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controlling a chaotic behavior of a Current Mode controlled Boost Converter Using Ott-Grebogi-Yorke Method

Controlling a chaotic behavior of a Current Mode Controlled ...

引用

IEEE International Conference on automation, Quality and Testing, Robotics, AQTR

作者： F. Dragan Faculty of Automation and Computer Science Department of Automatical Control University of Politehnica Timisoara Timisoara Romania

Chaotic behaviors at the current mode controlled boost converter were demonstrated by computer simulation studies (Chan and Tse, 1997; Banerjee et al., 2000). The proposed control strategy OGY (Ott Grebogi-Yorke) tries to stabilize one unstable trajectories from an chaotic attractor. The result of this method is the transformation from a chaotic trajectory in a periodic one

关键词： Chaos Automatic control Switches Bifurcation computer simulation Switching circuits automation computer science Switching converters Diodes

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The Tinyphoon's control concept

The Tinyphoon's control concept

引用

2006 IEEE International Conference on Mechatronics, ICM

作者： Novak, Gregor Roesenert, Charlotte Bader, Markus Deutsch, Tobias Jakubek, Stefan Krywult, Stefan Seyr, Martin Institute of Computer Technology Vienna University of Technology Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic Vienna University of Technology Vienna Austria

ISBN: (纸本)0780397134

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entails new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75x75x150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of real-time communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control. © 2006 IEEE.

关键词： control theory

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Numerical Simulation of the Transient Railway Traction Motor with Frequency control

Numerical Simulation of the Transient Railway Traction Motor...

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IEEE International Conference on automation, Quality and Testing, Robotics, AQTR

作者： Vasile Tulbure Rodica Festila Eva Dulf Tiberiu Colosi Faculty of Automation and Computer Science Department of Automatic Control Technical University of Cluj Napoca Cluj-Napoca Romania

Continuing the papers by Tulbure et al. (2004), are presented some significant results of numerical simulations for railway traction motors, which can be treated as components of electrical locomotives EC-43, by 3.6 MW, with 80t mass. For the starting mode of operation in frequency steps of Deltaf=2.5 Hz, with the slip S c =0.1, are interesting the evolution and interpretation of r.m.s. values of input voltage U 1 [V], stator current I 1 [A], traction force F T [t], developed power P[kW] and speed v[km/h]. It is imposed the maintenance of excitation flux at nominal value Psi=2.73[Wb]

关键词： Numerical simulation Rail transportation Traction motors Frequency control Voltage Data mining Stators Taylor series Calculus automation

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Optimizing the Generation of Object-Oriented Real-Time Embedded Applications Based on the Real-Time Specification for Java 06

Optimizing the Generation of Object-Oriented Real-Time Embed...

引用

Design, automation and Test in Europe Conference and Exhibition

作者： M.A. Wehrmeister C.E. Pereira L.B. Becker Computer Science Institute UFRGS Brazil Electrial Engineering Department UFRGS Brazil Automation and Control Systems Department UFSC Brazil

ISBN: (纸本)9783981080100

The object-oriented paradigm has become popular over the last years due to its characteristics that help managing the complexity in computer systems design. This feature also attracted the embedded systems community, as today's embedded systems need to cope with several complex functionalities as well as timing, power, and area restrictions. Such scenario has promoted the use of the Java language and its real-time extension (RTSJ) for embedded real-time systems design. Nevertheless, the RTSJ was not primarily designed to be used within the embedded domain. This paper presents an approach to optimize the use of the RTSJ for the development of embedded real-time systems. Firstly, it describes how to design real-time embedded applications using an API based on RTSJ. Secondly, it shows how the generated code is optimized to cope with the tight resources available, without interfering in the mandatory timing predictability of the generated system. Finally it discusses an approach to synthesize the applications on top of affordable FPGAs. The approach used to synthesize the embedded real-time system ensures a bounded timing behavior of the object-oriented aspects of the application, like the polymorphism mechanism and read/write access to object's data fields

关键词： Java Real time systems Application software Embedded system Timing Virtual machining computer science Design engineering Design automation Automatic control

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Bayesian decision-theoretic causation analysis for gas explosion

Bayesian decision-theoretic causation analysis for gas explo...

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2006 IEEE International Conference on Mechatronics and automation, ICMA 2006

作者： Cai, Linqin Sun, Yining Mei, Tao Zuchang, Ma Department of Automation Chinese Academy of Sciences University of Science and Technology of China Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424404665

Frequent mine gas incident in china fully shows there must be many undiscovered essential factors in all previous gas incident investigations. Exploring a new analysis approach is vital to prevent and control mine gas emergency. A Bayesian decision-theoretic causation analysis method was introduced to study the mine gas incident. A typical gas explosion case was explained. The interaction law of human, machine, environment, and management factors causing mine gas incident was discussed. The evolution process of the connotative factors from the uncertain state to the certain state was discovered, and the relationships between the external factors and the internal factors were revealed. © 2006 IEEE.

关键词： Decision trees

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Modeling and analyzing multi-agent task plans for intelligent virtual training system using petri nets

Modeling and analyzing multi-agent task plans for intelligen...

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6th World Congress on Intelligent control and automation, WCICA 2006

作者： Linqin, Cai Tao, Mei Yining, Sun Lei, Sun Zuchang, Ma Department of Automation University of Science and Technology of China Chinese Academy of Sciences Hefei China Institute of Computer Application Chinese Academy of Engineering Physics Mianyang China Center for Biomimetic Sensing and Control Research Institute of Intelligent Machine Chinese Academy of Sciences Hefei China

ISBN: (纸本)1424403324

Integrated virtual reality with Intelligent Tutoring System, a multi-agent architecture was proposed for intelligent virtual training system (IVTS) for mine safety training. In order to make sure IVTS agent's task plans are reliable and adaptive, a Petri nets-based declarative method was applied to model the virtual training task planning knowledge, which was represented as task planning knowledge Petri nets (TP-PNets), and an algorithm was implemented to construct TP-PNets. Then, Hierarchy Colored Petri Nets (HCPN) was used to model multi-agent task planning behaviors for IVTS, and simulation and message sequence chart was used to analyze and verify the agent task planning HCPN model. ©2006 IEEE.

关键词： Intelligent systems

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About the Utility of the Extremum control Systems for Induction Traction Motors

About the Utility of the Extremum Control Systems for Induct...

引用

IEEE International Conference on automation, Quality and Testing, Robotics, AQTR

作者： Rodica Festila Vasile Tulbure Clement Festila Department of Automatic Control Faculty of Automation and Computer Science Technical University of Cluj Napoca Cluj-Napoca Romania Romanian Railways Romania

The extremum control of the high power induction traction motor is justified by the possibility to operate with minimum electrical power/energy, especially by partial load. The extremum control system is usually overlapped to the speed (or torque) control system and is valid if a steady state, partial load of the operation is established. The authors analyze the problem of various modes of operation under reduced disturbances. Also, the analysis deals with the problem of the limits of the stable behavior of the extremum control system

关键词： control systems Traction motors Induction motors Torque control Inverters Stators Equations Automatic control Steady-state Frequency

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Non-holonomic Path Planning of Space Robot Based On Genetic Algorithm

Non-holonomic Path Planning of Space Robot Based On Genetic ...

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IEEE International Conference on Robotics and Biomimetics

作者： Wenfu Xu Bin Liang Cheng Li Wenyi Qiang Yangshen Xu Ka Keung Lee Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Automation and Computer-Aided Engineering Chinese University of Hong Kong Hong Kong China

The nonholonomic characteristic of space robot is used to plan the path of the manipulator, by whose motion the base attitude and the manipulator joints attain the desired states. Firstly, the functions of the joint angles are parameterized by sinusoidal functions. Secondly, the objective function is defined according to the accuracy requirement and the constraints of the system state. Finally, genetic algorithm (GA) is used to search the global optimal solution of the parameters. Comparing with other methods, our approach has a number of advantages: 1) The kinematic and dynamic constraints of the manipulator are taken into consideration in the planning process; 2) The dynamic singular point doesn't affect the algorithm since only the direct kinematic equations are utilized; 3) The planned path is very smooth and more applicable in controlling the manipulator; 4) The state converges to the global optimal values. The simulation results verify the method.

关键词： Path planning Orbital robotics Genetic algorithms Manipulator dynamics Satellites Space technology Equations Space vehicles Kinematics Bismuth

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Autotuning Autopilots for Micro-ROVs

Autotuning Autopilots for Micro-ROVs

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Mediterranean Conference on control and automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic B. Tovornik Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Maribor Slovenia

Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided

关键词： Automatic control Underwater vehicles Payloads control systems Remotely operated vehicles Three-term control Nonlinear control systems Employee welfare control engineering computing Nonlinear systems

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Embedded computer based non-linear vehicle control: A quadrotor helicopter experiment

Embedded computer based non-linear vehicle control: A quadro...

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10th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2006

作者： Soumelidis, Alexandres Lantos, Béla ProháSzka, Zoltán Regula, Gergely Bauer, Péter Computer and Automation Research Institute Hungarian Academy of Science H-l 111 Budapest Kende u. 13-17 Hungary Department of Control Engineering and Information Technology Budapest University of Technology and Economics Magyar tudósok körútja 2 H-l 117 Budapest Hungary Department of Transportation Automation Budapest University of Technology and Economics H-l 111 Budapest Bertalan L.u.2 Hungary

ISBN: (纸本)9789634209683

Because of the largely nonlinear nature of the problem, controlling vehicles implies complicated control algorithms that require the use of embedded computing on board. Solving a control problem in this field involves numerous tasks from the modeling and identification of the vehicle object through the control design based upon several control paradigms (e.g. optimal, robust, linear, LPV, or nonlinear design), to the implementation of the controller in on-board electronics. For prototyping purposes a MATLAB/Simulink environment of Math-works complemented with a variety of the real/time and embedded control design tools has proved to be advantageous. A small-size indoor quadrotor helicopter has been selected as a platform to find the correct methodology, to explore the capabilities of the applicable tools, by covering the full design and implementation process as well as ensuring low implementation costs and risk-free test environment. The quadrotor helicopter uses brush-less DC motors as actuators, an internal sensor module is used to get measurements of its movement while a vision-based indoor position system provides its exact position. The control is realized by a Freescale MPC555 microcomputer, which is equipped with high level development tools in MATLAB. The embedded control is developed on the basis of the nonlinear model of the quadrotor helicopter by applying the technique of back-stepping.

关键词： Embedded systems

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