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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

International Conference on Electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward controller (FFC-PFC) are presented.

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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Application of Gaussian Mixture Model Genetic Algorithm in data stream clustering analysis

Application of Gaussian Mixture Model Genetic Algorithm in d...

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IEEE International Conference on Intelligent Computing and Intelligent Systems (ICIS)

作者： Ming-ming Gao Chang Tai-hua Xiang-xiang Gao School of Control and Computer Engineering North China Electric Power University Beijing China China North Vehicle research institute Beijing China

Data stream is infinite data and quick stream speed, so traditional clustering algorithm can not be applied to data stream clustering directly. As an efficient tool for data analysis, Gaussian mixture model has been widely applied in the fields of signal and information processing. We can use Gaussian mixture model (GMM) simulate arbitrary clustering graphics. There are two critical problems for the clustering analysis technology to select the appropriate value of number of clusters and partition overlapping clusters. Base on an extending method of Gaussian mixture modeling, a new feature mining method named Gaussian Mixture Model with Genetic Algorithms is proposed in this paper. This method is use a probability density based data stream clustering which requires only the newly arrived data, not the entire historical data, and also can choose optimal estimation clusters number value. The algorithm can determine the number of Gaussian clusters and the parameters of each Gaussian through random split and merge operation of Genetic Algorithms. We can get the accurate information each attribute characteristic describe. So that can make an effective date stream mining.

关键词： Data models Analytical models

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control scheme based on the inverse system method online learning BP neural network adaptive compensate

Control scheme based on the inverse system method online lea...

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IEEE International Conference on Intelligent Computing and Intelligent Systems (ICIS)

作者： Xiang-xiang Gao Ru Jiang Ming-ming Gao China North Vehicle Research Institute Beijing China School of Control and Computer Engineering North China Electric Power University Beijing China

In this paper, an online BP neural network (BPNN) compensate control scheme based on inverse system method is presented for a class of single-input-single-output nonlinear systems. Firstly, the error between the α-th derivative of the system output and the pseudo-control is analyzed and a BPNN is designed to compensate the error. Then, an adaptive algorithm of the BPNN, designed based on the Lyapunov stability theory, proves that tracking error of closed-loop system and weight estimation error of BPNN are uniform ultimate boundedness. Simulations for three nonlinear systems demonstrate the validity of the proposed control scheme.

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Application of Compound Gaussian Mixture Model clustering in the data stream

Application of Compound Gaussian Mixture Model clustering in...

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International Conference on computer Application and System Modeling (ICCASM)

作者： Ming-ming Gao Ji-zhen Liu Xiang-xiang Gao School of Control and Computer Engineering North China Electric Power University Beijing China China North Vehicle research institute Beijing China

The characteristics of data stream are infinite data and quick stream speed. Clustering modeling is an important method which link to the effect of clustering technology. A nice modeling method impacts on the performance of data stream mining system. In this paper put forward a model which named Compound Gaussian Mixture Model (CGMM) and the clustering algorithm of CGMM which combines classical GMM clustering algorithm. In the paper also put forward the EM algorithm based on Compound Gaussian Mixture Model with the added labeled samples and help the initial parameters to been studied. The algorithm also can find the overlap between the Gaussian distribution and then merge them. And EM is used to initialize Compound Gaussian Mixture Model clustering algorithm. Semi-supervised clustering uses some of labeled data to help clustering analysis. The experimental results demonstrate that the algorithm increases the recognition rate for samples compared with the unsupervised study and have good clustering ability. We compare the Compound Gaussian Mixture Model Clustering algorithm and Clustream algorithm. From the results, we conclude that CGMM based on clustering algorithm has higher performance than classic Clustream algorithm. And the experimental results show that the algorithm is effective to solve data stream clustering.

关键词： Probability Compounds

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research in data stream clustering based on Gaussian Mixture Model Genetic Algorithm

Research in data stream clustering based on Gaussian Mixture...

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International Conference on Information Science and engineering (ICISE)

Clustering data streams is one of the important branches in mining data streams. Because of dynamic and massive characteristics of data streams, traditional data mining algorithms could not satisfy the requirement of online analysis and the appropriate value of number of clusters. The focus on data stream technologies is to design one-pass scan data set, and maintain an effective data structure in memory incrementally which is far smaller than the size of whole data set. In the paper proposes a new feature mining method named Gaussian Mixture Model with Genetic Algorithm (GMMGA), based on an extending method of Gaussian mixture model. This method is use a probability density based data stream clustering which requires only the newly arrived data, not the entire historical data. The GMMGA algorithm can determine the number of Gaussian clusters and the parameters of each Gaussian component through random split and merge operation of Genetic Algorithm. In the GMMGA, a function was made to threshold value to clusters to reduce the bad clusters effect on the clustering result. In this algorithm, it can improve the robustness and accuracy of the clustering numbers, also can save memory and run time. Experimental results show that the method is effective and has higher clustering precision compared with conventional STREAM algorithm and CluStream algorithm.

关键词： Clustering algorithms Algorithm design and analysis Adaptation model Classification algorithms Genetics Training Data mining

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Delayed-state-feedback Exponential Stabilization of Stochastic Markovian Jump Systems with Mode-dependent Time-varying State Delays

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Acta Automatica Sinica 2010年第11期36卷 1601-1610页

作者： Li MA Fei-Peng DA Ling-Yao WU Key Laboratory of Measurement and Control for Complex Systems of Engineering Ministry of Education Research Institute of Automation Southeast University Nanjing 210096 P.R. China College of Electronic and Information Engineering Jiangsu University Zhenjiang 212013 P.R. China

Abstract In this paper, an improved mean-square exponential stability condition and delayed-state-feedback controller for stochastic Markovian jump systems with mode-dependent time-varying state delays are obtained. First, by constructing a modified Lyapunov-Krasovskii functional, a mean-square exponential stability condition for the above systems is presented in terms of linear matrix inequalities (LMIs). Here, the decay rate can be a finite positive constant in a range and the derivative of time-varying delays is only required to have an upper bound which is not required to be less than 1. Then, based on the proposed stability condition, a delayed-state-feedback controller is designed. Finally, numerical examples are presented to illustrate the effectiveness of the theoretical results.

关键词： Stochastic systems time-varying delay exponential stability Markov chain

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A Novel Extraction Algorithm of Moving Target in Dynamic Image Sequences

A Novel Extraction Algorithm of Moving Target in Dynamic Ima...

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International Conference on Computational and Information Sciences (ICCIS)

作者： Xingmei Wang Guisheng Yin Zhiguo Men Chenguang Qiu Computer Science and Technology College Harbin Engineering of Technology Harbin China Automation College Harbin Engineering of Technology Harbin China East China Research Institute of Photo-electronic Suzhou Research Center Suzhou China

Moving target extraction plays a prominent role in the whole target tracking process in image sequences with dynamic scene. This paper presents a new approach for moving target extraction. In order to automatically extract moving target and improve the accuracy, level set method is applied to extract moving target contour. Firstly, moving target is detected by difference algorithm. Secondly, Chan-Vese level set model is used to obtain the contour. The holes and discontinuous regions are filled through closing operation of mathematical morphology. According to the coordinates of the horizontal and perpendicular vertexes of binary image, the moving target is extracted. Finally, experiment results of the standard image sequences coastguard demonstrate that the proposed algorithm of this paper is highly adaptive and accurate.

关键词： Heuristic algorithms Level set Mathematical model Image sequences Target tracking Image segmentation Equations

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An inventory of potentially habitable environments on Mars: Geological and biological perspectives

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Special Paper of the Geological Society of America 2011年 483卷 317-347页

作者： Dohm, J.M. Miyamoto, H. Ori, G.G. Fairén, A.G. Davila, A.F. Komatsu, G. Mahaney, W.C. Williams, J.-P. Joye, S.B. Di Achille, G. Oehler, D.Z. Marzo, G.A. Schulze-Makuch, D. Acocella, V. Glamoclija, M. Pondrelli, M. Boston, P. Hart, K.M. Anderson, R.C. Baker, V.R. Fink, W. Kelleher, B.P. Furfaro, R. Gross, C. Hare, T.M. Frazer, A.R. Ip, F. Allen, C.C.R. Kim, K.J. Maruyama, S. McGuire, P.C. Netoff, D. Parnell, J. Wendt, L. Wheelock, S.J. Steele, A. Hancock, R.G.V. Havics, R.A. Costa, P. Krinsley, D. Department of Hydrology and Water Resources University of Arizona Tucson AZ United States University Museum Tokyo Japan International Research School of Planetary Sciences Università d'Annunzio Pescara Italy Space Sciences and Astrobiology Division National Aeronautics and Space Administration Ames Research Center Moffett Field CA United States SETI Institute Mountain View CA United States Planetary Exploration Research Center Chiba Institute of Technology Chiba Japan Quaternary Surveys Toronto ON Canada Division of Geological and Planetary Sciences California Institute of Technology Pasadena CA United States Ashima Research Pasadena CA United States Department of Marine Sciences University of Georgia Athens GA United States Laboratory for Atmospheric and Space Physics University of Colorado Boulder CO United States Astromaterials Research and Exploration Science NASA Johnson Space Center Houston TX United States Bay Area Environmental Research Institute Sonoma CA United States School of Earth and Environmental Sciences Washington State University Pullman WA United States Dipartimento Science Geologiche Università Roma Tre Rome Italy Geophysical Laboratory Carnegie Institution of Washington Carnegie WA United States Department of Earth and Environmental Science New Mexico Tech Socorro NM United States School of Chemical Sciences Dublin City University Dublin Ireland Jet Propulsion Laboratory California Institute of Technology Pasadena CA United States Division of Physics Mathematics and Astronomy California Institute of Technology Pasadena CA United States Departments of Electrical and Computer Engineering and Biomedical Engineering University of Arizona Tucson AZ United States Department of Aerospace and Mechanical Engineering University of Arizona Tucson AZ United States Institute of Geological Sciences-Planetary Sciences and Remote Sensing Freie Universität Berlin Malteserstrasse Berlin Germany U.S. Geological Survey Flagstaff

ISBN: (纸本)9780813724836

On Earth, biology, hydrology, and geology are interlinked such that certain types of life are often associated with specifi c conditions, including rock type, pressure, temperature, and chemistry. Life on Earth has established itself in diverse and extreme niches, presenting the possibility that Mars, too, may hold records of fossilized and/or extant life in diverse environments. Geologic, paleohydrologic, and climatic conditions through the evolution of Mars are similar in many respects to conditions occurring during the evolution of Earth and, as such, may point to environments on Mars with potential to have supported living systems. Here, we discuss examples of those Martian settings. Such extraterrestrial environments should be targeted by international robotic and/or manned missions to explore potential fossilized or extant life on Mars. © 2011 Geological Society of America.

关键词： Geology

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Fuzzy Incremental Hierarchical Sliding Mode control for Underactuated Systems

Fuzzy Incremental Hierarchical Sliding Mode Control for Unde...

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International Conference on Artificial Intelligence and Computational Intelligence (AICI)

作者： Dianwei Qian Jianqiang Yi Yufen Ma School of Control and Computer Engineering North China Electric Power University Beijing China Institute of Automation Chinese Academy and Sciences Beijing China China Meteorological Administration Urumqi Institute of Desert Meteorology Urumqi China

This paper designs a fuzzy incremental hierarchical sliding mode controller for a class of under actuated systems. By capturing the physical structure of the class, the hierarchical sliding surfaces with incremental structure are designed as follows. The first-layer sliding surface is firstly defined. Then, the first-layer sliding surface and one of the left states are employed to construct the second-layer sliding surface. The process continues till all the state variables are included. The control law is deduced from Lyapunov stability scheme. For decreasing the chattering phenomenon of the sliding mode, a fuzzy regulator is presented to regulate the controller gain. Simulation results illustrate the feasibility of the present method.

关键词： Switches Stability analysis Surface treatment Regulators Asymptotic stability Sliding mode control

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Sliding mode optimum control for APU of series hybrid electric vehicles

Sliding mode optimum control for APU of series hybrid electr...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Murat Demirci A Ö Önder Biliroglu Metin Gökasan Seta Bogosyan The Scientific and Technological Research Council Of Turkey Energy Institute Control Engineering Department Istanbul Technical University Turkey Electrical and Computer Engineering Department University Of Alaska - Fairbanks USA

In this paper, a Chattering-Free Sliding Mode (CFSM) optimum controller is proposed to control Auxiliary Power Unit (APU) of series hybrid electric vehicles. Asymptotic stability of the controller is proven using Lyapunov's second theorem. The stability is guaranteed under the model uncertainties. The controller eliminates the discontinuity in control signal so that it doesn't include chattering which is an important problem of conventional sliding mode controllers. The APU includes a 160PS Cummins diesel engine and 100kW PMSM generator provided by UQM, Inc. The CFSM controller performs the engine speed control of the APU. Engine/generator torque of the APU is controlled by the existing generator driver so that the APU can be operated at its optimum operating points as well as providing requested powers. An optimization algorithm is used to determine optimum operating points of the APU. The controller was tested on the real system and experimental results are given. In spite of the simple modeling approach taken to model the engine dynamics, an improved performance is achieved by the CFSM controller in terms of set point tracking, transient performance and disturbance rejection.

关键词： Engines Generators Torque Vehicles Batteries Driver circuits Vehicle dynamics

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