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PROCESS instrumentation MODULAR MODELS OF THERMAL POWER PLANT FOR OPERATOR TRAINING SIMULATORS

IFAC Proceedings Volumes 2002年第1期35卷 437-442页

作者： P. Hrdlička P. Neuman B. Šulc International Power – Elektrarny Opatovice (Power Plants) 532 13 Pardubice 2 Czech Republic Energy Training Centre VSE Tušimice 430 03 Chomutov Cihlářská 4132 Czech Republic neumanp@volny.cz Czech Technical University in Prague Faculty of Mechanical Engineering Department of Instrumentation and Control Engineering 166 07 Prague 6 Technická 4 Czech Republic sulc@fsid. cvut. cz

The increasing use of operator training simulators means that there is a need for models of industrial plants which are at the same time detailed but also simple enough to provide a credible (but not necessarily precise) simulation for both small and large changes of operating point. These conflicting requirements are often complicated by the desire to carry out operator training using the control and monitoring system with which the respective device or process is equipped. This paper shows how in the modelling of a thermal power unit a non-linear model based on „first principle” analysis is used for building up operator training simulators. This process instrumentation model, which can be called a reality-oriented model, was developed as a purpose-built user block library in the MATLAB-SIMULINK standard simulation package. This process instrumentation model represents the water feeding subsystem of a steam boiler with 250 t/h power capacity of a 55 MW power unit, as a part of the operator training simulator developed for Opatovice Power Plants in the Czech Republic.

关键词： simulation block scheme power plant modelling steam boiler training simulator

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Kinematic modeling of mobile robots by transfer method of augmented generalized coordinates

Kinematic modeling of mobile robots by transfer method of au...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Wheekuk Kim Do Hyung Kim Byung-Ju Yi Bum Jae You Department of Control and Instrumentation Engineering Korea University South Korea School of Electrical Engineering and Computer Science Hanyang University South Korea Intelligent System Control Research Center Korea Institute of Science and Technology South Korea

ISBN: (纸本)0780365763

A kinematic modeling method is proposed which uses augmenting variables to match the dimensions of the input vector and output vector of each serial subchain of the mobile robots. Firstly, kinematic models of various type of wheels are derived including skidding and sliding velocities. Then the method of augmented generalized coordinates is applied to obtain inverse and forward kinematic models. The kinematic models derived by the direct inverse of the augmented matrices provide an accurate solution, which was not achievable by the modeling method based on the pseudo-inverse method which provides an approximate solution. Lastly, two kinematic models for typical, differential-driven mobile robots are presented to show the effectiveness of the proposed modeling method.

关键词： Mobile robots Wheels Electric variables control Intelligent robots Robot kinematics Instruments Computer science Intelligent systems Intelligent control control system synthesis

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Feedback control for electromagnetic vibration feeder (application of two-degrees-of-freedom proportional plus integral plus derivative controller with nonlinear element)

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JSME International Journal, Series C: Mechanical systems, Machine Elements and Manufacturing 2001年第1期44卷 44-52页

作者： Doi, Tomoharu Yoshida, Koji Tamai, Yutaka Kono, Katsuaki Naito, Kazufumi Ono, Toshiro Department of Systems and Control Engineering Faculty of Engineering Osaka Prefectural College of Technology 26-12 Saiwai-cho Neyagawa Osaka 572-8572 Japan Department of System Engineering Faculty of Computer Science and System Engineering Okayama Prefectural University 111 Kuboki Soja Okayama 719-1197 Japan Research and Development Department Ishida Co. Ltd. 959-1 Shimomagari Ritto-cho Kurita-gun Shiga 520-3026 Japan Department of Mechanical Systems Engineering College of Engineering Osaka Prefecture University 1 1 Gakuen-cho Sakai Osaka 599-8531 Japan

An electromagnetic-type vibratory feeder of is a typical transportation device used in automatic weighers. As existing feeders are driven by feedforward control, the so-called "firing angle control", the driver cannot negate sudden disturbances. In this study, we consider applying a feedback control for such a feeder system. First, we give the two details of modelings for the vibration part and for the electromagnetic force part. Next, a feedback control system is constructed for the electromagnetic vibration feeder for which we propose a two-degrees-of-freedom proportional plus integral plus derivative (PID) controller with nonlinear elements. Next, we apply the feedback control to the feeder with a standard trough. Finally, we consider a method compatible with many varieties of troughs by adjusting a nonlinear element. On the basis of the results of some experiments, we confirm that the two-degrees-of-freedom PID control is more effective than the conventional firing angle control.

关键词： Mechanics

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Finite-time stability of delayed systems

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IMA Journal of Mathematical control and Information 2000年第2期17卷 101-109页

作者： Lazarević, M.P. Debeljković, D.Lj. Nenadić, Z.Lj. Milinković, S.A. Faculty of Mechanical Engineering Department of Control Engineering 27. marta 80 11000 Belgrade Yugoslavia Faculty of Technology and Metallurgy System Control Group Karnegijeva 4 11000 Belgrade Yugoslavia

The problem of sufficient conditions that enable system trajectories to stay within the a priori given sets for a particular class of autonomous delayed system. The main features of finite-time stability have been extended to particular class of linear autonomous delayed systems. The results give sufficient conditions for the stability of the system under consideration, and are derived using a technique which differs significantly from approaches used in all references cited.

关键词： Delay control systems

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Further results on the stability of linear nonautonomous system with delayed state defined over finite time interval

Further results on the stability of linear nonautonomous sys...

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Proceedings of the 4th Asia-Pacific Conference on control and Measurement

作者： Debeljkovic, D.Lj. Lazarevic, M.P. Koruga, Dj. Milinkovic, S.A. Jovanovic, M.B. Faculty of Mechanical Engineering Department of Control Engineering 27. marta 80 11000 Belgrade Serbia Faculty of Technology and Metallurgy System Control Group Karnegijeva 4 11000 Belgrade Serbia

ISBN: (纸本)7801346955

The paper extended some basic results from the area of finite time and practical stability to linear, continuous, time invariant nonautonomous time-delay systems. Sufficient conditions of this kind of stability, for particular class of time-delay systems were derived. Delay dependent criteria expressed by simple inequalities, have been derived yielding sufficient conditions of non-Lyapunov stability of the system considered.

关键词： Nonlinear control systems

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LQR controller for active car suspension

LQR controller for active car suspension

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IEEE Region 10 International Conference TENCON

作者： Y.M. Sam M.R.H.A. Ghani N. Ahmad Control and Instrumentation Engineering Department Faculty of Electrical Engineering Universiti Teknologi Malaysia Malaysia

The suspension system is classified as a passive, semi-active, and active suspension, according to its ability to add or extract energy. An automotive active suspension control has been one of the favourite subjects in the automotive research area. The advantages of an automotive active suspension system have been promised for many years. The objectives of the control scheme are to improve the ride quality and handling performance within a given suspension stroke limitation. The ride quality is measured by the vertical acceleration of the vehicle body called the sprung mass. The handling performance is determined by the tyre deflection, which is the difference of position between the wheel and the road surface input. The paper analyses the aspects of passive and active suspensions and focuses on the ride quality improvement. The LQR control scheme is selected to control an actuator in an active suspension. The result shows that the ride quality can be improved using an active suspension.

关键词： Roads Automotive engineering Vehicles Actuators Springs Tires Wheels control systems Shock absorbers Optimal control

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Simple PI and PID controllers Tuning for Monotone Self-Regulating Plants

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IFAC Proceedings Volumes 2000年第4期33卷 259-264页

作者： Vítečková Miluše Antonín Víteček Lubomír Smutný Department of Control Systems and Instrumentation Faculty of Mechanical Engineering Technical University of Ostrava 17. listopadu 708 33 Ostrava-Poruba Czech Republic

The paper describes an original analytic-experimental approach to simple digital and analog PI and PID controllers tuning for monotone self-regulating plants with a time delay. Values of adjustable controller parameters ensuring a marginal monotone control process are determined analytically, and the gain of the controller is tuned experimentally so that an overshoot of a step response of control system corresponds to the concept of the designer. The approach is taken from the dynamics inversion method and its use is shown in the examples.

关键词： controller tuning time delay PI and PID controllers

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controller Tuning for controlled Plants with Time Delay

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IFAC Proceedings Volumes 2000年第4期33卷 253-258页

作者： Vitečková Miluše Antonín Víteček Lubomír Smutný Department of Control Systems and Instrumentation Faculty of Mechanical Engineering Technical University of Ostrava 17. listopadu 708 33 Ostrava-Poruba Czech Republic

The paper describes a conventional digital and analog controllers tuning for controlled plants with a time delay on the basis of the general dynamics inversion method. The proposed approach is new and very simple. It enables a controller tuning so that a relative overshoot for common controlled plants with a time delay will be in the range from 0 to 50 % for the step change of a desired variable or a disturbance variable acting on an output of the controlled plant.

关键词： controller tuning time delay dynamics inversion method

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Speech recognition using stochastic phonemic segment model based on phoneme segmentation

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systems and Computers in Japan 2000年第10期31卷 89-98页

作者： Furuichi, Chieko Aizawa, Katsura Inoue, Kazuhiko Faculty of Engineering Toin University of Yokohama 1614 Kurogane Midori Yokohama 225-8502 Japan Department of Physics Faculty of Science Ochanomizu Women's University Res. Lab. of Precision Engineering Tokyo Institute of Technology Dept. of Control System Engineering Faculty of Engineering Toin Yokohama University Acoustic Society of Japan Department of Control Systems Faculty of Engineering Toin Yokohama University

This paper discusses speech recognition based on a new statistical phoneme segment model which is trained by phoneme parameters derived from automatically extracted phoneme segments. The proposed system operates as follows. In preprocessing before recognition, the phoneme boundaries are detected by segmentation. The phonemes are discriminated using a stochastic phoneme segment model, and a phoneme segment lattice with scores is constructed. Next the speech recognition is performed by matching of symbol sequences to dictionary items. The segmentation system that is employed can infer phoneme boundaries with high accuracy. This helps to eliminate unnecessary parameters, leaving the feature parameters which are effective in separating phonemes. In other words, the phoneme recognition problem in continuous speech can be reduced to a discrimination problem and thus a speaker-independent model can be constructed from a relatively small number of training data. The stochastic phoneme segment model is trained with training samples extracted from a phoneme-balanced word set of 4920 words uttered by 10 speakers. In a recognition experiment with 6709 words uttered by 63 nontraining speakers, a recognition rate of 92.6% was obtained as the average for all speakers, using a word dictionary of 212 words.

关键词： Speech recognition

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Design of a parallel-type gripper powered by pneumatic actuators

Design of a parallel-type gripper powered by pneumatic actua...

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IEEE International Workshop on Intelligent Robots and systems (IROS)

作者： B.-J. Yi H.Y. Ra J.H. Lee Y.S. Hong J.S. Park S.-R. Oh I.H. Suh W.K. Kim School of Electrical Engineering and Computer Science Hanyang University South Korea Advanced Robotics Research Center KIST South Korea Intelligent System Control Research Center KIST South Korea Department of Control and Instrumentation Engineering Korea University South Korea

A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.

关键词： Grippers Pneumatic actuators Force control Tracking Valves Shape Kinematics Motion analysis Pressure control Size control

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