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Digital Adaptive control of Rotary System with Unknown Nonlinear Friction

IFAC Proceedings Volumes 1993年第2期26卷 81-84页

作者： S. Sagara F. Ohkawa T. Yamashita M. Tomizuka Department of Control Engineering Faculty of Engineering Kyushu Institute of Technology Tobata Kitakyushu 804 Japan Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka 820 Japan Department of Mechanical Engineering University of California Berkeley Berkeley CA 94720 USA

This paper is concerned with the design of a discrete time Model Reference Adaptive control System (WACS) for motion control under unknown nonlinear friction. Static and Coulomb friction forces are represented by a deadzone element for the input, which is active at low velocities. and disturbance. which may take different values depending on the motion direction. respectively. Then, the WAes for the nonlinear friction is a cascade combination of a nonlinear block which contains the deadzone and the disturbance term and a linear dynamic block. Experimental results from a rotary servo system demonstrate the effectiveness of the proposed WAeS

关键词： Model reference adaptive control Nonlinear friction Rotary System Servomechanisms

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Applications of control to Semiconductor Manufacturing: Reactive Ion Etching

Applications of Control to Semiconductor Manufacturing: Reac...

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American control Conference (ACC)

作者： M. Elta H. Etemad J. S. Freudenberg M. D. Giles J. W. Grizzle P. T. Kabamba P. P. Khargonekar S. Lafortune S. M. Meerkov J. R. Moyne B. A. Rashap D. Teneketzis F. L. Terry Solid State Electronics Laboratory Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA Control Systems Laboratory and Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI USA

This paper describes the development of real-time control technology for the improvement of manufacturing characteristics of reactive ion etchers. A general control strategy is presented as well as supporting experime... 详细信息

关键词： Semiconductor device manufacture Etching Plasma applications Laboratories Pulp manufacturing Manufacturing processes Plasma materials processing Feedback control control systems Production facilities

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A Force control Method Using the Relative Motion between the Manipulator and a Workpiece

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IFAC Proceedings Volumes 1993年第2期26卷 461-464页

作者： K. Watanabe T. Fukuda S.G. Tzafestas Department of Mechanical Engineering Faculty of Science and Engineering Saga University Honjomachi-1 Saga 840 Japan Department of Mechano-Informatics and Systems Faculty of Engineering Nagoya University Furocho Nagoya 464-1 Japan Intelligent Robotics and Control Unit Computer Science Division National Technical University of Athens Zografou Athens 157 73 Greece

control methods based on using the relative motion between the manipulator and the workpiece are described for controlling the force of a one-dimensional manipulator, in which it is assumed that there are no collisions between the manipulator and the workpiece and we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a manipulator. We consider two cases depending on whether the position and velocity of the workpiece (or end-effector) are available or not to calculate the computed force control. The effectiveness of the proposed control methods is illustrated by some computer simulations.

关键词： PID control contact motion force control robots manipulator servomechanisms

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Steady‐state modelling of a uniform pulse‐width modulated single‐phase AC‐to‐DC converter‐fed DC motor drive

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European Transactions on Electrical Power 1993年第5期3卷 379-386页

作者： Hamed, S.A. Dr. Sadeq A. Hamed (1957) received his B.Sc. degree in Electrical Power Engineering from Damascus University Syria in 1980. From 1980 to 1982 he has been with the Department of Electrical Engineering at the University of Jordan Ammad/Jordan. He obtained the M.Sc. degree in Power Electronics and Systems and the PhD degree in Power Electronics from the University of Manchester Institute of Science and Technology (UMIST) Manchester/GB in 1983 and 1986 respectively. In 1986 he joined the Department of Electrical Engineering. Jordan University as an Assistant Professor. In 1991 became an Associate Professor at the same department. His research activities include modelling and simulation of AC/DC drive systems pulse-width modulation control of motor implementation of computer-controlled drive systems energy saving in the electrical drive industry. (Jordan University Department of Electrical Engineering Amman/Jordan T + 96 26/843555 - 28 13 Fax + 9626/8485 58)

With the increasing availability of power transistor switches, PWM controlled rectifiers can efficiently and economically be employed in low and medium power applications of DC drive systems. In this paper, steady‐state modelling and solution of a uniform pulse‐width modulated single‐phase AC‐to‐DC converter‐fed DC motor drive is accomplished. The developed model is presented in a generalized form that is applicable irrespective of the number of pulses per supply half‐cycle. Measured and predicted parameters are shown to be very close and the model is proved to be efficient and accurate. Both continuous and discontinuous modes of operation are covered, and critical operating conditions at which the system moves from one mode to the other are thoroughly investigated. The effects of the armature inductance‐to‐resistance ratio and the chopping frequency on these critical conditions, load and line harmonics, and on the ripple contents of the armature current are also thoroughly investigated. Copyright © 1993 John Wiley & Sons, Ltd.

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computer‐aided calculation of the steady‐state thermal performance characteristics of low‐voltage circuit breakers

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European Transactions on Electrical Power 1993年第5期3卷 347-352页

作者： Völker, F. Dr.-Ing. Frank Völker (1958) VDI studied mechanical engineering special subjects “powerengineering automatic control engineering and mechanical science” at the University-GH-Duisburg/Germany where he got his Dipl.-Ing. degree in 1984. From 1984 to 1990 he has been a scientific assistant at the department “Konstruktionslehre und Fördertechnik” special subject “computer simulation of the performance characteristics of driving systems” at the same University where he received his Dr.-Ing. degree in 1990. In 1990 he joined Klöckner-Moeller GmbH Bonn/Germany as research engineer at the department “Forschung”. Since 1992 he is manager of Energy Management Systems at this company. (Klöckner-Moeller GmbH Head Office Energy Management Systems Hein-Moeller-Str. 7-11 D-53115 Bonn T +49228/602 - 11 62 Fax +49228/602- 11 94)

A discrete thermal network is given as an equivalent circuit of the steady‐state thermal performance characteristics of circuit breakers. The immediate environment of the enclosure and the feeders of the unenclosed switching device are the boundaries of the equivalent circuit, which specifically models the central phase of a three‐phase circuit breaker. computer simulations make it possible to analyse the thermal system performance in rated service. Selected examples prove the high quality of the model and the efficiency of the described method of calculation. Copyright © 1993 John Wiley & Sons, Ltd.

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An approach to the direct analysis of transient stability

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European Transactions on Electrical Power 1993年第3期3卷 241-248页

作者： Djukanovic, M.B. Sobajic, D.J. Pao, Y.‐H. Miodrag B. Djukanovic (1959) received his B.S. M.Sc. and Ph.D. degrees in Electrical Engineering from the University of Belgrade/Yugoslavia in 1982 1985 and 1992 respectively specializing in electric power systems. In 1984 he joined the Electrical Engineering Institute “Nikola Tesla” in Belgrade where he was working on the scientific studies in the field of power systems planning operation and control. In 1985 and 1990 he was appointed as a research scholar at the Royal Institute of Technology Stockholm and Case Western Reserve University Cleveland Ohio. His major in- terests are in the area of power system analysis steady-state and dynamic security and application of neural networks in electric power systems. (Electrical Engineering Institute “Nicola Tesla” ul. Koste Glavinica 8A YU-11000 Belgrad T +3811/2351-619 Fax + 3811/2351-823) Dejan J. Sobajic (1949) received the B.S.E.E. and the M.S.E.E. degrees from the University of Belgrade/Yugoslavia in 1972 and 1976 respectively and the Ph.D. degree from Case Western Reserve University Cleveland Ohio in 1988. At present he is with the Department of Electrical Engineering and Applied Physics Case Western Reserve University Cleveland. He is also the Engineering Manager of A1 WARE Inc. Cleveland. His current research interests include power system operation and control neuralnet systems and adaptive control. He is a member of the IEEE Task Force on Neural-Network Applications in Power Systems and of the IEEE Intelligent Controls Committee. He is the Chairman of the International Neural-Networks Society Special Interest Group on Power Engineering. (Case Western Reserve University Department of Electrial Engineering and Computer Sciences Glennan Building Ohio 44 106 USA T + 1216/421-2380 Fax +1216/368-8776) Yoh-Han Pao (1922) has been a Professor of Electrical Engineering and Computer Science at Case Westem Reserve University (CWRU) Cleveland Ohio since 1967. He has served as chairman of the University's Electrical Engineering Department

The Transient Energy Function (TEF) method has been intensely investigated over the last decade as a reliable and accurate tool for transient stability assessment of multimachine power systems. In this paper we propose the Potential Energy Boundary Surface (PEBS) based method for direct analysis of transient stability. The critical value of transient energy and the Critical Clearing Time (T_CCT) are evaluated without the need for successive calculation and memorization of the system kinetic and potential energy values along the sustained fault trajectory. The method is used for determination of output features in the training phase of the neural‐net based transient security assessment. The proposed approach is tested on the well‐known ten‐generator New England test system demonstrating the validity and accuracy of obtained results. Copyright © 1993 John Wiley & Sons, Ltd.

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An iteration scheme for dominant singular values

An iteration scheme for dominant singular values

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1992 IEEE Symposium on computer-Aided control System Design, CACSD 1992

作者： Bar-On, J.R. Gray, C.W. Department of Electrical Engineering and Computer Science University of Oklahoma NormanOK73107 United States Control Systems Subdivision Aerospace Corporation El SegundoCA90009 United States

An iteration method is presented for determining the largest singular value (2 - norm) of a matrix, and its corresponding singular vectors. Connections with the power method, and Bernoulli's method are presented. A formula is derived which describes the relationship between a matrix perturbation and the perturbation of its singular values. © 1992 Proceedings of the IEEE International Symposium on computer-Aided control System Design.

关键词： Iterative methods

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Digital adaptive control for servo system with unknown nonlinear friction

Digital adaptive control for servo system with unknown nonli...

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International Conference on Industrial Electronics, control and Instrumentation

作者： F. Ohkawa S. Sagara T. Yamashita M. Tomizukai Department of Control Engineering and Science Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Japan Department of Control Engineering Faculty of Engineering Kyushu Institute of Technology Kitakyushu Japan

The authors consider the design of a discrete time model reference adaptive control system (MRACS) for motion control systems with unknown nonlinear friction. From a control system viewpoint, the static and Coulomb frictions are characterized by a nonlinear dead-zone element and constant value disturbance for the control input signal, respectively. The discrete MRACS is considered for a nonlinear system which is a cascade combination of an unknown dead-zone block and a linear dynamic block with disturbance. In order to verify the validity of the theory, the design method described is applied to a servo system influenced by friction. Experimental results show the high control performance of the constructed MRACS and the effectiveness of the proposed method.< >

关键词： Adaptive control Servomechanisms Friction control systems Nonlinear control systems Motion control Nonlinear systems Nonlinear dynamical systems Torque control engineering

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An iteration scheme for dominant singular values

An iteration scheme for dominant singular values

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IEEE International Symposium on computer Aided control System Design (CACSD)

作者： J.R. Bar-on C.W. Gray Department of Electrical Engineering and Computer Science University of Oklahama Norman OK USA Control Systems Subdivision Aerospace Corporation El Segundo CA USA

An iteration method is presented for determining the largest singular value (2-norm) of a matrix, and its corresponding singular vectors. Connections with the power method and Bernoulli's method are presented. A formula is derived which describes the relationship between a matrix perturbation and the perturbation of its singular values.< >

关键词： Eigenvalues and eigenfunctions Symmetric matrices control systems Aerospace control Aerospace engineering Sparse matrices Iterative methods H infinity control Convergence Cellular neural networks

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Classification of Gas-Liquid Two-Phase Flow Regime by an Ar-Model

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IFAC Proceedings Volumes 1992年第15期25卷 597-602页

作者： K. Inoue G.N. Rao A. Mizutori Y. Morita K. Sekoguchi Department of Control Systems Engineering Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Iizuka Fukuoka 820 Japan Department of Electronic Engineering Oita University Dannoharu Oita 870-11 Japan Department of Mechanical Engineering Osaka University Yamada-oka Suita Osaka 565 Japan

The discrimination of gas-liquid two-phase flow patterns has so far been made mainly by visual observation; and various flow parameters characterizing the flow, such as fluctuating pressures, void fraction etc., have been employed as quantitative tools for this purpose. It would be useful for the prediction and prevention of accidents experienced in thermal engineering plants dealing with the flow if it could be found the effective techniques for analyzing void fraction signals detected for diagnosing plant operation states. This paper presents pattern recognition and clustering techniques for analyzing the cross-sectional mean void fraction signals in gas-liquid two-phase flow based on an AR-model with bias components. The pattern recognition method based on the Bayes decision rule was applied for the recognition of flow regimes which were determined by visual observations. The clustering methods based on K-mean algorithm and mixture probability algorithm were applied for the determination of the new boundaries on a superficial gas-liquid velocities diagram. The effectiveness of the discussed techniques were confirmed.

关键词： pattern recognition clustering Bayes methods AR-model parameter estimation thermal plants multiphase flow void fraction

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