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IEEE International Conference on Industrial technology (ICIT)

作者： Sheng Qiang X.Z. Gao Xianyi Zhuang Department of Control Science and Engineering Harbin Institute of Technology Harbin China

We discuss the application of programmable logic controllers (PLCs) in the process monitoring and control for fuel alcohol production. The PLCs are mainly utilized for collecting process data as well as realizing auto-tuning PID and sequence control strategies. In addition, WinCC configuration software with a human-machine interface (HMI) is used to monitor the dynamical industrial process. Both software- and hardware-based implementations of our system are also described in detail.

关键词： control systems Beverage industry Electrical equipment industry Industrial control Production systems Programmable control Fuel processing industries Monitoring Application software Process control

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A CARMA model-based discrete-time variable structure controller

A CARMA model-based discrete-time variable structure control...

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World Congress on Intelligent control and Automation (WCICA)

作者： Xu Fengyu Shen Yi Liu Zhiyan Department of Control Science and Engineering Harbin Institute of Technology Harbin China

In this paper, a discrete-time variable structure control is proposed. The control system is designed based on the CARMA model, so that steady-state precision is provided with robustness. This paper analyzes the effect of disturbance on the sliding-mode theoretically, and proposes an applied VSC law. Simulation results show the effectiveness of the algorithm.

关键词： Sliding mode control control system synthesis Robust control

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Application of single neuron PID controller in asymmetric cylinder electrohydraulic servo system

Application of single neuron PID controller in asymmetric cy...

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World Congress on Intelligent control and Automation (WCICA)

作者： Zilong Liu Xianyi Zhuang Sheng Qiang Shuyi Wang Yahui Li Department of Control Science and Engineering Harbin Institute of Technology Harbin China

It is well known that an asymmetric cylinder fifth-order electrohydraulic servo system is a class of typical high-order one with nonlinearity, time-varying and gain asymmetric. Because dynamic performances of the servo system vary greatly with the variable load, conventional PID is very difficult to be used to reach the desired performance target. 20-SIM simulation software is a simulation tool based on bond graph theory, and it is very suitable for simulation of nonlinear systems. Based on the aforementioned characteristics, we set up a simulation model using 20-SIM simulation tool, and design an online self-learning single neuron PID control algorithm. Simulation results show that this single neuron PID control scheme is better than conventional PID control.

关键词： Neurons Three-term control control systems Electrohydraulics Servomechanisms Electric variables control Time varying systems Nonlinear dynamical systems Software performance Software tools

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Stable fuzzy adaptive control for a class of nonlinear system

Stable fuzzy adaptive control for a class of nonlinear syste...

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World Congress on Intelligent control and Automation (WCICA)

作者： Yahui Li Xianyi Zhuang Sheng Qiang Guozhong Liu Xiaorong Mei Department of Control Science and Engineering Harbin Institute of Technology Harbin China

A new hybrid fuzzy adaptive control scheme is presented systematically for a class of affine nonlinear unknown systems using Lyapunov stability theory. Because of combining fuzzy control with fuzzy identification, it demands little pre-knowledge about the plant models, so the method is generally applicable. In order to overcome the problem of the model mismatch, a compensation control term is introduced into the controller. Based on the conception, approximate error coefficient, the degree of accuracy of the fuzzy identifier can be described quantitatively. According to this, the identifier can be designed easily and suitably.

关键词： Fuzzy control Fuzzy systems Adaptive control control systems Nonlinear control systems Error correction Optimal control Lyapunov method Fuzzy logic control system synthesis

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Guaranteed cost robust predictive control for discrete uncertain time-delay systems

Guaranteed cost robust predictive control for discrete uncer...

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World Congress on Intelligent control and Automation (WCICA)

作者： Jun Zhang Zhi-Yuan Liu Run Pei Jian-suo zhou Department of Control Science Engineering Harbin Institute of Technology Harbin China

In this paper, the problem of robust control is investigated for a class of discrete uncertain time-delay systems subject to input and state constraints. A guaranteed cost robust predictive control scheme is presented, which combines a quasi-infinite horizon predictive control scheme and guaranteed cost robust control as well as the finite terminal weighting matrix method to deal with the problems of input and state constraints and system uncertainty. The sufficient conditions of stability are presented. Simulation results verify the effectiveness of the proposed method.

关键词： Costs Robust control Predictive control control systems Stability Uncertainty Sufficient conditions Hafnium

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Parametric eigenstructure assignment via state feedback: a simple numerically reliable approach

Parametric eigenstructure assignment via state feedback: a s...

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World Congress on Intelligent control and Automation (WCICA)

作者： G.R. Duan School of Mechanical and Manufacturing Engineering Queen''s University Belfast Belfast UK Department of Control Science and Technology Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China

An extremely simple method for eigenstructure assignment in multivariable linear systems via state feedback controllers is presented. It is shown that as soon as a series of singular value decompositions are completed, the whole set of admissible right closed-loop eigenvectors as well as the whole set of state feedback gain matrices can be simply and neatly parameterized in terms of a group of parameter vectors. This group of parameter vectors provide all the design degrees of freedom and can be utilized to achieve additional desired specifications. The method involves mainly a series of singular value decompositions and the solution to a linear matrix equation and is numerically reliable. The proposed approach does not require the closed loop eigenvalues to be distinct or to be different from the open loop ones. Moreover, it allows repeated closed-loop eigenvalues, but produces only nondefective eigenstructure for robustness consideration. Based on the presented approach, two algorithms for robust pole assignment are proposed. Several computational examples demonstrate the numerical reliability of the proposed approach.

关键词： State feedback Singular value decomposition Matrix decomposition Vectors Eigenvalues and eigenfunctions Robustness Linear systems Linear feedback control systems control systems Equations

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Rejection of nonlinear disturbance torque in servomechanism with repetitive control

Rejection of nonlinear disturbance torque in servomechanism ...

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Annual Conference of Industrial Electronics Society

作者： Dongchun Zhang Ming Zeng Baoku Su Department of Control Science and Engineering Harbin Institute of Technology China

ISBN: (纸本)0780374746

In this paper, a repetitive control method is presented for the rejection of significant nonlinear disturbance torque in servomechanisms. The disturbance torque dealt with is assumed to be periodic in position, which is the main cause for the degradation of the system steady-state precision. A sufficient condition for stability is given. The existence of periodic steady-state error is proved, thus the repetitive control approach can be directly applied to the rejection of disturbance torque coupled to position. It should be noted that this property is also necessary for other learning algorithms based on the period-invariance property of the system. Simulation results show that with the proposed method, the steady-state error due to the disturbance torque can be effectively reduced.

关键词： Servomechanisms Torque control control systems Steady-state Stability Degradation Electrical equipment industry Servomotors Velocity control Nonlinear control systems

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H/sub /spl infin// control for multirate sampled-data system with time-delay

H/sub /spl infin// control for multirate sampled-data system...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Zhao Xia Yao Yu He Fenghua Meng Fanwei Department of Control Science and Engineering Harbin Institute of Technology China

ISBN: (纸本)9810483643

In this paper, we study H/sub /spl infin// control for multirate sampled-data system with time-delay. In allusion to the problems of time-delay and multirate sampling, we describe the system with a time-varying jump system characterization. Then basing on the technique of continuous lifting, the hybrid, linear, time-varying, jump system is isometrically mapped to a discrete-time, linear, time-varying system with infinite-dimensional input-output spaces. Finally by making use of the definition of the system function for a discrete-time, time-varying system and the property of symplectic pair, the infinite-dimensional system is transformed to an equivalent discrete-time system with finite-dimensional input-output spaces which can be disposed with well developed H/sub /spl infin// control theory. As a result, the proposed design method can solve H/sub /spl infin// control problem for multirate sampled-data system with time-delay.

关键词： control systems Sampling methods Time varying systems Digital control Costs control system synthesis Standards development Bandwidth Distributed control Turning

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Practical stabilization of wheeled mobile robots based on control Lyapunov function

Practical stabilization of wheeled mobile robots based on co...

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IEEE Conference on control technology and Applications (CCTA)

作者： Pei Xinzhe Liu Zhiyuan Pei Run Chen Hong Department of Control Science and Engineering Harbin Institute of Technology China Department of Control Science and Engineering Jilin University China

In this paper, a method to globally practically stabilize wheeled mobile robots (WMR) with two control inputs is proposed based on control Lyapunov function (CLF). A formulation of the stabilizing controller is obtained for a performance index and control-affine driftless systems by means of approximating the value function of the performance index by a CLF associated with the system considered. The controller can guarantee stability and is useful to examine the system performance under different performance indices. Simulation is performed to highlight the effectiveness of the proposed control law.

关键词： Mobile robots Robot control Lyapunov method control systems Sliding mode control Performance analysis Motion control Motion planning Feedback Nonlinear control systems

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ADAPTIVE INFORMATION SHARING FACTORS IN FEDERATED KALMAN FILTERING

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IFAC Proceedings Volumes 2002年第1期35卷 79-84页

作者： Hongwei Zhang Barry Lennox Peter R Goulding Yufei Wang Control Engineering Research Group School of Engineering The University of Manchester Manchester M13 9PL UK Control Engineering Department Harbin Institute of Technology Harbin P R CHINA

This paper presents an adaptive determination method of the information sharing factors employed in the federated Kalman filtering algorithm. This approach is based on generalised eigenvalue decomposition of the covariance matrix of the estimated errors associated with individual sensors. The paper begins with a discussion of the structural features and information sharing principle of the Federated Kalman filtering approach. Following development of the new method, simulation results demonstrate its capability to provide a considerable improvement in robustness to changing plant conditions, at the cost of a minimal loss in accuracy under ideal plant behaviour.

关键词： Kalman Filters Decentralised Systems Sensor Fusion Eigenvalues Navigation Systems

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