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Parameter identification of a Linear Permanent Magnet motor using Particle Swarm Optimization

Parameter identification of a Linear Permanent Magnet motor ...

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International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Tithiwat Therdbankerd Peerayot Sanposh Nattapon Chayopitak Hideaki Fujita Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

Accurate and effective parameter identification is an important engineering task in high performance control system design. One emerging approach to effectively identify such nonlinear or dynamic unknown parameters is to use Particle Swarm Optimization (PSO) algorithm. Linear Permanent Magnet (LPM) motor is a high performance actuator employed in many applications that require direct linear motion without mechanical transmission for high acceleration and accurate positioning. Therefore, accurate motor parameters are necessary to effectively control the LPM motors. This paper proposes a simple PSO based method with chirp inputs to identify the LPM motor's parameters. The simulations and experiments are conducted to verify the results and determine the effectiveness of the proposed method.

关键词： Parameter estimation Permanent magnet motors Particle swarm optimization Synchronous motors Signal processing robotics and automation Chirp intelligent robots Control systems Laboratories

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Stylized motion generalization through adaptation of velocity profiles

Stylized motion generalization through adaptation of velocit...

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19th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2010

作者： Gielniak, Michael J. Liu, C. Karen Thomaz, Andrea L. Department of Electrical and Computer Engineering Georgia Institute of Technology 777 Atlantic Dr. NW Atlanta GA 30332 United States School of Interactive Computing Georgia Institute of Technology 85 5th St. NE Atlanta GA 30308 United States Robotics and Intelligent Machines Center Georgia Institute of Technology 801 Atlantic Dr. NW Atlanta GA 30332 United States

ISBN: (纸本)9781424479917

Stylized motion is prevalent in the field of Human- Robot Interaction (HRI). Robot designers typically hand craft or work with professional animators to design behaviors for a robot that will be communicative or life-like when interacting with a human partner. A challenge is to apply this stylized trajectory in varied contexts (e.g. performing a stylized gesture with different end-effector constraints). The goal of this research is to create useful, task-based motion with variance that spans the reachable space of the robot and satisfies constraints, while preserving the "style" of the original motion. We claim the appropriate representation for adapting and generalizing a trajectory is not in Cartesian or joint angle space, but rather in joint velocity space, which allows for unspecified initial conditions to be supplied by interaction with the dynamic environment. The benefit of this representation is that a single trajectory can be extended to accomplish similar tasks in the world given constraints in the environment. We present quantitative data using a continuity metric to prove that, given a stylized initial trajectory, we can create smoother generalized motion than with traditional techniques such as cyclic-coordinate descent. © 2010 IEEE.

关键词： Trajectories

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An intelligent system for diagnosing sleep stages using wavelet coefficients

An intelligent system for diagnosing sleep stages using wave...

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International Joint Conference on Neural Networks (IJCNN)

作者： Maryam Vatankhah Mohammad-R. Akbarzadeh-T. Ali Moghimi Departments of Electrical Engineering and Computer Engineering Ferdowsi University of Mashhad Iran Mashhad Branch ungyo researcher club members Islamic Azad University Center for Applied Research on Intelligent Systems and Soft Computing Departments of Electrical Engineering and Computer Engineering Ferdowsi University of Mashhad Iran Department of Biology Faculty of Sciences University of Mashhad Iran

Human sleep is divided into two segments, Rapid Eye Movement (REM) sleep and Non-REM (NREM) sleep. NREM sleep is further divided into 4 stages. Sleep staging attempts to identify these stages based on the signals collected in PSG. Significant information can be derived from the EEG signals collected during PSG. Wavelet coefficients are extracted from EEG signals. In order to reduce the amount of data set, the statistical features are calculated from wavelet coefficients. For performing decision making, six ANFIS classifiers and SVM classifier are used to differentiate between REM and Non-REM sleep stages. That is to say, pattern varies under the different sleep stages. Therefore, healthy humans with a regular night's sleep will follow these sleep stages in a particular pattern.

关键词： Support vector machines Time frequency analysis

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Impulse response invariant discretization of a generalized commensurate fractional order filter

Impulse response invariant discretization of a generalized c...

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World Congress on intelligent Control and Automation (WCICA)

作者： Yan Li Hu Sheng YangQuan Chen School of Control Science and Engineering Shandong University Jinan China Department of Electronic Engineering Dalian University of Technology Dalian China Center for Self-Organizing and Intelligent Systems (CSOIS) Department of Electrical and Computer Engineering Utah State University Logan UT USA

In this paper, we derive the impulse response of a generalized commensurate fractional-order filter of the form (s 2α +as α +b) -γ , where a, b ≥ 0, α ∈ (0, 1] and γ ∈ (0, 1). The asymptotic properties of the impulse responses are obtained. Moreover, based on the derived analytical impulse response, we show how to perform the discretization of the above fractional-order filter. Finally, a number of illustrated examples in time and frequency domains are provided as proofs of concepts.

关键词： Laplace equations Fractional calculus Frequency response Equations Time frequency analysis Time domain analysis

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Friction feedforward compensation and position feedforward in CNC machines

Friction feedforward compensation and position feedforward i...

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International Conference on electrical engineering/Electronics, computer, Telecommunications and Information Technology, ECTI-CON

作者： Wijin Suteeratanapirom Rapeepong Rattanawaorahirankul Chutima Laosapan Peerayot Sanposh Nattapon Chayopitak Kanokvate Tungpimolrut Hiroaki Kunieda TAIST Tokyo Technology China Intelligent Mechatronics Automation Robotics and Control Laboratory Department of Electrical Engineering Kasetsart University Bangkok Thailand Industrial Control and Automation Laboratory National Electronics and Computer Technology Center Klong Luang Pathum Thani Thailand Department of Electrical and Electronic Engineering Tokyo Institute of Technology Meguro Tokyo Japan

ISBN: (纸本)9781424456062;9789746724913

This research proposes a method to eliminate friction effect and reduced tracking error on CNC milling machines. A CNC milling machine has many connected mechanical components which have friction effects such as ball screws and rails. To control servo motors which are used to drive X-Y table in CNC milling machine, the conventional PID controller is widely used. In this research, Panasonic motor driver is set to the torque control mode. To compensate the friction effects, the friction feedforward compensation method is proposed. Moreover, to reduce the position tracking error, position feedforward controller is used. The simulation and implementation of position control in one axis of PID with Friction Feedforward Compensation and Position Feedforward Controller (FFC-PFC) are presented.

关键词： Friction computer numerical control Metalworking machines Servomotors Three-term control Fasteners Rails Servomechanisms Torque control Error correction

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Iterative learning control of a class of fractional order nonlinear systems

Iterative learning control of a class of fractional order no...

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IEEE International Symposium on intelligent Control (ISIC)

作者： Yan Li Hyo-Sung Ahn YangQuan Chen School of Control Science and Engineering Shandong University Shandong China Gwangju Institute of Science and Technology Gwangju South Korea Center for Self-Organizing and Intelligent Systems of Department of Electrical and Computer Engineering Utah State University Logan UT USA

This paper firstly addresses the convergence analysis of iterative learning control of a class of fractional order nonlinear systems using the generalized Gronwall-Bellman lemma. Detailed problem definition and conver... 详细信息

关键词： Nonlinear systems Convergence Simulation Fractional calculus Linear systems Differential equations Laplace equations

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SPACE-TIME FINITE ELEMENT ALGORITHM FOR THE FRACTIONAL FOKKER-PLANCK EQUATION

SPACE-TIME FINITE ELEMENT ALGORITHM FOR THE FRACTIONAL FOKKE...

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The Third International Conference on Dynamics,Vibration and Control(第三届国际动力学、运动与控制学术会议)

作者： Yunying Zheng Changpin Li YangQuan Chen Center for Self-Organizing and Intelligent Systems Utah State UniversityUtah 84322USA Department of Electrical and Computer EngineeringUtah State UniversityUtah 84322USA Center for Self-Organizing and Intelligent Systems Utah State UniversityUtah 84322USA Department of Mathematics Huainan Normal UniversityHuainan 232038China Department of MathematicsShanghai UniversityShanghai200444China

The fractional Fokker-Planck equation describes the change of probability of a random function in space and time, which has been used to characterize diffusion, especially sub/*** fractional Fokker-Planck equation is concerned commonly because of its relatively wide applications in various areas such as plasma physics, population dynamic, biophysics, engineering, neurosciences, nonlinear hydrodynamics and marking, etc.[1,2]

关键词： space-time finite element Discontinuous Galerkin finite element methods fractional Fokker-Planck equation

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THE NORMAL FORM OF THE PITCHFORK BIFURCATION FOR THE FRACTIONAL-ORDER systems

THE NORMAL FORM OF THE PITCHFORK BIFURCATION FOR THE FRACTIO...

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The Third International Conference on Dynamics,Vibration and Control(第三届国际动力学、运动与控制学术会议)

作者： Deliang.Qian Changpin.Li YangQuan Chen Center for Self-Organizing and Intelligent Systems Utah State UniversityUtah 84322USA Department of Electrical and Computer EngineeringUtah State UniversityUtah 84322USA Center for Self-Organizing and Intelligent Systems Utah State UniversityUtah 84322USA Department of Mathematics shanghai Universityshanghai 200444China Department of Mathematicsshanghai Universityshanghai 200444China

Bifurcation is one of the main topics in nonlinear *** normal form is one of important tools bifurcation *** normal form is the simplest differential equation that captures the essential features of a system near a bifurcation *** there have been a huge of publications for *** these works on bifurcation are mostly limited to ordinary differential equations and dynamics.

关键词： Fractional differential systems normal form pitchfork bifurcation

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THE SHORT MEMORY PRINCIPAL APPLIED IN THE FINITE ELEMENT METHOD FOR THE FRACTIONAL PARTIAL DIFFERENTIAL EQUATION

THE SHORT MEMORY PRINCIPAL APPLIED IN THE FINITE ELEMENT MET...

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The Third International Conference on Dynamics,Vibration and Control(第三届国际动力学、运动与控制学术会议)

作者： Z.Z.Zhao C.P.Li Y.Q.Chen Center for Self-Organizing and Intelligent Systems Utah State UniversityUtah 84322USA Department of Mathematics Shanghai UniversityShanghai 200444China Department of MathematicsShanghai UniversityShanghai 200444China Center for Self-Organizing and Intelligent Systems Utah State UniversityUtah 84322USA Department of Electrical and Computer EngineeringUtah State UniversityUtah 84322USA

Fractional calculus can be considered as the integer-order calculus's promotion, has the history of at least three hundred years old, dated from the Leibniz's letter to L'Hospital, in which the... 详细信息

关键词： The short memory principle finite element method fractional partial differential equation

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Modified adaptive control for region 3 operation in the presence of wind turbine structural modes

Modified adaptive control for region 3 operation in the pres...

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作者： Frost, Susan A. Balas, Mark J. Wright, Alan D. NASA Ames Research Center Intelligent Systems Division M/S 269-2 Moffett Field CA 94035 United States Department of Electrical and Computer Engineering University of Wyoming 1000 E. University Avenue Laramie WY 82071 United States National Renewable Energy Laboratory M/S 3811 1617 Cole Blvd. Golden CO 80401 United States

ISBN: (纸本)9781600867392

Many challenges exist for the operation of wind turbines in an efficient manner that is reliable and avoids component fatigue and failure. Turbines operate in highly turbulent environments resulting in aerodynamic loads that can easily excite turbine structural modes, possibly causing component fatigue and failure. Wind turbine manufacturers are highly motivated to reduce component fatigue and failure that can lead to loss of revenue due to turbine down time and maintenance costs. The trend in wind turbine design is toward larger, more flexible turbines that are ideally suited to adaptive control methods due to the complexity and expense required to create accurate models of their dynamic characteristics. In this paper, we design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed horizontal axis wind turbine operating in Region 3. The objective of the adaptive pitch controller is to regulate generator speed, accommodate wind gusts, and reduce the excitation of structural modes in the wind turbine. The control objective is accomplished by collectively pitching the turbine blades. The adaptive collective pitch controller for Region 3 was compared in simulations with a baseline classical Proportional Integrator (PI) collective pitch controller. The adaptive controller will demonstrate the ability to regulate generator speed in Region 3, while accommodating gusts, and reducing the excitation of certain structural modes in the wind turbine.

关键词： Controllers

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