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An application of nonlinear PID control to a class of truck ABS problems

An application of nonlinear PID control to a class of truck ...

引用

IEEE Conference on Decision and control

作者： F. Jiang Z. Gao Product Development Center Ford Motor Company Limited Dearborn MI USA The Applied Control Research Laboratory Department of Electrical and Computer Engineering Cleveland State University Cleveland OH USA

A NPID (nonlinear PID) control algorithm is applied to a class of truck ABS (anti-lock brake system) problems. The NPID algorithm combines the advantages of robust control and easy tuning. Simulation results at various situations using TruckSim show that NPID controller has shorter stopping distance and better velocity performance than the conventional PID controller and a loop-shaping controller.

关键词： Three-term control Wheels control systems Stability Velocity control Vehicle dynamics Pressure control Pulse width modulation Friction Nonlinear control systems

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BIFURCATION control AND NONSMOOTH FEEDBACK

BIFURCATION CONTROL AND NONSMOOTH FEEDBACK

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第二十届中国控制会议

作者： Hua O.Wang Yiguang Hong Laboratory for Intelligent and Nonlinear Control(LINC)Department of Electrical and Computer Engineering Duke University DurhamNC 27708U.S.A and Center for Nonlinear and Complex Systems Dept.of Control Science and Engineering Huazhong University of Science and Technology Institute of Systems Sciences Chinese Academy of Sciences

In the paper,we exhibit the usefulness of nonlinearity in two aspects:analysis of nonlinear dynamics and nonsmooth feedback *** illustrative examples are given to show how the new bifurcation p

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Abnormal failure mechanism of the asymmetrical emitter turn-off thyristor in high-frequency converters

Abnormal failure mechanism of the asymmetrical emitter turn-...

引用

Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Z. Xu K. Motto A.Q. Huang Center for Power Electronics System The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA Power/Control Systems Northrop Grumman Corporation Sykesville MD USA

The emitter turn-off thyristor (ETO) is a new MOS-controlled thyristor that is suitable for use in high-power converters due to its improved switching performance and easy control. This paper analyzes the abnormal failures related to the parasitic diode of the ETO in high-frequency converters for the first time. To prevent this failure, several solutions are proposed and improved ETOs are developed. Experimental results show that the proposed solutions can properly solve this problem.

关键词： Failure analysis Thyristors Anodes P-i-n diodes Switches control systems MOSFETs Tail Switching loss Cathodes

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Characterization of IGCT under zero-current-transition condition

Characterization of IGCT under zero-current-transition condi...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： K. Motto B. Zhang A.Q. Huang Power/Control Systems Northrop Grumman Corporation Sykesville MD USA Center for Power Electronics Systems The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

This paper characterizes the integrated gate commutated thyristor (IGCT) device under the zero-current-transition (ZCT) soft switching condition for the first time. The test results show that ZCT soft switching can dramatically reduce the turn-off loss, turn-on loss of the IGCT switch and also alleviate the reverse recovery stress of the diode. The ZCT circuit is therefore suitable for increasing the current handling capabilities of IGCT devices.

关键词： Switches Switching circuits Thyristors Inverters Circuit testing Resonance Zero voltage switching RLC circuits Fault currents Stress

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High frequency operation of a megawatt voltage source inverter equipped with ETOs

High frequency operation of a megawatt voltage source invert...

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Annual IEEE Conference on Applied Power Electronics Conference and Exposition (APEC)

作者： K. Motto Yuxin Li Zhenxue Xu A.Q. Huang Power Control Systems Northrop Grumman Corporation Sykesville MD USA Power Managemen Analog Devices Inc.orporated San Jose CA USA Center for Power.Electronics System The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

ISBN: (纸本)0780366182

The fast switching speed, snubberless turn-off capability and voltage controlled turn-off property enable the emitter turn-off (ETO) thyristor the capability of high switching frequency-about 5-10 times as high as its GTO counterpart. A one-megawatt ETO-based voltage source inverter system is constructed with a switching frequency up to 3-5 kHz. Experimental results have shown that the ETO is a promising device for use in high frequency systems.

关键词： Voltage Inverters Thyristors Switching frequency Power semiconductor switches Snubbers Energy management Power system management Power conversion MOSFETs

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Computing in cortical columns: Curve inference and stereo correspondence 1st

引用

1st IEEE International Workshop on Biologically Motivated computer Vision, BMCV 2000

作者： Zucker, Steven W. Center for Computational Vision and Control Dept. of Computer Science and Electrical Engineering Yale University New HavenCT United States

ISBN: (纸本)3540675604

In stereoscopic images, the behavior of a curve in space is related to the appearance of the curve in the left and right image planes. Formally, this relationship is governed by the projective geometry induced by the stereo camera configuration and by the differential structure of the curve in the scene. We propose that the correspondence problem- matching corresponding points in the image planes can be solved by relating the differential structure in the left and right image planes to the geometry of curves in space. Specifically, the compatibility between two pairs of corresponding points and tangents at those points is related to the local approximation of a space curve using an osculating helix. This builds upon earlier work on co-circularity, or the transport of tangents along the osculating circle. To guarantee robustness against small changes in the camera parameters, we select a specific osculating helix. A relaxation labeling network demonstrates that the compatibilities can be used to infer the appropriate correspondences in a scene. Examples on which standard approaches fail are demonstrated. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Cameras

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Contour-based correspondence for stereo 6th

Contour-based correspondence for stereo

引用

6th European Conference on computer Vision, ECCV 2000

作者： Alibhai, Shamez Zucker, Steven W. Center for Computational Vision and Control Depts. of Computer Science and Electrical Engineering Yale University New HavenCT United States

ISBN: (纸本)3540676856

In stereoscopic images, the behavior of a curve in space is related to the appearance of the curve in the left and right image planes. Formally, this relationship is governed by the projective geometry induced by the stereo camera configuration and by the differential structure of the curve in the scene. We propose that the correspondence problem-matching corresponding points in the image planes-can be solved by relating the differential structure in the left and right image planes to the geometry of curves in space. Specifically, the compatibility between two pairs of corresponding points and tangents at those points is related to the local approximation of a space curve using an osculating helix. To guarantee robustness against small changes in the camera parameters, we select a specific osculating helix. A relaxation labeling network demonstrates that the compatibilities can be used to infer the appropriate correspondences in a scene. Examples on which standard approaches fail are demonstrated. © Springer-Verlag Berlin Heidelberg 2000.

关键词： Cameras

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Integrating identification with robust control: A mixed H/sub 2//H/sub /spl infin// approach

Integrating identification with robust control: A mixed H/su...

引用

IEEE Conference on Decision and control

作者： L. Wang G.C. Goodwin Center for Integrated Dynamics and Control Department of Electrical and Computer Engineering University of Newcastle NSW Australia

ISBN: (纸本)0780366387

This paper builds on previous work which developed a robust control algorithm which used statistical confidence bounds. The key idea was to change the nominal design so as to reduce the overall variability from an a priori specified desired performance. However, due to the choice of cost function, the original design method did not necessarily guarantee stability. This paper addresses the latter problem in a mixed H/sub 2//H/sub /spl infin// framework.

关键词： Robust control Cost function Iterative algorithms Uncertainty Stability Algorithm design and analysis System identification Covariance matrix Australia Design methodology

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Discrete-time variable structure control using recursive switching function

Discrete-time variable structure control using recursive swi...

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American control Conference (ACC)

作者： Jung-Ho Kim Dong-Il Cho School of Electrical Engineering and Computer Science Engineering Research Center for Advanced Control and Instrumentation Seoul National University Seoul South Korea

In this paper, a new discrete-time variable structure control method using a recursive switching function is developed. The motivation for developing this method stems from the fact that variable structure control implemented in discrete time can lose the invariant property. In the proposed method, the switching function is recursively computed, utilizing the current tracking error vector and the previous switching function value. Combining the recursive switching function with a reaching law using a saturation function, the proposed control method achieves robustness to uncertainties, including both parametric errors and external disturbances. Under the condition that bounded uncertainties are constant or slowly varying, the tracking error is nearly zero even if the switching function does not become zero, preserving the invariant property of variable structure control.

关键词： Uncertainty Robustness Sliding mode control Sampling methods Electric variables control Robust control Error correction control systems computer science Instruments

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X-33 ascent flight control design by trajectory linearization - A singular perturbation approach

X-33 ascent flight control design by trajectory linearizatio...

引用

AIAA Guidance, Navigation, and control Conference and Exhibit 2000

作者： Jim Zhu, J. Banker, Brad D. Hall, Charles E. Electrical and Computer Engineering Department Louisiana State University Baton Rouge LA 70803 United States Vehicle and Systems Development Department Control Systems Group NASA Marshall Space Flight Center MSFC AL 35812 United States

ISBN: (纸本)9781563479786

The flight control of X-33 poses a challenge to conventional gain-scheduled flight controllers due to its large attitude maneuvers from liftoff to transition and descent. In addition, a wide range of uncertainties in vehicle handling qualities and disturbances must be accommodated by the attitude control system. Nonlinear tracking and decoupling control by trajectory linearization can be viewed as the ideal gain-scheduling controller designed at every point on the flight trajectory. Therefore it provides robust stability and performance at all stages of flight without interpolation of controller gains and eliminates costly controller redesigns due to minor airframe alteration or mission reconfiguration. In this paper, a trajectory linearization design for an X-33 ascent flight controller is presented along with 3-DOF and 6-DOF simulation results. The current design only generates the commanded torque for the vehicle, relying on a gain scheduled control allocation algorithm of the baseline controller developed by NASA MSFC. It is noted that the controller gains for the commanded torque are computed symbolically based on the theoretical derivations and are applicable to any feasible trajectories and airframes with known mass properties. Therefore the design is scalable and mission adaptable. The 3-DOF results were obtained from direct implementation of the symbolic gains, and the 6-DOF results were obtained from the former with only a few days of tuning and refinement. This "plug-and-play" feature demonstrates the simplicity and the inherent robustness of the design technique, which is sought by NASA for the development, test and routine operations of the Reusable Launch Vehicles (RLV's). Plans for further enhancement of the ascent controller and the initial development of the entry and descent controller are also presented. © 2000 by J. J. Zhu. Published by the American Institute of Aeronautics and Astronautics, Inc.

关键词： controllers

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