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An Object-Oriented Transformer Model in OMOLA

IFAC Proceedings Volumes 1996年第1期29卷 7099-7104页

作者： Magnus Akke Jerker Linder Bernt Nilsson Olof Samuelsson Sydkraft AB S-205 09 Malmö Sweden ABB Industrial Systems AB S-721 67 Västerås Sweden Department of Automatic Control Lund Institute of Technology P.O. Box 118 S-221 00 Lund Sweden Department of Industrial Electrical Engineering and Automation Lund Institute of Technology P.O. Box 118 S-221 00 Lund Sweden

Energizing of a transformer can cause large inrush currents. The current magnitude can be up to 30 times larger than the rated transformer current. Dynamic models of transformers are therefore an indispensable tool for transient analysis of inrush currents. This transient phenomena is difficult to simulate and display. The paper presents an object-oriented approach to transformer modeling using the modeling language OMOLA. The model is decomposed into submodels capturing different physical phenomena of the transformer. The proposed model shows good agreement between simulation and measurement of the inrush current.

关键词： Dynamic modeling object modelling technique power system transformers transient analysis

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PATH CONSTRAINED TIME-OPTIMAL MOTION OF A COOPERATIVE 2 ROBOT SYSTEM

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ROBOTICA 1995年第4期13卷 363-374页

作者： CHO, HK LEE, BH KO, MS Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University San 56–1 Shinrim-dong Kwanak-ku Seoul 151–742 (Korea)

This paper presents a systematic approach to the time-optimal motion planning of a cooperative two robot system along a prescribed path. First, the minimum-time motion planning problem is formulated in a concise form by parameterizing the dynamics of the robot system through a single variable describing the path. The constraints imposed on the input actuator torques and the exerted forces on the object are then converted into those on that variable, which result in the so-called admissible region in the phase plane of the variable. Considering the load distribution problem that is also involved in the motion, we present a systematic method to construct the admissible region by employing the orthogonal projection technique and the theory of multiple objective optimization. Especially, the effects of viscous damping and state-dependent actuator bounds are incorporated into the problem formulation so that the case where the admissible region is not simply connected can be investigated in detail. The resultant time-optimal solution specifies not only the velocity profile, but also the force assigned to each robot at each instant. Physical interpretation on the characteristics of the optimal actuator torques is also included with computer simulation results.

关键词： COOPERATIVE ROBOTS PRESCRIBED PATH COMPUTER SIMULATION

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control OF HYBRID STEP MOTORS VIA A SIMPLIFIED LINEARIZATION TECHNIQUE

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INTERNATIONAL JOURNAL OF control 1995年第5期61卷 1143-1167页

作者： CHU, SH HAT, IJ Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University San 56-1 Shinrim-Dong Kwanak-Ku Seoul 151–742 Korea

In this paper, we propose a simplified linearization technique for control of hybrid step motors that is based on a hacking approach. Our controller consists of a current tracking controller and a torque controller. In particular, our torque controller contains a function which can be chosen freely under some constraints imposed by the physical limitation in stator currents. Any controller that can make the generated torque of a hybrid step motor linear to the torque command can always be represented by our torque controller with a specific choice of the free function. As an example for optimal choices of the free function, we present a method of determining the free function that gives minimal power loss due to stator resistance. We also present a method of obtaining the full dynamic model of a hybrid step motor. Prior works consider the special cases when the torque component due to variable reluctance is negligible or sinusoidal. Our results in this paper can be applied equally well to these special cases.

关键词： Linearization

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Robust Analysis of Distillation Column Dynamics

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IFAC Proceedings Volumes 1995年第9期28卷 333-338页

作者： E.I. Varga G.Z. Kovács S.B. Jørgensen K.M. Hangos Systems and Control Laboratory Computer and Automation Research Institute Department of Chemical Engineering The Technical University of Denmark Lyngby Denmark

The robust stability and performance of a binary distillation column model is analysed using a minimal state space representation. The uncertainty modelling of the column is resulted in an LFT form with a four element diagonal block structure taking into account the dependence between the steady state gains. Robust analysis of the distillation column dynamics is performed and compared using µ - and l 1 -analysis tools. The magnitude of possible overshoots is determined by l 1 -test for robust performance and the dependence of this magnitude on the dominant time constant (i.e. the purity of the separation) is investigated. Futhermore the effect of the mi certainties in the time constants and the singular values on the robust performance is also analysed using l 1 -test. It has been found that the uncertainty in the time constants affects dominantly the robust performance of the open-loop system, i.e. the magnitude of possible overshoots.

关键词： Distillation column parametric uncertainty modelling robust stability robust performance

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A VARIABLE-PARAMETER UNSUPERVISED LEARNING CLUSTERING NEURAL-NETWORK APPROACH WITH APPLICATION TO MACHINE-PART GROUP FORMATION

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INTERNATIONAL JOURNAL OF PRODUCTION RESEARCH 1995年第9期33卷 2395-2413页

作者： MALAKOOTI, B YANG, Z Department of Systems Control and Industrial Engineering The Case School of Engineering Center for Automation and Intelligent Systems Research Case Western Reserve University Cleveland OH 44106 United States

In this paper, we develop a new unsupervised learning clustering neural network method for clustering problems in general and for solving machine-part group formation problems in particular. We show that our new approach solves a very challenging problem in the area of machine-part group formation. A review of machine-part group formation methods and unsupervised learning artificial neural network methods is given. We modify the well-known competitive learning algorithm by using the generalized Euclidean distance, and a momentum term in the weight vector updating equations. The cluster structure can be adjusted by changing the coefficients in the generalized Euclidean distance. The algorithm is flexible and applicable to many practical problems. We also develop a neural network clustering system which can be used to cluster a 0-1 matrix into diagonal blocks. The developed neural network clustering system is independent of the initial matrix and gives clear final clustering results which specify the machines and parts in each group. We use the developed neural network clustering system to solve several machine-part group formation problems, in which the machine-part incidence matrix is to be clustered into a diagonal block structure. An algorithm is developed to consider lower and upper bounds on the number of machines for each cell. The computational results are compared with those from the well-known rank order clustering and directive clustering analysis methods.

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A practical resource scheduling with OPF constraints

A practical resource scheduling with OPF constraints

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Power Industry Computer Application Conference (PICA)

作者： K.H. Abdul-Rahman S.M. Shahidehpour M. Aganagic S. Mokhtari Siemens Empros Power Systems Control USA Department of Electrical and Computer Engineering Illinois Institute of Technology Chicago IL USA Empros Power Systems Control Siemens Energy and Automation Inc. Brooklyn MN USA

This paper presents an efficient approach to short term power system resource scheduling based on the augmented Lagrangian relaxation method. The problem is divided into two stages, the commitment stage and the constrained economic dispatch stage. The proposed mathematical model incorporates optimal power flow (OPF) constraints in the unit commitment stage. By OPF constrains, the authors refer to the relevant active power constraints that are incorporated in the constrained economic dispatch stage (i.e. transmission capacity constraints, fuel and various regulated emission requirements). The inclusion of OPF constraints in the commitment stage will improve the feasibility of the constrained economic dispatch solution. Other unit commitment constraints such as spinning and operating reserve requirements, power balance as well as other relevant local constraints (i.e. unit ramping rates, upper and lower generation limits, minimum up and down times) are taken into account in the proposed model. As a larger number of constraints are dealt with, a more rigorous method is introduced for updating Lagrange multipliers to improve the solution convergence. A software package which addresses energy management systems requirements is developed and tested.

关键词： Power generation economics Fuel economy Power system modeling Lagrangian functions Relaxation methods Power system economics Mathematical model Load flow Spinning Power generation

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Configuring multiple boundary scan chains for board testing

Configuring multiple boundary scan chains for board testing

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IEEE International Symposium on Circuits and systems (ISCAS)

作者： Yoon-Hwa Choi Chul Kim E. Jung Department of Computer Engineering HongIk University Seoul South Korea Enipros Pover Systems Control Division Siemens Energy and Automation Inc. Plymouth MN USA

In a board level design with boundary scans, each chip on a board can be tested by loading test vectors and collecting responses through a boundary scan chain. Since the boundary scan may serialize the test process, the overall test time can be reduced if multiple boundary scan chains are used. In that case the test time depends on how the boundary scan chips are connected into multiple chains. In this paper, we present a technique for configuring multiple boundary scan chains to minimize the test time for boundary scan chips on a board.

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Synthesized passive feedback control of sensor-rich smart structures-experimental results

Synthesized passive feedback control of sensor-rich smart st...

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IEEE Conference on control Technology and Applications (CCTA)

作者： P. Akella J.T. Wen Control Laboratory for Mechanical Structures Department of Electrical Computer and Systems EngineeringCenter for Advanced Technology in Automation Robotics & Manufacturing Rensselaer Polytechnic Institute RPI Troy NY USA

Passivity based controllers are used in structural control due to their inherent robustness properties. These controllers require sensor/actuator collocation. In this paper, we consider the design of a "squaring down" matrix which renders a system passive by using a linear combination of all collocated and non-collocated sensor/actuator pairs. The design uses experimental transfer functions and does not require the knowledge of the system model. The problem of finding the squaring down matrix is cast as a solution to a set of linear matrix inequalities (LMIs) subject to some additional performance considerations. The design procedure of the squaring down matrix assumes that velocity information is available from the sensors which is not generally the case. We show that the squaring down matrix can be implemented without the use of such velocity information. We provide experimental results gathered from the single link flexible beam setup in the C/sub La/MS laboratory at RPI to show that implementation of passive loops without velocity measurements provides very good results.

关键词： Feedback control Linear matrix inequalities Intelligent sensors control system synthesis Robust control Sensor systems Hydraulic actuators Transfer functions Laboratories Economic indicators

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Preisach modeling of piezoceramic and shape memory alloy hysteresis

Preisach modeling of piezoceramic and shape memory alloy hys...

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IEEE Conference on control Technology and Applications (CCTA)

作者： D. Hughes J.T. Wen Control Laboratory for Mechanical Structures (CLaMS) Center for Advanced Technology in Automation Robotics & Manufacturing Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

Smart materials such as piezoceramics and shape memory alloys (SMAs) exhibit significant hysteresis and in order to estimate the effect on open and closed loop control a suitable model is needed. One promising candidate is the Preisach independent domain hysteresis model that is characterized by the congruent minor loop and wiping out properties. Comparable minor loop and decaying oscillation test data for a multi-sheet piezoceramic actuator (made of lead zirconate titanate) attached to a flexible beam are presented and are seen to be very consistent with the two Preisach model properties. The commanded parameter is the sheet transverse electric field while the measured parameter is an approximately colocated strain induced in the beam. Equivalent data for a Nitinol SMA wire muscle, attached to the same beam, are also presented. The input and output parameters are the SMA current and a beam strain respectfully. The minor loop and wiping out evidence is less strong than that of the piezoceramic case, but encouraging. In all experiments the quasi-steady state responses were generated in order to avoid exciting beam flexible modes which would complicate the analysis.

关键词： Piezoelectric materials Shape memory alloys Hysteresis Strain measurement Shape control Open loop systems Testing Actuators Titanium compounds Electric variables measurement

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H/sub /spl infin// vibration control of active suspension for automotive application

H/sub /spl infin// vibration control of active suspension fo...

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SICE Annual Conference

作者： A. Kanbolat Y. Okuyama F. Takemori L. Gianone S. Horvat J. Bokor Department of Information and Knowledge Engineering Facult of Engineering Tottori University Japan Tottori Daigaku Tottori JP Dept. of Inf. & Knowledge Eng. Tottori Univ. Japan Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Department of Transpoi-talion Engineering Technical University of Budapest Hungary

This paper deals with simultaneous control of acceleration transmission, wheel load fluctuation, suspension deflection and sprung mass displacement. The control theory is based on the robust H/sub /spl infin// control theory with the consideration of the modeling errors lumped into an unstructured uncertainty acting on the unperturbed plant. The design method is new and powerful for electronic car suspension's control systems, as it presents a new approach to the designers for the computation of a controller maintaining robust stability while guaranteeing the performance in a wide frequency range, even in the case of the controller is applied to the actual plant. Additionally, the paper emphasizes that the assumptions in the modeling step may lead to unrealistic control designs and, as an example, the effect of the rigidity assumption on the behavior of the open loop system is discussed.

关键词： control systems control theory Open loop systems Displacement control Weight control Acceleration Wheels Fluctuations Robust control Power system modeling

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