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ROBUST SPECIFICATION INFLUENCE ON FEEDBACK control STRATEGIES

IFAC Proceedings Volumes 2002年第1期35卷 425-430页

作者： M. Gil-Martínez M. García-Sanz System Engineering and Automation Group Electrical Engineering Department University of La Rioja. Luis de Ulloa 20 26004 Logroño SPAIN Automatic Control and Computer Science Department Public University of Navarra. Campus Arrosadía 31006 Pamplona SPAIN

The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuators. This implies the necessity of design tradeoffs highly transparent from the Quantitative Feedback Theory. Supposing a given uncertainty for a plant, the set of performance and stability requirements will condition the problem solution. Taking advantage of the QFT bound typology and formulation, the contribution of the robust specification values to their simultaneous achievement will be analysed and particularly as regards the challenging task of the controller design.

关键词： Robust control Uncertain dynamical systems Quantitative Feedback Theory

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Overshoot controlled servo system synthesis using bode plot and its application to PM brushless DC motor drive

Overshoot controlled servo system synthesis using bode plot ...

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International Workshop on Advanced Motion control (AMC)

作者： P. Crnosija Z. Ban R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

The design of current and speed controllers remains to a large extent a mystery to many engineers in the motor drives field. An attempt is made in this paper to simplify the design of the current and speed controllers using Bode plots. This paper outlines the theoretical background behind the techniques of symmetric optimum and dominant time constant compensation methods. The techniques are compared and contrasted using the overshoot and phase margin criteria. An application of these techniques to controller design for permanent magnet brushless DC motor (PMBDCM) drive system is made and verified with simulation. In order to apply these techniques to PMBDCM drive for the design of the current and speed controllers, the model of the motor drive is given for the benefit of the reader. The current and speed controller synthesis of a PMBDCM drive is achieved with the presented technique. Simulation results demonstrate for reference (current or speed) changes, symmetric optimum and dominant time compensation methods perform similarly. But for a load torque disturbance, the adverse effect on the speed is compensated faster only with the symmetric optimum method.

关键词： control system synthesis Servomechanisms Automatic control Brushless DC motors Frequency domain analysis Motor drives control systems DC motors Network synthesis Electric variables control

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MODEL-BASED NONLINEAR control OF A LOW-POWER GAS TURBINE

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IFAC Proceedings Volumes 2002年第1期35卷 375-380页

作者： P. Ailer G. Szederkényi K.M. Hangos Department of Aircraft and Ships Budapest University of Technology and Economics H-1111 Budapest Stoczek u. 6. Hungary Systems and Control Laboratory Computer and Automation Research Institute H-1518 Budapest P.O. Box 63 Hungary

A simple nonlinear controller for a low-power gas turbine based on direct passivation is proposed in this paper. It uses a nonlinear state space model of the gas turbine in input-affine form based on first engineering principles. It is found by standard nonlinear analysis that the developed model is reachable and observable in the whole application domain and stable in a small neighborhood of an operating point. Accordingly, the control aim is to guarantee the asymptotic stability of every operating points in the whole application domain and to provide suitable disturbance rejection. The proposed nonlinear controller is based on a prescribed quadratic Lyapunov-function and it is able to solve the protection of the gas turbine. The robustness of the closed-loop system with respect to the time-varying parameters is also investigated.

关键词： Nonlinear models Nonlinear control systems Transportation systems Vehicles Gas turbines

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Hybrid position/force control of constrained robot manipulator based on a feedforward neural network

Hybrid position/force control of constrained robot manipulat...

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IEEE International Conference on Industrial Technology (ICIT)

作者： Lianfang Tian Jun Wang Zongyuan Mao Department of Mechanical Engineering University of California Riverside CA USA Department of Automation and Computer-aided Engineering Chinese University of Hong Kong New Territories Hong Kong China Department of Automatic Control Engineering South China University of Technology Guangzhou China

In this paper, the control of constrained robotic manipulators is addressed and the solution of a reduced order model is obtained through a nonlinear transformation. A set of differential-algebraic equations are first derived. Then controllers are designed for position and force control. The position control involves the position and velocity feedback of end-effector, while the force control is developed based on an artificial neural network. The weights of the neural network are updated online using the force error as the objective function. An example of a 2-DOF manipulator system is studied in detail. Comparisons between a conventional PID controller and the designed controller are made and a practical application is carried out. The results demonstrate the effective performance of the system.

关键词： Force control Manipulators Neural networks Feedforward neural networks Artificial neural networks Robot control Reduced order systems Differential equations Nonlinear equations Position control

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Constrained motion control of flexible manipulators based on a dynamic neural network

Constrained motion control of flexible manipulators based on...

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IEEE International Conference on Industrial Technology (ICIT)

ISBN: (纸本)0780376579

In this paper, a neural network approach is proposed for the motion control of a constrained flexible manipulator system, whereby both the contact force and the position of the end-effector contacting with a surface are controlled. The dynamic equations, vibration of the flexible link and constrained force are derived. The developed control scheme can adaptively estimate the dynamics of the manipulator by utilizing a dynamic recurrent neural network (DRNN) to approximate the underlying dynamics. Local stability of the system is discussed. The results confirm that the designed controller performs remarkably well.

关键词： Manipulator dynamics Motion control Neural networks Automatic control Uncertainty control systems Motion planning Force control Equations Stability

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A software engineering approach to constraint programming systems

A software engineering approach to constraint programming sy...

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Asia-Pacific Conference on Software Engineering

作者： K.B.K. Ng Chiu Wo Choi M. Henz Advanced Application Technologies Honeywell Automation and Control Solutions ACS Laboratory USA Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong China School of Computing National University of Singapore Singapore

Constraint programming (CP) systems are useful for solving real-life combinatorial problems, such as scheduling, planning, rostering and routing problems. The design of modern CP systems has evolved from a monolithic to an open design in order to meet the increasing demand for application-specific customization. It is widely accepted that a CP system needs to balance various design factors such as efficiency versus customizability and flexibility versus maintenance. This paper captures our experience with using different software engineering approaches in the development of constraint programming systems. These approaches allow us to systematically investigate the different factors that affect the performance of a CP system. In particular we review the application of reuse techniques, such as toolkits, framework and patterns, to the design and implementation of a finite-domain CP system.

关键词： Software engineering Knowledge based systems Software systems Application software Engines computer industry Software algorithms Information systems System software Software quality

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Decomposition of complex linear systems via hierarchical similarity structure

Decomposition of complex linear systems via hierarchical sim...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： Y.-W. Jing G.M. Dimirovski J. Zhao M.J. Stankovski Institute of Control Science School of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Faculty of Engineering Dogus University Istanbul Turkey

In this paper, the problem of system decomposition of complex linear dynamical systems, by exploiting the similarity property, is studied. System decompositions were sought in terms of similarity hierarchical structures. Three new theoretical results were proved. A method for constructing the transformation has been derived. The conditions for such decomposition of complex linear systems are given.

关键词： Linear systems control systems Systems engineering and theory Design engineering Interconnected systems Robots Automatic control Information science automation Modems

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On complex non-linear systems with symmetries: controllability preserving decomposition

On complex non-linear systems with symmetries: controllabili...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： G.M. Dimirovski Y.-W. Jing J. Zhao T.D. Kolemisevska-Gugulovska Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Faculty of Engineering Dogus University Istanbul Turkey Institute of Control Science School of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia

In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations of these systems are derived. Finally, it is shown that controllability of the original systems can be determined by that of the subsystems, which are obtained through isomorphic decomposition. The corresponding sufficient and necessary conditions are given. Two new theoretical results have been proved.

关键词： controllability Nonlinear control systems control systems Nonlinear systems Automatic control Information science automation Systems engineering and theory Feedback Mathematical model

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Model-based condition monitoring of a gas-gas heat exchanger 6

Model-based condition monitoring of a gas-gas heat exchanger

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6th European control Conference, ECC 2001

作者： Dragan, D. Juricic, D. Department of Computer Automation and Control Jožef Stefan Institute Jamova 39 Ljubljana1000 Slovenia

ISBN: (纸本)9783952417362

The paper applies a two-stage modelling concept to a gas-gas heat exchanger located in a tyre production plant. Modelling relies on combination of prior knowledge and recorded data. During the identification procedure the estimates of continuous model parameters are calculated by the least squares method with state variable filters (SVF). The main issues of the modelling procedure are stressed. Based on the process model a simple detector is derived. An excerpt of the results obtained on operating records is given. © 2001 EUCA.

关键词： Condition monitoring

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Model-based detection of actuator faults in the presence of modelling errors 6

Model-based detection of actuator faults in the presence of ...

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6th European control Conference, ECC 2001

作者： Juricic, D. Zele, M. Department of Computer Automation and Control Jožef Stefan Institute Jamova 39 Ljubljana1000 Slovenia

ISBN: (纸本)9783952417362

The problem of detecting actuator faults in the presence of modelling errors is addressed. A likelihood-ratio test is derived such that the effects of undermodelling are properly taken into account via a stochastic embedding technique. The resulting test takes form of the quadratic sum of prediction errors which has to be compared with a particular threshold value. Systematic choice of the threshold amounts to a demanding problem of approximating the distribution of the test statistics with normal distribution. The effectiveness of the test is demonstrated on a simulated motor-generator system. © 2001 EUCA.

关键词： Normal distribution

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