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International Universities Power engineering Conference (UPEC)

作者： Alexey Chernyaev Vladimir Makarchyan Alexander Andryushin Automated Control Systems Department Moscow Power Engineering Institute MPEI Technical University Moscow Moscow Russia

This paper describes a combined heat and power plant load distribution algorithm and software. The software allows distributing the load, given on the heat and power outputs in the modes of turbines operation, deviations from the parameters and operators entered commands. Program is running in automatic, semiautomatic and manual mode. Availability of this software interfaces enables connection to the plant SCADA system and automatically receive the data about the current and specified loads. Optimization of load distribution directly affects the fuel consumed by combined heat and power plant. Presence of this software allows operator to compare the optimal parameters of a working turbine with the current parameters. It promotes better compliance and motivation of working personal.

关键词： Turbines Fuels Optimization Software Boilers

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Iterative-analytic redundancy resolution scheme for a cable-driven redundant parallel manipulator

Iterative-analytic redundancy resolution scheme for a cable-...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Yousef B. Bedoustani Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Department of Systems and Control Faculty of Electrical and Computer Engineering Khaje Nasir Toosi University of Technology Tehran Iran

In this paper, redundancy resolution of a cable-driven parallel manipulator is solved by an iterative-analytic scheme. The method can be applied to all kind of redundant manipulators either parallel or serial with constraint caused through their dynamics. However, for sake of simulation the proposed method is implemented on a cable-driven redundant parallel manipulator (CDRPM). The redundancy resolution problem is formulated as a convex optimization with equality and non-equality constraints caused by manipulator structure and cables dynamics. Karush-Kuhn-Tucker theorem is used to analyze the optimization problem and to find an analytic solution. Subsequently, a tractable and iterative search algorithm is proposed to solve the redundancy resolution of such redundant mechanisms. Furthermore, it is shown through the simulation that, the elapsed time required to implement the analytical redundancy resolution scheme in a closed-loop structure is considerably less than that of other numerical optimization methods.

关键词： Redundancy Optimization Equations Actuators Manipulator dynamics Jacobian matrices

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Toolpath postprocessing for three axes milling in redundant robotic workcells by means of fuzzy integration in a cam platform

Toolpath postprocessing for three axes milling in redundant ...

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International Conference on Mechatronics (ICM)

作者： Javier Andres Luis Gracia Hector Marti Josep Tornero Design Institute for Automated Production and Manufacturing Systems Technical University of Valencia Valencia Spain Department of Systems Engineering and Control Technical University of Valencia Valencia Spain

Nowadays, the use of kinematically redundant robotic workcells for machining tasks is increasing. It is due to their capacity to avoid singular configurations, although a choice among a set of possible configurations is required. Experience and knowledge of the workman in charge of the manufacturing process allow carrying out an efficient control of the movement in these cases. However, it is a tedious job. This article presents an effective implementation of a CAM-robotics integrated fuzzy postprocessor based on the position analysis. It is focused on a workcell consisting of one robotic manipulator (KUKA KR15/2 with 6 rotary joints) mounted on a linear axis and synchronized with a rotary table. After the implementation of the inverse kinematics position analysis, a stand-alone fuzzy controller has been programmed with Matlab's fuzzy logic toolbox (The MathWorks, Inc.). Two C++ programs complement the translation of toolpath position information from the NX-CAM platform (NXtrade-Siemens Corp.) into KRL (KUKA robot language), in order to adequate the location of the robot and the workpiece in the execution of the task and avoiding singularities or joint limits. This article solves the problem for a constant tool orientation milling process and sets the technological basis for future research at five axis milling operations.

关键词： Milling Computer aided manufacturing Service robots CADCAM Automatic control control systems Manipulators Robotics and automation Machining Fuzzy control

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A Hybrid control Strategy for Robust Contact Detection and Force Regulation

A Hybrid Control Strategy for Robust Contact Detection and F...

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American control Conference (ACC)

作者： Raffaella Carloni Ricardo G. Sanfelice Andrew R. Teel Claudio Melchiorri Center for Research on Complex Automated Systems (CASY) Department of Electronics Computer Science and Systems (DEIS) University of Bologna Bologna Italy Center for Control Engineering and Computation Electrical and Computer Engineering Department University of California Santa Barbara CA USA

We present an innovative hybrid control strategy for contact detection and force regulation of robotic manipulators. This hybrid architecture controls the robotic manipulator during the following stages of interaction with the work environment: the free motion, the transition phase, and the constrained motion. The proposed control strategy is to switch between a position and a force controller with hysteresis relying only on contact force measurements. We implement this strategy in a hybrid controller and provide a design procedure which depends on the viscoelastic parameters of the work environment. Our controller guarantees contact detection and force regulation without bounce-off effects between the robotic manipulator and the work environment from compact sets of initial conditions. Additionally, the resulting closed-loop system is robust to measurement noise. We include simulations that show how the proposed hybrid control strategy guarantees good performance in the cases of stiff and compliant work environments, and in the presence of measurement noise.

关键词： Force control Robust control Contacts Robots Manipulators Switches Force measurement Noise measurement Working environment noise Motion control

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Dynamic modelling for condition monitoring of gas turbines: Genetic algorithms approach

Dynamic modelling for condition monitoring of gas turbines: ...

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作者： Breikin, T.V. Kulikov, G.G. Arkov, V.Y. Fleming, P.J. Control System Centre School of Electrical and Electronic Engineering University of Manchester Manchester M60 1QD United Kingdom Department of Automated Control Systems Ufa State Aviation Technical University K.Marx Street 12 Ufa 450000 Russia Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom

ISBN: (纸本)008045108X

The problem of model-based condition monitoring of aero gas turbine engines is considered. Genetic algorithms are applied for the dynamic modelling of aero engines by estimating parameters of the linear reduced-order model. The use of genetic algorithms affords flexibility in the choice of performance metrics. Real engine data is used to investigate the performance genetic algorithms and this approach is compared with traditional modelling techniques used in industry. Copyright © 2005 IFAC.

关键词： Genetic algorithms

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DYNAMIC MODELLING FOR CONDITION MONITORING OF GAS TURBINES: GENETIC ALGORITHMS APPROACH

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IFAC Proceedings Volumes 2005年第1期38卷 739-742页

作者： T.V. Breikin G.G. Kulikov V.Y. Arkov P.J. Fleming Control System Centre School of Electrical and Electronic Engineering University of Manchester Manchester M60 1QD UK Department of Automated Control Systems Ufa State Aviation Technical University K. Marx Street 12 Ufa 450000 Russia Department of Automatic Control & Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD UK

关键词： Aero engines genetic algorithms condition monitoring

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Investigation of Genetic Algorithms On-Line Application for Aero Engine Modelling and Condition Monitoring

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IFAC Proceedings Volumes 2004年第6期37卷 1043-1047页

作者： T.V. Breikin G.G. Kulikov V.Y. Arkov H.A. Thompson P.J. Fleming Automatic Control and System Engineering Department The University of Sheffield Mappin Str. Sheffield SI 3JD. UK Department of Automated Control Systems Ufa State Aviation Technical University K. Marx Street 12 Ufa 450000 Russia.

In this paper an application of genetic algorithms for on-line multi-objective optimisation is considered. Two different multi-objective evolutionary computational techniques are implemented for optimal selection of gas turbine engine real-time model structure. The real engine data was used for identification and optimisation of the engine model parameters. The results of genetic algorithm application for engine model on-line optimisation are discussed.

关键词： aerospace optimisation genetic algorithms

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IFAC Proceedings Volumes 2004年第6期37卷 1031-1036页

作者： A. Pashkevich P. Fleming G. Kulikov M. Pashkevich Department of Automatic Control Belarusian State University of Informatics and Radio electronics 6 P.Brovka St. Minsk 220600 Belarus Department of Automatic Control and Systems Engineering University of Sheffield Mappin St. Sheffield SI 3JS UK Department of Automated Control and Management Systems Ufa State Aviation Technical University 12-1 K.Marks St. Ufa 450000 Russia Department of Mathematical Modeling and Data Analysis Belarussian State University 4 F. Skaryny Ave. 220050 Minsk. Belarus

A new technique for correlated fault modelling in GTE redundant computer control systems is proposed. There are derived analytical expressions for the reliability evaluation and its Bayesian prediction. The developed model has been implemented in monitoring software, which generates the Bayesian predictive control charts and performs their neural network based analysis. The software has been carefully validated via a computer simulation and for real-life data.

关键词： perfonnance monitoring prediction fault distributions reliability analysis

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Numerical algorithm for optimal multi-variable control of aero engines

Numerical algorithm for optimal multi-variable control of ae...

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2003 European control Conference, ECC 2003

作者： Lyantsev, O.D. Breikin, T.V. Kulikov, G.G. Arkov, V.Y. Department of Automated Control Systems Ufa State Aviation Technical University K. Marx Street 12 Ufa450000 Russia Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street SheffieldS1 3JD United Kingdom

ISBN: (纸本)9783952417379

This paper is focused on practical problems of gas turbine engine optimal multi-variable control design and implementation. An algorithm for real-time resolution of optimisation problem is proposed for the optimal control design of the engine. The example of the turbo-jet engine multi-variable control presented shows high efficiency of the developed method. © 2003 EUCA.

关键词： Gas turbines

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Numerical algorithm for optimal multi-variable control of aero engines

Numerical algorithm for optimal multi-variable control of ae...

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European control Conference (ECC)

作者： O. D. Lyantsev T. V. Breikin G. G. Kulikov V. Y. Arkov Department of Automated Control Systems Ufa State Aviation Technical University Ufa Russia Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

关键词： Engines Mathematical model Linear programming Real-time systems Optimization Optimal control

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