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American control Conference (ACC)

作者： L. Mianzo Huoi Peng Visteon Advanced Powertrain Control Systems Group Dearborn MI USA Department of Mechanical Engineering and Applied Mechanics University of Michigan Ann Arbor MI USA

A cylinder-by-cylinder model of an experimental variable valve timing 4-cylinder engine has been developed. The model includes the cylinder and manifold mass, temperature, burned gas residual, and pressure dynamics, including combustion effects, as well as the valve actuator dynamics. The cylinder-by-cylinder model is used to obtain a cycle-averaged mapping between torque at a given engine speed and intake valve timing, which is suitable for future control design implementations.

关键词： Valves Timing Engine cylinders Combustion Mechanical variables control Power system modeling Temperature Electric variables control Fuel economy Manifolds

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A design method of an adaptive PI controller for a positioning mechanism with stand

A design method of an adaptive PI controller for a positioni...

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IEEE Conference on control Technology and Applications (CCTA)

作者： K. Sato K. Watanabe H. Honda R. Oguro Department of Advanced Systems Control Engineering Graduate School of Saga University Saga Japan Research Laboratory Motor Drives Research Section Yaskawa Electric Corporation Fukuoka Japan

We consider an adaptive PI controller for a positioning mechanism with stand. To control the position of a moving table with vibration suppression of the stand, derivation of the motion equation of the whole system and identification of the physical parameters are very important. However, in previous researches, conventional PI control methods have been applied to the positioning control and the design parameters depend heavily on the physical parameters of the controlled system. To cope with this problem, we apply the adaptive PI control strategy to that system and show the effectiveness of our method, compared to the conventional strategy.

关键词： Design methodology Programmable control Adaptive control Pi control Fasteners Vibration control Gears Couplings Motion control Equations

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Polishing robot using a joystick controlled teaching system

Polishing robot using a joystick controlled teaching system

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作者： Nagata, F. Watanabe, K. Hashino, S. Tanaka, H. Matsuyama, T. Hara, K. Interior Design Research Institute Fukuoka Industrial Technology Center Agemaki-405-3 OhkawaFukuoka831-0031 Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Honjomachi-1 Saga840-8502 Japan Fukuoka Industrial Technology Center Kamikoga 3-2-1 ChikushinoFukuoka818-8540 Japan Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center Yahatanishiku Norimatsu 3-6-1 KitakyusyuFukuoka807-0831 Japan

An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation;and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot. © 2000 IEEE.

关键词： Industrial robots

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Closed-loop output error identification of nonlinear plants using kernel representations

Closed-loop output error identification of nonlinear plants ...

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IEEE Conference on Decision and control

作者： F. De Bruyne B.D.O. Anderson I.D. Landau Advanced Process Control group Siemens Service EIT ES Belgium Department of Systems Engineering RSISE Australian National University Canberra Australia Laboratoire d ’Automatique de Grenoble CNRS-INPG-UJF Saint Martin France

In this paper, the family of algorithms presented previously by the authors (1999) is extended for the identification of continuous time nonlinear plants operating in closed-loop. The main novelty is that the identifi... 详细信息

ISBN: (纸本)0780366387

关键词： Kernel Nonlinear systems Image representation Process control systems engineering and theory Adaptive systems Error correction Working environment noise Fasteners Output feedback

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Polishing robot using a joystick controlled teaching system

Polishing robot using a joystick controlled teaching system

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Annual Conference of Industrial Electronics Society

作者： F. Nagata K. Watanabe S. Hashino H. Tanaka T. Matsuyama K. Hara Interior Design Research Institute Fukuoka Industrial Technology Center Fukuoka Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Saga University Saga Japan Fukuoka Industrial Technology Center Fukuoka Japan Mechanics &Electronics Research Institute Fukuoka Industrial Technology Center Fukuoka Japan

An impedance model following force control, using a position/orientation compensator based on joystick taught data, is proposed for an industrial robot with an open architecture controller. The method is characterized by two requirements: 1) to polish an object with the desired contact force and orientation; and 2) no conventional complicated teaching process is required. The effectiveness and potential of the proposed method are demonstrated through some experiments concerning with a polishing task using the JS-10 industrial robot.

关键词： Educational robots control systems Education Service robots Force control Industrial control Electrical equipment industry Impedance Position control Robot sensing systems

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Model Based control of a Reactive Distillation Column

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IFAC Proceedings Volumes 2000年第10期33卷 99-104页

作者： Libei Chen Yves Hontoir Jie Zhang Georges Bastin Centre for Systems Engineering and Applied Mechanics Catholic University of Louvain Bâtiment Euler 4 Av. G. Lemaitre 1348 Louvain-la-Neuve Belgium fax: +32 10 472380 Advanced Process Control Chemicals Corporate Research and Technology SOLVAY S.A. Rue de Ransbeek 310 1120 Brussels Belgium Department of Chemical and Process Engineering Merz Court University of Newcastle Newcastle-upon-Tyne NE1 7RU UK

The design and the performances of a hybrid model based control of an industrial reactive distillation column are presented. The model structure is a combination of first principles with standard black-box techniques. The approach is based on easily established mass balance equations, the stoichiometry of the system and a model reduction from fast system dynamics. This model makes use of a combined physically meaningful variable from several physical inputs of the process. It is also a key variable for the optimization and the control of the underlying process. This model structure has been successfully used in an IMC scheme for the on-line control of this process.

关键词： Hybrid modelling process optimization reactive distillation column IMC applications

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Global path planning of mobile robots as an evolutionary control problem

Global path planning of mobile robots as an evolutionary con...

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1999 European control Conference, ECC 1999

作者： Watanabe, K. Hashem, M.M.A. Izumi, K. Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Japan Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan

ISBN: (纸本)9783952417355

A new method for global path planning of mobile robots is presented using an Evolutionary Strategy (ES). A two-dimensional autonomous path planning problem of a point mobile robot among polygonal obstacles is formulated as a constrained time-optimal control problem considering motions of the robot. From the visibility concept, each polygonal obstacle is enclosed by a circle so that the visible side of the obstacle will be contained inside a circle. An appropriate fitness function for the problem is constructed by applying a penalty function approach. Simulation results show that the proposed evolutionary approach is quite robust, and it is guaranteed to yield a path terminating at the goal with minimum time and distance while avoiding polygonal obstacles. © 1999 EUCA.

关键词： Mobile robots

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Kinematic solution of a quadruped walking robot - posture analysis of TITAN-VIII

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IFAC Proceedings Volumes 1999年第2期32卷 827-832页

作者： Xue Dong Chen Keigo Watanabe Kiyotaka Izumi Faculty of Engineering Systems and Technology Graduate School of Science and Engineering JAPAN Department of Advanced Systems Control Engineering Graduate School of Science and Engineering JAPAN Department of Mechanical Engineering Faculty of Science and Engineering Saga University 1-Honjomachi Saga 840-8502 Japan

The crawl motion of a quadruped walking robot is considered as the combination of two forms. One results from a parallel manipulator composed of the standing legs and robot's body, and the another is the swing leg's movement. The walk conditions satisfied with the constraint of robot's mechanical structure are derived and the closed-form direct kinematics solution of a quadruped robot is presented. It is shown that the direct kinematics of the robot involves solving a sixteenth-degree polynomial of a single variable. A numerical example is also presented and the results are verified by an inverse kinematics analysis. The approach can be used to derive the kinematics of the other gaits for quadruped robots.

关键词： Kinematics Open-loop control systems Polynomial methods Robotics Robot

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Design, flight simulation, and handling qualities evaluation of an LPV gain-scheduled helicopter flight control system

Design, flight simulation, and handling qualities evaluation...

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1999 European control Conference, ECC 1999

作者： Postlethwaite, Ian Konstantopoulos, Ioannis K. Sun, Xiao-Dong Walker, Daniel J. Alford, Adrian G. Control Systems Research Department of Engineering University of Leicester LeicesterLE1 7RH United Kingdom Advanced Engineering GKN Westland Helicopters Ltd. YeovilBA20 2YB United Kingdom

ISBN: (纸本)9783952417355

This paper summarises a recent project involving the design, piloted simulation, and handling qualities evaluation of a Linear Parameter Varying (LPV) gain-scheduled helicopter flight control law. The work was jointly carried out by the control systems Research group of Leicester University and the advanced engineering group of GKN Westland Helicopters, Yeovil, England. The controller design was based on a Lynx MK7 helicopter model and used the quadratic H∞ performance methodology with a 2-degrees-of-freedom controller. In an off-line computer analysis, the controller consistently achieved Level 1 Cooper-Harper handling qualities ratings. A series of successful flight simulations were then performed by two test pilots on Westland's advanced engineering Simulation Facility (AESF). Both pilots consistently awarded Level 1 handling qualities ratings for the LPV gain-scheduled controller. © 1999 EUCA.

关键词： Flight control systems

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Evolutionary Strategy Using Statistical Information and Its Application to Mobile Robot control

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Journal of advanced Computational Intelligence and Intelligent Informatics 1999年第2期3卷 75-81页

作者： Izumi, Kiyotaka Watanabe, Keigo Hashem, M.M.A. Department of Mechanical Engineering Faculty of Science and Engineering Japan Department of Advanced Systems Control Engineering Graduate School of Science and Engineering Japan Faculty of Engineering Systems and Technology Graduate School of Science and Engineering Saga University 1-Honjomachi Saga840-8502 Japan

We describe an evolution strategy (ES) using the statistical information of subgroups obtained automatically by a similarity metric of individuals at each generation. Arithmetical crossover is done with an elite individual and a mean individual within each subgroup to produce offspring. Standard deviation calculated within a subgroup is used in mutation. The effectiveness of the proposed ES is first shown with tests of the 5 De Jong functions. The present ES is also applied to the acquisition of control for a terminal control problem in an omnidirectional mobile robot, in which robot control is based on fuzzy behavior-based control that combines subsumption-like architecture and fuzzy reasoning. © 1999 Fuji Technology Press. All rights reserved.

关键词： Fuzzy control

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