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American control Conference (ACC)

作者： C. A. Jacobson C. N. Nett Department of Electrical and Computer Engineering North Eastern University Boston MA USA Laboratory for Identification and Control of Complex Highly Uncertain Systems (LICCHUS) School Institute of Technology Georgia Institute of Technology Atlanta GA USA

This paper analyzes worst case identification of linear shift invariant systems with an l 1 error criterion. A characterization of optimal algorithms and intrinsic errors of identification is given. The application of this characterization is made to identification in l 1 . The assumed apriori information on the plant are bounds on the system gain and decay rate of the impulse response of the unknown system and the experimental data is assumed to be a finite set of corrupted impulse or step response samples of the systems. Comparisons are made with the H ∞ system identification problem. Comments on the l 1 identification of small signal models of smooth nonlinear discrete time systems are made.

关键词： System identification Robust control Convolution Jacobian matrices Algorithm design and analysis Signal processing Discrete time systems control system synthesis Nonlinear control systems Design methodology

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New algorithms for earthfault distance protection in insulated and compensated networks

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European Transactions on Electrical Power 1991年第5期1卷 253-259页

作者： Igel, M. Koglin, H.‐J. Schegner, P. Dr.-lng. Michael Igel (1961). VDE received his Dip1.-lng. degree in Electrical Engineering at the University of SaarlandGermany. in 1987 and became scientific assistant at the Lehrstuhl fur Energieversorgung of this University. After receiving his Dr.-Ing. degree in 1990. he presently works as development engineer of the department of protection systems in the power transmission and distribution division of AEG at Frankfurt a. M./Germany. (AEG Aktiengesellschaft Lyoner Str. 44-48. D-6000 Frankfurt 7 I T + 49 69/66 40 16 I 7) Prof. Dr.-lng. Hans-Jurgen Koglin (1937). VDE holds the Lehrstuhl fur Energieversorgung of the University of SaarlandGermany since 1983. After the study of Electrical Engineering (power engineering) at the Technische Hochschule DarmstadtIGermany. he worked as a scientific assistant at the “Institut fur Elektrische Enerpieversorgung” of this Unive:rsity. After receiving his Dr.-lng. degree he tirst worked as assistant professor later on as full Professor at the Technische Hochschule Darmstadt (Department “Systemfuhrung in Energieversorgungsnetzen”). He is member i n several national and international committees. His most important research activities are: reliability evaluation computer-optimized network development planning digital network protection systems substation control system state estimation. corrective switching visibility of overhead lines. (Universitat des Saarlandes Lehrstuhl fur Energieversorgung Im Stadtwald D-6600 Saarbriicken I I T + 4 9 6 8 113 023979) Dr.-Ing. Peter Schegner (1955) VDEis head of the development department of protection systems in .the power transmission and distribution division of AEG at Frankfurt a. M./Gerrnany. He studied Electrical Power Engineering at the Technische Hochschule Darmstadt/Genany and worked as system engineer in the field of power system control. He became a member of the scientific staff at the Universitiit des Saarlandes receiving his degree with a thesis on the earthfault distance protection. (AEG Aktiengesellschaft

Through the analysis of transient signals after the occurrence of an earthfault it is possible to evaluate fault direction and fault distance. The faulty line is simulated by using a three phase Tl‐model. The result is a differential equation of a higher order, which only consists of voltages and currents, which are measured at the installation point of the relay. If the capacities of the part of the network without earthfault are considerably larger than those of the faulty line, the line capacities of the faulty line can be ignored in the differential equation. This results in afirst‐jorder differential equation, which can be solved by integration in the time domain. A second algorithm takes the line capacities into consideration. The derivatives of the input signals are calculated in the frequency domain. A third algorithm calculates the equivalent fault inductivity in the frequency domain by complex division. The last algorithm deals with the line capacities by using correction factors. The mode of operation of the earthfault distance algorithms presented here will be shown with the example of a 22‐kV‐overhead line network. Copyright © 1991 John Wiley & Sons, Ltd.

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Input-Constrained Self-Tuning control of a Robot Link

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IFAC Proceedings Volumes 1990年第1期23卷 301-306页

作者： P. Löhnberg J. van Amerongen Control Systems and Computer Engineering Group Department of Electrical Engineering University of Twente Enschede The Netherlands

This paper describes the application of an input-constrained self-tuning minimum-variance controller to a lower robot arm moving in the horizontal plane around a vertical Joint. The use of this controller will be motivated. It minimizes the a-posteriori adaptation error in the least-squares sense. It has been applied to a simulation of the considered robot link and consequently it has been implemented to the actual robot link itself. The results of this controller have been compared to a PI control of the robot arm. The proposed method gave improved control quality and adaptation with respect to unknown parameters.

关键词： Adaptive control mechanical variables control predictive control robots saturation control

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The use of simulated annealing to solve the mobile manipulator path planning problem

The use of simulated annealing to solve the mobile manipulat...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： W.F. Carriker P.K. Khosla B.H. Krogh Laboratory for Automated Systems and Information Processing Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

The planning problem is considered for a mobile manipulator system which must perform a sequence of tasks defined by position, orientation, force, and moment vectors at the end effector. Each task can be performed in multiple configurations due to the redundancy introduced by mobility. The planning problem is formulated as an optimization problem in which the decision variables for mobility (base position) are separated from the manipulator joint angles in the cost function. The resulting numerical problem is nonlinear with nonconvex, unconnected feasible regions in the decision space. Simulated annealing is proposed as a general solution method for obtaining near-optimal results. The problem formulation and numerical solution by simulated annealing are illustrated for a positioning system with five degrees of freedom. These results are compared with results obtained by conventional nonlinear programming techniques customized for the particular example system.< >

关键词： Simulated annealing Path planning Mobile computing Manipulators Robots Computational modeling computer simulation Laboratories Information processing Process planning

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Fault detection and diagnosis in manufacturing systems: a behavioral model approach

Fault detection and diagnosis in manufacturing systems: a be...

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International Conference on computer Integrated Manufacturing

作者： L.E. Holloway B.H. Krogh Laboratory for Automated Systems and Information Processing Department of Electrical and Computer Engineering Carnegie Mellon University Pittsburgh PA USA

An approach to online fault detection and diagnosis in automated manufacturing systems with discrete controls and sensing is described. The approach is based on the concept of behavioural models of the individual system components. These models, which can be developed while the system is being designed, characterize the responses of the devices in the system to arbitrary input signals over the range of acceptable operating conditions. The expected flow of signals through the system, from control inputs to sensor outputs, is captured in the behavioural model dynamics. This model provides the basis for online fault detection by generating expected system response signals which are compared online, in real-time, to the actual sensor signals from the system. Fault diagnosis is accomplished by maintaining a current set of operational assumptions which identify the system components which could cause deviations from the expected behavior.< >

关键词： Fault detection Fault diagnosis Manufacturing systems Sensor systems Automatic control control systems Signal design control system synthesis Sensor phenomena and characterization Signal generators

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An explicit model-matching approach to lateral-axis autopilot design

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IEEE control systems Magazine 1990年第4期10卷 22-28页

作者： K.D. Minto J.H. Chow J.W. Beseler GECorporate Research and Development Center Schenectady Control Systems Laboratory NY USA Electrical Systems and Computer Engineering Department Rensselaer Polytechnic Institute Troy NY USA

The application of a linear multivariable control law design methodology to an autopilot design for large transport aircraft is described. The design method is an explicit model-matching approach, whereby compensator parameters are tuned via a least-squares optimization approach to minimize the error between the desired and the actual closed-loop frequency responses. This method incorporates some recent theoretical advances, including controller parameterization and plant factorization, and has been implemented within the ISICLE software package, a MATLAB-based control design toolbox. A desirable feature of the ISICLE design software is the capability to constrain the compensator dynamic order and structure, issues motivated by the necessity for low complexity implementations in order to simplify gain scheduling and limit protection.< >

关键词： Mathematical model Design methodology Aircraft Aerospace control Design optimization Frequency Software packages computer languages control design Software design

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The Linear Constrained Regulation Problem for Discrete-Time systems

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IFAC Proceedings Volumes 1990年第8期23卷 321-326页

作者： G. Bitsoris M. Vassilaki Control Systems Laboratory Electrical Engineering Department. University of Patras 26500 Patras Greece AMBER S.A. Computer Systems P.D. Box 3500 Athens Greece

In this paper the Linear Constrained Regulation Problem for discrete-time systems is studied. The first part of the paper deals with the problem of existence of linear state-feedback control laws that transfer asymptotically to the origin all initial states belonging to a polyhedral subset of state space while linear state and control constraints are respected. Then an eigenstructure assignment technique is developed for derivation of a solution to this problem. The results presented in the paper are based on the properties of systems possessing polyedral positively invariant sets.

关键词： Constraint theory discrete time systems eigenvalue assignment, invariance linear systems stability

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Synthesis of Nonlinear controllers with Rate Feedback via Sinusoidal-Input Describing Function Methods

Synthesis of Nonlinear Controllers with Rate Feedback via Si...

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American control Conference (ACC)

作者： James H. Taylor James R. O'Donnell Control Systems Laboratory General Electric Corporate Research and Development Schenectady NY USA Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute Troy NY USA

In this paper, we report on recent advances in the design of fully nonlinear controllers for amplitude-sensitive nonlinear plants using sinusoidal-input describing function methods. This work includes the development of a new nonlinear controller synthesis approach that includes derivative action in an inner-loop feedback path (nonlinear rate feedback), and its application to a motor + load model with torque saturation and stiction. This approach is capable of treaing nonlinear systems of a very general nature, with no restrictions as to system order, number of nonlinearities, configuration, or nonlinearity type; additionally, the techniques can be generalized for the design of nonlinear controllers of different structures. The end result is a closed-loop nonlinear control system that is relatively insensitive to reference-input amplitude.

关键词： Feedback control system synthesis Nonlinear control systems Signal synthesis Three-term control Load modeling Nonlinear systems control systems Laboratories Research and development

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Simultaneous H2/H∞ optimal control with state feedback

Simultaneous H2/H∞ optimal control with state feedback

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American control Conference (ACC)

作者： Mario A. Rotea Pramod P. Khargonekar Center for Control Sciences and Dynamical Systems University of Minnesota Minneapolis MN USA Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

In this paper we consider a mixed H 2 /H ∞ -optimal control problem. It is assumed that the plant as well as the feedback controller are finite-dimensional and linear time-invariant, and that the plants state is available for feedback. More specifically, among all the state-feedback controllers that minimize the H 2 -norm of a closed loop transfer matrix, we give necessary and sufficient conditions for the existence of a controller that also satisfies a prescribed H ∞ -norm bound on some other closed loop transfer matrix. When these conditions are satisfied, the solution to the above problem is also a global solution to the constrained optimization problem of minimizing an H 2 -norm performance measure subject to an H ∞ -norm constraint. We also give state-space formulae for computing the solutions. An example is given in which all solutions to the constrained optimization problem are necessarily dynamic, i.e, there is no static gain solution even though plant state is available for feedback. A conclusion of this work is that a priori assumptions on the structure of the solutions to mixed H 2 /H ∞ problems could turn out to be conserative.

关键词： Optimal control Hydrogen State feedback Sufficient conditions Performance evaluation Gain measurement Tellurium Performance gain Ice Robustness

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Trends in shop floor control: modularity, hierarchy, and decentralization

Trends in shop floor control: modularity, hierarchy, and dec...

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IEEE International Symposium on Intelligent control (ISIC)

作者： T.L. Johnson A.D. Baker Control Systems Laboratory GE Corporate Research and Development Center Schenectady NY USA Department Electrical & Computer Engineering Rensselaer Polytechnic Institute Troy NY USA

Computational architectures for shop floor control in automated job shops and midvolume manufacturing facilities are evolving into three identifiable forms, which are contrasted here. The first architecture, termed the modular approach, is based on earlier monolithic MRP/order-release systems and is typified by recent CIM (computer-integrated manufacturing) product offerings such as GEs CIMPLICITY. The second architecture is a hierarchical architecture, such as NIST's AMRF (National Institute of Standards and Technology's automated Manufacturing Research Facility) system. The third architecture is a contract net architecture which is fully decentralized and may be a candidate for future CIM systems. These architectural forms may be distinguished on the basis of the partitioning principles which predominate in their design.< >

关键词： computer integrated manufacturing Hardware Power capacitors Local area networks Subcontracting Debugging Workstations Programmable control Cost function Software packages

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