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Development Methods for Low Cost Industrial control by WinPAC controller and Measurement Cards in Matlab Simulink

Development Methods for Low Cost Industrial Control by WinPA...

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International Conference on computer engineering and Applications (ICCEA)

作者： Michal Tutsch Zdenek Machacek Ondrej Krejcar Petr Konarik Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Control System and Instrumentation Faculty of Mechanical Engineering VSB-Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424460793;9780769539829

The approach to development methods which are described in paper allows possibility extension for minimizing costs and widely external hardware industrial control systems utilization. There is described development method of control applications by industrial WinPLC/WinPAC and REX control compiler in comparison to classical development methods that need expensive RT measurement cards and produce only one purpose development solution. The project is based on specification of development process of designed control schemas of prepared applications to an industrial utilization by direct connection and implementation to the chosen control system WinPLC/WinPAC. Paper deals with a way how to produce a solution for control applications that are prepared, designed and implemented in MATLAB-Simulink to the target platform. The multiplatform control system REX is used as a bridge between MATLAB and target platform.

关键词： Costs Industrial control control systems electrical equipment industry Hardware Process design Process control computer languages Bridges MATLAB

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Modern development of low cost RT industrial process control based on Matlab-Simulink and PAC

Modern development of low cost RT industrial process control...

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Roedunet International Conference (RoEduNet)

作者： Michal Tutsch Petr Konarik Department of Measurement and Control Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava Ostrava Czech Republic Department of Control System and Instrumentation Faculty of Mechanical Engineering VSB-Technical University of Ostrava Ostrava Czech Republic

The paper presents modern advanced development methods of control systems that minimizes the cost of development of applications which are widely applicable in industrial control of whole range of processes.

ISBN: (纸本)9781424473359

关键词： Costs Industrial control Process control computer languages

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On the Infinite Horizon Constrained Switched LQR Problem

On the Infinite Horizon Constrained Switched LQR Problem

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2010 49th IEEE Conference on Decision and control

作者： Maximilian Balandat Wei Zhang Alessandro Abate Department of Electrical Engineering and Information Technology Technische Universitat Darmstadt Darmstadt Germany Department of Electrical Engineering and Computer Science University of California Berkeley CA USA Delft Center for Systems and Control Technische Universiteit Delft Delft The Netherlands

ISBN: (纸本)9781424477456

This paper studies the Discrete-Time Switched LQR problem over an infinite time horizon subject to polyhedral constraints on state and control input. The overall constrained, infinite-horizon problem is split into two subprob-lems: (i) an unconstrained, infinite-horizon problem and (ii) a constrained, finite-horizon one. We derive a stationary suboptimal policy for problem (i) with analytical bounds on its optimality, and develop a formulation of problem (ii) as a Mixed-Integer Quadratic Program. By introducing the concept of a safe set, the solutions of the two subproblems are combined to achieve the overall control objective. It is shown that, by proper choice of the design parameters, the error of the overall sub-optimal solution can be made arbitrarily small. The approach is tested through a numerical example.

关键词： infinite horizon design parameter discrete-time numerical example optimality

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Distributed Coordinated Tracking for Multiple Euler-Lagrange Systems

Distributed Coordinated Tracking for Multiple Euler-Lagrange...

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2010 49th IEEE Conference on Decision and control

作者： Jie Mei Wei Ren Guangfu Ma Department of Control Science and Engineering Harbin Institute of Technology Heilongjiang 150001 P. R. China Department of Electrical and Computer Engineering Utah State University Logan UT 84322 USA

ISBN: (纸本)9781424477456

In this paper we study a distributed coordinated tracking problem for networked Euler-Lagrange systems. The objective is for a team of followers modeled by Euler-Lagrange equations to track a leader under the constraints that the leader is a neighbor of only a subset of the followers and the followers have only local interaction. We consider two cases: i) The leader has a constant vector of generalized coordinate derivatives, and ii) The leader has a varying vector of generalized coordinate derivatives. In the first case, we propose a distributed continuous estimator and an adaptive control law to account for parametric uncertainties. In the second case, we propose a model-independent sliding mode control algorithm.

关键词： generalized coordinates Distribute Neighbor control law

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Master-slave robotic system for 3 dimensional needle steering

Master-slave robotic system for 3 dimensional needle steerin...

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2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Hyo-Jeong Cha Jaeheon Chung Whee Kuk Kim Byung-Ju Yi School of Electrical Engineering and Computer Science Hanyang University Ansan South Korea Department of Advanced Medical Initiatives Faculty of Medical Science Kyushu University Japan Department of Control and Instrumentation Engineering Korea University Seoul South Korea

This paper proposes a new 4-Degree-of-Freedom (DOF) master-slave system for 3 dimensional needle steering. Both master and slave devices are commonly composed of a 3 DOF spherical type parallel mechanism and a 1 DOF needle insertion mechanism. This system provides users with 3 dimensional needle steering and force reflection capabilities. The real time forward solution of the master device is addressed. The design of the master-slave system is described in detail. Finally, the effectiveness of this system for 3 dimensional needle steering task is verified through experimental work.

关键词： Needles Robots Master-slave Joints Phantoms Force Kinematics

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Designs of Wireless Monitoring Network System of Mill

Designs of Wireless Monitoring Network System of Mill

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International Conference on Computational Intelligence and Software engineering (CiSE)

作者： Cheng Hao Zhanlin Wang Zhigang Yang Jianmin Wang Ling Yang NanoRobotics Laboratory Ecole Polytechnique de Montréal Montréal QC Canada College of Information and Control Engineering China University of Petroleum School of Computer Science and Engineering Nanjing University of Science and Technology 200 Xiaolingwei Road Nanjing China Electrical and Electronic Engineering School North China Electric Power University Tangshan China School of Computer Science and Engineering Jiangsu University of Science and Technology 2 Huancheng Road Zhenjiang China College of Computer and Automatic Control Hebei Polytechnic University Tangshan China

In this paper, sensors, which are directly installed on the surface of the mill, are used to collect mill's signals by wireless. The frame of the system is introduced and the hardware and software is designed in details in this paper. With the transmission mode of I 2 S and MCU of AT89S2051, the transform from analog signals to digital signals , data's transmission by wireless is achieved by this system. On this basis, the program designed is not only good at collect mill's signals, but also restraining the interference, analyzing spectrum. So the program can effectively achieve the mill state detection.

关键词： Wireless communication Wireless sensor networks Monitoring Hardware computers Clocks Sensors

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Selection of optimal EEG channels for classification of signals correlated with alcohol abusers

Selection of optimal EEG channels for classification of sign...

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International Conference on Signal Processing Proceedings (ICSP)

作者： M. Alavash Shooshtari S. Kamaledin Setarehdan Biomedical Engineering Department Science and Research Branch Islamic Azad University Tehran Iran Control and Intelligent Processing Center of Excellence Faculty of Electrical and Computer Engineering University of Tehran Tehran Iran

Many brain events and disorders can be detected by analyzing electroencephalograms (EEGs). Also the availability of quantitative biological markers that are correlated with qualitative psychiatric phenotypes helps us to utilize automated methods to diagnose and classify these phenotypes. One such a psychiatric phenotype is alcoholism. In this study a method to select an optimal subset of EEG channels for the purpose of practical classification of alcohol abusers from normal subjects is proposed, which is based on combination of model-based spectral analysis and correlation matrices. The EEG signals were recorded when the subjects were represented with single trial visual stimuli. The proposed method proved successful in selecting an optimum number of channels which achieved acceptable average classification accuracy.

关键词： Electroencephalography Support vector machines Correlation Visualization Accuracy Feature extraction Brain modeling

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Design and experimental implementation of a compliant hybrid zero dynamics controller for walking on MABEL

Design and experimental implementation of a compliant hybrid...

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IEEE Conference on Decision and control

作者： Koushil Sreenath Hae-Won Park Ioannis Poulakakis J. W. Grizzle Control Systems Laboratory Electrical Engineering and Computer Science Department University of Michigan Ann Arbor MI USA Mechanical Engineering Department University of Michigan Ann Arbor MI USA Mechanical Engineering Department University of Delaware Newark DE USA

This paper extends the method of virtual constraints and hybrid zero dynamics, developed for rigid robots with a single degree of underactuation, to MABEL, a planar biped with a novel compliant transmission. A time-invariant feedback controller is designed for realizing exponentially stable waking gaits in such a way that the closed-loop system preserves the natural compliance of the system, and therefore the energetic benefits of springs. This is accomplished by incorporating the compliance into the hybrid zero dynamics. The compliant-hybrid-zero-dynamics-based controller is implemented experimentally and shown to realize stable walking gaits which make use of the compliance to store and return energy to the gait.

关键词： Leg Springs Legged locomotion Torso Actuators Robot kinematics

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Iterative Learning control of the Redundant Upper Limb for Rehabilitation

Iterative Learning Control of the Redundant Upper Limb for R...

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American control Conference

作者： C. T. Freeman P. L. Lewin E. Rogers D. H. Owens School of Electronics and Computer Science University of Southampton SO17 1BJ UK Department of Automatic Control and Systems Engineering University of Sheffield S1 3JD UK

ISBN: (纸本)9781424474264

A non-linear iterative learning control approach is developed for application to stroke rehabilitation. The subject is seated in a robotic workstation and electrical stimulation is applied to their triceps muscle to assist the tracking of trajectories in a horizontal plane. In addition to rotation about vertical axes through the shoulder and elbow joints, the forearm is also permitted to elevate in order to provide full arm extension. A dynamic model of the human arm is first developed, and then constraints are introduced to overcome kinematic redundancy. The expressions necessary to implement the control law are derived, and experimental results confirm its ability to achieve a high level of performance in practice.

关键词： Level of Performance Triceps control law Iterative learning control Elbow Joint Upper Extremity horizontal plane Redundant Electric Stimulation Shoulder trajectory Model of Human Occupation Manikins Stroke Rehabilitation Workstations

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Modeling and Passivity-Based control of the Pierburg mechatronic actuator

Modeling and Passivity-Based Control of the Pierburg mechatr...

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Conference on control and Fault-Tolerant Systems (SysTol)

作者： A. Kebairi S. Cai M. Becherif M. El Bagdouri Laboratory SET UTBM Belfort France Department of computer science SET UTBM Belfort France Department of Electrical Engineering and control systems SET UTBM Belfort France Department of Engineering and Process' Management SET UTBM Belfort France

In this paper, we present an overall study focused on the modeling, identification and control of the Pierburg mechatronic actuator. This actuator is used in the BMW M57 diesel engine to control all the air which are charged and entered in the vehicle engine. The obtained model from the identification procedure is sufficiently closer to the practical actuator behavior and captures most of its characteristics. This mechatronic actuator is subject of parameter variation during its life span. A nonlinear control based on the Interconnection and Damping Assignment Passivity-Base control (IDA-PBC) is designed in order to ensure the desired performances. Simulation results show the efficiency of both the obtained model and the control strategy.

关键词： Friction DC motors Actuators Mathematical model Shafts Mechatronics Torque

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