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Double Deployment of Delayed Resonator in Active Vibration Suppression

IFAC-PapersOnLine 2019年第18期52卷 115-120页

作者： Vladimír Kućera Jaromír Fišer Tomàš Vyhlídal Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Prague 6 Czech Republic Dept. Instrumentation and Control Engineering Faculty of Mechanical Engineering and Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6 Czech Republic

In the paper a proposal of active vibration suppression is made for the two-degree-of-freedom primary structure. The active vibration suppression of both masses of the primary structure is achieved by applying the absorber attached to every mass. The absorbers used are the delayed resonators which are tuned by delayed acceleration feedback. The delayed resonators are tuned separately, i.e. the tuning is provided for every mass of the primary structure where each mass is excited by its own external force. Both delayed resonator tunings are performed with respect to the suppression of both external forces and at the same time the stability guarantee of overall structure system. This system due to two feedback delays results in neutral-type system that requires demanding stability investigation. Finally the application example based on the simulation study on laboratory setup vibration suppression shows the effect of the delayed resonator tunings for the vibration suppression.

关键词： Vibration suppression delayed feedback resonators two-degree-of-freedom structure neutral system

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Towards Rehabilitation of Mughal Era Historical Places using 7 DOF Robotic Manipulator

Towards Rehabilitation of Mughal Era Historical Places using...

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International Conference on robotics and Artificial Intelligence (ICRAI)

作者： Muhammad Bilal Ali Raza Mohsin Rizwan Muhammad Ahsan Hafiz Farhan Maqbool Syed Abbas Zilqurnain Naqvi Al-Khawarizmi Institute of Computer Science UET1 Lahore HCR2 Lab National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering National Center of Robotics and Automation Lahore Pakistan Dept. of Mechatronics & Control Engineering UET Lahore Lahore Pakistan

The central aim of this research is to propose a solution to rehabilitate historic places using a robotic manipulator. In this pursuit, the objective is to clean flat or curved surfaces of mihrab/muqarnas and to write lost Arabic inscriptions on spandrel using 7 Degree of freedom (DOF) robotic manipulator. Inverse kinematics solution for 7 DOF is derived by fixing redundant joint and solving the remaining 6 DOF inverse kinematics. Image processing techniques are used to get data from the given image for the robotic calligraphy operation on the spandrel to restore the lost inscriptions. Path planning exercise is implemented to navigate the end-effector on the desired path to write lost inscriptions and to clean curved surfaces of muqarnas. Proposed solutions are verified by simulation using MATLAB. The results showed that the manipulator successfully tracked the given path to perform the desired operation in mihrab as well as calligraphy operation on spandrel.

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Threat Modelling for Critical Infrastructure Object

Threat Modelling for Critical Infrastructure Object

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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Radda A Iureva Artem S Kremlev Anastasia L Drannik Martin Cech dept. of Control Systems and Robotics ITMO University Saint Petersburg Russia NTIS – European Center of Escellence University of West Bohemi Pilsen Czechia

The paper is a survey to threats modelling in Critical Informational Infrastructure. The main trend analysis, which includes vulnerabilities in processors used in Internet of Things, agile/scrum development, artificial intelligence, is made. As undervaluation of this aspects causes successful penetration of malicious in industrial networks, the relevant threat model is of current concern in the process of building cybersecure system.

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Adaptive Output-Feedback Prescribed-Time Stabilization of Uncertain Nonlinear Strict-Feedback-Like Systems

Adaptive Output-Feedback Prescribed-Time Stabilization of Un...

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IEEE Annual Conference on Decision and control

作者： P. Krishnamurthy F. Khorrami M. Krstic Dept. of ECE NYU Tandon School of Engineering Control/Robotics Research Laboratory (CRRL) Brooklyn NY USA Dept. of Mech. and Aero. Engineering Univ. of California San Diego La Jolla CA USA

ISBN: (数字)9781728113982

ISBN: (纸本)9781728113999

Prescribed-time output-feedback stabilization (i.e., regulation of state and control input to the origin within a "prescribed" time irrespective of initial state) is addressed for a class of uncertain nonlinear strict-feedback-like systems. We show that prescribed-time output-feedback stabilization (i.e., both state estimation and regulation in prescribed time) is achieved through a novel control design involving specially designed dynamics of an adaptation state variable and high-gain scaling parameter along with a temporal transformation and a dual high-gain scaling based observer and controller design.

关键词： control design Observers Aerodynamics Symmetric matrices Convergence Linear matrix inequalities System dynamics

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Neutral PID control Loop Investigated in Terms of Similarity Theory

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IFAC-PapersOnLine 2018年第14期51卷 212-217页

作者： Fier, J. Zítek, P. Vyhlídal, T. Dept. Instrument. and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague 166 07 Praha 6 Czech Republic Czech Inst. of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic

A study to which extent of parameter setting the PID controller can be designed by means of dominant pole assignment for non-minimum-phase plant with delay is dealt with in the paper. Two options of the control loop are investigated, namely with and without the measurement filtering where the latter leads to a neutral time delay system which therefore has to satisfy the strong stability condition. The control loop is described in dimensionless quantities obtained by dimensional analysis. The influence of filtering on the loop dynamics is investigated particularly the effect of filter absence at all. This effect is demonstrated by the position of neutral root chain, i.e. how far from the origin lie the roots on a vertical line parallel to the imaginary axis of complex plane. To show boundaries of the dominant three-pole placement possibility in the control loop the trio of poles is placed repeatedly as long as the neutral root chain crosses the imaginary axis and the boundaries are mapped in the space of similarity numbers. © 2018

关键词： Delay control systems Chains Closed loop control systems controllers Electric control equipment Poles Poles and zeros Proportional control systems Three term control systems Time delay Dimensional analysis Dominant pole placements Neutral time delay systems Non minimum phase plants Parameter setting PID controllers Similarity theory Strong stability

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Robust PID controller Design for Plants with Delay Using Similarity Theory

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IFAC-PapersOnLine 2018年第14期51卷 236-241页

作者： Fier, J. Zítek, P. Vyhlídal, T. Dept. Instrument. and Control Eng. Faculty of Mechanical Engineering Czech Technical University in Prague 166 07 Praha 6 Czech Republic Czech Inst. Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic

Novel robust PID controller tuning is designed for second-order processes with varying delay in terms of the similarity theory. Similarity numbers are provided to characterize class of dynamically similar control loops enabling to tune all the robust PID controller settings together with a measurement filter adjustment. The novelty of the paper consists in the controller gain and filter constant settings by means of dominant four-pole placement such that the quadruple of placed poles is simultaneously robust. In addition these settings are generalized due to plant's dynamics characteristics expressed by the similarity numbers that describe sets of dynamically similar plants considered stable. For proving the robust stability of the similar control loops an algorithm for the pseudospectral abscissa evaluation is applied. Finally an example of the stability proof is given. © 2018

关键词： controllers

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Construction of a Specialized CNC System for Thread Grinding Machines

Construction of a Specialized CNC System for Thread Grinding...

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International Russian Automation Conference

作者： Georgi Martinov Ilya Kovalev Akram Al Khoury Institute of Automation and Robotics dept. Computer control systems MSTU STANKIN

ISBN: (纸本)9781538649398

The aim of this research is to construct a specialized system of thread grinding machines considering the features of thread grinding and the requirements to increase accuracy, the original structure of the control system for a thread grinder is proposed. This research will present an example of programming a software-implemented programmable logic controller to process the key press of operator's panel.

关键词： CNC system Thread grinding Soft PLC CNC system structure

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Observer-based H∞ fuzzy controller design of interval type-2 Takagi-Sugeno fuzzy systems under imperfect premise matching

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Transactions of the Korean Institute of Electrical Engineers 2017年第11期66卷 1620-1627页

作者： Hwang, Sounghwan Park, Jin Bae Joo, Young Hoon Dept. of Electrical and Electronic Engineering Yonsei University Korea Republic of Dept. of Control and Robotics Engineering Kunsan National University Korea Republic of

In this paper, we design an observer-based H∞ fuzzy controller for interval type-2 Takagi-Sugeno (T-S) fuzzy systems under imperfect premise matching. The designed observer-based controller can effectively estimate the state of the system and make fuzzy system satisfy the H∞ disturbance attenuation performance. Using the slack matrix, the derived stabilization condition is expressed in terms of a linear matrix inequality. Finally, the effectiveness of the proposed method is verified through a simulation example. © 2017 The Korean Institute of Electrical Engineers.

关键词： Lyapunov functions

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Multivariable Generalization of BMRAC Algorithm by means of Global HOSM Differentiators with Dynamic Gains

Multivariable Generalization of BMRAC Algorithm by means of ...

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control Technology and Applications (CCTA),

作者： Andrei Battistel Tiago Roux Oliveira Victor Hugo Pereira Rodrigues Leonid Fridman Department of Electronics and Telecommunication Engineering 4State University of Rio de Janeiro (UERJ) Rio de Janeiro RJ Brazil Dept. of Control Engineering and Robotics National Autonomous University of Mexico (UNAM) Federal District Mexico

This paper presents an extension of the Binary Model Reference Adaptive control (BMRAC) for uncertain multivariable (square) systems with non-uniform arbitrary relative degrees, using only output feedback. The BMRAC algorithm is a robust adaptive strategy which has the good transient and robustness properties of sliding mode control with the important advantage of preserving a continuous control signal free of chattering, inherited from classical adaptive systems. Unlike most of the publications which consider plants with uniform relative degree one, here we circumvent the arbitrary relative degree obstacle using a multivariable generalization of global finite-time differentiators with dynamic gains and higher-order sliding modes. State-norm observers are employed to obtain an upper bound for the unmeasured state and to update the gains of the proposed robust and exact multivariable differentiator. Global and exact output tracking is guaranteed without requiring stringent symmetry assumptions on the plant High-Frequency Gain matrix, usually assumed in other works in the literature.

关键词： MIMO communication Adaptive control Adaptation models Robustness Observers Heuristic algorithms Output feedback

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Distributed Functional Safety for Modular Process Plants

Distributed Functional Safety for Modular Process Plants

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Anselm Klose Florian Pelzer Mike Barth Rainer Drath Rainer Oehlert Silvia Vélez León Alexander Horch Christoph Kotsch Jochen Knab Bernhard Gut Hartmut Manske Leon Urbas Process Control Systems & Process Systems Engineering TU Dresden Dresden Germany Research Training Group 2323 TU Dresden Dresden Germany IoS³ - Institute of Smart Systems and Services Pforzheim University Pforzheim Germany Retired Process Engineering & Automation The Dow Chemical Company Stade Germany Dept. Global Consulting HIMA Paul Hildebrandt GmbH Brühl Germany R. D. & Product Management HIMA Paul Hildebrandt GmbH Brühl Germany Control Systems Technology BASF SE Ludwigshafen Germany Engineering Services Merck KGaA Darmstadt Germany Retired Electrical Engineering for Process Automation Endress+Hauser Germany Automation and Robotics Merck KGaA Darmstadt Germany

ISBN: (数字)9781728189567

ISBN: (纸本)9781728189574

Modular process plants enable the process industry to adapt to volatile and fluctuating markets. The preferred process technology concept for these market scenarios is realized through combining pre-engineered process equipment assemblies (PEA) from different manufacturers with standardized interfaces. While the flexibility gain for this type of plants is high, the design of the safety systems of these modular plants in terms of exchangeability and compatibility is challenging. One solution could be the development of a safety-interface for PEAs to create flexible and scalable safety systems. The principles of modular basic process control are analyzed and requirements with respect to safety design are discussed. The authors provide a differentiation of the intramodular safety concept of a single PEA from the intermodular safety concept of a complete modular plant. A concept for safe and modular interaction of PEAs in a modular plant is developed and additionally validated on a basic demonstrator. Finally, from these findings, standardization requirements are provided and aspects for further research are pointed out.

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