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第三十四届中国控制会议

作者： WANG Jian BORISOV Oleg GROMOV Vladislav PYRKIN Anton BOBTSOV Alexey Institute of Automation Hangzhou Dianzi UniversityXiasha Higher Education Zone Department of Control Systems and Informatics ITMO University Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering

ISBN: (纸本)9781467374439

In this paper a problem of a dynamic positioning system design for a surface robotic vessel is addressed. The considered plant is represented as a MIMO system which comprised of three independent SISO dynamical channels. Each of them corresponds to the particular coordinate of the boat. All the SISO channels are controlled by, so called, virtual control inputs generated using a new algorithm of output adaptive control which is an extension of the known robust approach known as "consecutive compensator". Then after an inverse MIMO transformation real control signals are calculated for actuators. To finalize the investigation the proposed algorithm is successfully applied to the robotic complex of vessel motion modelling.

关键词： Adaptive control,MIMO systems,Robotics

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Weak Resilience of Networked control Systems

Weak Resilience of Networked Control Systems

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European control Conference

作者： Tomonori Sadamoto Henrik Sandberg Bart Besselink Takayuki Ishizaki Jun-ichi Imura Karl Henrik Johansson Department of Mechanical and Environmental Informatics Graduate School of Information Science and Engineering Tokyo Institute of Technology 2-12-1 Meguro Tokyo Japan School of Electrical Engineering Automatic Control Royal Institute of Technology (KTH) SE-100 44 Stockholm Sweden

ISBN: (纸本)9781509025923

In this paper, we propose a method to establish a networked control system that maintains its stability in the presence of certain undesirable incidents on local controllers. We call such networked control systems weakly resilient. We first derive a necessary and sufficient condition for the weak resilience of networked systems. Networked systems do not generally satisfy this condition. Therefore, we provide a method for designing a compensator which ensures the weak resilience of the compensated system. Finally, we illustrate the efficiency of the proposed method by a power system example based on the IEEE 14-bus test system.

关键词： Weak Resilience Networked control Systems proposed method

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Assessment of Defect Type influence in Complex and Integrated Space Systems: Analysis Based on ODC and ISVV Issues 45

Assessment of Defect Type influence in Complex and Integrate...

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45th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops, DSN-W 2015

作者： Silva, Nuno Vieira, Marco Ricci, Dario Cotroneo, Domenico CISUC Department of Informatics Engineering University of Coimbra Coimbra Portugal CINI Dep. of Computer and Control Engineering Federico II University of Naples Naples Italy

ISBN: (纸本)9781467380447

Safety or mission critical systems are those where failures should be avoided at all costs. engineering processes, techniques and tools are, however, not perfect, and lead to software and systems with flaws. This paper presents an analysis of the impact of late found issues versus the fault types for critical aerospace systems. These issues are the independently detected faults that remain once the engineering processes that are required by European space standards have been applied and the engineering teams have performed their verification and validation activities. This study presents the analysis of the fault impact versus fault type distribution according to the detection phases and to the issues severity/type and presents recommendations to improve space systems engineering. © 2015 IEEE.

关键词： Quality control

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Analysis of interferences in the acoustic measurement of partial discharges from electric power transformers 44

Analysis of interferences in the acoustic measurement of par...

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44th International Congress and Exposition on Noise control engineering, INTER-NOISE 2015

作者： Zmarzly, Dariusz Boczar, Tomasz Frącz, Pawel Department of Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Prószkowska 76 Opole45-758 Poland

The subject matter of the paper concerns improvement of the acoustic emission (AE) method applied for diagnosis of insulations systems of electric power devices. During measurement of AE signals emitted by partial discharges (PD) occurring in insulation systems of electric apparatus there exist different forms of interference sources. Interferences, which accompany measurements performed under industrial conditions may be generated within the operating system or they may be emitted in its neighborhood. Sources of interference signals may have their origin in physical phenomena of mechanical, electrical or acoustical nature. Such interferences superpose on the registered AE signals causing their distortion. Because this may have a direct impact on the correct evaluation of the measured signals gathered with AE method, analysis of the impact of interfering signals on the AE pulses emitted by PD was made. In the paper there are presented results of analysis in the frequency and time-frequency domain, of acoustic interference signals generated by the fans and pumps used for cooling the transformer oil. © 2015 by ASME.

关键词： Partial discharges

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Application of the MUSIC transformation for evaluation of acoustic interferences occurring during laboratory measurements of electrical discharges 44

Application of the MUSIC transformation for evaluation of ac...

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44th International Congress and Exposition on Noise control engineering, INTER-NOISE 2015

作者： Boczar, Tomasz Zmarzly, Dariusz Frącz, Pawel Department of Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Prószkowska 76 Opole45-758 Poland

Issues undertaken in the paper concern improvement of the acoustic emission (AE) method used in the diagnosis of insulation systems of electric power equipment. When measuring AE signals generated by partial discharges (PD) in systems modeling their basic form, e.g. in paper-oil insulation of power transformers, different sources of acoustic interference signals may occur. The interferences may be generated by sources located inside the investigated insulation systems and also they may be emitted outside, in its vicinity. Acoustic interference signals superpose on the recorded AE waveforms emitted by PD and cause their distortion. This would have a direct impact on the correct evaluation of the measured signals obtained using the AE method. Thus, an analysis of the impact of interfering signals on usefully AE waveforms generated by PD was performed. Results of spectral analysis of recorded interferences, which included estimation of pseudo-spectra calculated using the MUSIC transform are presented in the paper. For the analyzes acoustic signals emitted by several common type interference sources that may occur during measurements under laboratory conditions were used. In the summary, the impact of the analyzed interferences on the achieved measurements results, i.e. AE pulses generated by basic forms of PD, is presented. © 2015 by ASME.

关键词： Partial discharges

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A Novel Educational Proposal: Devising an Electric Power System

A Novel Educational Proposal: Devising an Electric Power Sys...

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International Conference on Electrical Machines

作者： C. A. Platero R. M. de Castro J. R. Arribas L. F. Beites F. Blazquez A. H. Bayo M. Izzeddine M. Lafoz S. Martinez D. Ramirez C. Veganzones Department of Automatic Control Electrical and Electronic Engineering and Industrial Informatics ETSI Industriales Universidad Politecnica de Madrid

ISBN: (纸本)9781509025398

The study of electric power systems within the field of Electrical engineering is usually approached by computer simulation because any actual test is quite complex to be implemented, especially with renewable energies. Having the aim to improve student learning about this topic, a new subject called "Devising an Electric Power System" was organized following a CDIO (Conceive-Design-Implement-Operate) approach. The subject is programmed for one academic year and based entirely on laboratory work. The students are divided into three teams. Every team would have to work on a power system that includes a solar PV generator and a pumping controlled drive, both connected to a three-phase grid. The third and last part of the subject is focused on "electric utility" business strategy. In the final day of the course a competition between the three teams takes place.

关键词： Active Learning CDIO as Context Electric Drives control Electric Markets Electrical engineering Integrated Learning Experiences Solar PV Generation

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Robust control of uncertain linear systems in conditions of output quantization

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IFAC-PapersOnLine 2015年第11 11期48卷 843-847页

作者： Margun, Alexey Furtat, Igor Department of Control Systems and Informatics ITMO University 49 Kronverkskiy av. Saint Petersburg197101 Russia Control of Complex Systems Lab. Institute for Problems of Mechanical Engineering V.O. Bolshoy 61 St. Petersburg199178 Russia

The paper is aimed to the control of uncertain linear plants in conditions of quantized output. control law synthesis was based on consecutive compensator method. Obtained algorithm provides tracking error of quantized output for the reference signal with fixed accuracy. Accuracy range depends on the quantization step and parametric uncertainties bounds. In the paper simulation results confirming performance of proposed method are given. © 2015

关键词： Quantization (signal) Linear systems Robust control control laws Linear plants Parametric uncertainties Reference signals Signal quantization Tracking errors Uncertain linear system

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Programming agent-based demographic models with cross-state and message-exchange dependencies: A study with speculative PDES and automatic load-sharing 16

Programming agent-based demographic models with cross-state ...

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Simulation Winter Conference

作者： Alessandro Pellegrini Francesco Quaglia Cristina Montañola-Sales Josep Casanovas-García Department of Computer Control and Management Engineering Sapienza University of Rome Roma ITALY BarcelonaTech Barcelona Supercomputing Center Barcelona SPAIN InLab FIB Barcelona School of Informatics Universitat Politcnica de Catalunya - BarcelonaTech Barcelona Supercomputing Center 08034 SPAIN

ISBN: (纸本)9781509044849

Agent-based modeling and simulation is a versatile and promising methodology to capture complex interactions among entities and their surrounding environment. A great advantage is its ability to model phenomena at a macro scale by exploiting simpler descriptions at a micro level. It has been proven effective in many fields, and it is rapidly becoming a de-facto standard in the study of population dynamics. In this article we study programmability and performance aspects of the last-generation ROOT-Sim speculative PDES environment for multi/many-core shared-memory architectures. ROOT-Sim transparently offers a programming model where interactions can be based on both explicit message passing and in-place state accesses. We introduce programming guidelines for systematic exploitation of these facilities in agent-based simulations, and we study the effects on performance of an innovative load-sharing policy targeting these types of dependencies. An experimental assessment with synthetic and real-world applications is provided, to assess the validity of our proposal.

关键词： Load modeling Computational modeling Programming Biological system modeling Message systems Computer architecture Proposals

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A benchmark for identification of a flexible serial manipulator using a camera

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IFAC-PapersOnLine 2015年第28期48卷 1483-1488页

作者： Laroche, E. Cuvillon, L. Vizer, D. Mercére, G. ICube lab University of Strasbourg & CNRS France LIAS University of Poitiers France University of Technology and Economics of Budapest Department of Control Engineering and Informatics Magyar TudÓsok krt. 1-3 1117 Budapest Hungary

This paper presents a benchmark dedicated to the identification of a flexible manipulator using a camera. Robotic systems are usually identified using joint-level data (torque and position). However, in the current framework of vision-based control, the model must be able to predict the position of the instrument provided by the camera. Joint positions are also provided as inner variables and can also be used to improve the accuracy of the identified model. One additional complexity source is the presence of flexible modes that need to be accounted for in order to obtain a high bandwidth in control. The proposed simplified case with two inputs and two outputs is considered as sufficient to deal with the non-linear flexible nature of the system. This benchmark is likely to suit for LPV identification methods. © 2015

关键词： Visual servoing Cameras Flexible manipulators Identification (control systems) Flexible mode High bandwidth Identification method LPV models Non linear Robotic systems Serial manipulators Vision based control

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Simple Robust and Adaptive Tracking control for Mobile Robots

Simple Robust and Adaptive Tracking Control for Mobile Robot...

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作者： Pyrkin, Anton A. Bobtsov, Alexey A. Kolyubin, Sergey A. Faronov, Maxim V. Borisov, Oleg I. Gromov, Vladislav S. Vlasov, Sergey M. Nikolaev, Nikolay A. Department of Control Systems and Informatics ITMO University St. Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimNO-7491 Norway Laboratory "Control of Complex Systems" Institute for Problems of Mechanical Engineering St. Petersburg Russia

The problem of simple adaptive and robust control is studied for the case of parametric and dynamic dimension uncertainties: only the maximum possible relative degree of the plant model is known. The control approach "consecutive compensator" is investigated. To illustrate the eficiency of proposed approach an example with the mobile robot motion control using computer vision system is considered. Some remarks about mapping algorithms using stereo cameras and laser scanner for implementation in new home robots are considered. © 2015

关键词： Mobile robots

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