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IEEE International Conference on Industrial Technology (ICIT)

作者： S. Yildirim R. Demirci M.F. Sukkar V. Aslautas Robotics Research Laboratory Engineering Faculty Erciyes University Kayseri Turkey Electrical Department Technical Education Faculty Abant Izzet Baysal University Duzce Bolu Turkey Automatic Control and Industrial Electronics Department Electrical and Electronics Engineering Faculty Aleppo University Aleppo Syria

This paper presents the development of a new adaptive recurrent neural network for the control of a nonlinear system represented by a two-link SCARA type planar robot manipulator. The standard backpropagation algorithm is used to adjust the weights of the networks. The proposed control system consists of an inverse neural model of robot (INNM), an INNM-based neural controller, a robust controller, a conventional PI controller, and a second order linear filter. To evaluate the performance of the proposed control scheme and neural network, a simulated SCARA type robot was studied and the results showed how well the proposed controller can minimise the error between an actual and desired end-effector trajectory. From simulation examples, the robot trajectory tracking showed superior performance that is very attractive for real-time implementation and application in complex industrial tasks. For comparison, the standard computed torque method is employed for controlling the robot.

关键词： Programmable control Adaptive control Robust control Robot control Service robots Adaptive systems Recurrent neural networks Nonlinear control systems control systems Nonlinear systems

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Development of transient stability controller system (TSC) based on on-line stability calculation

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ELECTRICAL engineering IN JAPAN 1996年第4期117卷 61-79页

作者： Ota, H Inoue, T Ito, H Fukushima, N Omata, K Morita, K Kokai, Y Chubu Electric Power Co. Graduated in 1955 from the Department of Electrical Engineering of the Faculty of Engineering University of Tokyo and joined Chubu Electric Power Co. in the same year. He is engaged mainly in developing technology for construction planning as well as protection stabilization and automatic control of power systems. He is currently a Director and Vice President of the company. He received an OHM Technology Award in 1971 and an Achievement Award from the I.E.E. Japan in 1992. Graduated in 1962 from the Department of Electrical Engineering Shibaura Institute of Technology and joined Chubu Electric Power Co. in the same year. He is engaged in the development of technology for large-scale centralized control of power systems as well as the networking of control computers. He is currently a System Analysis Group Chief in the System Operation Division of the company. Graduated in 1985 from the Department of Electronics and Electrical Engineering of the Faculty of Engineering Tokyo Institute of Technology and joined Chubu Electric Power Co. in the same year. He is engaged mainly in the development of technology for power system protection and stabilization. He is currently working in the System Analysis Group of the System Operation Division of the company. Toshiba Corporation Graduated in 1967 from the Department of Electrical Engineering University of Tokyo and joined Toshiba Corporation in the same year and engaged in development of power system control systems in Japan and abroad. He is currently a Chief of System Technology in the Power System Technology Division of the company. He is a member of the Theses Subcommittee of the 1995 World Energy Conference. He is an Assistant Secretary of the Japanese Committee of CIGRE and a member of the Japanese Subcommittee of CIGRE SC35 and 39. He is a member of IEEE. Completed his Master's course at the Science and Engineering Research Division of the Graduate School Waseda University in 1980 and joined Toshiba Corporation in the same year. H

A new transient stability controller system (TSC) based on on-line transient stability calculation has been developed. The TSC system prevents the power system from wide-area blackout by shedding generators optimally when a serious fault occurs. This system consists of a central processing unit (TSC-P), and four local units for fault detection (TSC-C), and seventeen units for generator shedding(TSC-T). The TSC-P selects optimal generators to be shed for stabilization based on on-line transient stability calculation for contingencies at 500 kV lines and buses every five minutes. The results are transmitted to the TSC-Cs periodically. Should any fault occur, only one TSC-C will detect the fault occurrence and send control signals to the TSC-Ts which actually generate shedding signals. To realize the TSC system, essential are fast stability evaluation methods for a large number of contingencies and effective selection methods of optimal generators to be shed for stabilization. This paper presents total algorithms applied in the TSC-P, the results of algorithm verification tests using a prototype system combined with a large-scale analog simulator, and the characteristics of the actual system.

关键词： power system stabilization generation shedding on-line stability calculation screening parallel calculation

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Mimo and siso self-tuning hybrid position/force control of robotic manipulators

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Journal of Field Robotics 1996年第1期13卷

作者： Can Özsoy Turan Şişman Automatic Control Unit Mechanical Faculty Istanbul Technical University Istanbul Turkey Mechanical Engineering Department Engineering Faculty Selçuk University Konya Turkey

This article presents a new approach for the hybrid position/force control of a manipulator by using self-tuning regulators (STR). For this purpose, the discrete-time stochastic multi-input multi-output (MIMO) and single-input single-output (SISO) models are introduced. The MIMO model's output vector has the positions and velocities of the gripper expressed in the world (xyz) coordinate system as the components. The SISO model outputs are the hybrid errors consisting of the derivatives of the position and force errors at the joints. The inputs of both models are the joint torques. The unknown parameters of those models can be calculated recursively on-line by the square-root estimation algorithm (SQR). An adaptive MIMO and SISO self-tuning type controllers are then designed by minimizing the expected value of a quadratic criterion. This performance index penalizes the deviations of the actual position and force path of the gripper from the desired values expressed in the Cartesian coordinate system. An integrating effect is also included in the performance index to remove the steady-state errors. Digital simulation results using the parameter estimation and the control algorithms are presented and the performances of those two controllers are discussed. © 1996 John Wiley & Sons, Inc.

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Modelling, Adaptive, Neural and Fuzzy control of Coal Power Plants 1

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IFAC Proceedings Volumes 1995年第26期28卷 347-352页

作者： Petr Pivoňka Department of Automatic Control and Instrumentation Faculty of Electrical Engineering and Computer Science 61266 Brno Božetěchova 2 Czech Republic

At the preparatory stage for connecting the Czech power systems to the West European UCPTE system, corrections for frequency must be included in the output power control, i.e. the primary control must be introduced. The result of the detailed analysis was a model of primary output power control of the block and a new power system control of Czech coal power plants. In the new power system control, an adaptive or robust controller will be used for operation stabilisation

关键词： Power system control adaptive control neural control fuzzy control fuzzy PID controllers self-tuning control neural nets

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Localization of a mobile robot by matching 3D-laser-range-images and predicted sensor images

Localization of a mobile robot by matching 3D-laser-range-im...

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IEEE Symposium on Intelligent Vehicle

作者： J. Horn J. Russ Department of Automatic Control Engineering Technical University Munich Germany Department of Process Control Computers Technical University Munich Germany

This article describes a system for localization of a mobile robot. Position and orientation of the vehicle are determined by extracting vertical surfaces from a 3D-laser-range-image, which are matched with surfaces predicted from an environmental model. The use of predicted sensor images accelerates the segmentation and matching processes by focussing on regions of interest. The three main components 3D-laser-range-camera, environmental model and the localization algorithm are presented in detail. Quantitative results for localization in laboratory and manufacturing environments proved accuracy, robustness and real-time capability of this localization system.

关键词： Mobile robots Image sensors Predictive models Surface emitting lasers Laser beams Sensor phenomena and characterization Sensor systems Image segmentation Laboratories Computer errors

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Decentralized Variable Structure control of Complex systems

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IFAC Proceedings Volumes 1994年第11期27卷 227-232页

作者： V. Veselý D. Kalaš Slovak Technical University Department of Automatic Control Systems Faculty of Electrical Engineering Bratislava Slovakia Slovak Technical University Department of Control and Automation Faculty of Electrical Engineering Bratislava Slovakia

The paper considers the problem of stabilizing large scale dynamic systems (LSS) via decentralized controllers based on Variable Structure systems (VSS) and using the principle of dominant subsystems. The principle and applications for LSS are described and simulation test results on a two- machines power system with nonlinear model are presented.

关键词： Decentralized control diagonal dominance variable structure systems large scale systems

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The Supervisory control Problem Solved VIA Petri Nets

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IFAC Proceedings Volumes 1994年第11期27卷 339-344页

作者： B. Hrúz Slovak Technical University Faculty’ of Electrical Engineering Department of Automatic Control Systems 81219 Bratislava Ilkovičova 3 Slovak Republic

The supervisory control problem in the discrete event dynamic systems (DEDS) is formulated using input-state-output system structure. A class of the Petri nets is defined enabling an effective and practically useful representation of the structural and dynamic properties of DEDS. A solution of the supervisory control using the Petri nets and the corresponding reachability graphs is presented and illustrated on an example.

关键词： Discrete event dynamic systems supervisory control control system synthesis Petri nets reachability graph

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Circuit model of coupled transmission lines with frequency-dependent transformations

Circuit model of coupled transmission lines with frequency-d...

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Qingjian Yu O. Wing Department of Automatic Control Nanjing University of Science and Technology of PLA Nanjing Jiangsu China Faculty of Engineering Chinese University of Hong Kong Sha Tin Hong Kong China

A system of coupled transmission lines with frequency-dependent parameters is decoupled into separate, uncoupled lines by a linear transformation, in which each element, being a function of frequency, is modeled as a transfer function of a lumped circuit. Each decoupled line is modeled by its characteristic 2-port. Lumped models of the characteristic impedance and the propagation function are given. For lines with skin effects, we present a new lumped model of /spl radic/s which is scalable, exact at zero frequency and accurate over a wide frequency range. The model of the entire system of coupled lines can be implemented in SPICE using existing circuit elements.< >

关键词： Coupling circuits Distributed parameter circuits Frequency Transmission line matrix methods Impedance Transfer functions Symmetric matrices Voltage Skin effect SPICE

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ACQUISITION REFORM AND BEST PRODUCT PROCUREMENT - AN engineering VIEW

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NAVAL ENGINEERS JOURNAL 1994年第6期106卷 41-57页

作者： FISHER, DA SKOLNICK, A He has been involved with several weapon system developments. Among these were the Trident II fire control and navigation systems the BSY-I Anti-Submarine Warfare System and the Navy standard computers (UYK44 and EMSP). He served as manager of the Digital Circuits Engineering Branch and was then appointed as manager of the Automatic Test Equipment (ATE) Technology Division. As manager of the ATE Technology Division he was responsible for the SP-23 Fire Control System Support Project the SP-24 Navigation Project and the Fleet Progressive Maintenance Program (2M/ATE). This Division was responsible for selection and application of electronic product technology and for developing fleet test and repair techniques. He holds a B.S. in Electrical Engineering from the University of Evansville and is currently pursuing a Masters of Public Administration at Indiana University-Purdue University Indianapolis. Dr. Alfred Skolnick:retired from the Navy in 1983 with the rank of captain. He is president of System Science Consultants (SSC) specializing in strategic planning technical program definition technology assessment and engineering analyses on selected matters of national interest. Dr. Skolnick taught mathematics and management sciences at University of Virginia and Marymount University. He is adjunct faculty at Northern Virginia Community College. From 1985 to 1989 he was president of the American Society of Naval Engineers. In the Navy he served at Applied Physics Laboratory/The Johns Hopkins University then aboard USSBoston(CAG-1) and played leading roles in several weapon system developments inertial navigation (Polaris) deep submergence (DSRV) and advanced ship designs (SES). He later was director Combat System Integration Naval Sea Systems Command and head Combat Projects Naval Ship Engineering Center. In 1975 he became a major project manager and led the Navy's High Energy Lasers Program in 1981 he was assigned all Navy Directed Energy Weapons development efforts. He was vice president advanced tech

The military services are being moved in the direction of performance-based specifications and standards. They are being steered against dictating ''how to'' produce an item since such action forecloses on the ability to gain access to components or technology that may have a commercial equivalent. Why should the engineering community embrace the new approach? Aside from the obvious weight of it being approved policy, therefore currently mandated, it warrants examination because it is the correct approach at this time when applied to appropriate products. Military specifications and standards are to be displaced then, by acceptable alternative contractor design solutions. Industry bidders will be allowed to propose the particular design details, permitting procurement flexibility by contractually citing only system level or interface requirements, both physical and functional. Hopefully, this can broaden the industrial base and increase competition with reduced costs to follow. Conceptually, the approach appears both performance-sensible and cost-attractive (there are, of course, consequent risks) but how does implementation proceed? Is it possible to pursue the goals envisioned along paths that are not in themselves experimental? Can the American postulate, minimal loss of life and limb to U.S. military people, continue to be honored? Experience and track record elsewhere imply encouraging possibilities in select situations-useful prospects are identified and discussed in practical terms.

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Adaptive Kalman Filter for a Time-varying Multi-input Multi-output ARMAX system

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IFAC Proceedings Volumes 1993年第2期26卷 341-344页

作者： V. Havlena Faculty of Electrical Engineering of the Czech Technical University Department of Automatic Control Charles Square 13 121 35 Prague Czech Republic

The task of simultaneous tracking of time-varying parameters and estimation of the state is treated for a linear stochastic system described by a time-varying multi-input multi-output ARMAX model with known AR (noise) parameters. Bayesian approach hased conceptual solution as well as an algorithmic solution are presented. An approximation of the AR parameters in the case of output error model is discussed.

关键词： Time-varying systems ARMAX models parameter estimation Kalman filters state estimation

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