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On-line Reconfiguration of Real-Time Robot Motion and Force control

IFAC Proceedings Volumes 2000年第27期33卷 171-176页

作者： A. Robertsson A. Valera K. Nilsson R. Johansson Dept. of Automatic Control Lund University SE-22100 Lund Sweden Dept. of Systems Engineering & Automation Valencia Technical University ES-46022 Valencia Spain Dept of Computer Science Lund Institute of Technology Lund University SE-22100 Lund Sweden

Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much engineering effort is required in order to evaluate a low level (high performance) control scheme on a real manipulator. The new control system we have obtained has two main advantages: first it provides a total open control architecture, and second it is the simplicity and the interactivity of the platform developed. Using this new control architecture, any force and motion control strategy can be programmed and implemented in a graphical and easy way.

关键词： Robot control Force control Embedded systems Rapid prototyping Non-linear control

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automatic tuning of controllers using a neural-genetic system

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IFAC Proceedings Volumes 1999年第2期32卷 5176-5181页

作者： António E. Ruano João M. Lima Ana B. Azevedo Nuno M. Duarte Peter J. Fleming Unit of Exact Sciences & Humanities University of Algarve 8000 Faro Portugal and Institute of Systems & Robotics Portugal Unit of Exact Sciences & Humanities University of Algarve Portugal High School of Technology University of Algarve Portugal Dept. of Automatic Control & Systems Engineering University of Sheffield U.K.

Neural networks and genetic algorithms have been in the past successfully applied, separately, to controller tuning problems. In this paper we purpose to combine its joint use, by exploiting the nonlinear mapping capabilities of neural networks to model objective functions, and to use them to supply their values to a genetic algorithm which performs on-line minimization. Simulation results show that this is a valid approach, offering desired properties for on-line use such as a dramatic reduction in computation time and avoiding the need of perturbing the closed-loop operation

关键词： Neural Networks Genetic Algorithms PID Autotuning

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Self-Tuning controller Based on Laguerre Function for Time-Delay systems

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IFAC Proceedings Volumes 1998年第18期31卷 637-642页

作者： Jozef Hejdiš Lubica Jurácková Štefan Kozák Dept. of Automatic Control Systems Faculty of Electrical Engineering and Information Technology Slovak Technical University I1kovicova 3812 19 Bratislava

This paper deals with the robust predictive control, and proposes a new approach based on Laguerre filters modelling. It is shown that this approach of modelling can bring some advantages to the robust predictive control context. Robustness conditions are also given. Simulation results are presented to illustrate the new robust predictive control algorithm. Ce travail propose une loi de commande prédictive assez simple, basée sur un modèle des polynomes de Laguerre. Ce modéle donne une représentation compacte du processus. On montre que cette approche fournit un apport dans la loi de commande prédictive et robuste. Les conditions de robustesse seront aussi présentées ainsi que les résultats obtenus en simulation afin d'illustrer les performances de ce nouvel algorithme de commande prédictive et robuste.

关键词： predictive control orthonormal series representation orthonormal function model Laguerre ladder network robustness

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Royal Academy of Medicine in Ireland - Section of Bioengineering - Proceedings of meeting held in Dundalk, Co. Louth, in February 1998.

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IRISH JOURNAL OF MEDICAL SCIENCE 1998年第4期167卷 256-276页

作者： [Anonymous] Orthopaedic Research Unit The Queen’s University of Belfast School of Biomedical Sciences The Queen’s University of Belfast Howmedica International Ltd. Raheen Industrial Estate Limerick Department of Mechanical Engineering Trinity College Dublin 2 Mater Hospital Dublin 7 Orthopaedic Research Laboratory Århus University Hospital Denmark University of Limerick Limerick Limerick Regional Hospital Raheen Limerick Boston Scientific Ireland Ltd. Galway Department of Mechanical Engineering University College Dublin Dublin Department of Electrical and Electronic Engineering University College Dublin Dublin Bioengineering Research Centre Department of Mechanical Engineering University College Dublin Dublin Northern Ireland Bio-Engineering Centre (NIBEC) School of Electrical and Mechanical Engineering University of Ulster Newtownabbey Department of Mechanical & Manufacturing Engineering The Ashby Building The Queen’s University of Belfast Johnson and Johnson Professional Orthopaedic Division Queensway England Department of Cardiology and Department of Medical Physics & Bioengineering St. James’s Hospital Dublin 8 Burke House Ellison Street Castlebar Royal College of Surgeons in Ireland Department of Surgery Beaumont Hospital Dublin Department of Electronic and Electrical Engineering Trinity College Dublin 2 Department of Aeronautical Engineering The Queen’s University of Belfast Vascular Unit Belfast City Hospital Department of Medical Physics and Bioengineering St. James’s Hospital Dublin 8 Centre for Biomedical Electronics Department of Electronic and Computer Engineering University of Limerick Limerick Department of Mechanical and Aeronautical Engineering University of Limerick Limerick School of Health Sciences University of Ulster Ireland School of Physiotherapy University of Ulster Newtownabbey Clinical Engineering NI Medical Physics Agency Belfast and Radiology Royal Victoria Hospital Musgrave Park Hospital University of Limerick Biomedical Institute (ULBMI) Uni

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Robust Decentralized control of MIMO systems in the Frequency Domain

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IFAC Proceedings Volumes 1997年第21期30卷 421-426页

作者： Alena Kozáková Dept. of Automatic Control Systems Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovak Republic

The paper presents an application-oriented robust decentralized control design technique based upon the sufficient condition for robust stability (SCRS) of systems under decentralized control (DC) which is fulfilled using parameter tuning of fixed-structure local controllers. Graphical interpretation of the SCRS provides two useful stability criteria used to test stability of the overall system as well as stability of subsystems. Theoretical results are illustrated in a case study.

关键词： Robust control Decentralized control Stability robustness Frequency domain

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Application of Aggregation Methods in control of Power systems

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IFAC Proceedings Volumes 1997年第21期30卷 457-462页

作者： Juraj Bízik Štefan Kozák Dept. of Automatic Control Systems Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovak Republic

Model reduction has significant importance in Large-Scale systems. In this paper one of the main classes of model reduction-aggregation is used and the results of the two different methods are discused and compared fo... 详细信息

关键词： Modelling and aggregation state-space model LQ controller design power and excitation control synchronous generator transformer line

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Non-linear tanker control system parameter optimisation using genetic algorithms

Non-linear tanker control system parameter optimisation usin...

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OCEANS

作者： E.W. McGookin D.J. Murray-Smith Yun Li T.I. Fossen Dept. of Electron. & Electr. Eng. Glasgow Univ. UK Centre for Systems and Control &Department of Electronics and Electrical Engineering University of Glasgow UK Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

The optimisation of a nonlinear control problem by genetic algorithm (GA) is studied in this paper. It involves the performance of a control system for course changing manoeuvres of an oil tanker. Sliding mode (SM) control theory is used to define the structure of this controller and the GA is used to optimise key control parameters so that satisfactory performance is obtained.

关键词： Genetic algorithms Sliding mode control control systems Petroleum automatic control Marine vehicles Nonlinear dynamical systems Nonlinear control systems Transportation Mathematical model

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Three-phase current-fed type converter with direct control of instantaneous current vector

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ELECTRICAL engineering IN JAPAN 1996年第5期117卷 70-80页

作者： Ohnishi, T Minamoto, Y University of Tokushima Received his Dr. of Eng. degree in 1972 from Tokushima University. In 1972 he became research Associate at the university then Lecturer Assistant Professor and Professor. He is engaged in research on power electronics motor control solar light power plants. He is a member of IEEE Society of Instrument and Control Engineering and Society of Power Electronics. Niihama National College of Technology Graduated in 1982 from Tokushima University Electric Eng. Dept. In 1983 he became Research Associate at Niihama College of Technology and since April 1993 Lecturer. He is engaged in research on power electronics. He is a member of Society of Instrument and Control Engineering Society of Systems Control

A new PWM technique for the current-fed PWM converter is proposed. As the control variables, the instantaneous active and reactive powers are used instead of the line current. They are proportional to the instantaneous active and reactive current-vector. The switching state of the PWM converter is given by the selection method of the appropriate current vector among the seven kinds of the current vectors with the zero current vector. The active current is controlled by the zero current vector and the reactive current depends on the kind of selected current vector. These variables basically are controlled by PWM switching from two kinds of hysteresis comparator. In addition to this, the compensation of the filter circuit can be obtained automatically by the PWM control based on the active and reactive current detected from the source current. In this paper, the principle of the PWM technique for the current-source PWM converter is proposed. Then, some simulation results are shown. After that, the feasibility of the system is verified by experimental results.

关键词： current-fed converter sine wave PWM instantaneous active power instantaneous reactive power

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Harmonic insertion in PWM inverter drive schemes

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European Transactions on Electrical Power 1992年第3期2卷 143-151页

作者： Theocharis, J. Petridis, V. Dr.-Ing. John Theocharis (1956) graduated as an Electrical Engineer from Aristotelian University of Thessaloniki.Greece in 1980. From 1980 to 1985 he has been with the scientific staff of the Department of Electrical Engineering at the Aristotelian University where he received the Ph.D. degree in 1985. Since 1986 he is working as a lecturer and in 1990 he became assistant professor at the Department of Electronics and Computer Engineering in the m e university. His research activities include control power electronics and electrical motor drives. Recently he is working with the Neural Network Systems with applications to field oriented control problems. Aristotelian University of Thessaloniki School of Engineering Faculty of Electrical Engineering Dept. of Electronics & Computer Engineering P.O. Box 438 GR-Thessalonikil/Greece.T+3131/219784Fax + 3031/274868) Prof. Dr.-Ing. Vasilis Petridis (1946) graduated from National Technical University of Athens Greece in 1969.He obtained the M.Sc. and the Ph.D. in electronics and systems from the University of London in 1970 and 1974. respectively. H i s interests include applied automatic control neural networks drives dynamic systems robotics etc. He is currently professor in the Department of Electronics and Computer Engineering of the University of Thessaloniki. (Aristotelian University of Thessaloniki. School of EngineeringFaculty of Electrical Engineering Dept. of Electronics & Computer Engineering P.O. Box 438. GR-ThessaloniW Greece T+3031/219784.Fax+3031/274868)

The procedure of harmonic insertion is generalized in this paper. Analytical expressions of the voltage spectra are derived. The insertion of the 3rd harmonic to the modulating signal, which is of particular interest, is considered as a special case. It is demonstrated in this case that the fundamental harmonic component of the phase and the line‐to‐line voltage is not affected by the insertion of the 3rd harmonic for sufficiently high values of the chopping ratio. However it has been shown that the higher harmonic spectrum is significantly improved as compared to the case of pure sinusoidal modulation. For different values of the fundamental component the optimal values of the amplitude of the third harmonic to be inserted have been calculated so that the distortion factor of the higher harmonic spectrum is minimized. Other cases of harmonic insertion are also considered which provide spectrum efficiency improvement. Experimental results are given which have been obtained by means of a microcomputer controlled PWM generator constructed for this purpose. Copyright © 1992 John Wiley & Sons, Ltd.

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COMMERCIAL APPLICATIONS OF ADVANCED MARINE VEHICLES FOR EXPRESS SHIPPING

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NAVAL ENGINEERS JOURNAL 1983年第3期95卷 283-300页

作者： LUEDEKE, G FARNHAM, RB JR. George Luedeke Jr.: received his BS degree in Mechanical Engineering from Massachusetts Institute of Technology and his MS degree in Product Design from Illinois Institute of Technology. Early in his career Mr. Luedeke joined General Motors Corporation as a designer responsible for development of people mover and rail rapid transit systems. From 1964 to 1974 he was with Hughes Aircraft Company. At Hughes he performed analyses and developed designs for a wide variety of program and proposal efforts such as: High Speed Ground Transportation (DOT) Task Force Command Center (NAVY) Panama Canal Marine Traffic Control Center (Panama Canal Co.) Royal Iranian Navy Command Center (Iran) Tactical Information Processing and Interpretation Center (Air Force) and WALLEYE CONDOR and PHOENIX Missile Systems (NAVY). He also had marketing development responsibilities related to the diversification of Hughes resources in civil business areas such as: Automatic train control (WMATA BARTD SCRTD) water/sewage treatment plant automation (Santa Clara County) Aqueduct Control (SWR) Hydrometeorological data collection (BPA WMO) and Salton Sea basin systems analysis (Dept. of the Interior). He was responsible for combat system integration for the Hughes 2000T Surface Effect Ship (SES) proposal. He also conducted detailed studies concerning ship flexure for the Improved Point Defense Target Acquisition System Program and for the definition of operational High Energy Laser weapon installations on a series of conventional monohulls (DLG DD and CVN). Since 1974 Mr. Luedeke has been employed at RMI Inc. (formerly Rohr Marine Inc.). During this time he has held several positions. His responsibilities have included directing a number of studies on advanced SES concepts managing activities defining mission/cost effectiveness of military and commercial SES's including defining the operational benefits and enhanced survivability characteristics of cargo SES's for high speed military sealiftfor NA TO and Southeast Asia

This paper will present the results of a marketing, engineering, and economic analysis of advanced marine vehicles done by IMA Resources, Inc. and RMI, Inc., in support of a Maritime Administration project to study “Multimode Express Shipping”. The study was conducted in 1981 and examined the economic benefits of using advanced marine vehicles as express cargo vessels in domestic and international service. Commodity characteristics, desirable express carrier rates, and potential high payoff service and route alternatives were identified. Advanced marine vehicles were surveyed and sized to meet desirable deadweight and block speed objectives. The costs of operating these craft on a variety of trade routes were calculated using an advanced marine vehicle economic analysis program. Revenues, expenses, break-even, profit and loss, cash flow requirements, tax summary and economic indicators (i.e., cost/ton – mile, etc.) were projected over the expected life of the vehicles as was return on investment. Traffic density and market penetration considerations narrowed the field of choice to smaller sized advanced marine vehicle carriers (i.e., 50 and 250 ton deadweight) and to three international and five domestic routes.

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