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Measured disturbance estimation for model predictive controller

Mediterranean Journal of Measurement and control 2006年第3期2卷 144-151页

作者： Kulcsar, Balazs Bokor, J. Department of Transport Automation Faculty of Transportation Engineering Budapest University of Technology and Economics Budapest Hungary System and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary

This paper presents the Model Predictive controller design process when an unknown input observer provides measured disturbance form unmeasured one. Instead of using an unmeasured disturbance dynamic implemented into the controller, the joint observer-controller uses the estimated measured exogenous disturbance signal. Furthermore the observer can send an alarm sign to the supervisor. The detection and isolation of the unmeasured disturbance is computed by the geometric based strategy called Fundamental Problem in Residual Generation. Better the estimation of the disturbance is, better the rejection of the controller. The measured disturbance could be anticipated. A numerical example explains the effectiveness of the estimation and the usage of the unmeasured disturbance detection. Copyright © 2006 SoftMotor Ltd.

关键词： Predictive control systems

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REAL-TIME, COOPERATIVE ENTERPRISES: REQUIREMENTS AND SOLUTION APPROACHES

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IFAC Proceedings Volumes 2006年第3期39卷 591-596页

作者： L. Monostori J. Váncza T. Kis B. Kádár Zs.J. Viharos Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Hungary Department of Production Informatics Management and Control Budapest University of Technology and Economics Budapest Hungary

In addition of the four main R&D directions, i.e., adaptive manufacturing, digital manufacturing, knowledge-based manufacturing, and networked manufacturing, emphasised by the European initiative Manufuture, two additional requirements, i.e., the real-timeness and cooperativeness of production structures are also outlined in the paper, which are of high and increasing importance. The paper highlights the main results of a national R&D project in Hungary on Digital Enterprises, Production Networks, and the main concept of a new, just started, national research project VITAL: Real-time Cooperative Enterprises.

关键词： Digital Enterprises Production Networks Intelligent Manufacturing Cooperation

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Bayesian decision-theoretic causation analysis for gas explosion

Bayesian decision-theoretic causation analysis for gas explo...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Cai, Linqin Sun, Yining Mei, Tao Zuchang, Ma Department of Automation Chinese Academy of Sciences University of Science and Technology of China Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424404665

Frequent mine gas incident in china fully shows there must be many undiscovered essential factors in all previous gas incident investigations. Exploring a new analysis approach is vital to prevent and control mine gas emergency. A Bayesian decision-theoretic causation analysis method was introduced to study the mine gas incident. A typical gas explosion case was explained. The interaction law of human, machine, environment, and management factors causing mine gas incident was discussed. The evolution process of the connotative factors from the uncertain state to the certain state was discovered, and the relationships between the external factors and the internal factors were revealed. © 2006 IEEE.

关键词： Decision trees

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Modeling and analyzing multi-agent task plans for intelligent virtual training system using petri nets

Modeling and analyzing multi-agent task plans for intelligen...

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6th World Congress on Intelligent control and automation, WCICA 2006

作者： Linqin, Cai Tao, Mei Yining, Sun Lei, Sun Zuchang, Ma Department of Automation University of Science and Technology of China Chinese Academy of Sciences Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424403324

Integrated virtual reality with Intelligent Tutoring System, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task plans are reliable and adaptive, a Petri nets-based declarative method was applied to model the virtual training task planning knowledge, which was represented as task planning knowledge Petri nets (TP-PNets), and an algorithm was implemented to construct TP-PNets. Then, Hierarchy Colored Petri Nets (HCPN) was used to model multi-agent task planning behaviors for IVTS, and simulation and message sequence chart was used to analyze and verify the agent task planning HCPN model. ©2006 IEEE.

关键词： Intelligent systems

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Timed Petri Nets Modelling of High-Throughput Screening Process for Fault Study

Timed Petri Nets Modelling of High-Throughput Screening Proc...

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Annual Conference of Industrial Electronics Society

作者： Tao Hong Mo-Yuen Chow Advanced Diagnosis Automation and Control Lab Electrical & Computer Engineering Department North Carolina State University Raleigh NC USA

To perform fault studies (e.g., fault detection, diagnosis, and mitigation) via Internet for a remote automation line, operation time is an important feature/symptom for human supervisors. This paper introduces the application of timed Petri nets (TPN) to model a high-throughput screening (HTS) process, and extends the timed transition based on the dynamics of the automated process. This paper describes the design methodologies of TPN to model the dynamics of the HTS process with and without anomalies. Finally, both healthy and faulty conditions of an automated biological/chemical screening line are simulated in Matlab/Simulink to demonstrate the effectiveness of the proposed TPN modelling

关键词： Petri nets Mathematical model Biological system modeling High temperature superconductors Fault detection Fault diagnosis Internet automation Humans Design methodology

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About the Utility of the Extremum control Systems for Induction Traction Motors

About the Utility of the Extremum Control Systems for Induct...

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IEEE International Conference on automation, Quality and Testing, Robotics, AQTR

作者： Rodica Festila Vasile Tulbure Clement Festila Department of Automatic Control Faculty of Automation and Computer Science Technical University of Cluj Napoca Cluj-Napoca Romania Romanian Railways Romania

The extremum control of the high power induction traction motor is justified by the possibility to operate with minimum electrical power/energy, especially by partial load. The extremum control system is usually overlapped to the speed (or torque) control system and is valid if a steady state, partial load of the operation is established. The authors analyze the problem of various modes of operation under reduced disturbances. Also, the analysis deals with the problem of the limits of the stable behavior of the extremum control system

关键词： control systems Traction motors Induction motors Torque control Inverters Stators Equations Automatic control Steady-state Frequency

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Towards an Approach for the Verification of Downtimeless System Evolution

Towards an Approach for the Verification of Downtimeless Sys...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Christoph Sunder Bernard Favre-Bulle Valeriy Vyatkin Automation and Control Institute (ACIN) University of Technology Vienna Vienna Austria Department of Electrical and Computer Engineering University of Auckland Auckland New Zealand

This paper presents ongoing work focused on dynamic reconfiguration of industrial automation systems as a part of their total life cycle. Modification of the control logic has to be enabled at runtime and without any disturbances of related applications. The epsivCEDAC engineering cycle for dynamic system evolution is based on the use of an IEC 61499 reconfiguration application responsible for the dynamic transformation of the program during its execution. The verification of this evolution step takes the central role in this engineering cycle. The paper discusses the general requirements for this kind of verification. Especially the capabilities of the automation system - the used hardware and software - form a major point. The paper describes the basic concepts and ongoing work regarding the verification of downtimeless system evolution.

关键词： IEC standards Automatic control control systems Electrical equipment industry Industrial control Reconfigurable logic Runtime Hardware Manufacturing automation Systems engineering and theory

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Embedded computer based non-linear vehicle control: A quadrotor helicopter experiment

Embedded computer based non-linear vehicle control: A quadro...

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10th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2006

作者： Soumelidis, Alexandres Lantos, Béla ProháSzka, Zoltán Regula, Gergely Bauer, Péter Computer and Automation Research Institute Hungarian Academy of Science H-l 111 Budapest Kende u. 13-17 Hungary Department of Control Engineering and Information Technology Budapest University of Technology and Economics Magyar tudósok körútja 2 H-l 117 Budapest Hungary Department of Transportation Automation Budapest University of Technology and Economics H-l 111 Budapest Bertalan L.u.2 Hungary

ISBN: (纸本)9789634209683

Because of the largely nonlinear nature of the problem, controlling vehicles implies complicated control algorithms that require the use of embedded computing on board. Solving a control problem in this field involves numerous tasks from the modeling and identification of the vehicle object through the control design based upon several control paradigms (e.g. optimal, robust, linear, LPV, or nonlinear design), to the implementation of the controller in on-board electronics. For prototyping purposes a MATLAB/Simulink environment of Math-works complemented with a variety of the real/time and embedded control design tools has proved to be advantageous. A small-size indoor quadrotor helicopter has been selected as a platform to find the correct methodology, to explore the capabilities of the applicable tools, by covering the full design and implementation process as well as ensuring low implementation costs and risk-free test environment. The quadrotor helicopter uses brush-less DC motors as actuators, an internal sensor module is used to get measurements of its movement while a vision-based indoor position system provides its exact position. The control is realized by a Freescale MPC555 microcomputer, which is equipped with high level development tools in MATLAB. The embedded control is developed on the basis of the nonlinear model of the quadrotor helicopter by applying the technique of back-stepping.

关键词： Embedded systems

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Autotuning Autopilots for Micro-ROVs

Autotuning Autopilots for Micro-ROVs

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Mediterranean Conference on control and automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic B. Tovornik Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Maribor Slovenia

Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided

关键词： Automatic control Underwater vehicles Payloads control systems Remotely operated vehicles Three-term control Nonlinear control systems Employee welfare control engineering computing Nonlinear systems

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Non-holonomic Path Planning of Space Robot Based On Genetic Algorithm

Non-holonomic Path Planning of Space Robot Based On Genetic ...

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IEEE International Conference on Robotics and Biomimetics

作者： Wenfu Xu Bin Liang Cheng Li Wenyi Qiang Yangshen Xu Ka Keung Lee Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

The nonholonomic characteristic of space robot is used to plan the path of the manipulator, by whose motion the base attitude and the manipulator joints attain the desired states. Firstly, the functions of the joint angles are parameterized by sinusoidal functions. Secondly, the objective function is defined according to the accuracy requirement and the constraints of the system state. Finally, genetic algorithm (GA) is used to search the global optimal solution of the parameters. Comparing with other methods, our approach has a number of advantages: 1) The kinematic and dynamic constraints of the manipulator are taken into consideration in the planning process; 2) The dynamic singular point doesn't affect the algorithm since only the direct kinematic equations are utilized; 3) The planned path is very smooth and more applicable in controlling the manipulator; 4) The state converges to the global optimal values. The simulation results verify the method.

关键词： Path planning Orbital robotics Genetic algorithms Manipulator dynamics Satellites Space technology Equations Space vehicles Kinematics Bismuth

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