Abstract Design of a controller that damps driveline oscillations, while compensating network-induced time-varying delays, can be a challenging problem considering that vehicle drivetrains are characterized by fast dy...
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Abstract Design of a controller that damps driveline oscillations, while compensating network-induced time-varying delays, can be a challenging problem considering that vehicle drivetrains are characterized by fast dynamics that are subject to physical and control constraints. As such, the goal of this paper is to provide a control design methodology that can cope with all these challenges and limitations and still yield an effective solution. To this end, firstly, a method for determining a worst case upper bound on the delays that can be introduced by a controller Area Network (CAN) is presented. Then, a polytopic approximation technique is applied to obtain a discrete-time model of the closed-loop CAN system. Thirdly, a horizon-1 predictive controller based on flexible control Lyapunov functions is designed for the resulting model with polytopic uncertainty and hard constraints. Several tests performed on a benchmark model indicate that the proposed design methodology can handle both the performance/physical constraints and the strict limitations on the computational complexity.
This paper presents a 6 channels pulse width modulator with high resolution. The modulator is designed for three phase AC drives control. It is targeted for low cost FPGA implementation, and uses the special clock man...
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This paper presents a 6 channels pulse width modulator with high resolution. The modulator is designed for three phase AC drives control. It is targeted for low cost FPGA implementation, and uses the special clock management units present in the FPGA. The modulator is verified first by measurements on one channel. Then it is used for open loop starting of a three phase induction motor, thus verifying the correct operation as a whole.
This paper presents an optimized FPGA controller based on the space vector modulation algorithm. The novel system is used for the current control of three phase electric machines fed by three phase voltage source inve...
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This paper presents an optimized FPGA controller based on the space vector modulation algorithm. The novel system is used for the current control of three phase electric machines fed by three phase voltage source inverters. The modeling and simulation was carried out in Matlab Simulink, using the System Generator software. The algorithm parameters can easily be adjusted for different requirements. The design was implemented into a low cost FPGA device. Implementation performance in terms of area and speed is presented and compared to other controllers in the literature. Experimental results verify the correct operation of the system.
In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach co...
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ISBN:
(纸本)9781612848006
In this paper, we develop a computational framework for fully automatic deployment of a team of unicycles from a global specification given as an LTL formula over some regions of interest. Our hierarchical approach consists of four steps: (i) the construction of finite abstractions for the motions of each robot, (ii) the parallel composition of the abstractions, (iii) the generation of a satisfying motion of the team;(iv) mapping this motion to individual robot control and communication strategies. The main result of the paper is an algorithm to reduce the amount of inter-robot communication during the fourth step of the procedure.
This paper presents a new approach in the identification of the quadrotor dynamic model using a black-box system for identification. Also the paper considers the problems which appear during the identification in the ...
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This paper presents a new approach in the identification of the quadrotor dynamic model using a black-box system for identification. Also the paper considers the problems which appear during the identification in the closed-loop and offers a technical solution for overcoming the correlation between the input noise present in the output.
In this paper we present software application destined for study of heat transfer problems that is a part of education of subject Process engineering taught at the Tomas Bata University in Zlin. The application we use...
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ISBN:
(纸本)9781618040046
In this paper we present software application destined for study of heat transfer problems that is a part of education of subject Process engineering taught at the Tomas Bata University in Zlin. The application we use as a teaching aid for calculation and visualization of temperature distribution in the plane plate body during its heating or cooling. Calculation accuracy of our application enables it to be used for real engineering computing.
The paper contents the optimization of the washing processes which are characterized by large consumption of water and electrical energy mainly. For this reason is very important deal with them. For the optimization p...
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ISBN:
(纸本)9781618040046
The paper contents the optimization of the washing processes which are characterized by large consumption of water and electrical energy mainly. For this reason is very important deal with them. For the optimization process of washing it is possible to set up an access of the indirect modeling that is based on make-up of mathematical models coming out of study of the physical operation mechanism. The process is diffusion character it is characterized by the value of diffusion effective coefficient and so called structure power of the removing item to the solid phase. The mentioned parameters belong to input data that are important for the automaticcontrol of washing process.
The paper presents a procedure for creating a probabilistic finite-state model for a mobile robot and for finding a sequence of controllers ensuring the highest probability for reaching a desired region. The approach ...
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The paper presents a procedure for creating a probabilistic finite-state model for a mobile robot and for finding a sequence of controllers ensuring the highest probability for reaching a desired region. The approach starts by using results for controlling affine systems in simpliceal partitions, and then it creates a finite representation with history-based probabilities on transition. This representation is embedded into a Petri Net model with probabilistic costs on transitions, and a highest probability path to reach a target region is found. This probabilistic framework is suitable for controlling mobile robots based on more complex specifications.
The brushless DC (BLDC) motors have become the common choice in low power, high speed, high accuracy applications and this imposed the need for efficient and low cost motor control drives. In this paper, a design meth...
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This contribution reveals some problems concerning the use of holonic manufacturing systems. These regard both the design and implementation phases and they can be discovered since the system analysis. A new Petri net...
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