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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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Novel fuzzy predictive PID control for a class of nonlinear systems

Novel fuzzy predictive PID control for a class of nonlinear ...

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Proceedings of 2002 International Conference on Machine Learning and Cybernetics

作者： Li, Lin-Huan Su, Hong-Ye Chu, Jian Guan, Xin-Pin National Key Lab. of ICT Inst. of Advanced Process Control Zhejiang University Yuquan Campus Hangzhou 310027 China Department of Electrical Engineering Yanshan University 066004 HeBei Provience China

ISBN: (纸本)0780375084

As a matter of fact that the most plants are nonlinear in practice, the proper T-S fuzzy model is obtained by recursive fuzzy identification method to describe the real complex nonlinear systems. First, a fuzzy-clustering algorithm is used to competitively learn the centers of the input-areas online, Second, the radius of input- areas are determined based on the superpose degree of the predetermined rules, while the parameters in the inference can be achieved by the RLS algorithm, then the fuzzy local linear model can be used as the CARIMA model at every instant to predictive the output of the plant. Finally, a novel-tuning algorithm for PID controller parameters is presented based on the idea of GPC and the relation between the GPC and PID controller. The optimal index includes the weighting term on the square of error between the predicted process steady-state value and the desired-state value. What's more, the stability of the system has also been studied. The simulation results both in theory and paper pulp process show the effectiveness of the proposed method.

关键词： Three term control systems

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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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Testing of genetic -PI based controller for IPMSM drive

Testing of genetic -PI based controller for IPMSM drive

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IEEE International Conference on Industrial Technology, IEEE ICIT 2002

作者： Rahman, M.A. Hoque, M.A. Butt, C.B. Uddin, M. Nasir Abido, M.A. Faculty of Engineering and Applied Science Memorial University of Newfoundland St. John'sNLA1B3X5 Canada Automation and Control Engineering Lab Dept. of Electrical Engineering Lake Head University Thunder BayONP7B5E1 Canada Electrical Engineering Department King Fahd University of Petroleum and Minerals Dhahran31261 Saudi Arabia

ISBN: (纸本)0780376579

This paper presents a laboratory testing of genetic algorithm (CA) based self-tuned PI controller for the speed control of interior permanent magnet synchronous motor (IPMSM). A radial basis artificial neural network function is used for on-line tuning of the PI controller. GA has been used in this work in order to obtain the optimized values of the PI constants for precise speed control. An performance index has been developed using GA, whose minimum value ensures zero steady-state error, minimum speed deviation and minimum settling time of the IPMSM drive. The initial values of the radial basis function network (RBFN) are obtained through off-line learning. Training data for off-line learning are generated by simulating the IPMSM drive under various operating conditions and uncertainties. For on-line implementation, the PI constants are tuned by updating the parameters of the RBFN maintaining the genetic performance index at its minimum value. In real time implementation, the proposed controller has been realized using a digital signal processor (DSP) board DS1102 for a 1hp laboratory IPMSM. The control algorithm is written in C++, compiled and then down loaded to the DSP board. The agreement between the simulation and test results confirms the effectiveness of the proposed controller for the vector control of the IPMSM. © 2002 IEEE.

关键词： Digital signal processors

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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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Fault diagnostics of an electrical machine with multiple support vector classifiers

Fault diagnostics of an electrical machine with multiple sup...

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IEEE International Symposium on Intelligent control (ISIC)

作者： S. Poyhonen M. Negrea A. Arkkio H. Hyotyniemi H. Koivo Control Engineering Laboratory Department of Automation and Systems Technology Helsinki University of Technology Finland Laboratory of Electromechanics Department of Electrical Engineering Helsinki University of Technology Finland

Support vector machine (SVM) based classification is applied to fault diagnostics of an electrical machine. Numerical magnetic field analysis is used to provide virtual measurement data from healthy and faulty operations of an electric machine. Power spectra estimates of a stator line current of the motor are calculated with Welch's method, and SVMs are applied to distinguish the healthy spectrum from faulty spectra. Multiple SVMs are combined with a majority voting approach to reconstruct the final classification decision.

关键词： Support vector machines Support vector machine classification Magnetic field measurement Stators Voting Neural networks Laboratories Magnetic analysis Condition monitoring Statistical learning

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controller performance assessment and monitoring - theory and its applications

Controller performance assessment and monitoring - theory an...

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World Congress on Intelligent control and automation (WCICA)

作者： Maying Yang Xiaoming Jin Automation Department Information engineering College Zhejiang University of Technology Hangzhou China Institute of Advanced Process Control University of Zhejiang Hangzhou China

controller performance assessment is a challenging task in industrial process control. In this work, we review the state of research in controller performance assessment and monitoring, and present some commercial implementations of the technology in process industries. Challenges related to the controller performance evaluation are outlined for research and applications.

关键词： Automatic control automation process control Educational institutions Industrial control Computerized monitoring Intelligent control

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OPTIMAL FUZZY control TO OPTIMISE ENERGY CONSUMPTION IN DISTILLATION COLUMNS

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IFAC Proceedings Volumes 2002年第1期35卷 307-312页

作者： A. Khelassi C. Bouyahiaoui A. Maidi A. Benhalla M. Djellal Laboratory of Automatic Applied (Process Control) Automatic Department Faculty of Hydrocarbons and Chemistry University of Boumerdes 35000 Algeria Electrical and Data Processing Engineering Department Polytechnics School of Montreal Quebec Canada

Distillation columns constitute a significant fraction of the capital invested in the refineries around the world; their control requires a major part of the total operating cost of chemical processes, if the used strategy is not adequate. This article presents the application of optimal fuzzy control to reduce the energy consumption of a Benzene-Toluene distillation column. This method is based on the determination of the specific values of the fuzzy controller parameters such that certain performance criterion is minimised. Results of a simulation study are presented showing the potential improvement offered by this method.

关键词： Optimal fuzzy controller multivariable systems distillation column Pontryagin minimum principle energy consumption

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