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Developing Digital Twin for Electromechanical System of Rolling Stand in Simulink Real Time

Developing Digital Twin for Electromechanical System of Roll...

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International Ural Conference on Measurements (UralCon)

作者： Andrey A. Radionov Alexandr S. Karandaev Boris M. Loginov Vadim R. Khramshin Department of Automation and Control Moscow Polytechnic University Moscow Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia

ISBN: (数字)9798350386028

ISBN: (纸本)9798350386035

The development of digital twins (DTs) of industrial electrical systems is attributed to the need for the reduction of time and material resource inputs during their virtual commissioning (VC). The same problem occurs during renovation with complete or partial equipment replacement and/or control systems. These problems can be efficiently solved by developing object-oriented DTs based on the Simulink Real Time software and using hardware-in-the-loop simulation (HIL). This software is compatible with Matlab Simulink and the Simscape package, which makes it suitable for the industrial usage. The authors suggest a HIL-based approach that helps make a virtual real-time computer model, with process control signals coming from the industrial PLC that controls the real physical object. This problem occurred during the renovation of the horizontal stand electric drives of a 5000 plate mill. The authors provide the flow charts of the electromechanical system and the object-oriented DT. The implementation of DT in Matlab Simulink Desktop Real Time is reviewed in laboratory settings. The authors present the block structures that make up a virtual model of the electromechanical system. The developed DT was used to adjust control algorithms and controllers and study the dynamic modes over a rolling cycle. The adequacy of the processes was tested by comparing the oscillograms obtained with the developed DT and the rolling mill. The authors stress the feasibility of developing DTs on the Simulink Real Time platform using HIL simulation during VC and renovation of complex industrial objects.

关键词： Software packages Object oriented modeling Hardware-in-the-loop simulation Heuristic algorithms control systems Real-time systems Mathematical models Digital twins Electromechanical systems MATLAB

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Acoustic Positioning of Partial Discharges in High-Voltage Transformer Tank

Acoustic Positioning of Partial Discharges in High-Voltage T...

引用

International Ural Conference on Measurements (UralCon)

作者： Alexandr S. Karandaev Andrey B. Loginov Andrey A. Nikolaev Department of Automation and Control Moscow Polytechnic University Moscow Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia

ISBN: (数字)9798350386028

ISBN: (纸本)9798350386035

This report reviews an example of acoustic positioning of partial discharges (PD) in the tank of a high-voltage oil-filled transformer. The literature review confirms the importance of PD monitoring and justifies the feasibility of positioning discharge activity centers. The precise positioning of PD sources is required to determine the location of insulation defects. The authors provide brief information on the development of PD positioning methods and note that their practical application has been insufficiently covered in publications. They present the results of electromagnetic and acoustic PD positioning in a 110 kV transformer. Some details are provided on the devices and measurement methods used, including the localization of areas with increased PD intensity using one acoustic sensor and the subsequent center localization through the installation of 4 sensors at even intervals. The authors provide PD signals and defect impulses received from each of the sensors and demonstrate the difference in the registration time of these signals. They explain the principle behind PD center positioning, which is determined considering delays in signal reception. The authors demonstrate the usage of the Inva (Portable) software for the processing and visualization of acoustic positioning results. They note that changes in the propagation rate of acoustic waves in a heterogeneous medium result in the reduced accuracy of results. The authors also outline the prospects of the research into the elimination of occurring defects.

关键词： Partial discharges Location awareness Visualization Reviews High-voltage techniques Oil insulation Fault location Software Monitoring Power transformer insulation

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A Graph-Based Self-Calibration Technique for Cable-Driven Robots with Sagging Cable

A Graph-Based Self-Calibration Technique for Cable-Driven Ro...

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： M. R. Dindarloo A. S. Mirjalili S. A. Khalilpour R. Khorrambakht Stephan Weiss H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Tandon School of Engineering Control/Robotics Research Laboratory New York University Brooklyn NY Department of Smart Systems Technologies University of Klagenfurt Austria

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

The efficient operation of large-scale Cable-Driven Parallel Robots (CDPRs) relies on precise calibration of kinematic parameters and the simplicity of the calibration process. This paper presents a graph-based self-calibration framework that explicitly addresses cable sag effects and facilitates the calibration procedure for large-scale CDPRs by only relying on internal sensors. A unified factor graph is proposed, incorporating a catenary cable model to capture cable sagging. The factor graph iteratively refines kinematic parameters, including anchor point locations and initial cable length, by considering jointly onboard sensor data and the robot’s kineto-static model. The applicability and accuracy of the proposed technique are demonstrated through Finite Element (FE) simulations, on both large and small-scale CDPRs subjected to significant initialization perturbations.

关键词： Meters Accuracy Perturbation methods Kinematics Robot sensing systems End effectors Software Calibration Sensors Finite element analysis

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Mechanism Improvement of RoboWalk Rehabilitation Device to Adjust the Assistive Force Direction

Mechanism Improvement of RoboWalk Rehabilitation Device to A...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Shahin Naeemi Omid Mahdizadeh S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

The growing need for assistive and rehabilitative robots requires more understanding of interactions between the human and such robots. RoboWalk is one of such robotic assistive devices to help users in walking. One of the challenges in using RoboWalk is the horizontal component which undesirably appears besides the desirable assistive vertical force for weight compensation. This horizontal component can disrupt the user’s gait and cause discomfort and stability disturbances. This is due to the fact that the current design of RoboWalk does not allow for any displacement due to the singularity of the robot’s inverse kinematics. This paper proposes a few solutions to solve this problem in redesigning the motion mechanism. Analyses using Adams software show the effects of each solution on enhancing RoboWalk’s functionality. Obtained results reveal that the proposed solutions are feasible and have the potential to significantly improve the user experience.

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Intelligent On-Line System for Monitoring Technical Condition of High-Voltage Cable Couplings

Intelligent On-Line System for Monitoring Technical Conditio...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Vadim R. Gasiyarov Stanislav V. Voronin Andrey A. Radionov Ivan V. Lyubimov Sergey A. Evdokimov Vadim R. Khramshin Department of Automation and Control Moscow Polytechnic University Moscow Russia Department of Mechatronics and Automation South Ural State University Chelyabinsk Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia

The article provides the characteristics of the end cable couplings of the closed switchgear 110 kV at the electric steelmaking workshop of the metallurgical plant. The functions of the continuous technical condition monitoring system are substantiated, including continuous temperature monitoring and on-line registration of partial discharges in the insulation. The first function provides monitoring of the operational load, and the second has the maximum sensitivity for diagnosing defect propagation. A functional diagram of the developed intelligent on-line system for monitoring technical condition with digital signal transmission is provided. The choice of sensors and processor unit is justified. The authors consider the temperature control system of high-voltage equipment “WDM-T”, including a wireless sensor and an information receiver. The results of monitoring the thermal regime are provided, the advantages of partial discharge analysis are pointed out. The temperature trends of the end couplings included in the cable line phases are considered. The system is implemented on the closed switchgear 110 kV end couplings, its long-term operation has confirmed the effectiveness of technical condition monitoring. The developed system may be a component of an on-line cyberphysical system for monitoring the condition of high-voltage equipment in the electric steelmaking workshop.

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Improving the Energy Efficiency of a Mine Drainage Installation by Means of an Industrial Electric Drive 3

Improving the Energy Efficiency of a Mine Drainage Installat...

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3rd IEEE KhPI Week on Advanced Technology, KhPI Week 2022

作者： Baranovskyi, Vladyslav Chornyi, Oleksii Busher, Victor Kuznetsov, Valeriy Hubskyi, Petro Lelikova, Olha Kryvyi Rih National University Electromechanical Systems in Industry and Transport Department of Automated Kryvyi Rih Ukraine Kremenchuk Mykhailo Ostrohradskyi National University Department 'Systems of Automatic Control and Electric Drive' Kremenchuk Ukraine National University 'Odessa Maritime Academy' Department of Electrical Engineering and Electronics Odessa Ukraine Railway Research Institute Electric Power Department Warsaw Poland Karaganda Industrial University Department 'Power Engineering Temirtau Kazakhstan

ISBN: (数字)9798350399202

ISBN: (纸本)9798350399202

The publication is devoted to determining the possibilities of reducing the energy consumption of drainage systems of mines and determining the numerical indicators of energy saving using mathematical modeling. Novelty of paper. The minimum required structure of the mathematical model of the mine drainage horizon for the study of energy consumption is substantiated, the existence of the minimum energy consumption of the main drainage pump at speed control is proved, the appearance of regression dependences of energy consumption and pump operating time on speed and inflow. Research methods. General methods of physics, hydraulics, mathematical analysis and computational mathematics were used in solving the tasks. Numerical solution of mathematical model equations and visualization of the obtained results were performed in MATLAB® / Simulink environment, methods of experimental design theory for regression analysis. The results obtained. The conditions under which the potential for energy saving of the pumping equipment of the main drainage of mines when using an adjustable electric drive appears. The existence of the minimum energy consumption of the pumping unit of the main drainage of the mine has been proved. Based on the regression analysis of the results of mathematical modeling of the pumping station of the main drainage of the mine, it is established that the regression dependences of the pumping unit operation time and its energy consumption have a shape close to the hyperboloid section. Practical value. The use of the results of work makes it possible in different mines to determine the potential for energy savings when using an adjustable electric drive, to make an economically sound decision on the feasibility of using an adjustable electric drive in specific production conditions. © 2022 IEEE.

关键词： Regression analysis

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Improved Aerodynamic Performance of Ornithopter Aerial Robot Using Spatial Mechanism Compared to Planar Design

Improved Aerodynamic Performance of Ornithopter Aerial Robot...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Sina Hallajian S. Ali A. Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems (ARAS) Lab K. N. Toosi University of Technology Tehran Iran

Ornithopter’s research can be categorized into two parts. First, aerodynamics analysis of the flying robot including designing the body and choosing the robot’s material based on the analysis. Second, design and analysis of the mechanism which makes the wings move. So far, most of the researches has been focused on the first subject, i. e., aerodynamics analysis; even some books were published on this topic. However, there is little research about the mechanisms while most of the previous works are based on the patterns verified before. This paper will propose the design of a new spatial mechanism. Besides, three common planar mechanisms will be modeled and simulated to analyze and compare to the proposed mechanism in terms of aerodynamics forces for one wing beat cycle. These results reveal that the proposed 3D mechanism works more promising than others.

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Trajectory Tracking of Robotic Arms Using Learning Modified Transpose Jacobian

Trajectory Tracking of Robotic Arms Using Learning Modified ...

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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Danial Ansari S Ali A Moosavian Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotics & Automated Systems (ARAS) Laboratory K. N. Toosi University of Technology Tehran Iran

In this research, the issue of trajectory tracking in task space of a robotic arm with rotational joints has been solved. For this purpose, a non-model based controller the modified jacobian-transpose is used which it’s performance has been improved by reinforcement learning. Traditionally, the settings of the error thresholds for this controller will require trial and error, but in this algorithm, reinforcement learning is used to adjust these parameters online and according to the conditions. The simulations for the desired trajectory indicate that the improvement of the trajectory tracking achieved by using proposed algorithm. Also, the superiority of this controller in noisy conditions compared to the reference Jacobian transpose controller has been shown.

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Validation of Moment Monitoring Results in Rolling Mill Stand Spindles

Validation of Moment Monitoring Results in Rolling Mill Stan...

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Olga A. Gasiyarova Boris M. Loginov Andrey A. Radionov Vadim R. Gasiyarov Vadim R. Khramshin Department of Material Science LLC NPP Uchtekh-Profi Chelyabinsk Russia Magnitogorsk Iron and Steel Works Magnitogorsk Russia Department of Automation and Control Moscow Polytechnic University Moscow Russia Power Engineering and Automated Systems Institute Nosov Magnitogorsk State Technical University Magnitogorsk Russia

The authors highlight the need for the development and industrial deployment of online monitoring systems for the elastic moment on the rolling mill stand spindles. An example of a 5000 plate mill was used to demonstrate that these systems are made due to the need for a reliable moment assessment in dynamic modes. This problem is relevant for the development of control systems limiting the maximum (amplitude) values of moments when the workpieces enter the stand. The shock loading causes a multifold increase of the dynamic moment over the steady rolling moment. This results in the fatigue breakdown of spindle connections., as well as mill failures and emergency stops. The authors provide information on a telemetric elastic moment monitoring system installed on a 5000 mill. The data were validated in the industrial context. To achieve this, the authors propose a procedure where experimental research is carried out in two stages. During the first stage, the electromagnetic moment of the motor is compared to the spindle moment in the quasi-steady rolling mode when the elastic properties of the spindle are not manifested. During the second stage, the elastic moments of the upper and lower roll motors are assessed during 9 passes of reverse rolling. Some conclusions are made about the proportion of roll motor loads, spindle moment amplitudes, and the relevance of aligning rolling moments through the improvement of electric drive speed control algorithms.

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Intellectual lidar-based object classification for V2V communication technology implementation 22

Intellectual lidar-based object classification for V2V commu...

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Proceedings of the 6th International Conference on Future Networks & Distributed systems

作者： Ansaf Abdulnagimov Ekaterina Lopukhova Gleb Alektorov Nail Klyavlin Department of Automated Control Systems Ufa University of Science and Technology Russian Federation Department of Telecommunication Systems Ufa University of Science and Technology Russian Federation Department of Computational Mathematics and Engineering Cybernetics Ufa University of Science and Technology Russian Federation Department of High Performance Computing Systems and Technology Ufa University of Science and Technology Russian Federation

ISBN: (纸本)9781450399050

The deep learning techniques have been shown to make a traffic objects classification system for V2V communications to ensure traffic safety and traffic flow prediction. The robust classifier on the base of MLP and PointNet are explored to recognize the traffic objects from lidar point clouds. The features of a lidar sensor, the lidar point cloud coordinate system and its complex properties for creation a smart traffic object detection and recognition model are described. The best configuration of PointNet architecture with hyperparameters are shown, which is more efficient and robust with respect to input perturbation and corruption of lidar point clouds.

关键词： PointNet

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