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Transparent Layer Compensation at the Active Triangulation systems

IFAC-PapersOnLine 2019年第27期52卷 508-513页

作者： I. Janakova S. Sediva P. Benes Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic

The paper deals with an active triangulation technique of non-contact optical measurement of 3D properties. The basic features of the method - principle, advantages and disadvantages - are described first. But the main part of the paper is concerned with the impossibility of using the basic principle of the method for measured objects, which are covered by a layer of transparent material of unknown thickness. Most often it is a layer of oil for the preservation of metal products. This layer distorts the measured value due to the light refraction. In this work, a method of eliminating this distortion based on the use of two sensors is proposed. Experimental verification of this proposal is also presented.

关键词： 3D vision optical distance measurement active triangulation image processing transparent layer oil compensation

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Design pattern for the runtime model-based checking of a real-time embedded system

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IFAC-PapersOnLine 2019年第27期52卷 127-132页

作者： J. Arm Z. Bradac O. Bastan J. Streit S. Misik Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic

As the safety requirements are becoming increasingly complex, methods and techniques to ensure testing and verification have to be optimized or even newly researched. Runtime verification thus appears to be more promising than offline statistical verification, which faces problems such state explosion and inefficient computational requirements. In this article, a runtime model-based checking monitor is described and implemented. This monitor utilizes the extended Petri net as the model, defined through formal semantics; the Petri net node is implemented by using VHDL. The monitor is assumed to run on an FPGA device connected to a device being tested. The Petri net model is the core of the designed monitor unit and embodies the design of a target application in the form of the design patterns. This approach exploits the model-based architecture concept and adds the runtime checking feature. The purpose of the proposed system is to detect errors such as deadlock, livelock, and starvation in a real-time embedded application. A wider goal or purpose then consists in making the monitor system ready to be incorporated into a fault-tolerant control system. Another goal then is to support the research concerning design patterns as the way to engineer or model safety-critical applications.

关键词： Design patterns runtime verification safety device under test Petri net VHDL

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Mechatronic robot arm with active vibration absorbers 9

Mechatronic robot arm with active vibration absorbers

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9th ECCOMAS Thematic Conference on Smart Structures and Materials, SMART 2019

作者： Šika, Z. Kraus, K. Beneš, P. Krivošej, J. Vyhlídal, T. Department of Mechanics Biomechanics and Mechatronics Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 Praha 6 Prague160 00 Czech Republic Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 Praha 6 Prague160 00 Czech Republic

ISBN: (纸本)9788494919466

The serial robots are typically able to cover large workspace, but their mass/stiffness ratio does not allow to combine high accuracy and high dynamic of the end-effector operations. Widely spread usage of serial robots, even for tasks as drilling, leads to high accuracy demands through its workspace. Absolute measurement of the end-point for position feedback can be challenging due to objects or even workpiece in workspace, but mainly, inbuild motors of the serial robot cannot response in frequency range high enough as vibration of the end-point is. Instead, additional spring-mass system is attached to the robot to suppress vibrations. Narrow frequency range of passive dynamical absorber can be extended with active elements between robot and absorber, which is also necessary due to robots eigenfrequencies and eigenvalues variability. As feedback input, for more robustness, relative sensing is considered, such as accelerometers or geophones for velocity. As an active absorber control algorithm, firstly, the LQR control with state observer has been designed. Finally, the prepared experimental demonstrators are presented. © 2019 9th ECCOMAS Thematic Conference on Smart Structures and Materials, SMART 2019. All rights reserved.

关键词： Eigenvalues and eigenfunctions

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Wind Process Pattern Forecasting Based Ultra-Short-Term Wind Speed Hybrid Prediction

SSRN

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SSRN 2022年

作者： Wang, Fei Tong, Shuang Sun, Yiqian Xie, Yongsheng Zhen, Zhao Li, Guoqing Cao, Chunmei Duić, Neven Liu, Dagui Department of Electrical Engineering North China Electric Power University Baoding071003 China State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing102206 China Hebei Key Laboratory of Distributed Energy Storage and Microgrid North China Electric Power University Baoding071003 China Dispatch and Control Center State Grid Xinjiang Electric Power Co. Ltd Urumqi830018 China Department of Mathematics and Physics North China Electric Power University Baoding071003 China Department of Energy Power and Environmental Engineering Faculty of Mechanical Engineering and Naval Architecture University of Zagreb Ivana Lucica 5 ZagrebHR-10000 Croatia

Wind power has received extensive attention due to its superiorities of clean and pollution-free. However, because of the randomness and volatility of wind power, accurate power prediction is needed to help its consumption. Wind speed is the key to wind power prediction. To tackle the deficiency of traditional prediction methods such as lacking of master the variation trend of wind speed, an ultra-short-term wind speed hybrid prediction method based on wind process pattern forecasting is proposed in this paper. Firstly, a wind process (WP) division method considering the influence of wind speed on the operation state, mode switch and output power of wind turbine is proposed. Secondly, according to the operating characteristics of the wind turbine, all the WPs is classified into different wind process patterns (WPP), and the effectiveness of the classification is verified. Then, the Adaboost classification algorithm is used to forecast the WPP of the next four hours. Finally, the wind speed hybrid prediction model of each pattern is established, the corresponding model is automatically selected based on WPP to predict the wind speed. Simulation results show that the proposed model can reliably forecast future WPP and the wind speed prediction accuracy is better than conventional models. © 2022, The Authors. All rights reserved.

关键词： Wind

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PoCET: a Polynomial Chaos Expansion Toolbox for Matlab

arXiv

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arXiv 2020年

作者： Petzke, Felix Mesbah, Ali Streif, Stefan Automatic Control & System Dynamics Lab Technische Universität Chemnitz Faculty for Electrical Engineering and Information Technology Chemnitz Germany Department of Chemical and Biomolecular Engineering University of California BerkeleyCA United States

We introduce PoCET: a free and open-scource Polynomial Chaos Expansion Toolbox for Matlab, featuring the automatic generation of polynomial chaos expansion (PCE) for linear and nonlinear dynamic systems with time-invariant stochastic parameters or initial conditions, as well as several simulation tools. It offers a built-in handling of Gaussian, uniform, and beta probability density functions, projection and collocation-based calculation of PCE coefficients, and the calculation of stochastic moments from a PCE. Efficient algorithms for the calculation of the involved integrals have been designed in order to increase its applicability. PoCET comes with a variety of introductory and instructive examples. Throughout the paper we show how to perform a polynomial chaos expansion on a simple ordinary differential equation using PoCET, as well as how it can be used to solve the more complex task of optimal experimental design. Copyright © 2020, The Authors. All rights reserved.

关键词： Nonlinear dynamical systems

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Distributed Nash Equilibrium Seeking in Coalition Games for Uncertain Euler-Lagrange systems With Application to USV Swarm Confrontation

arXiv

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arXiv 2025年

作者： Yuwen, Cheng Wen, Guanghui Zhou, Jialing Luan, Meng Huang, Tingwen School of Automation Southeast University Nanjing210096 China State Key Laboratory of CNS/ATM Beijing Institute of Technology Beijing519088 China Department of System Science School of Mathematics Southeast University Nanjing211189 China Faculty of Computer Science and Control Engineering Shenzhen University of Advanced Technology Shenzhen218055 China

In this paper, a coalition game with local and coupling constraints is studied for uncertain Euler-Lagrange (EL) systems subject to disturbances with unknown bounds. In the coalition game, each agent collaborates with other agents within the same coalition to optimize its coalition’s cost function while simultaneously competing against agents in other coalitions. Under a distributed framework where each agent has access only to its own action, cost function, and constraint parameters, a distributed strategy is proposed to seek the Nash equilibrium (NE). By combining adaptive methods and sign functions, model uncertainties and disturbances with unknown bounds in the EL system are compensated and suppressed, respectively. Furthermore, an integration of adaptive methods and consensus protocols is employed to update the Lagrange multipliers of both local and coupling constraints. A dynamic average consensus is employed to estimate the gradient of coalition function, while the leader-following protocol is adopted to estimate the actions of other agents. By leveraging Lyapunov theory, the NE is proven to be asymptotically stable. Moreover, an unmanned surface vehicle swarm confrontation is meticulously modeled and analyzed in the coalition game framework. A diverse array of tasks, including formation, encirclement, and interception, are systematically formulated. A numerical example demonstrates the effectiveness of the proposed algorithm. Copyright © 2025, The Authors. All rights reserved.

关键词： Lagrange multipliers

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Automated search and evaluation of pilot's reaction delay 7

Automated search and evaluation of pilot's reaction delay

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7th International Conference on Military Technologies, ICMT 2019

作者： Jirgl, Miroslav Boril, Jan Jalovecky, Rudolf Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Technicka 3082/12 Brno616 00 Czech Republic Faculty of Military Technology University of Defence Kounicova 65 Brno66210 Czech Republic

ISBN: (纸本)9781728145938

This paper deals with modelling and evaluation of pilots' behavior with emphasis on the description of an approach for an automated search of reaction delay as one of the most important parameter. The presented method is based on the evaluation of the accuracy of measured pilot's response approximation (from a flight simulator) using MATLAB system Identification Toolbox. The acquired results presented in this paper indicate that the used approach is a very effective and also reliable. © 2019 IEEE.

关键词： Human computer interaction

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Design and simulation of solutions to reduce the thermal resistance of lighting systems

引用

IFAC-PapersOnLine 2019年第27期52卷 446-452页

作者： I. Janakova P. Honec V. Tulis Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic Faculty of Mechanical Engineering Brno University of Technology Brno Czech Republic

The paper focuses on some essential steps in the development of high power line light. The research within the solved project deals with the development of a special extruded profile with a cooling channel and with heat removal by the circulation of the coolant and on the design of a cooling system with all the safety elements. The partial aim of the work is to determine the thermal resistance of individual parts of the device and to design modifications so that the total thermal resistance and maximum temperature are within the limits set by the effort to achieve maximum light output, but also the longevity, economy, safety, and reliability of operation. The analytical calculations, CFD simulations, and real testing were used to determine the required parameters. The main result presented in this paper is a novel developed PCB with a copper core and thermal vias.

关键词： LED line light source line scan camera computer vision thermal resistance light output PCB CFD simulation

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Optimal DTC control strategy of DFIG using variable gain PI and hysteresis controllers adjusted by PSO algorithm

Periodica polytechnica Electrical engineering and computer s...

引用

Periodica polytechnica Electrical engineering and computer science 2020年第1期64卷 74-86页

作者： Amer, Mokhtar Miloudi, Abdallah Lakdja, Fatiha Geometry Analysis Control and Applications Laboratory Department of Electrical Engineering Faculty of Technology Dr Tahar Moulay University of Saida P. O. B 138 Ennasr Saida20000 Algeria Intelligent Control and Electrical Power System Laboratory Department of Electrical Engineering Faculty of Technology Dr Tahar Moulay University of Saida P. O. B 138 Ennasr Saida20000 Algeria

This paper presents an optimal Direct Torque control (DTC) strategy for Doubly Fed Induction Generator based wind turbine. The proposed strategy is considered based on Particle Swarm Optimization (PSO) Algorithm. The PSO is found to be robust and fast in solving nonlinear problems. Motivation for application of PSO approach is to overcome the limitation of the conventional controllers design, which cannot guarantee satisfactory control performance when designed by trial and error. In this work PSO algorithm was used to adjust the hysteresis torque and flux comparators bandwidths and to tune the parameters of Variable Gain PI (VGPI) controller designed for Maximum Power Point Tracking (MPPT) speed control of wind turbine to ensure high performance torque control. The optimal control strategy is considered in detail and it is shown that the use of the optimized controllers reduces rotor flux and electromagnetic torque ripples and improves the system dynamic performances. The effectiveness of the proposed direct torque control based on PSO algorithm (optimal DTC) method is illustrated through simulations on 1.5 MW DFIG based wind turbine. Simulation results illustrate the improved performances of optimal DTC compared with the conventional DTC. © 2020 Budapest University of Technology and Economics. All rights reserved.

关键词： Asynchronous generators

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Online Magnetization Surface Identification for a Switched Reluctance Motor

Online Magnetization Surface Identification for a Switched R...

引用

International Universities Power engineering Conference (UPEC)

作者： Alecksey Anuchin Andrei Bogdanov Galina Demidova Evgeniy Stolyarov Dimid Surnin Yuriy Vagapov Department of Electric Drives Moscow Power Engineering Institute Moscow Russia Faculty of Control System and Robotics ITMO University Saint-Petersburg Russia Faculty of Art Science and Technology Wrexham Glyndwr University Wrexham UK

ISBN: (数字)9781728110783

ISBN: (纸本)9781728110790

The precise control of switched reluctance motor requires information about the magnetization surface as a function of rotor angular position and current. The surface can be obtained performing offline tests; however, it demands specialized mechanical equipment and time for commissioning. Moreover, the magnetization surface may be changed with the varying of the rotor and stator temperatures, which affect their dimensions and, therefore, the airgap variation. That is why the online estimation of the magnetization surface is desirable. This paper proposes the identification method operating in parallel with the model predictive current control system utilizing the magnetization map. Any error between the referenced and obtained currents is used to correct the reference points of the two-dimensional array representing the magnetization surface. The proposed method was examined using a simulation model and operated online in parallel with the primary control system driving the electrical machine.

关键词： Magnetization Reluctance motors Rotors Pulse width modulation Couplings Torque

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