with heterogeneous legs (BRHL) including artificial leg and bionic leg is proposed as a good test-bed for IBL. Mechanism and virtual prototype of BRHL is designed and built. Model of BRHL is established. Based on the complex differential algebraic equation of bionic leg, computed torque and PD feedback control of joint angle are introduced for gait tracking. The iterative learning control is applied in conjunction with computed torque and PD control law for good tracking performance. control simulation is done and shows intelligent control is good for BRHL.

关键词： Intelligent control robot dynamics modeling computed torque control learning control hierarchical structures

来源：评论

学校读者我要写书评

暂无评论

Snubberless switching-off characteristics of IGCTs equipped in high power three-level neutral point clamped converters

Snubberless switching-off characteristics of IGCTs equipped ...

引用

International Conference on electrical Machines and Systems (ICEMS)

作者： Liqiang Yuan Zhengming Zhao Haitao Zhang Zhi Yang Bing Li Jianzheng Liu Department of Electrical Engineering Tsinghua University Beijing China Department of Frequency-Converter and Control System Guodian Nanjing Automation Company Limited Nanjing China

Along with the improved design and broad applications of multi-level topologies, as a new commercial power switch device in recent years, IGCT has led the rapid development of high power converters in many applications, such as medium voltage adjustable speed drive and FACTs. Since the power electronic device is the base of these converters, the switching-off characteristics of IGCTs have become one of the key points in converters' design and analysis, especially when snubber circuits are absent. This paper focuses on the snubberless switching-off characteristics of IGCTs equipped in the high power three-level neutral point clamped (NPC) converter. According to the physical characteristics of switch devices and commutating mechanism between different switching processes in the converter, the switching-off characteristics of IGCTs in different topology positions under different switching conditions are described, simulated and tested. The results of simulation and experiments are compared, especially the voltage spikes by IGCTs' switching off. The relation between the switching-off characteristics and the other elements of the converter is also discussed in detail, such as topology position, PWM strategy and mechanical structure. Finally, some helpful conclusions for high power converters' design and analysis are drawn

关键词： Switching converters Circuit topology Switches Medium voltage Variable speed drives Power electronics Switching circuits Snubbers Testing Pulse width modulation

来源：评论

学校读者我要写书评

暂无评论

Two-Dimensional Frequency Analysis of Structured Uncertainty for Multiple Array Paper Machine Cross-Directional processes

Two-Dimensional Frequency Analysis of Structured Uncertainty...

引用

IEEE Conference on Decision and control

作者： Junqiang Fan G.A. Dumont Honeywell Automation and Control Solutions North Vancouver BC Canada Department of Electrical and Computer Engineering University of British Columbia Vancouver BC Canada

This paper provides a two-dimensional frequency analysis technique for robust controllers of large-scale multiple array paper machine cross-directional (CD) processes with structured model uncertainty. For such spatially-distributed dynamical systems, the process model and its realistic structured uncertainty are assumed to be linear, spatially-invariant, and time-invariant. These large-scale MIMO systems are rectangular circulant matrix blocks that can be conveniently transformed into a family of small dimension transfer functions in the two-dimensional frequency domain. This significantly simplifies the controller design and gives a better physical insight about the realistic structured uncertainty problem. Given a linear feedback controller, we can easily derive the robust stability condition for the closed-loop CD system in the two-dimensional frequency domain.

关键词： Frequency Uncertainty Paper making machines Actuators Sensor arrays electrical equipment industry Industrial control Robust control Large-scale systems Transfer functions

来源：评论

学校读者我要写书评

暂无评论

ON COMPUTING DETERMINANTS OF LARGE SYLVESTER TYPE MATRICES

引用

IFAC Proceedings Volumes 2005年第1期38卷 880-885页

作者： Petr Kujan Martin HromĈík Michael Ŝebek Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Centre for Applied Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Karlovo nam. 13 12135 Prague 2 Czech Republic Centre for Applied Cybernetics Institute of Information Theory and Automation Institute of Information Theory and Automation Pod vodarenskou vezi 4 18208 Praha 8 Czech Republic

This work is devoted to computation of large n-D polynomial determinants with a special structure. Applications involve n-D systems theory (e.g. coprimeness test for two n-D polynomials or the theory of algebraic equations. More specifically, these determinants were exploited in (Chiasson et al. , 2003 b ; Chiasson et al. , 2003 a ) to solve the practical problem of multilevel converter by a special computational procedure. To tackle the concerned problem it is essential to solve a system of polynomial equations with many unknowns. An algorithm was chosen based on elimination theory using resultants leading to the fundamental problem of computing determinants of large Sylvester type matrices with n-D polynomial entries. The aim of this work is to propose and test new numerical algorithms that would make it possible to solve the concerned problems more effectively.

关键词： Polynomial methods Numerical methods Fast Fourier Transform

来源：评论

学校读者我要写书评

暂无评论

Femlab-based output regulation of nonhyperbolically nonminimum phase system and its real-time implementation

Femlab-based output regulation of nonhyperbolically nonminim...

引用

作者： Rehák, Branislav Orozco-Mora, Jorge Čelikovský, Sergej Ruiz-León, Javier Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Technická 2 166 27 Praha 6 Czech Republic CINVESTAV-IPN Unidad Guadalajara Plaza la Luna 44550 Guadalajara Jalisco Mexico Institute of Information Theory and Automation Academy of Sciences of the Czech Republic P.O. Box 18 182 08 Prague Czech Republic

ISBN: (纸本)008045108X

The aim of this paper is twofold. It provides another option how to obtain a universal easily implementable method for the solution of the regulator equations using the FEMLAB package. The regulator equation originates from the output regulation problem. The main idea is making a slight change of the regulator equation. It is then solved using the finite-element method. Some theoretical aspects concerning solvability of the equations and convergence to the original problem are introduced. Secondly, to demonstrate viability of our approach, the results were applied to the real-time control of a gyroscope. Both simulations and real-time laboratory experiments are included. Copyright © 2005 IFAC.

关键词： Gyroscopes

来源：评论

学校读者我要写书评

暂无评论

Internet-based teleoperation of a mobile robot using shared impedance control scheme: a pilot study

Internet-based teleoperation of a mobile robot using shared ...

引用

IEEE Conference on control Technology and Applications (CCTA)

作者： I. Hassan-Zadeh F. Janabi-Sharifi M.R. Akhavan X. Yang Department of Control Engineering University of Tabriz Iran Department of Mechanical and Industrial Engineering Robotics and Manufacturing Automation Laboratory (RMAL) Ryerson University Toronto Ontario Canada Robotics and Manufacturing Automation Laboratory (RMAL) Ryerson University Toronto Ontario Canada Department of Electrical and computer Engineering University of western Ontario Canada

In this paper, a shared impedance control scheme is proposed for Internet-based teleoperation of mobile robots. Also, pilot study is conducted to evaluate the effect of different teleoperation parameters. In particular, the effects of time delay, human operator training history, operator-machine interface modalities such as degree of haptic versus visual integration, and performance of virtual model versus real images were studied. The scheme was implemented using Matlab XPC Target and Simulink. Several measures were introduced for the evaluation of teleoperation performance. The study confirmed the significance of haptic cues integration for improving teleoperation of mobile robots. The results suggest that appropriate integration of haptic feedback to a proper image feedback could result in a relatively reliable teleoperation in unstructured environments, e.g., for dynamic obstacle avoidance

关键词： Internet Mobile robots Impedance Force feedback Robotics and automation Haptic interfaces Manufacturing automation Laboratories Delay effects Humans

来源：评论

学校读者我要写书评

暂无评论

Web-Based MATHEMATICA Platform for Systems and controls Education

Web-Based MATHEMATICA Platform for Systems and Controls Educ...

引用

IEEE International Symposium on Intelligent control (ISIC)

作者： P. Kujan M. Hromcik M. Sebek Institute of Information Theory and Automation Centre for Applied Cybernetics Praque Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Centre for Applied Cybernetics Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Institute of Information Theory and Automation AS CR Praque Czech Republic

Computer algebra software tools in general, and the MATHEMATICA system in particular, are increasingly employed during the controls and systems graduate and undergraduate courses at FEE CTU in Prague. MATHEMATICA benefits from its high-level user interface, graphical abilities, as well as numerical and symbolic computational power and dedicated packages for control systems analysts and design (control systems professional and advanced numerical methods). In addition, MATHEMATICA provides a Web-based platform for publication of results and presenting user-callable routines (webMATHEMATICA). In the Czech Republic a project financed by the Ministry of Education and called PUMA (power user mathematic array) has been started recently, focused on creation of Web-accessible software tools to support education at technical universities. The authors have been involved in these efforts and would like to contribute by creating a Web site based on webMATHEMATICA dedicated to numerical and symbolic computations for systems and controls. This paper is the first report on this topic. The work is in rapid progress now and the paper summarizes the authors' plans and first results

关键词： control systems Software tools Computer science education Algebra User interfaces Computer interfaces Packaging control system analysis Mathematics Educational institutions

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：