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SICE Annual Conference

作者： Jutarut Chaoraingern Worapon Vaidee Thanit Trisuwannawat Vittaya Tipsuwanporn Arjin Numsomran Department of Instrumentation and Control Engineering Faculty of Engineering King Mongkut's Institute of Technology Ladkrabang Bangkok Thailand

ISBN: (纸本)9781457708350

This paper presents the design of PID controller for track following control of hard disk drive using Coefficient Diagram Method (CDM). For this reason, Track following control of hard disk drive process has many disturbances from internal and external sources, so determining satisfactory controller parameters to stabilize control system and satisfy response specification is difficult. The proposed PID controller design using Coefficient Diagram Method (CDM) based on proper choosing the coefficients of the characteristic transfer function of the closed loop control system in accordance with stability index and equivalent time constant is an uncomplicated and convenience technique for applying to Track following control in hard disk drive process. Matlab simulation results shown that PID controller using CDM technique is fairly stable and robust whilst give the convenience in controller's parameters adjustment.

关键词： Following control Hard Disk Drive PID CDM

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Image-Guided Robotic Mastoidectomy Using Human-Robot Collaboration control

Image-Guided Robotic Mastoidectomy Using Human-Robot Collabo...

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2011 IEEE International Conference Mechatronics and Automation(2011 IEEE机电一体化与自动化国际会议)

作者： Byung-Ju Yi Hoon Lim Jung-Min Han Makoto Hashizume Jaesung Hong Seung Hwan Lee Jin Hyeok Jeong Masamichi Oka Nozomu Matsumoto Shizuo Komune Department of Electronic Electrical Control and Instrumentation Eng. Hanyang University Korea Department of Advanced Medical Initiatives Faculty of Medical Sciences Kyushu University Japan Department of Robotics Engineering DGIST Korea Department of Otorhinolatyngology School of Medicine Hanyang University Korea Department of Otorhinolaryngology Graduate School of Medical Sciences Kyushu University Japan

This work proposes an image-guided robotic Mastoidectomy. A surgical navigation software was developed to guide the robot without damaging the critical area. A forbidden-region virtual fixture is implemented for safety. A human-robot collaboration control mode is used to allow the human intervention during surgery, to compensate tremor by operator, and to protect the relevant organs. A temporal bone replica was used as a phantom for the robotic Mastoidectomy. Through the phantom studies, it was shown that the image-guided robotic approach is effective for safe and precise Mastoidectomy.

关键词： Mastoidectomy Admittance control Image-guided navigation Warning system.

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An application of fractional intelligent robust controller for electromechanical valve

An application of fractional intelligent robust controller f...

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World Congress on Information and Communication Technologies (WICT)

作者： Tribeni Prasad Banerjee Suman Saha Swagatam Das Ajith Abraham Department of Electronics and Telecommunication Engineering Jadavpur University Kolkata India Drives and Control System Laboratory CSIR-Central Mechanical Engineering Research Institute Durgapur West Bengal India IT For Innovations EU Center of excellence Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Czech Republic Scientific Network for Innovation and Research Excellence Machine Intelligence Research Laboratories-MIR Laboratories WA USA

The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. This is for controlling the velocity of worm gear so that the friction torque due to uneven rotational speed can be avoided. Because with the friction and stiction and backlash the valve system performance is reduced and more and more unstable this leads the system to failure. The proposed controller can provide robustness against the uncertain loading torque and system parameter.

关键词： Valves Gears Equations control systems Robustness Mathematical model Torque

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Virtual automation networks

Virtual automation networks

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作者： Beran, Jan Fiedler, Petr Zezulka, Frantisek Department of Control Measurement and Instrumentation Faculty of Electrical Engineering and Communications United States

Industrial automation has been dominated by fieldbuses for several decades. Legacy fieldbuses, such as Profibus, were able to provide the required functions, as they were precisely tailored to automation needs. Fieldbuses represent a complex communication solution for automation, and they define automation-specific physical and link layers and a dedicated communication object model. Nevertheless, Ethernet-based communication ubiquitously appearing in offices fostered temptations to bring Ethernet to production. The reason is obvious: Ethernet provides market-proven cost-effective hardware components with high data rates and immense integration and network management support using the overlaid management protocols. Details can be found in [1]. © 2010 IEEE.

关键词： Ethernet

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Robust attitude control of low earth orbit small satellite subject to actuator saturation

Robust attitude control of low earth orbit small satellite s...

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7th Annual International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Artitthang, Peerawat Malyavej, Veerachai Aorpimai, Manop Department of Control Instrumentation and Mechatronics Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand

ISBN: (纸本)9789746724913

The electromagnetic torquer is the most common method to generate torque for attitude control of low earth orbit (LEO) small satellite. Due to power consideration, an actuator saturation is one of serious problem in practice. In this paper, we propose the scheme to design the robust controller to stabilize a satellite attitude by considering the actuator saturation as a structured uncertainty which is based on integral quadratic constraint. The proposed robust controller is of linear time varying controller that has similar structure as conventional linear quadratic regulator (LQR). The simulation results show that our proposed robust controller outperforms an LQR controller.

关键词： Attitude control

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Periodic robust magnetic attitude control of low earth orbit small satellite

Periodic robust magnetic attitude control of low earth orbit...

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30th IASTED Conference on Modelling, Identification, and control, AsiaMIC 2010

作者： Artitthang, Peerawat Malyavej, Veerachai Aorpimai, Manop Department of Control Instrumentation and Mechatronics Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand

ISBN: (纸本)9780889868571

In this paper, we consider the periodic robust controller for attitude control of satellites in low-earth orbit (LEO). An 3-axis Magnetic torquer is assumed to be the only actuator available for the control task. The proposed linear periodic control scheme is based on a periodic modeling of the Earth's magnetic field. Deviation of the actual geomagnetic field from the nominal model is considered as structured uncertainty that satisfies an integral quadratic constraint. The proposed controller is, therefore, robust against input torque uncertainty which is suitable for practical application. The control scheme has been verified via a computer simulation. A scenario where a small satellite is orbiting in circular LEO environment is assumed. The results show that the performance of the proposed periodic controller is better than conventional optimal controller both on error suppression ability and less power consumption.

关键词： Attitude control

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Unmanned ground vehicle localization by dead-reckoning/GPS sensor fusion

Unmanned ground vehicle localization by dead-reckoning/GPS s...

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7th Annual International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2010

作者： Malyavej, Veerachai Torteeka, Peerapong Department of Control Instrumentation and Mechatronics Faculty of Engineering Mahanakorn University of Technology Bangkok Thailand

ISBN: (纸本)9789746724913

In autonomous navigation systems, localization is the most important problem to be solved. In this note, we propose the algorithm to localize an unmanned ground vehicle (UGV) equipped with a global positioning system (GPS), an odometer and an electronic compass. The proposed scheme is based on the unscented Kalman filter (UKF). To improve the accuracy and robustness, the novel noise model of data from an electronic compass is incorporated in the system modeling. The performance of our simple algorithm is evaluated by the experimental results that strongly confirm the benefit even during GPS outage in some short period of time.

关键词： Global positioning system

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Genetic algorithms-based gain optimization of a simple learning control for single-phase shunt active filters

Genetic algorithms-based gain optimization of a simple learn...

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作者： Lenwari, Wanchak Department of Control System and Instrumentation Engineering King's Mongkut University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9781424474530

The repetitive or learning based control has proven to achieve high steady-state performances for control systems. The iterative learning algorithm aims to accomplish zero tracking error without full knowledge of the system model. However, its dynamic behaviors were not satisfied in some conditions particularly under non-periodic disturbances since the control uses the information from the previous iteration to calculate the system input. This paper proposes the investigation of the use of genetic algorithm to optimize the learning gain of a simple proportional-type (P-type) learning control applied to current control for shunt active filters. The merit of the proposed control is its simplicity, potentially suitable for commercial active filters. All design concepts are verified and the results obtained in the simulation confirm the improvement in the dynamic responses during the transient condition while the harmonic control accuracy in steady-state can remain excellent with the proposed control system. ©ICROS.

关键词： Electric current control

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Comparison of H-∞ and optimized-LQR controller in active suspension system

Comparison of H-∞ and optimized-LQR controller in active su...

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2nd International Conference on Computational Intelligence, Modelling and Simulation, CIMSim 2010

作者： Shirdel, A.H. Gatavi, E. Hashemiyan, Z. Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Malaysia

ISBN: (纸本)9780769542621

The objectives of this paper are to establish the mathematical model and the robust control technique of the active suspension system for a quarter-car model. The aim of a car suspension system is to improve riding quality while handling characteristics subject remain good to uneven or rude road surface. The purpose of designing the controller for the car suspension system is to reduce the traditional design as trade-off between ride comfort and handling by directly controlling the suspension force to road and driving conditions. The H-∞ and LQR controllers are used to reject the effects of road disturbances. H-∞ controller is able to reject the uncertainty of the system and remain the system robustness while road disturbance enter to suspension system. The controller and suspension system performances are simulated to proof the effectiveness of the proposed controllers. Simulink Response Optimization toolbox in matlab is used to optimize the best gain for the controller feedback. The performance of the H-∞ controller is compared with the LQR controller, LQR optimize and the passive suspension systems. © 2010 IEEE.

关键词： controllers

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Lobster eye optics for nano-satellite X-ray monitor

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Proceedings of SPIE - The International Society for Optical engineering 2011年 8076卷

作者： Tichý, Vladimír Barbera, Marco Collura, Alfonso Hromcík, Martin Hudec, René Inneman, Adolf Marík, Jirí Maríková, Veronika Pína, Ladislav Šimon, Vojtech Varisco, Salvatore Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Karlovo námestí 13 CZ-12135 Prague 2 Czech Republic Universitá degli Studi di Palermo Dipartimento di Fisica Via Archirafi 36 IT-90123 Palermo Italy INAF-Osservatorio Astronomico di Palermo Piazza del Parlamento 1 IT-90134 Palermo Italy Center for Applied Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Karlovo námestí 13 CZ-12135 Prague 2 Czech Republic Astronomical Institute Academy of Sciences of the Czech Republic Fricova 298 CZ-25165 Ondrejov Czech Republic Department of Radioelectronics Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 CZ-16627 Prague 6 Czech Republic Rigaku Innovative Technologies Europe s.r.o. Novodvorská 994 CZ-14221 Prague 4 Czech Republic Division of Precision Mechanics and Optics Department of Instrumentation and Control Engineering Czech Technical University Technická 4 CZ-16607 Prague 6 Czech Republic Faculty of Nuclear Sciences and Physical Engineering Czech Technical University in Prague Brehová 7 CZ-11519 Prague 1 Czech Republic

ISBN: (纸本)9780819486660

The Lobster eye design for a grazing incidence X-ray optics provides wide field of view of the order of many degrees, for this reason it would be a convenient approach for the construction of space X-ray monitors. In this paper, we compare previously reported measurements of prototype lobster eye X-ray optics called P-25 with computer simulations and discuss differences between the theoretical end experimentally obtained results. Usability of this prototype lobster eye and manufacturing technology for the nano-satellite mission is assessed. The specific scientific goals are proposed. © 2011 Copyright Society of Photo-Optical instrumentation Engineers (SPIE).

关键词： X ray optics

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