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Simulation of control algorithm for active reduction of transversal vibrations of beams by piezoelectric elements based on identification of bending moment

Simulation of control algorithm for active reduction of tran...

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作者： Kozień, M.S. ͆cislo, L. Cracow University of Technology Faculty of Mechanical Engineering Institute of Applied Mechanics Al. Jana Pawla II 37 Kraków31-864 Poland Cracow University of Technology Faculty of Electrical and Computer Engineering Department of Automatic Control and IT Warszawska 24 Kraków30-155 Poland

Application of piezoelectric elements to active reduction of bending vibrations of the beams is known well in the literature. During vibrations, an external excitation may vary in the time domain, including its form in the frequency domain. It should have influence on their response. The problem of proper selection of the control parameter in the control algorithm used to reduce vibrations arises. In the article, simulations of a control algorithm based on detection of bending moment are analytically tested. The solution for the transient type of vibrations are obtained by the finite difference method (FDM). Analysis for two separated natural modes was performed. The analysis shows the possibility to design a control algorithm based on detection of the bending moment.

关键词： Bending moments

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Neurofuzzy Based Temperature Prediction of an Industrial Polymerization Reactor in Real Time

Neurofuzzy Based Temperature Prediction of an Industrial Pol...

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IEEE Annual Conference on Decision and control

作者： Fernando Aller L. Felipe Blazquez Luis J. Miguel Department of Electrical and Automatic Control and Systems Engineering University of Leon E.II.I.I. Campus de Vegazana s/n 24071 Leon Spain Department of Automatic Control and Systems Engineering University of Valladolid E.I.I. Paseo del Cauce s/n 47011 Valladolid Spain

ISBN: (纸本)9781479978878

The ultimate purpose of this work is the real-time control of a semibatch emulsion polymerization reaction. The main variable under control is the temperature inside the reactor. The keypoint to get accurate control is the early detection of temperature deviations. A neurofuzzy network has been trained to predict the temperature from some of the previously calculated variables. This approach aims to extend the prediction horizon with which the temperature is predicted to an order of magnitude of minutes, based on variables which are not measured online but rather estimated using a reduced calorimetric model. This methodology has been applied to data from a real life emulsion polymerization reactor, and in order to allow its implementation in this factory, it has been ensured that all of the operations can be performed in real time by a common Programmable Logic controller (PLC). The resulting set of equations predicts the temperature several minutes in advance with good accuracy.

关键词： Temperature EMULSION POLYMERISATION POLYMERISATION REACTOR Reactors Vital Signs accuracy control Real time Real time control Industrial Plants Early Diagnosis advance

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How can subsampling reduce complexity in sequential MCMC methods and deal with big data in target tracking?

How can subsampling reduce complexity in sequential MCMC met...

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International Conference on Information Fusion

作者： Allan De Freitas François Septier Lyudmila Mihaylova Simon Godsill Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom Telecom Lille UMR France Department of Engineering Cambridge University United Kingdom

Target tracking faces the challenge in coping with large volumes of data which requires efficient methods for real time applications. The complexity considered in this paper is when there is a large number of measurements which are required to be processed at each time step. Sequential Markov chain Monte Carlo (MCMC) has been shown to be a promising approach to target tracking in complex environments, especially when dealing with clutter. However, a large number of measurements usually results in large processing requirements. This paper goes beyond the current state-of-the-art and presents a novel Sequential MCMC approach that can overcome this challenge through adaptively subsampling the set of measurements. Instead of using the whole large volume of available data, the proposed algorithm performs a trade off between the number of measurements to be used and the desired accuracy of the estimates to be obtained in the presence of clutter. We show results with large improvements in processing time, more than 40 % with a negligible loss in tracking performance, compared with the solution without subsampling.

关键词： Approximation methods Target tracking Markov processes Monte Carlo methods Clutter Current measurement Joints

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Communication Scheduling in Robust Self-Triggered MPC for Linear Discrete-Time systems ∗

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IFAC-PapersOnLine 2015年第22期48卷 132-137页

作者： Florian D. Brunner T.M.P. Gommans W.P.M.H. Heemels Frank Allgöwer Institute for Systems Theory and Automatic Control University of Stuttgart Pfaffenwaldring 9 70569 Stuttgart Germany Control System Technology Group Department of Mechanical Engineering Eindhoven University of Technology The Netherlands

We consider a networked control system consisting of a physical plant, an actuator, a sensor, and a controller that is connected to the actuator and sensor via a communication network. The plant is described by a linear discrete-time system subject to additive disturbances. In order to reduce the required number of communications in the system, we propose a robust self-triggered model predictive controller based on rollout techniques that robustly asymptotically stabilizes a certain periodic sequence of sets in the state space while guaranteeing robust satisfaction of hard state and input constraints. At periodically occurring scheduling times, the self-triggered model predictive control algorithm determines the times at which the control input and plant measurement are updated in the time span until the next scheduling time. We establish a certain upper bound on the average sampling rate in the closed-loop system. Moreover, we show how increasing the asymptotic bound on the system state, which is a design parameter in the control scheme, can be used to further reduce the average number of communications in the system.

关键词： predictive control self-triggered control robustness

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Linear robust Generalized Proportional Integral control of a ball and beam system for trajectory tracking tasks

Linear robust Generalized Proportional Integral Control of a...

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American control Conference

作者： M. Ramirez-Neria H. Sira-Ramirez R. Garrido-Moctezuma A. Luviano-Juarez Automatic Control Departament of Cinvestav-IPN Apartado postal 14740 Mexico DF C.P. 07360 Mexico Mechatronics Section of the Electrical Engineering Department of Cinvestav-IPN Apartado postal 14740 Mexico DF C.P. 07360 Mexico UPIITA-IPN Av. IPN 2580 Col. Barrio La Laguna Ticoman D.F Mexico

ISBN: (纸本)9781467386838

In this article, the ball and beam trajectory tracking problem is tackled using a robust Generalized Proportional Integral (GPI) controller. The controller is developed on the basis of the tangent linearized system model around the equilibrium point. The approximate linearized system is differentially flat, and hence, controllable. Flatness reveals that the resulting linearized system has an interesting cascade property which allows the simplification of the controller design. Experimental results are included to show the effectiveness of the controller in trajectory tracking and disturbance rejection control.

关键词： Observers Robustness Mathematical model Robust control Closed loop systems State feedback Closed loop systems trajectory tracking Robust control State feedback beam system Mathematical Model controllers Observers Robustness PI control Ball Device Component

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Hierarchical Decentralized controller Synthesis for Heterogeneous Multi-Agent Dynamical systems by LQR

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SICE Journal of control, Measurement, and System Integration 2015年第4期8卷 295-302页

作者： Dinh-Hoa Nguyen Shinji Hara Department of Automatic Control School of Electrical Engineering Hanoi University of Science and Technology Department of Information Physics and Computing Graduate School of Information Science and Technology The University of Tokyo

This paper is concerned with systematic ways of designing hierarchical decentralized controllers for heterogeneous multi-agent dynamical systems. Given a bunch of independent agents or subsystems with a class of information networks, the aim of the paper is to propose a systematic design procedure for hierarchical decentralized controllers, where each subsystem cooperatively interacts with each other as well as controls it locally to achieve both the local and global goals in some senses. It is shown that employing the LQR (Linear Quadratic Regulator) method with properly chosen weighting matrices in the performance index, both the local and global objectives can be achieved by the desired hierarchical decentralized structure which fits the given information network. The effectiveness of the proposed design method is confirmed through an illustrative example and its application to a velocity consensus problem in vehicle platoons.

关键词： multi-agent dynamical systems decentralized control hierarchical structure LQR design

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Parallel and distributed random coordinate descent method for convex error bound minimization

Parallel and distributed random coordinate descent method fo...

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American control Conference

作者： Ion Necoara Rolf Findeisen Automatic Control and Systems Engineering Department University Politehnica Bucharest Romania Institute for Automation Engineering Otto von Guericke University Magdeburg Germany

ISBN: (纸本)9781479917730

In this paper we propose a parallel and distributed random (block) coordinate descent method for minimizing the sum of a partially separable smooth convex function and a fully separable non-smooth convex function. In this algorithm the iterate updates are done independently and thus it is suitable for parallel and distributed computing architectures. We prove linear convergence rate for the proposed algorithm on the class of problems satisfying a generalized error bound property. We also show that the theoretical estimates on the convergence rate depend on the number of blocks chosen randomly and a natural measure of separability of the objective function. Numerical simulations are also provided to confirm our theory.

关键词： Parallel Lines descent method Convex function Coordinates Separable Bound Distribute

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Rate of convergence analysis of a dual fast gradient method for general convex optimization

Rate of convergence analysis of a dual fast gradient method ...

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IEEE Annual Conference on Decision and control

作者： Andrei Patrascu Ion Necoara Rolf Findeisen Automatic Control and Systems Engineering Department University Politehnica Bucharest Romania Institute for Automation Engineering Otto-von-Guericke-Universitat Magdeburg Germany

ISBN: (纸本)9781479978878

In this paper we analyze the iteration complexity of a dual fast gradient method for solving general constrained convex problems, that can arise e.g in embedded model predictive control (MPC). When it is difficult to project on the primal feasible set described by convex constraints, we use the Lagrangian relaxation to handle the complicated constraints and then, we apply a dual fast gradient algorithm for solving the corresponding dual problem. We provide sublinear estimates on the primal suboptimality and feasibility violation of the generated approximate primal solutions. The iteration complexity analysis is based on two types of approximate primal solutions: the last primal iterate sequence and an average primal sequence. We also test the performance of the algorithm on MPC for a simplified model of a self balancing robot.

关键词： gradient methods Dual Convex function Fasting iterative methods Convexity

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Development of a low-cost, portable hardware platform to support hands-on learning in the teaching of control and systems theory

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engineering Education 2014年第1期9卷 62-73页

作者： Taylor, B. Eastwood, P. Jones, B. Li Department of Automatic Control and Systems Engineering The University of Sheffield Sheffield United Kingdom

This paper describes the development of a hardware platform designed to support the teaching of a variety of systems engineering concepts to students at all stages of the curriculum. From concept, the hardware was designed to be low-cost, portable and robust allowing sufficient numbers of hardware units to be acquired. This enabled each student on the course to be loaned their own piece of equipment, either to work with in class or for use as a 'take home lab'. This provided the students with a more flexible, experimental based learning experience than traditional classroom based teaching. The hardware platform consisted of a miniature three degrees-of freedom helicopter that is interfaced to a personal computer (PC) via a National Instruments myDAQ data acquisition module. This was housed in a small, foam-lined carrying case for portability. Details of the course and assessment, based around the hardware platform, are presented, along with feedback received from the students. This feedback was from the first run of a new MSc course in the spring semester of 2013, and indicated that the new hardware was received positively with the students appreciating the hands-on nature of the teaching it provided. © 2014 J. Davies, The Higher Education Academy.

关键词： Students

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The status of KAGRA underground cryogenic gravitational wave telescope

arXiv

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arXiv 2017年

作者： Akutsu, T. Ando, M. Araya, A. Aritomi, N. Asada, H. Aso, Y. Atsuta, S. Awai, K. Barton, M.A. Cannon, K. Craig, K. Creus, W. Doi, K. Eda, K. Enomoto, Y. Flaminio, R. Fujii, Y. Fujimoto, M.-K. Furuhata, T. Haino, S. Hasegawa, K. Hashino, K. Hayama, K. Hirobayashi, S. Hirose, E. Hsieh, B.H. Inoue, Y. Ioka, K. Itoh, Y. Kaji, T. Kajita, T. Kakizaki, M. Kamiizumi, M. Kambara, S. Kanda, N. Kanemura, S. Kaneyama, M. Kang, G. Kasuya, J. Kataoka, Y. Kawai, N. Kawamura, S. Kim, C. Kim, H. Kim, J. Kim, Y. Kimura, N. Kinugawa, T. Kirii, S. Kitaoka, Y. Kojima, Y. Kokeyama, K. Komori, K. Kotake, K. Kumar, R. Lee, H. Lee, H. Liu, Y. Luca, N. Majorana, E. Mano, S. Marchio, M. Matsui, T. Matsushima, F. Michimura, Y. Miyakawa, O. Miyamoto, T. Miyamoto, A. Miyo, K. Miyoki, S. Morii, W. Morisaki, S. Moriwaki, Y. Morozumi, T. Musha, M. Nagano, S. Nagano, K. Nakamura, K. Nakamura, T. Nakano, H. Nakano, M. Nakao, K. Narikawa, T. Nguyen Quynh, L. Ni, W.-T. Ochi, T. Oh, J. Oh, S. Ohashi, M. Ohishi, N. Ohkawa, M. Okutomi, K. Oohara, K. Peña Alleano, F.E. Pinto, I. Sago, N. Saijo, M. Saito, Y. Sakai, K. Sakai, Y. Sasaki, Y. Sasaki, M. Sato, S. Sato, T. Sekiguchi, Y. Seto, N. Shibata, M. Shimoda, T. Shinkai, H. Shoda, A. Somiya, K. Son, E. Suemasa, A. Suzuki, T. Suzuki, T. Tagoshi, H. Takahashi, H. Takahashi, R. Takamori, A. Takeda, H. Tanaka, H. Tanaka, K. Tanaka, T. Tatsumi, D. Tomaru, T. Tomura, T. Travasso, F. Tsubono, K. Tsuchida, S. Uchikata, N. Uchiyama, T. Uehara, T. Ueki, S. Ueno, K. Ushiba, T. van Putten, M.H.P.M. Vocca, H. Wada, S. Wakamatsu, T. Yamada, T. Yamamoto, S. Yamamoto, T. Yamamoto, K. Yamamoto, A. Yokoyama, J. Yokozawa, T. Yoon, T.H. Yuzurihara, H. Zeidler, S. Zhu, Z.-H. National Astronomical Observatory of Japan Mitaka Tokyo181-8588 Japan Department of Physics University of Tokyo Bunkyo Tokyo113-0033 Japan Earthquake Research Institute University of Tokyo Bunkyo Tokyo113-0032 Japan Department of Advanced Physics Hirosaki University Hirosaki Aomori036-8561 Japan National Astronomical Observatory of Japan Hida Gifu506-1205 Japan Department of Physics Tokyo Institute of Technology Meguro Tokyo152-8551 Japan Institute for Cosmic Ray Research University of Tokyo Hida Gifu506-1205 Japan Research Center for the Early Universe University of Tokyo Bunkyo Tokyo113-0033 Japan Institute for Cosmic Ray Research University of Tokyo Kashiwa Chiba277-8582 Japan Institute of Physics Academia Sinica Nankang Taipei11529 Taiwan Department of Physics University of Toyama Toyama Toyama930-8555 Japan Faculty of Engineering University of Toyama Toyama Toyama930-8555 Japan Yukawa Institute for Theoretical Physics Kyoto University Sakyo Kyoto606-8502 Japan Department of Physics Osaka City University Sumiyosi Osaka558-8585 Japan Department of Physics Osaka University Toyonaka Osaka560-0043 Japan Korea Institute of Science and Technology Information Yuseong Daejeon34141 Korea Republic of Daejeon Yuseong34055 Korea Republic of National Institute for Mathematical Sciences Daejeon34047 Korea Republic of Department of Computer Simulation Inje University Gimhae Gyeongsangnam50834 Korea Republic of Department of Physics and Astronomy Seoul National University Seoul151-742 Korea Republic of High Energy Accelerator Research Organization Tsukuba Ibaraki305-0801 Japan Department of Physical Science Hiroshima University Higashihiroshima Hiroshima903-0213 Japan Department of Applied Physics Fukuoka University Jonan Fukuoka814-0180 Japan Department of Advanced Materials Science University of Tokyo Kashiwa Chiba277-8582 Japan Istituto Nazionale di Fisica Nucleare Sapienza University Roma00185 Italy D

KAGRA is a 3-km interferometric gravitational wave telescope located in the Kamioka mine in Japan. It is the first km-class gravitational wave telescope constructed underground to reduce seismic noise, and the first km-class telescope to use cryogenic cooling of test masses to reduce thermal noise. The construction of the infrastructure to house the interferometer in the tunnel, and the initial phase operation of the interferometer with a simple 3-km Michelson configuration have been completed. The first cryogenic operation is expected in 2018, and the observing runs with a full interferometer are expected in 2020s. The basic interferometer configuration and the current status of KAGRA are described. Copyright © 2017, The Authors. All rights reserved.

关键词： Interferometers

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