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Reconfigurable Parallel Kinematic Manipulator for Flexible Manufacturing

IFAC Proceedings Volumes 2009年第4期42卷 145-150页

作者： Mathias Haage Isolde Dressler Anders Robertsson Klas Nilsson Torgny Brogårdh Rolf Johansson Dept. Computer Science LTH Lund University Lund Sweden Dept. Automatic Control LTH Lund University Lund Sweden ABB Robotics SE-72168 Västerås Sweden

Flexible manufacturing puts high demands on industrial automation in terms of affordable and competitive solutions and is of key importance for short-lot production typically found in small and medium sized enterprises, situations where today manual labour is extensively used despite e.g. , environmental issues and harsh working conditions. Key factors in the successful introduction of new robot automation concepts are that they provide both the desired performance and quality (technical capability), but also that they enable fast deployment and extend available task repertoire. The Gantry-Tau manipulator is a new robot concept which in contrast to other high-performance parallel kinematic manipulators (PKM), has a large, open working range. Its high stiffness makes it ideal for a wide range of tasks such as grinding, deburring, and cutting. An additional aspect of such a PKM is the modularity, which in this work has been studied in terms of possibilities for assembly and mechanical reconfiguration at the end-user site, integration of such a kinematically different robot with a standard industrial controller, and new needs for methods/tools to support simple (re)configuration. A range of software tools and methods were found to be useful and necessary for efficient engineering and integration of the concept in typical SME manufacturing scenarios. For experimental evaluation, two full-scale prototype robots were designed and built, the kinematic software was developed and integrated into a couple of different robot control systems, robot CAD software was adapted to the configuration needs, and both simulations and physical experiments were carried out. Our findings make us believe that enhanced software tools should be integrated on a higher symbolic (or meta-) level to better support transformation of data and code generation, but also that the Gantry-Tau type of robot (with adequate software support) will bring a new dimension of flexibility into SME manufacturing.

关键词： parallel kinematic robots modularity kinematics force control calibration

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Robust Model Predictive control of continuous-time sampled-data nonlinear systems with Integral Sliding Mode

Robust Model Predictive Control of continuous-time sampled-d...

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European control Conference (ECC)

作者： M. Rubagotti D.M. Raimondo A. Ferrara L. Magni Dept. of Computer Engineering and Systems Science University of Pavia Pavia Italy Automatic Control Laboratory Swiss Federal Institute of Technology Zürich Switzerland

A hierarchical Nonlinear Model Predictive control (NMPC) scheme with guaranteed Input-to-State-practical-Stability (ISpS) is proposed. The controller is formed by an Integral Sliding Mode (ISM) controller and a NMPC one. The ISM, relying on the knowledge of the nominal continuous-time model of the system and of the piecewise constant control signal generated by the NMPC produces a control action aimed at reducing the difference between the dynamics of the nominal closed-loop system and the actual evolution of the state. The NMPC in this way can be designed based on a system with reduced uncertainty. In order to prove the stability of the overall control scheme, some general Regional ISpS results for continuous-time systems are proven.

关键词： Robustness Closed loop systems Uncertainty Stability analysis Economic indicators Manifolds Predictive control

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An Analytical Design of Fractional Order Proportional Integral and [Proportional Integral] controllers for Robust Velocity Servo

An Analytical Design of Fractional Order Proportional Integr...

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IEEE Conference on Industrial Electronics and Applications (ICIEA)

作者： ChunYang Wang Ying Luo YangQuan Chen Dept. of Electronics and Information Engineering Changchun University of Science and Technology Dept. of Automatic Science and Engineering South China University Dept. of Electrical and Computer Engineering Utah State University

ISBN: (纸本)9781424427994

In this paper, two tuning methods of Fractional Order Proportional Integral (FOPI) controller and Fractional Order [Proportional Integral] (FO[PI]) controller for the typical first-order velocity servo system are discussed. Using the Integer Order Proportional, Integral and Derivative (IOPID) controller, the controller can not be designed to follow the proposed tuning idea to achieve the robustness requirement. However, the FOPI and FO[PI] controllers designed by the proposed tuning methods can improve the performance and robustness of the first order velocity servo system. Furthermore, following the proposed systematic and analytical design schemes, the FO[PI] controller outperforms the FOPI controller. Simulation results are presented to validate the proposed tuning methods.

关键词： Fractional Order Proportional Integral (FOPI) controller Fractional Order [Proportional Integral](FO[PI]) controller Integer Order PID (IOPID)controller First-Order Velocity Servo Plant Robustness Fractional Order Calculus

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Space-State Modeling and control of Tokamak Reactors

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IFAC Proceedings Volumes 2009年第13期42卷 431-436页

作者： I. Garrido A.J. Garrido G. Sevillano M. Alberdi M. Amundarain O. Barambones Dept. Automatic Control and Systems Engineering Basque Country University EUITI de Bilbao 48012 UPV / EHU Plza. de la Casilla 3 48012 Bilbao Spain Dept. Automatic Control and Systems Engineering Basque Country University EUITI de Bilbao Vitoria Nieves Cano 12 01006 Vitoria-Gasteiz Spain

Abstract Nuclear fusion has the potential to produce unlimited, clean energy, which presents itself as a reliable energy supply but it also helps to stop the threat of climate change that faces the world nowadays. However, to sustain the pulse duration long enough to produce the necessary energy, new controls have to be developed, composing a new application area of control engineering, with new and interesting challenges for the control community. In this sense, this paper deals with the modeling of tokamak nuclear fusion reactors. In order to control the creation of unstable modes in fusion processes, it is necessary to derive numerical models suitable for control strategies. The model presented in this paper addresses flux and energy conservation issues, discussing the mechanisms behind the creation of uncontrollable modes. The dynamics of the system is given by means of the energy functions which are solved for the currents in the structure, plasma current and plasma position. Thus, the equations for the state variables are derived based on the Hamiltonian equation of motion. In order to solve this system numerically, this model is linearized around an operation point by taking a Newton-Raphson step. Besides, the system output is completed by considering the equations for the flux and the poloidal field. Finally, the resulting low-order linear model is modified so as to obtain the corresponding state-space model which is verified by means of numerical experiments.

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Wells turbine control in wave power generation plants

Wells turbine control in wave power generation plants

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IEEE International Conference on Electric Machines and Drives (IEMDC)

作者： M. Amundarain Ormaza M. Alberdi Goitia I. Garrido Hernandez A. J. Garrido Hernandez Department Automatic Control and Systems Engineering University of Basque Country (UPV-EHU) Bilbao Spain Dept. Automatic Control and Systems Engineering University of the Basque Country Bilbao SPAIN Dept. Autom. Control & Syst. Eng. Univ. of the Basque Country Bilbao

ISBN: (纸本)9781424442515

In this paper a Wells turbine control is presented. For this purpose, a control scheme for the flow coefficient is derived based on the addition of external resistances in series with the rotor winding of the induction generator connected to the turbine. Due to the stalling behaviour, the generator increases its velocity as the flow coefficient of the turbine approaches the critical point at which the turbine losses power. The proposed control system does appropriately adapt the rotor resistance according to the entry pressure drop. To do so, the control implements a continuous resistance switching depending on the pressure drop and it will be demonstrated that the average power of the turbine and generator are significantly higher in the controlled case than in the uncontrolled one. It is stated that there exist an optimal value of external resistances for each specific range of pressure drop and it is verified that greater input pressure drop does not imply higher power output unless the stalling behaviour is avoided.

关键词： Turbines Power generation automatic control Rotors Systems engineering and theory Induction generators Pressure control automatic generation control Power engineering and energy control systems

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A Sensorless Vector control of Induction Motor Drives based on Artificial Neural Networks

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IFAC Proceedings Volumes 2009年第8期42卷 185-190页

作者： Oscar Barambones Dept. of Automatic Control and System Engineering. University of the Basque Country. EUI. Nieves cano 12. Vitoria. Spain

This paper presents a speed control of an induction motor. The design uses an feedforward Artificial Neural Network (ANN) to implement a rotor speed estimator, and a robust control strategy based on the sliding-mode. The proposed control scheme also make use of the field oriented control theory to simplify the proposed control design. The stability analysis of the presented control scheme is provided using the Lyapunov stability theory. Finally simulated results show that the presented controller with the proposed observer provides high-performance dynamic characteristics and that this scheme is robust with respect to plant parameter variations and external load disturbances.

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Economical implementation of control loops for multi-robot systems

Economical implementation of control loops for multi-robot s...

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15th International Conference on Neuro-Information Processing, ICONIP 2008

作者： Lopez-Guede, Jose Manuel Graña, Manuel Zulueta, Ekaitz Barambones, Oscar EHU System Engineering and Automatic Dept. Computational Intelligence Group UPV University College of Engineering of Vitoria C/Nieves Cano 12 Vitoria 00106 Spain EHU Computer Science and Artificial Intelligence Dept. Computational Intelligence Group UPV Basque Country University C/Paseo Manuel de Lazdizábal 1 San Sebastián 20018 Spain

ISBN: (纸本)3642024890

In spite of the multiple advantages that multi-robot systems offer, to turn them into a realistic option and to get their proliferation, they must be economically attractive. Multi-robot systems are composed of several robots that generally are similar, so if an economic optimization is done in one of them, such optimization can be replicated in each member. In this paper we deal with the economic optimization of each control loops of the subsystems that each robot must control individually. As the subsystems can be complex, we propose to use a Predictive control modeled by Time Delayed Neural Networks and implemented using very low cost Field Programmable Gate Arrays. © 2009 Springer Berlin Heidelberg.

关键词： Multipurpose robots

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Safety Assessment of Driving Behavior in Multi-Lane Traffic for Autonomous Vehicles

Safety Assessment of Driving Behavior in Multi-Lane Traffic ...

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IEEE Intelligent Vehicles Symposium (IV)

作者： Matthias Althoff Olaf Stursberg Martin Buss Institute of Automatic Control Engineering (LSR) Technische Universitat Munchen Institute of Control and System Theory Dept. of Electrical Eng. University of Kassel

ISBN: (纸本)9781424435036

An approach for the safety assessment of planned trajectories of autonomous vehicles is presented. Due to the unsafe nature of road traffic, the proposed safety assessment is performed in a probabilistic setting, where the probability distributions of possible future positions of traffic participants are computed based on dynamic models. The underlying algorithms have to be efficient as they need to provide a safety level of the currently planned path while the vehicle is in operation. In order to achieve the necessary efficiency of computation, the dynamics of traffic participants is abstracted into Markov-chains. The approach considers vehicle dynamics, interaction between traffic participants, and lane changes in multi-lane traffic.

关键词： Safety assessment Autonomous Vehicles Driver Behavior Multilane Traffic Lane changing Probability distribution Road traffic

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Output feedback stabilization for min-max systems

Output feedback stabilization for min-max systems

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2009 International Conference on Information engineering and computer Science, ICIECS 2009

作者： Wei, Hongyun Chen, Wende Wang, Yongji Wei, Qingyun Dept. of Control Science and Engineering Huazhong Univ. of Sci. and Tech. Wuhan China College of Computer Science South-Central Univ. for Nationalities Wuhan China Academy of Mathematics and System Sci. Chinese Academy of Sci. Beijing China Dept. of Control Sci. and Engineering Huazhong Univ. of Sci. and Tech. Wuhan China Dept. of Electronic Information Countermeasures Air Force Rader Academy Wuhan China

ISBN: (纸本)9781424449941

A variety of problems arising in communication networks, computer networks, automated manufacturing plants, etc. can be described by min-max-plus system models. Output feedback stabilization for the nonlinear, non-autonomous min-max-plus system (F, G, H) is studied in this paper. A new coloring graph structure is presented based on the new, complex conditions. The former research on new circuits of closed-loop max-plus projection system is considered with only one feedback edge, but more feedback edges should be included in the new circuits is pointed out in this paper. Finally, a sufficient condition for output feedback stabilization of min-max-plus system (F, G, H) is obtained. ©2009 IEEE.

关键词： Stabilization

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Neural control of the Wells turbine-generator module

Neural control of the Wells turbine-generator module

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48th IEEE Conference on Decision and control (CDC)

作者： M. Amundarain Ormaza M. Alberdi Goitia A.J. Garrido Hernandez I. Garrido Hernandez University of the Basque Country Dept. Automatic Control and Systems Engineering Plaza de la Casilla 3 48012 Bilbao SPAIN

ISBN: (纸本)9781424438716

Wave energy is one of the most promising forms of ocean renewable sources because of its high availability. The Wells turbine has been one of the defining technologies in the development of wave energy. In this paper a neural control method for the Wells turbine-generator module is presented. For this purpose, a neural control using the backpropagation algorithm has been implemented, based on the addition of external resistances in series with the rotor winding of the induction generator connected to the turbine. The proposed control system does appropriately adapt the rotor resistance according to the pressure drop entry. It will be shown how the controller avoids the stalling behaviour and that the average power of the generator fed into the grid is significantly higher in the controlled case than in the uncontrolled one.

关键词： neuroregulation WELLS Wave energy turbogenerators Backpropagation algorithms Induction generators Rotors (windings) Pressure decline power generator rotor resistance Technology Development average power

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