A systematic approach for the steady-state operation analysis of chemical processes is *** method affords the possibility of taking operation resilience into consideration during thestage of process *** may serve the ...
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A systematic approach for the steady-state operation analysis of chemical processes is *** method affords the possibility of taking operation resilience into consideration during thestage of process *** may serve the designer as an efficient means for the initial screening ofalternative design *** ideal heat integrated distillation column(HIDiC),without any reboileror condenser attached,is studied throughout this *** has been found that among the various va-riables concerned with the ideal HIDiC,feed thermal condition appears to be the only factor exertingsignificant influences on the interaction between the top and the bottom control *** is expected when the feed thermal condition approaches *** number of stages andheat transfer rate are essential to the system ability of disturbance ***,more stagesand higher heat transfer rate ought to be ***,too many stages and higher heat transfer ratemay increase the load of the
Soft-sensing techniques are widely applied in such practical situations where some process variables involved in control and optimization systems can not be measured directly or reliably due to the technical limitatio...
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ISBN:
(纸本)9783952426906
Soft-sensing techniques are widely applied in such practical situations where some process variables involved in control and optimization systems can not be measured directly or reliably due to the technical limitations or economic expense. This paper proposes an on-line soft-sensor for the quality control and energy optimization of crude distillation column. Based on the system analysis, a two-stage softsensor has been developed for the estimation of internal liquid and vapor loads, and product quality specifications of sidestreams. The on-line correction mechanism is also developed to eliminate the estimated bias from the off-line laboratory data. The measurements of the soft-sensor are used and to derive the constraints of the energy optimization system as well as to feedback to the quality control system.
A method of PID controller autotuning based on relay feedback control is described. Special attention is paid to the process structure and parameters estimation in the phase of reaching the desired operating point. Th...
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A method of PID controller autotuning based on relay feedback control is described. Special attention is paid to the process structure and parameters estimation in the phase of reaching the desired operating point. This may increase the method's robustness and also speed up the tuning procedure. The algorithm's validity is illustrated by some simulation results and an experimental result on a laboratory pilot plant. Il est decrit la mèthode du régulateur d'autoadaptation PID basée au système asservi à relais. L'attention particulierè est consacrée à l'estimation de la structure et des paramètres du procès à la phase dans laquelle on met le proces dans le point de fonetionnement dont on augmente la robustesse et la vitesse de l'autoadaptation. Nous avons presenté certains résultats de la simulation à l'ordinateur ainsi qu'à l'installation pilote qui attestent la validité des algorithmes élaborés.
A fuzzy autopilot for ship path control is proposed. Nonlinear model of a ship and a steering subsystem is used. The autopilot uses heading signal and yaw rate signal to produce a command rudder angle. The autopilot d...
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A fuzzy autopilot for ship path control is proposed. Nonlinear model of a ship and a steering subsystem is used. The autopilot uses heading signal and yaw rate signal to produce a command rudder angle. The autopilot does not use lateral offset from the nominal track. Input variable fuzzyfication, fuzzy associative memory rules and output set defuzzyfication are described. The influence of the shallow water effect during larger maneuver is analyzed.
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed...
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: perturbation analysis, low pass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed...
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: locomobility measure, perturbation analysis and low-pass frequency response. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
This paper addresses two important aspects of anti-windup (AW) designs, namely the parametrization of linear AW compensators, and the role of artificial nonlinearity (AN) in the design of AW compensators for multivari...
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ISBN:
(纸本)9783952426906
This paper addresses two important aspects of anti-windup (AW) designs, namely the parametrization of linear AW compensators, and the role of artificial nonlinearity (AN) in the design of AW compensators for multivariable systems. For the first issue, a simple parametrization is given using the classical feedback structure in the framework of constrained unity feedback multivariable control system. Conditions for controller implementability and closed-loop stability are stated in terms of this parametrization. For the second issue, two existing AN designs for coordinate plant inputs whenever one plant input enters saturation are reviewed. The first design is the widely used input direction preserving technique, and the second is an optimal AN design. A comparative simulation study illustrates that the conditioning technique, enhanced by optimal AN design, gives the best tracking performance among different existing methods.
The contribution demonstrates the robot gripper, whose compressive force is automatically controlled to inevitable minimal value, also namely in dynamic modes, when besides gravity force also a rank of other forces an...
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The contribution demonstrates the robot gripper, whose compressive force is automatically controlled to inevitable minimal value, also namely in dynamic modes, when besides gravity force also a rank of other forces and torques affect to the manipulated object.
This paper presents modular design of P, I and PI controllers dedicated for systems with dominant 1st order dynamics in the control loop. It is shown that under presence of control signal constraints the traditionally...
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This paper presents modular design of P, I and PI controllers dedicated for systems with dominant 1st order dynamics in the control loop. It is shown that under presence of control signal constraints the traditionally used “linear” PI-controller guarantees a desired control quality only for a special distribution of the dynamical terms in the control loop - for the dominant 1st order dynamics concentrated in the feedback path (sensor or filter dynamics). For the more frequent situation with the dominant 1st order plant placed in the feedforward path, a new integrating “anti-windup” controller is derived. It is shown that the controller derived represents two different dynamical classes of controllers characteristic with none or one possible train of saturated control signal pulses in their response to a step change of the reference signal.
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed...
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
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