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作者： Yan, Dong Khajepour, Amir Mansour, Raafat Automation and Control Group Department of Mechanical Engineering Canada RF/Microwave Group Department of Electrical and Computer Engineering University of Waterloo Canada

ISBN: (纸本)0791836215

This paper presents a new micro electro-thermal actuator with vertical motion. In the traditional vertical electro-thermal actuators, the arms of actuators are fabricated with different widths to provide high and low electrical resistance for the hot and cold arms. Applying electrical current to the arms results in different thermal expansion between the hot and cold arm, which forces the tip of the device to bend. The new vertical electro-thermal actuator design eliminates the parasitic electrical resistance of the cold arm through the use of a 'U' shape structure. This U-shape structure results in a bi-directional vertical actuator with larger deflection and improved electrical efficiency by providing an active return current pass. The 'U' shape actuator is more efficient in applications such as variable capacitors where larger deflection can increase the tuning range. For analysis and design purposes, an effective method to transfer the continuous system to a lumped model is presented. Simulation results are provided to show the deflection and effects of design parameters on the actuator performance. Copyright © 2002 by ASME.

关键词： Thermal expansion

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Real-time application of simulation tools and implementation of control techniques for induction machines in Matlab/Simulink® environment

Real-time application of simulation tools and implementation...

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Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society

作者： Spiller, Pablo A. Haffner, Jose F. Pereira, Luis F.A. Automation and Control Laboratory Electrical Engineering Department Pont Univ Catol do Rio Grande do Sul Porto Alegre Brazil

The main contribution of this work is the development of a Matlab/Simulink-based software environment that allows the integrated simulation, validation and fast prototyping of real-time control algorithms for induction machines. The transition from the simulation phase to the real-time prototyping is straightforward. A single modification by user is required to perform the substitution of simulation tools by real-lime tools. The algorithm developed is kept in the environment during the whole design process. Real-time tools will read sensors signals and send control signals for the drivers. Practical results were obtained and are hereby presented in order to illustrate the use and the characteristics of the platform. The use of flux estimators and current control was also exemplified in simulation and real-time implementation in such way that all the potentiality of the developed platform could be demonstrated.

关键词： Induction motors

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Dynamics of On-Line Ash Monitors in Monitoring and control Systems

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Coal Preparation 2002年第5期22卷 277页

作者： Cierpisz, Stanislaw cierpisz@zeus.polsl.gliwice.pl Heyduk, Adam Department of Electrical Engineering and Process Control in Mining Silesian University of Technology Poland

On-line ash monitors have been in use for many years in coal industry. Their operation is usually based on the scattering or the absorption of incident gamma radiation, and the derived ash value is the result of a time-averaged measurement. The natural radiation method is also used in on-line ash content measurements. A review of the ash monitors applied in Polish coal preparation plants is presented in this paper. Most of monitor installations are designed to monitor trends of ash content in coals, rather than to react to rapid changes of ash content. These data averaged over the period of tens of seconds (or several minutes) are often used by an operator to adjust the operation of a plant manually. In the case of closed loop control systems with on-line ash monitors, the dynamic properties of these instruments are important. The concept of an ash monitor with a time constant (or a time of measurement) adapting to variations of an input signal (ash content) have been analyzed. The fuzzy logic has been applied to establish the structure of the adaptive filter. Such a system allows us to speed-up the reaction of the instrument to rapid variations of ash content and at the same time to achieve better statistical accuracy over a longer period of time. This is particularly important in closed loop control systems or in splitting of a coal stream to different products. Simulation analysis of the coal blending control system applied in the "Sosnica" plant is presented in this article. Application of an on-line ash monitor with an adaptive time constant is discussed and some results of practical experiments are presented. [ABSTRACT FROM AUTHOR]

关键词： MACHINERY -- Monitoring COAL preparation

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Integration of topological and metric maps for indoor mobile robot path planning and navigation 2nd

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2nd Hellenic Conference on Artificial Intelligence, SETN 2002

作者： Zavlangas, Panagiotis G. Tzafestas, Spyros G. Intelligent Robotics and Automation Laboratory Signals Control and Robotics Division Department of Electrical and Computer Engineering National Technical University of Athens Zografou Athens15773 Greece

ISBN: (纸本)3540434720

Autonomous mobile robots need to use spatial information about the environment in order to effectively plan and execute navigation tasks. The information can be represented at different levels of abstraction, ranging from detailed geometric maps to coarse topological maps. Each level is adequate for some sub-task, but not for others. In this paper, we consider the representation of spatial knowledge at two different levels of abstraction, which are commonly considered in the robotics literature: the geometric level, and the topological level. We propose to represent the environment by local metric maps connected into a topological network. This technique allows us to use maps that are not metrically consistent on the global scale, although they are metrically consistent locally. The structure allows also the combination of abstract global reasoning and precise local geometric computations. Moreover, this structure reflects the typical organization of indoor environments, where rooms and hallways define independent but connected local working spaces. To navigate in the environment, the robot uses the topological information to plan a sequence of sectors to traverse, and uses the metric information in each sector to locally move within the sector and to the next one. The functioning of the proposed system with respect to omnidirectional mobile robots and results of simulated experiments are presented. © Springer-Verlag Berlin Heidelberg 2002.

关键词： Abstracting

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Relations between stable predictive control and pole placement 15th

Relations between stable predictive control and pole placeme...

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

作者： Fikar, M. Unbehauen, H. Mikleš, J. Department of Process Control CHTF STU Radlinského 9 BratislavaSK-812 37 Slovakia Control Engineering Laboratory Faculty of Electrical Engineering and Information Sciences Ruhr-University Universitätsstr. 150 BochumD44180 Germany

ISBN: (纸本)9783902661746

In this paper, several relations between pole placement (PP) controller and unconstrained predictive controller are investigated. The placement of poles at certain positions leads to various types of time optimal control and has a direct relation to the choice of minimum control and output horizons for stabilising MPC. On the other hand, a predictive control method for linear systems is derived that can be turned into some well known stabilising MPC methods. This MPC method is closely related to the PP design. Copyright © 2002 IFAC.

关键词： controllers

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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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Robust specification influence on feedback control strategies 15th

Robust specification influence on feedback control strategie...

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

作者： Gil-Martínez, M. García-Sanz, M. System Engineering and Automation Group Electrical Engineering Department University of La Rioja Luis de Ulloa 20 Logroño26004 Spain Automatic Control and Computer Science Department Public University of Navarra Campus Arrosadía Pamplona31006 Spain

ISBN: (纸本)9783902661746

The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuators. This implies the necessity of design tradeoffs highly transparent from the Quantitative Feedback Theory. Supposing a given uncertainty for a plant, the set of performance and stability requirements will condition the problem solution. Taking advantage of the QFT bound typology and formulation, the contribution of the robust specification values to their simultaneous achievement will be analysed and particularly as regards the challenging task of the controller design. Copyright © 2002 IFAC.

关键词： controllers

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Multirate nonlinear predictive control

Multirate nonlinear predictive control

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American control Conference (ACC)

作者： U. Halldorsson M. Fikar H. Unbehauen Department of Electrical Engineering and Information Sciences Control Engineering Laboratory Bochum Germany Department of Process Control CHTF STU Bratislava Slovakia

This paper introduces a new approach to reduce the computational load of nonlinear model based predictive controllers. The idea is based on dividing a long prediction horizon into only a few equidistant intervals with piecewise constant control signals. After solving a first dynamic optimization problem the prediction horizon is halved, keeping the second half of the solution fixed. and doubling the sampling rate in the first half of the control horizon. Using these settings a second optimization is performed to improve the first acquired solution. This procedure is repeated until the applied control step has a reasonable sampling time. In this paper the multirate method is merged with the Quasi-Infinite Horizon Nonlinear Predictive control scheme, based on augmenting the optimization problem with a terminal region condition and the objective function with a quadratic terminal cost term. Some illustrative simulation results are presented to show the improved stability and computational cost properties of the resulting control strategy without deteriorated quality of control.

关键词： Stability Predictive control Predictive models Sampling methods Nonlinear control systems Optimization methods Cost function Nonlinear dynamical systems Boundary conditions control engineering

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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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Optimal energy cost in ideal internal thermally coupled distillation columns

Optimal energy cost in ideal internal thermally coupled dist...

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American control Conference (ACC)

作者： Xinggao Liu Yongmao Xu Jie Zhang Jixin Qian Institute of Process Control Engineering Department of Automation Tsinghua University Beijing China Department of chemical and Process Engineering University of Newcastle Newcastle-upon-Tyne UK Institute of Industrial Process Control University of Zhejiang Hangzhou China

ISBN: (纸本)0780372980

Internal thermally coupled distillation column (ITCDIC) is the frontier of energy saving distillation research. In the paper, an evaluation method on operating cost and its saving in the ITCDIC processes of ideal mixtures is presented. A mathematical model for optimization is first derived. The benzene-toluene system is studied as an illustrative example. The optimization results show that the energy cost saving potential is close to 40% and annual energy cost saving is about 0.3 million dollars compared with the operating cost of a conventional distillation column operated at the minimum reflux ratio. The process analysis is also carried out. The optimal operating conditions and some useful results are obtained. These pave the way for the smooth operation and the further optimal design of ideal ITCDIC processes.

关键词： Cost function Distillation equipment Heat sinks Chemical industry process control Power engineering and energy Chemical processes Mathematical model Potential energy Temperature

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