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Identification and control with Cadacs-PC

IFAC Proceedings Volumes 1991年第3期24卷 1209-1214页

作者： U. Keuchel Chr. Schmid Automatic Control Laboratory Department of Electrical Engineering Ruhr-University Bochum P.O. Box 102148 W-4630 Bochum 1 Germany

CADACS is a comprehensive CAD package designed to cover a wide range of control system engineering tasks. It contains modules for process identification, system analysis, controller design, simulation and controller implementation based on a broad variety of modern as well as classical approaches for SISO and MIMO systems. Classical curve fitting techniques applied to step or frequency responses or different parameter estimation techniques will lead in combination with model reduction to system descriptions which can be used for control system design. A rich set of utilities is supporting the identification task both for continuous- and discrete-time models in different representation forms. The general description of the system shows the ideas and methods standing behind the system. An illustrative example using a turbogenerator set comprises modelling and controller design and the implementation using the real-time suite of this package. The system can run on IBM-compatible personal computers.

关键词： Computer-aided system design computer software identification control system design

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Navigation schemes for underwater robots using strapdown inertial navigation system

Navigation schemes for underwater robots using strapdown ine...

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International Conference on Industrial Electronics, control and Instrumentation

作者： Z. Chen J.C. Hung Automatic Control Department Beijing Institute of Aeronautics and Astronautics Beijing China Electrical and Computer Engineering Department Knoxville TN USA

The authors deals with navigation schemes for underwater robots using strapdown inertial navigation systems. Compared to the current hydroacoustic position reference systems used for underwater robots, the strapdown inertial systems have longer operation distance, possess better autonomous ability, provide more complete navigation, and offer higher potential accuracy. Two navigation schemes are proposed, one for short-range operations and the other for long-range operations. Criteria for the choice of one of the two are also given. Their application conditions, software requirements, and their respective navigation errors are analyzed.< >

关键词： Inertial navigation Robot kinematics Silicon compounds Radio navigation Satellite navigation systems Orbital robotics Aircraft navigation Robotics and automation Application software Base stations

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Trajectory Shaping by the U-Parameter Design Method

Trajectory Shaping by the U-Parameter Design Method

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American control Conference (ACC)

作者： Peter Dorato Yang Wei Chun-Lin Shen Department of Electrical and Computer Engineering University of New Mexico Albuquerque NM USA Department of Automatic Control Engineering Nanjing Aeronautical Institute Nanjing China

This paper is concerned with the application of U-parameter design method to a problem of "trajectory shaping." Three linearized models are assumed for an unpowered vehicle with modelling errors introduced by variations in flight path angle. Corresponding to the three linearized models, three controllers, which are used in different flight phase, are designed by U-parameter theory. The three controllers guarantee that the vehicle motion, during its approach to target point, is robustly stable and is optimal at the nominal flight path in the sense that the step error response of resultant feedback control system is minimal in the mean square sense. Digital simulation results show that U-parameter design method can be successfully used to the problem

关键词： Design methodology Robust control Feedback control automatic control Error correction control systems Target tracking Transfer functions Space vehicles Computer vision

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Dynamic simulation of robot manipulators at high sampling rates

Dynamic simulation of robot manipulators at high sampling ra...

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IEEE Conference on Decision and control

作者： A.Y. Zomaya A.S. Morris Department of Electrical and Electronic Engineering University of Western Australia Perth WA Australia Department of Automatic Control and Systems Engineering University of Sheffield Sheffield UK

The authors introduce parallel-processing concepts to the problem of the real-time dynamic simulation of a robot manipulator. A heuristic load-balancing procedure is used to distribute the dynamic equations of a robot arm over a network of parallel-processors. The dynamics are divided into different subtasks. Each inter-related group of subtasks is assigned to one processor. This helps in minimizing the communication time between different processors. In this case, each processor will spend its time on useful computations and number crunching, leading to better utilization of the resources. The efficiency of this approach lies in its simplicity, generality, and cost-effectiveness. The method is demonstrated by a case study.< >

关键词： Manipulator dynamics Sampling methods Computational modeling Computer architecture Equations Parallel processing Parallel robots Power system modeling Mathematical model Computer simulation

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Performance evaluation of six terrain stochastic linearization techniques for TAN

Performance evaluation of six terrain stochastic linearizati...

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IEEE National Conference on Aerospace and Electronics (NAECON)

作者： Pei-Jun Yu Zhe Chen J.C. Hung Automatic Control Department Beijing Aeronautics and Astronautics University Beijing China Electrical and Computer Engineering Department University of Tennessee Knoxville TN USA

Six terrain stochastic linearization techniques are discussed. Among them are three new ones which were developed for TAN (terrain-aided navigation). These three are the improved full-plane fit (IFPF), the mean tangent-line (MTL), and the two-subgroup fit (TSF) techniques. Performance evaluations for each technique are made and compared. The evaluation for each technique makes use of six measures. Each technique has its merits and demerits. On the whole, the TSF technique appears to be the best.< >

关键词： Stochastic processes Linearization techniques Navigation Noise measurement Extraterrestrial measurements Filtering Equations Analytical models Vehicles Kalman filters

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Robustness analysis and design for fast following synchronizer of generators by using reversed reframe normalizing method

Robustness analysis and design for fast following synchroniz...

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International Conference on Industrial Electronics, control and Instrumentation

作者： J. Mao L. Liu Y. Yang Department of Automatic Control Beijing Institute of Aeronautics and Astronautics Beijing China Department-of Electrical Engineering North China Institute of Electric Power Baoding China

The problem of robustness for a fast following synchronizer of generators is reduced to a two-input/two-output multivariable system with interval parameters in the frequency domain. The uncertainty considered is the unstructured uncertainty. The reversed frame normalizing method is employed to analyze and design the robustness compensator for the fast following synchronizer of generators. In comparison with the solution from single-input/single-output design, it is shown that the interaction between two loops could not be ignored. Numerical simulation shows that the requirements of stability, dynamic performance for the fast following synchronizer, and stability robustness could be considered simultaneously.< >

关键词： Robustness Frequency synchronization Robust stability MIMO Uncertainty Power system stability Power generation Frequency domain analysis Power system security Switches

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A Fuzzy Inference Approach to Failure Diagnosis of Adaptive controlled Systems

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IFAC Proceedings Volumes 1991年第3期24卷 657-662页

作者： K. Kumamaru S. Sagara A. Nakai T. Söderström Department of Control Systems Engineering Faculty of Computer Science and Systems Engineering Kyushu Institute of Technology Fukuoka Iizuka 820 Japan Department of Electrical Engineering Faculty of Engineering Kyushu University Fukuoka Hakozaki 812 Japan Department of Automatic Control and Systems Analysis Institute of Technology Uppsala University P.O. Box 27 Uppsala Sweden

An on-line scheme to failure diagnosis is proposed for dynamic systems under adaptive control, which is designed based on a direct approach to self-tuning regulator. Failure modes occurred in the system are assumed to be described by unexpected changes in physical parameters of the system. The parameter changes in the controlled system can effectively be detected by using Kullback Discrimination Information (KDI) as an index for model discrimination. In order to decide whether the detected system parameter change is caused by a failure or not, a fuzzy inference approach to failure decision is considered. Some appropriate membership functions which describe fuzzy events of failures are constructed to perform the fuzzy inference. In this way, useful knowledge about failure modes which is available from, e.g., experts can be introduced into the model- based diagnosis technique. Simulation studies of a second-order damped oscillator have been carried out to demonstrate the effectiveness of the method.

关键词： Adaptive control failure diagnosis fuzzy inference Kullback discrimination information parameter estimation

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The generation of discrete-time Q-Markov covers via the inverse solution of Lyapunov equation

The generation of discrete-time Q-Markov covers via the inve...

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IEEE Conference on Decision and control

作者： V. Sreeram P. Agathoklis M. Mansour Department of Electrical and Electronic Engineering University of Western Australia Perth WA Australia Department of Electrical and Computer Engineering University of Victoria Victoria BC Canada Department of Automatic Control Swiss Federal Institute of Technology Zurich Switzerland

A novel method for generating q-Markov covers for SISO (single-input single-output) discrete-time systems is proposed. It is based on first computing the impulse-response Gramian from the Markov parameters and covariances, and then solving the Lyapunov equation inversely to get the system matrices in controllability canonical form. Given the markov parameters and the covariances, exactly two q-Markov covers can be obtained by solving the Lyapunov equation inversely to get the system matrices. The method is illustrated by a numerical example and is shown to be computationally simple.< >

关键词： Equations Reduced order systems controllability Covariance matrix Continuous time systems MIMO control systems Steady-state

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Tracking analysis of a constrained adaptive notch filter

Tracking analysis of a constrained adaptive notch filter

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： P. Handel A. Nehorai Automatic Control and Systems Analysis Group University of Uppsala Uppsala Sweden Department of Electrical Engineering Yale University New Heaven CT USA

The asymptotic tracking properties of an adaptive notch filter with pole-zeros constraints for the cancellation or retrieval of multiple time-varying sine waves in additive noise are analyzed. The methods of Ljung and Gunnarsson (see automatica, vol.26, no.1, p.7-21, Jan. 1990) are used in order to analyze the asymptotic mean-square parameter error, when the variations in the underlying frequencies and the gain of the algorithm are assumed to be sufficiently small. A closed-form expression for the mean square error (MSE) is derived as a function of the tuning variables of the algorithm. The results give insight into the operational properties of the algorithm and are used in order to minimize the MSE with respect to the tuning variables.< >

关键词： Adaptive filters Signal processing algorithms Algorithm design and analysis Steady-state Noise measurement Programmable control Adaptive control Tuning Frequency estimation automatic control

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An Algorithm for Identification of Linear Systems with Varying Time-delay

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IFAC Proceedings Volumes 1991年第3期24卷 935-940页

作者： M. Björklund M. Nihtilä T. Söderström ABB Relays S-72219 Västerås Sweden Control Engineering Laboratory Department of Electrical Engineering Helsinki University of Technology SF-02150 Espoo Finland Automatic Control and Systems Analysis Group Department of Technology Uppsala University Box 27 S-75103 Uppsala Sweden

This paper treats the problem of on-line identification of systems with varying delay, based on measurements of the input and output signals. A discrete rational delay approximation is used in a process model. The local minima of a specified loss function are analysed and the choice of design variables is discussed. A simulation example of the identification of a system with variable delay is presented. Simulation results indicate that a model that includes a discrete delay approximation can successfully be used for estimation of both time-delay and dynamics of a system.

关键词： time lag systems parameter estimation time-delay system identification

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