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12th IFAC Conference on Programmable Devices and Embedded systems, PDeS 2013

作者： Gabrlik, P. Vomocil, J. Zalud, L. Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Brno Czech Republic Central European Institute of Technology Brno University of Technology Brno Czech Republic

ISBN: (纸本)9783902823533

This paper deals with the design and implementation of a quadrotor aerial robot. At first, simplified quadrotor model was created. The model describes quadrotor as a MIMO (Multiple Inputs Multiple Outputs) system, which is further divided into four independent SISO (Single Inputs Single Outputs) systems. These systems correspond to rotational movements in all robot axes and one translation movement, which represents flight altitude. Special attention was paid to the identification of actuators. On the basis of the model 4 DOF (Degree of Freedom) stabilization was designed. The stabilization consists of four independent controllers, all of them use auxiliary controlled variable. Inner loops, that control velocities, are controlled by fast P controllers and outer loops use PI controllers due to suppression of disturbances. Designed stabilization was tested by simulation and on a real flying model as well. The paper also describes hardware and software solution. © IFAC.

关键词： Stabilization

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Saturation in engineering Simulation

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IFAC Proceedings Volumes 2013年第17期46卷 102-107页

作者： Stanislav Vräna Bohumil Ŝulc Technical University in Prague Faculty of mechanical Engineering Department of Instrumentation & Control Engineering Prague Czech Republic (Tel: +420 2 2435 2651

The wind-up effect is a phenomenon known mostly from implementing PI(D) controllers in real operation when saturation of the manipulated variable may occur and cause worse control results. Nowadays many publications exist on this topic where several anti wind-up mechanisms are presented and discussed. However, the wind-up phenomenon, i.e. the problem of continued integration after the output has become limited (saturated), is a problem appearing not only in connection with numerically calculated control actions of digital controllers, but also in computer models of controlled plants. In this field, existence of the wind-up effect is somehow missed. Results and conclusions obtained by such inaccurate simulation may be misleading. Surprisingly, occurrence of this situation is not so rare, because use of amplitude limiting blocks in simulation is considered to be the only necessary precaution. In education of many control engineers, information about wind-up effect in simulation is not sufficiently pointed out. In models of higher than first order, the same approach as the one used the filed of PI(D) controllers is not always correct. The publications focused on the solutions for this case seem to be rare, if any exist. This paper presents one possible approach to wind-up and anti wind-up mechanism in modeling and simulations.

关键词： control integration limit modeling saturation simulation tank wind-up

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Comparison of GUM and Monte Carlo method for evaluation measurement uncertainty of indirect measurements

Comparison of GUM and Monte Carlo method for evaluation meas...

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International Carpathian control Conference

作者： Sona Sediva Marie Havlikova Department of Control and Instrumentation Faculty of Electrical Engineering and Communication BUT Brno Czech Republic

ISBN: (纸本)9781467344883

In this paper the two approaches were used to calculation the uncertainty of the indirect measurements. The relation between standard method for evaluating the measurement uncertainty described in the GUM (the Guide to the Expression of Uncertainty in Measurement) and Monte Carlo method is outlined. The Monte Carlo method is numerical procedure for solving mathematical problems by means of simulating random variables. Uncertainty evaluation by Monte Carlo method is based on a probabilistic approach that combines the whole distribution of the factors and is not just based on their means and standard deviation. The results obtain by the Monte Carlo method for the several examples are compared to the corresponding results when the GUM is applied.

关键词： measurement uncertainty Monte Carlo method indirect measurement GUM probability density function

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Model-Free control of a Quadrotor Vehicle

Model-Free Control of a Quadrotor Vehicle

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International Conference on Unmanned Aircraft systems

作者： Younes Al Younes Ahmad Drak Hassan Noura Abdelhamid Rabhi Ahmed El Hajjaji Mechanical Engineering Faculty at Higher Colleges of Technology Unmanned Vehicles Lab at the United Arab Emirates University (UAEU) Chairman of Electrical Engineering Department at United Arab Emirates University Information & System Lab - Control & Vehicle Group at University of Picardie

ISBN: (纸本)9781479923779

In this paper, the Model-Free control (MFC) is used and tested on a Multi-Input-Multi-Output (MIMO) nonlinear system, which is a quadrotor vehicle. The system is decomposed into different-dependent Single-Input-Single-Output (SISO) sub-systems, where the MFC algorithm is applied on each one of them. MFC aims at compensating the time-varying disturbances and un-modeled system dynamics that the optimal feedback controller fails to cope with. A comparison between LQR feedback controller with and without the MFC will be implemented and tested on a real quadrotor vehicle. Different flight test results validate the importance of using the MFC, and its capability to control the quadrotor system that is using a degraded feedback controller, as well.

关键词： feedback controller vehicle FLIGHT TESTS system dynamics MIMO nonlinear systems linear quadratic regulators Standing Orders

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Application of Adaptive Decentralized PI controller for Activated Sludge Process

Application of Adaptive Decentralized PI Controller for Acti...

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IEEE Conference on Industrial Electronics and Applications

作者： S. I. Samsudin M. F. Rahmat N. A. Wahab Muhammad Sani Gaya M. C. Razali Department of Industrial Electronics Faculty of Electronics and Computer Engineering Universiti Teknikal Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi

ISBN: (纸本)9781467363204

This paper presents the application of adaptive decentralized PI controller to nonlinear activated sludge wastewater treatment plant (WWTP). Tuning of WWTP is a challenging task due to the variation and the high uncertainty of the parameters. Thus, a simple tuning method is applied in satisfying straighten effluent quality and hence optimizing the nitrogen removal of the plant. The PI controller parameters are adjusted directly by updating algorithm developed based on adaptive interaction algorithm theory. It was observed that the decentralized PI with approximate Frechet tuning algorithm offers an attractive tuning task for multivariable WWTP with improvement in energy saving and effluent violations of Benchmark Simulation Model No. 1.

关键词： Adaptive interaction algorithm Adaptive decentralized PI Activated sludge process

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Zero vibration shapers with distributed delays of various types

Zero vibration shapers with distributed delays of various ty...

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IEEE Annual Conference on Decision and control

作者： Tomas Vyhlidal Vladimir Kucera Martin Hromcik Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Czech Republic Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

ISBN: (纸本)9781467357159

The paper deals with design and analysis of novel zero-vibration (ZV) signal shapers. The shaper structure is based on replacing the lumped delay of the classical ZV shaper by a series of lumped and either equally or triangularly distributed delays. For the parametrization purposes, the spectral theory of time delay systems is applied with the aid of numerical tool for computation of rightmost part of infinite spectra of shaper zeros. In the analysis performed, the novel shapers show better spectral, step response and robustness features compared to the classical ZV shaper in some aspects. An experimental example is included to demonstrate the novel shaper performance.

关键词： Shapers delay distribution Delay systems Step response Automatic incident detection Zero

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Spectral features of ZVD shapers with lumped and distributed delays

Spectral features of ZVD shapers with lumped and distributed...

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Asian control Conference

ISBN: (纸本)9781467357661

An interesting spectral property, related to sensitivity of ZVD shaper zeros with respect to small deviations of involved delays, is presented in the paper. Consequences concern namely feedback interconnections as indicated in the report. Compared to the lumped-delay case, the recently proposed distributed delay alternative - ZVD shaper with distributed delay - is a more robust option, as explained and demonstrated by means of roots diagrams. Several examples are presented to demonstrate the phenomena.

关键词： Delays Closed loop systems Equations Robustness Poles and zeros Stability analysis

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ANFIS modeling and Direct ANFIS Inverse control of an Electro-Hydraulic Actuator system

ANFIS modeling and Direct ANFIS Inverse control of an Electr...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： T. G. Ling M. F. Rahmat A. R. Husain Department of Control and Instrumentation Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia

The existence of high degree of nonlinearity in Electro-Hydraulic Actuator (EHA) has imposed a challenging work in developing a representable model for the system and controller design such that significant control performance can be achieved. The objectives of this paper are to generate an accurate EHA model using ANFIS approach and obtain a controller using Direct ANFIS Inverse approach. The ANFIS model is able to represent the nonlinear EHA system at high accuracy and low Root Mean Squared Error (RMSE). Direct ANFIS inverse controller has shown the ability in position tracking of EHA system in step and sine response. Besides, ANFIS controller is able to handle external disturbances to the system.

关键词： Adaptation models Pistons Data models Mathematical model Conferences Actuators

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Influence of safety PLC parameters to response time of safety functions

Influence of safety PLC parameters to response time of safet...

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International Conference on Applied Electronics, AE

作者： Juraj Ždánsky Karol Rástočný Faculty of Electrical Engineering Department of Control and Information System Univesity of Žilina Zilina Slovakia

Safety PLC is becoming increasingly used tool to implementation of safety functions in the industry. Achieved safety integrity level (SIL) depends, besides, on appropriate choice of parameters of safety PLC. This pape... 详细信息

关键词： Safety Time factors Actuators Equations Industries Time measurement

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A New Tuning Method for Two-Degree-of-Freedom Internal Model control under Parametric Uncertainty

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Chinese Journal of Chemical engineering 2013年第9期21卷 1030-1037页

作者： Juwari Purwo sutikno Badhrulhisham Abdul aziz Chin Sim yee Rosbi Mamat Process System Engineering Group Faculty of Chemical and Natural Resources-Engineering Universiti MalaysiaPahang Lebuhraya Tun Razak Gambang Kuantan 26300 Malaysia Process Design and Control Laboratory -Chemical Engineering Department Insfitut Teknologi Sepuluh NopemberSurabaya Kampus ITS Sukolilo Surabaya 60111 Indonesia Faculty of Elect)ical Engineering Universiti Teknologi Malaysia Skudai Johor 81310 Malaysia

Internal model control （IMC） yields very good performance for set point tracking, but gives sluggish response for disturbance rejection problem. A two-degree-of-freedom IMC （2DOF-IMC） has been developed to overcome the weakness. However, the setting of parameter becomes a complicated matter if there is an uncertainty model. The present study proposes a new tuning method for the controller. The proposed tuning method consists of three steps. Firstly, the worst case of the model uncertainty is determined. Secondly, the parameter of set point con- troller using maximum peak （Mp） criteria is specified, and finally, the parameter of the disturbance rejection con- troller using gain margin （GM） criteria is obtained. The proposed method is denoted as Mp-GM tuning method. The effectiveness of Mp-GM tuning method has evaluated and compared with IMC-controller tuning program （IMCTUNE） as bench mark. The evaluation and comparison have been done through the simulation on a number of first order plus dead time （FOPDT） and higher order processes. The FOPDT process tested includes processes with controllability ratio in the range 0.7 to 2.5. The higher processes include second order with underdarnped and third order with nonminimum phase processes. Although the two of higher order processes are considered as difficult processes, the proposed Mp-GM tuning method are able to obtain the good controller parameter even under process uncertainties.

关键词： tuning 2DOF-IMC model uncertainty dead time process Mp-GM tuning IMCTUNE

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