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STEADY-STATE OPERATION ANALYSIS OF AN IDEAL HEAT INTEGRATED DISTILLATION COLUMN

Chinese Journal of Chemical engineering 1997年第4期5卷 43-54页

作者：黄克谨钱积新战德志中岩勝高松武一郎 Institute of Industrial Process Control Zhejiang University Department of Chemical Process Automation Qingdao Institute of Chemical Engineering Department of Chemical Systems National Institute of Materials and Chemical Research Institute of Industrial Technology Kansai University

A systematic approach for the steady-state operation analysis of chemical processes is *** method affords the possibility of taking operation resilience into consideration during thestage of process *** may serve the designer as an efficient means for the initial screening ofalternative design *** ideal heat integrated distillation column(HIDiC),without any reboileror condenser attached,is studied throughout this *** has been found that among the various va-riables concerned with the ideal HIDiC,feed thermal condition appears to be the only factor exertingsignificant influences on the interaction between the top and the bottom control *** is expected when the feed thermal condition approaches *** number of stages andheat transfer rate are essential to the system ability of disturbance ***,more stagesand higher heat transfer rate ought to be ***,too many stages and higher heat transfer ratemay increase the load of the

关键词： Distillation model identification steady-state design operation resilience process control

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Turn penalty problem model for minimum time AGV routing

Turn penalty problem model for minimum time AGV routing

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International Conference on Industrial Electronics, control and instrumentation

作者： J.H. Lee C.-Y. Chung B.H. Lee M.H. Choi Automation & Systems Research Institute Seoul National University Seoul South Korea Department Control & Instrumentation Kangwon University Chuncheon South Korea

The minimum time AGV routing problem (MTARP) has been generally modeled as a shortest path routing problem with time window constraints. Previous results on MTARP, however, considered the velocity of each AGV to be constant. In this paper, it is asserted that the MTARP should consider turn penalty if acceleration/deceleration of each AGV is taken into account. Considering turn penalty yields an equivalent converted network from the given guidepath network, which can be an explicit network model for MTARP.

关键词： Routing Acceleration Time factors Costs Shortest path problem automation Joining processes Communication system traffic control Centralized control Motion control

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A routing table approach for minimum time traffic control of multiple AGV systems

A routing table approach for minimum time traffic control of...

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International Conference on Industrial Electronics, control and instrumentation

作者： J.H. Lee B.H. Lee M.H. Choi Automation & Systems Research Institute Seoul National University Seoul South Korea Department Control & Instrumentation Kangwon University Chuncheon South Korea

A two-staged scheme, in which the path determination stage is divided from the overall motion planning process and performed offline, has been widely adopted for the motion planning of mobile robots. However, relatively little attention has been given to the application of the two-staged scheme to multiple automated guided vehicle systems (MAGVS). In this paper, a systematic two-staged scheme is presented to obtain collision-free minimum-time motions of AGVs along loopless paths. The overall structure of the controller is divided into two tandem modules of an offline routing table generator (RTG) and an online traffic controller (OTC). Real-time computation is guaranteed in that time-consuming graph searching process is executed offline, and OTC looks for the minimum time motion among the k candidate paths. The traffic control scheme proposed is suitable for practical application in centralized MAGVS with zone blocking technique.

关键词： Routing Traffic control Path planning Motion planning Vehicles Automatic control Communication system traffic control Process planning Mobile robots Road accidents

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A new voltage type power converter control for fast and precise voltage regulation

A new voltage type power converter control for fast and prec...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Chung Hyuk Yim Chang Hwan Kim Gyu Sik Kim Department of Manufacturing Automation Seoul National Polytechnic University Seoul South Korea FA Research Institute Production Engineering Center Samsung Electronics Company Limited Suwon South Korea Department of Control & Instrumentation Seoul City University Seoul South Korea

ISBN: (纸本)0780339363

In this paper, the authors propose a new nonlinear DC link voltage control scheme, which adopts a nonlinear load current observer, for voltage type PWM power converters. As their load current observer is designed by using the full nonlinear converter model, their converter control scheme does not require any additional sensing device. Therefore, the power converter adopting their new controller can provide fast and precise voltage regulation and can be made cheap and small. To demonstrate the practical use of their control method, they present various experimental results as well as mathematical performance analyses.

关键词： Voltage control Pulse width modulation converters Pulse width modulation Bridge circuits Capacitors Automatic voltage control Manufacturing automation Performance analysis Reactive power Bidirectional control

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Developing a prototype concurrent design tool for composite topside structures

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NAVAL ENGINEERS JOURNAL 1997年第3期109卷 279-290页

作者： Dirlik, S Hambric, S Azarm, S Marquardt, M Hellman, A Bartlett, S Castelli, V Steve Dirlik:began his career at the Naval Surface Warfare Center Carderock Division in 1981 as an aerospace engineer co-op student. He completed his bachelor of science degree in aeropace and ocean engineering from Virginia Polytechnic Institute and State University in 1985 and his master of science degree in aerospace engineering from the University of Maryland in 1990. Mr. Dirlik recently completed a master of science program in applied physics at The Johns Hopins University and currently works in the Radar Cross Section and Target Physics Branch of the Signatures Directorate at the Naval Surface Warfare Center Corderoke Division. He has worked on Navy low observable programs since 1990. Stephen Hambric:is a research associate at the Applied Research Laboratory at The Pennsylvania State University. He received his B. S. and M.S. degree in mechanical engineering from Virginia Polytechnic Institute and State University and his D. Sc. in mechnical engineering from the George Washington University. He has worked on several computer aided multidiscikplinary design and optimization projects over the years including an automated propeller design system and a structural acoustic optimization capability. Dr. Shpour Azarm:is currently working as an associate professor with the Design and Manufacturing Group of the Department of Mechanical Engineering at the University of maryland at College Park. Dr Azarm's expertise is in the areas of optimization-based designed and concurrent design and optimization of multidisciplinary systems. He was a consultant at Black & Decker Corporation (summer 1996) and worked as a Navy senior summer faculty fellow (summer 1995) and a NASA summer faculty fellow (summer 1994). He was a visiting scientist at NASA Langley Research Center for Multidisciplinary Analysis and Applied Structural Optimzatiom at the University of Siegen in Germany (spring 1992) and the Design Institute of the Technical University of Denmark (summer 1990). Dr Azarm was an associate technical editor of the ASME Jour

A prototype concurrent engineering tool has been developed for the preliminary design of composite topside structures for modern navy warships. This tool, named GELS for the Concurrent engineering of Layered Structures, provides designers with an immediate assessment of the impacts of their decisions on several disciplines which are important to the performance of a modern naval topside structure, including electromagnetic interference effects (EMI), radar cross section (RCS), structural integrity, cost, and weight. Preliminary analysis modules in each of these disciplines are integrated to operate from a common set of design variables and a common materials database. Performance in each discipline and an overall fitness function for the concept are then evaluated. A graphical user interface (GUI) is used to define requirements and to display the results from the technical analysis modules. Optimization techniques, including feasible sequential quadratic programming (FSQP) and exhaustive search are used to modify the design variables to satisfy all requirements simultaneously. The development of this tool, the technical modules, and their integration are discussed noting the decisions and compromises required to develop and integrate the modules into a prototype conceptual design tool.

关键词： Warships

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Avoidability measure in moving obstacle avoidance problem and its use for robot motion planning

Avoidability measure in moving obstacle avoidance problem an...

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Proceedings of IEEE/RSJ International Conference on Intelligent Robots and systems. IROS '96

作者： Nak Yong Ko Bum Hee Lee Department Control and Instrumentation Engineering Chosun University Kwangju South Korea Department Control and InstrumentationEngineering Automation and Systems Research Institute Seoul National University South Korea

ISBN: (纸本)078033213X

This paper presents a new solution approach to moving obstacle avoidance problem of a robot. A new concept avoidability measure (AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function (VDF) is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terms of the VDF, an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived from the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

关键词： Motion measurement Robot motion Motion planning Hidden Markov models Robotics and automation Automatic control Instruments Sampling methods Vehicle dynamics Orbital robotics

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Force optimization of multiple cooperating robots rigidly holding a common object using dual method

Force optimization of multiple cooperating robots rigidly ho...

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SICE Annual Conference

作者： Woong Kwon Bum Hee Lee Automation and Systems Research Institute Seoul National University Seoul South Korea Department of Control and Iiistrumentation Engineering Seoul National University Seoul South Korea

A new force optimization scheme of multiple co operating robots is explained. General formula tions of the force optimization problem are built into quadratic programming with linear equality and quadratic inequality constraints. This paper presents an algorithm for solving these general force optimiza tion problems using compact dual method, The proposed algorithm reduces the problem size considerably and makes the problem simpler. These features exhibit the efficiency of this technique compared with well-known other methods. Numerical examples for two cooperating PUMA robots using the proposed al gorithm and Nahon's algorithm are presented and comparison of the both methods are explained.

关键词： Optimization methods Robotics and automation Constraint optimization Torque Quadratic programming Robot programming Automatic control control systems Linear programming Friction

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PATH CONSTRAINED TIME-OPTIMAL MOTION OF A COOPERATIVE 2 ROBOT SYSTEM

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ROBOTICA 1995年第4期13卷 363-374页

作者： CHO, HK LEE, BH KO, MS Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University San 56–1 Shinrim-dong Kwanak-ku Seoul 151–742 (Korea)

This paper presents a systematic approach to the time-optimal motion planning of a cooperative two robot system along a prescribed path. First, the minimum-time motion planning problem is formulated in a concise form by parameterizing the dynamics of the robot system through a single variable describing the path. The constraints imposed on the input actuator torques and the exerted forces on the object are then converted into those on that variable, which result in the so-called admissible region in the phase plane of the variable. Considering the load distribution problem that is also involved in the motion, we present a systematic method to construct the admissible region by employing the orthogonal projection technique and the theory of multiple objective optimization. Especially, the effects of viscous damping and state-dependent actuator bounds are incorporated into the problem formulation so that the case where the admissible region is not simply connected can be investigated in detail. The resultant time-optimal solution specifies not only the velocity profile, but also the force assigned to each robot at each instant. Physical interpretation on the characteristics of the optimal actuator torques is also included with computer simulation results.

关键词： COOPERATIVE ROBOTS PRESCRIBED PATH COMPUTER SIMULATION

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control OF HYBRID STEP MOTORS VIA A SIMPLIFIED LINEARIZATION TECHNIQUE

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INTERNATIONAL JOURNAL OF control 1995年第5期61卷 1143-1167页

作者： CHU, SH HAT, IJ Department of Control and Instrumentation Engineering Automation and Systems Research Institute Seoul National University San 56-1 Shinrim-Dong Kwanak-Ku Seoul 151–742 Korea

In this paper, we propose a simplified linearization technique for control of hybrid step motors that is based on a hacking approach. Our controller consists of a current tracking controller and a torque controller. In particular, our torque controller contains a function which can be chosen freely under some constraints imposed by the physical limitation in stator currents. Any controller that can make the generated torque of a hybrid step motor linear to the torque command can always be represented by our torque controller with a specific choice of the free function. As an example for optimal choices of the free function, we present a method of determining the free function that gives minimal power loss due to stator resistance. We also present a method of obtaining the full dynamic model of a hybrid step motor. Prior works consider the special cases when the torque component due to variable reluctance is negligible or sinusoidal. Our results in this paper can be applied equally well to these special cases.

关键词： Linearization

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Robust Analysis of Distillation Column Dynamics

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IFAC Proceedings Volumes 1995年第9期28卷 333-338页

作者： E.I. Varga G.Z. Kovács S.B. Jørgensen K.M. Hangos Systems and Control Laboratory Computer and Automation Research Institute Department of Chemical Engineering The Technical University of Denmark Lyngby Denmark

The robust stability and performance of a binary distillation column model is analysed using a minimal state space representation. The uncertainty modelling of the column is resulted in an LFT form with a four element diagonal block structure taking into account the dependence between the steady state gains. Robust analysis of the distillation column dynamics is performed and compared using µ - and l 1 -analysis tools. The magnitude of possible overshoots is determined by l 1 -test for robust performance and the dependence of this magnitude on the dominant time constant (i.e. the purity of the separation) is investigated. Futhermore the effect of the mi certainties in the time constants and the singular values on the robust performance is also analysed using l 1 -test. It has been found that the uncertainty in the time constants affects dominantly the robust performance of the open-loop system, i.e. the magnitude of possible overshoots.

关键词： Distillation column parametric uncertainty modelling robust stability robust performance

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