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Separable Model Predictive control via Alternating Direction Method of Multipliers for Large-scale Systems

IFAC Proceedings Volumes 2014年第3期47卷 10499-10504页

作者： Liang Lu Division of Automatic Control Department of Electrical Engineering Linköping University SE-581 83 Linköping Sweden State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China

In this paper, an alternating direction method of multipliers (ADMM) based real-time model predictive control (MPC) algorithm is presented. With the use of indicator function and by introducing extra consensus constraints, the constrained MPC problem can be formulated as a separable MPC problem, which can be computed very efficiently by projected gradient descent ADMM update steps and Riccati recursions. The sequence of the objective value of this constrained real-time ADMM-type MPC algorithm satisfies a linear convergence rate. The procedure is also extended to distributed systems with constraints, in which the variables of each subsystems communicate with their neighbors and update in the Gauss-Seidel way. An illustrative example shows the effectiveness of this approach.

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Model predictive temperature control for a food transporter with door-openings

Model predictive temperature control for a food transporter ...

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SICE International Symposium on control Systems (ISCS)

作者： Elisabeth Luchini Agnes Poks Dominik Radler Martin Kozek Division of Control and Process Automation Institute of Mechanics and Mechatronics Getreidemarkt 9/325-A5 Vienna Austria PRODUCTBLOKS GmbH Stockerauer Str. 106 Korneuburg Austria

ISBN: (数字)9784907764647

Temperature control of a food supplier vehicle with an insulated cool box (ICB) is critical. Air exchange during the door-opening is a main disturbance which heats up the ICB and accounts for a large part of total cooling load. Usually, this effect is not considered in the control strategy. In this paper a model predictive control (MPC) is used to optimise the temperature control and energy consumption and to handle the door-opening effects. Due to the thermal inertia of the cargo, it can be shown that a technique for estimating the temperature of the cargo instead of the air temperature would lead to a more effective control system. The system and control architecture is presented, the concept of the MPC including door-opening is given and simulation results demonstrate the performance of the concept.

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Wholistic simulation of an all-electric refrigerated delivery vehicle

Wholistic simulation of an all-electric refrigerated deliver...

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SICE International Symposium on control Systems (ISCS)

作者： Agnes Poks Elisabeth Luchini Filip Kitanoski Martin Kozek Division of Control and Process Automation Getreidemarkt 9/325-A5 Institute of Mechanics and Mechatronics Vienna Austria PRODUCTBLOKS GmbH Stockerauer Str. 106 Korneuburg Austria

ISBN: (数字)9784907764647

Large amounts of goods have to be discarded because of a disrupted cooling chain, where last mile delivery is often the crucial part. For future refrigerated trucks which are fully electrified the limited battery capacity calls for detailed investigations. The main contribution of this paper is a detailed model of such an electric truck together with an electric cooling unit, which covers both the power consumption of the drive train and the cooling unit for various driving conditions. The proposed simulation framework is parameterized using measured data from literature, it comprises different weather conditions, door openings, traffic volume as well as the driver aggressiveness. The simulation model uses a minimum number of parameters for an easy fit, and due to it computational efficiency it can be used for applications like model predictive control.

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Multivariable Constrained Predictive control (With Application to High Performance Distillation)

Multivariable Constrained Predictive Control (With Applicati...

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American control Conference (ACC)

作者： D.J. Wilkinson M.T. Tham A.J. Morris Automation & Control Group Manufacturing Services Division Shell International Petroleum Company Limited The Hague Netherlands Department of Chemical and Process Engineering University of Newcastle Newcastle-Upon-Tyne UK

A multivariable constrained predictive controller is briefly described. Its objective function is solved via Singular Value Decomposition (SVD). Apart from being a numerically robust solution technique, the approach also provides useful on-line information which can be used to enhance the stability of the closed loop system. The performance characteristics of the algorithm are illustrated by applications to nonlinear simulations of two high purity distillation columns.

关键词： Predictive control Manufacturing automation Robust stability Cost function Automatic control Petroleum Chemical processes Chemical engineering Feedback control PROM

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Sliding mode control for Markovian jumping systems subject to partially known transition rate

Sliding mode control for Markovian jumping systems subject t...

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第三十二届中国控制会议

作者： Bei Chen Tinggang Jia Yugang Niu Key Laboratory of Advanced Control and Optimization for Chemical Process(East China University of Science and Technology) Ministry of Education Automation Division Shanghai Electric Group Co.Ltd.

ISBN: (纸本)9781479900305

This paper investigates the problem of sliding mode control for a class of stochastic Markovian jumping systems with partially known transition rate.A key feature in this work is to relax the requirement that all the elements in transition rate matrix are known,which is usually encountered in some existing *** is shown that the reachability of the specified sliding surface can be ensured by the designed sliding mode ***,the suffcient conditions for the stability of the sliding motion on the sliding surface are also derived.

关键词： Markovian jumping systems incomplete transition rate state-dependent noise sliding mode control

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Hazard Analysis of Collaborative automation Systems: A Two-layer Approach based on Supervisory control and Simulation

Hazard Analysis of Collaborative Automation Systems: A Two-l...

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IEEE International Conference on Robotics and automation (ICRA)

作者： Tom P. Huck Yuvaraj Selvaraj Constantin Cronrath Christoph Ledermann Martin Fabian Bengt Lennartson Torsten Kröger Intelligent Process Automation and Robotics Lab Institute of Anthropomatics and Robotics (IAR-IPR) Karlsruhe Institute of Technology India Department of Electrical Engineering Division of Systems and Control Chalmers University of Technology Gothenburg Sweden

Safety critical systems are typically subjected to hazard analysis before commissioning to identify and analyse potentially hazardous system states that may arise during operation. Currently, hazard analysis is mainly based on human reasoning, past experiences, and simple tools such as checklists and spreadsheets. Increasing system complexity makes such approaches decreasingly suitable. Furthermore, testing-based hazard analysis is often not suitable due to high costs or dangers of physical faults. A remedy for this are model-based hazard analysis methods, which either rely on formal models or on simulation models, each with their own benefits and drawbacks. This paper proposes a two-layer approach that combines the benefits of exhaustive analysis using formal methods with detailed analysis using simulation. Unsafe behaviours that lead to unsafe states are first synthesised from a formal model of the system using Supervisory control Theory. The result is then input to the simulation where detailed analyses using domain-specific risk metrics are performed. Though the presented approach is generally applicable, this paper demonstrates the benefits of the approach on an industrial human-robot collaboration system.

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Experimental modal analysis of a scaled car body for metro vehicles

Experimental modal analysis of a scaled car body for metro v...

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13th International Congress on Sound and Vibration 2006, ICSV 2006

作者： Popprath, S. Benatzky, C. Bilik, C. Kozek, M. Stribersky, A. Wassermann, J. Institute of Mechanics and Mechatronics Division of Measurement and Actuator Technology Vienna University of Technology Wiedner Hauptstraße 8-10/E325/A4 A-1040 Vienna Austria Institute of Mechanics and Mechatronics Division of Control and Process Automation Vienna University of Technology Gußhausstraße 27-29/E325/A5 A-1040 Vienna Austria Siemens Transportation Systems GmbH and Co KG Leberstraße 34 A-1110 Vienna Austria

ISBN: (纸本)9781627481502

This contribution deals with the investigation of an approximately 1/10-scaled model of a metro vehicle car body concerning the low structural eigenmodes. The model has been developed by means of finite element calculations in such a way that the eigenfrequencies of the model lie close together. An experimental modal analysis has been carried out to determine the structural dynamics behavior of the realized model. The achieved results verify the predicted dense lying eigenfrequencies. In addition to that the accomplished experimental modal analysis provides a sophisticated basis to improve the modelling of the investigated structure for control purposes. Such simulations and measurements are done to support design developments and concepts to achieve a higher ride quality for metro vehicles.

关键词： Structural dynamics

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Measurement of Material Properties of Steel Sheets Using Laser Ultrasonic Technology

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Procedia Engineering 2014年 81卷 1414-1419页

作者： Mitsuhiko Sano Kazuhiro Ohara Naoki Shimoda Masashi Tsugeno Research and Development Center of Process Control Industrial Automation & Drive Systems Division Toshiba Mitsubishi-electric Industrial Systems Corporation (TMEIC) 3-1-1 Kyobashi Chuo-ku Tokyo 104-0031 Japan Industrial Automation & Drive Systems Division Toshiba Mitsubishi-electric Industrial Systems Corporation (TMEIC) 3-1-1 Kyobashi Chuo-ku Tokyo 104-0031 Japan

A non-contact laser ultrasound measuring system for material properties of high-strength steels was developed. This system can measure material properties such as crystal grain size by analyzing high-frequency ultrasound waveforms generated by a pulsed laser. For this purpose, a light equalizing device is applied to the pulsed laser path so that the excited ultrasound can propagate a long distance without being weakened by diffusion. Therefore, the characteristics of the waveform can be captured clearly and analyzed correctly by this system. The advantages of this device were confirmed by numerical simulation of the ultrasonic propagation. The capability of this measuring system was shown by experimental measurement of various high-strength steel specimens. The measured crystal grain sizes showed good agreement with the results of SEM-EBSD observations. The measured crystal grain size also showed good correlation with the tensile test results.

关键词： Laser-ultrasound Non-contact measurement Material property Grain size Hot strip mill Rolling

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Improving copper matte grade control in a concentrate flash furnace

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IFAC Proceedings Volumes 2012年第23期45卷 13-18页

作者： Luis Bergh Iván Cornejo Fernando Romero Cristian Sulzer CASIM Automation and Supervision Centre for Mineral Industry Chemical Engineering Department Santa Maria University Valparaiso Chile (e-mail: luis.bergh@usm.cl) Process Control Manager Anglo American Chile Santiago Chile Chagres Division Anglo American Chile Santiago Chile

The copper matte grade (CMG) variation in a flash furnace depends on bath temperature, phase levels, ratio of oxygen to sulfur, iron and copper content on the feed, and tonnage ratio of silica flux and feed, among others. The CMG is obtained from laboratory analysis of samples taken when the matte is tapped out from the furnace. Then the CMG is known with a time delay of 1–2 hours, almost every one hour. Since feed characteristics usually change during this period, any feedback control of CMG cannot reduce enough the grade variability. On the other hand, it was shown that main disturbances are coming with the composite feed tonnage and composition, being the powder tonnage control system the main contribution. A new calibration system was proposed and implemented. During an evaluation period of 60 days, it was found that the standard deviation of the CMG was reduced in 25%. This improvement can be explained considering two effects. First, the stabilization of the total feed tonnage that affect the mass balance in the furnace. Second, even when the powder tonnage is only 7% of the total tonnage, its special chemical composition contributed to increase the copper content in the matte. The stabilization of the furnace operation also improved the phase separation, as well as reduced the variance of the gas SO 2 composition and flow rate. The operators took advantage of this reduced variability to increase the fusion rate and thus the mean generated gas flow rate in the furnace, without violating the plant constraints. One important conclusion is that this result will permit to increase the average value of CMG, when the development of the virtual sensor of feed composition is completed and when this estimation becomes part of a FF-FB control.

关键词： flash furnace control industrial data pyrometallurgy

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The Tinyphoon's control Concept

The Tinyphoon's Control Concept

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International Conference on Mechatronics (ICM)

作者： Gregor Novak Charlotte Roesener Markus Bader Tobias Deutsch Stefan Jakubek Stefan Krywult Martin Seyr Institute of Computer Technology University of Technology Vienna Vienna Austria Department of System Design Faculty of Science and Technology Keio University Yokohama Japan Division of Control and Process Automation Institute for Mechanic and Mechatronic University of Technology Vienna Vienna Austria

control concepts for mobile service robots are a key issue in robotic research. With the use of mobile robots in the domestic area, further challenges entail new designs facilitating efficient control concepts for fast motion with reduced computational capacity. This paper presents motion control designed for an autonomously acting two-wheel driven robot, which fits in a cuboid with 75times75times150mm. Due to the outstanding design of mechanical and electrical components, the robot is capable to perform high precision movements up to a speed of 2.5m/s, featuring a vision unit that allows a fast environment recognition interpreting current position based on an application dependent world model. Based on predictive control algorithms, trajectory tracking and point stabilization are facilitated. The use of realtime communication for all units allows fast interaction of all components exchanging information, which is indispensable for fast motion control

关键词： Service robots Motion control Robotics and automation Automatic control Mobile robots control systems Electrical equipment industry Robot sensing systems Mobile computing Robotic assembly

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