Friction appears in the bearings and reduction gear of controlled electrical drives and affects the quality of the position, speed or force control. The servosystem performance can be improved by implementation of acc...
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Friction appears in the bearings and reduction gear of controlled electrical drives and affects the quality of the position, speed or force control. The servosystem performance can be improved by implementation of acceleration feedback. For the reason that acceleration measurement is often either not possible or practical, the implementation of acceleration estimation by an observer or differentiation of speed is proposed. Another approach to friction influence compensation is based on the disturbance observer. Its advantage is that it can be applied generally to the estimation of various disturbances. This paper deals with these friction compensation methods which are not based on friction model, but on the compensation of friction as a disturbance. The efficiency of these methods in a servodrive with Stribeck friction is compared by computer simulation and experimentally on a servosystem laboratory model.
This paper presents the current work on the development of a tool for remote control of mobile robots. The tool consists of a local controller on the robot side and a user interface for simulation and remote control t...
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This paper presents the current work on the development of a tool for remote control of mobile robots. The tool consists of a local controller on the robot side and a user interface for simulation and remote control that connects with the robot through the network. The user interface is implemented as an HTML page with a Java applet for remote control and communication and a virtual environment written in VRML for visualization. This way users have the ability to connect to a dedicated WWW server and download the user interface. This paper describes the concept of the tool design and the developed user interface.
The model based fault detection and identification scheme for the rudder servo system as the actuator in the closed loop course keeping control system is presented. The nonlinear process model that enables description...
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The model based fault detection and identification scheme for the rudder servo system as the actuator in the closed loop course keeping control system is presented. The nonlinear process model that enables description of a wide class of fault types is given and the fault function as the residual for detecting and identifying the fault is introduced. A fault detection scheme with variable thresholds is suggested and its performance has been tested via simulation in the presence of modeling uncertainty and noise. A fault identification scheme based on comparison between the fault function estimate and the output of a predefined analytical fault model is suggested.
In this paper, the architecture of a fuzzy processor intended for high-speed control applications is described. Its main advantage is the inference speed that does not depend on the number of used inputs and rules. Th...
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In this paper, the architecture of a fuzzy processor intended for high-speed control applications is described. Its main advantage is the inference speed that does not depend on the number of used inputs and rules. This is accomplished by the usage of content addressable memory as a rule set storage. The proposed architecture was simulated and the simulation results give the inference speed of about 200 KFLIPS.
The basic principles of the self-tuning generalized predictive controller (GPC) and the self-tuning pole placement controller are presented. A laboratory shell-and-tube heat exchanger is used to test the properties of...
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The basic principles of the self-tuning generalized predictive controller (GPC) and the self-tuning pole placement controller are presented. A laboratory shell-and-tube heat exchanger is used to test the properties of the presented controllers. The self-tuning GPC were compared with the self-tuning pole placement controller regarding their parameter adjustment complexity, reference and disturbance step responses and robustness to differences between the real process and its mathematical model.
The paper presents results of research with the new predictive autopilot structure (PIP+D) with gain scheduling. The autopilot is tested and compared with conventional PID autopilot for a mariner class ship. The autop...
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The paper presents results of research with the new predictive autopilot structure (PIP+D) with gain scheduling. The autopilot is tested and compared with conventional PID autopilot for a mariner class ship. The autopilot parameters are changed with the speed of the ship using the gain scheduling technique. Results obtained during the research show that the proposed autopilot structure is to be recommended if improved performance is of prime interest, when the velocity of the ship is changing. The analysis is based on the simulation of a mariner class ship as a nonlinear system, with the steering servo system taken as a nonlinear model. Results of the simulation are included.
The majority of nonlinear models based on neural networks are of the black-box structure. A nonlinear system can be nonlinear in many different ways, thus the nonlinear black-box model structure must be very flexible....
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The majority of nonlinear models based on neural networks are of the black-box structure. A nonlinear system can be nonlinear in many different ways, thus the nonlinear black-box model structure must be very flexible. This means that it must have many parameters. A model offering many parameters usually creates problems, and the variance contribution to the error might be high. For a particular identification problem, only a subset of the parameters may be necessary, and the main topic in nonlinear system identification is how to select a model structure that describes the system dynamics with the minimum number of parameters. This paper discusses nonlinear input-output models that are suitable for implementation of feedforward neural networks. The proposed model structures were tested and compared using the identification procedure of a pH process. The results indicated that a simplest model structure can satisfactorily represent the investigated process.
In this paper a new approach to data stream evolving fuzzy model identification is given. The structure of the model is given in the form of Takagi-Sugeno and the partitioning of the input-output space is obtained usi...
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In this paper is described possibility of nondestructive diagnostics of solid objects by software analysis of vibration spectrum. With using platform MATLAB, we can process and evaluate information from accelerometer,...
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A laboratory model for experimental investigations of the rubber-asphalt sliding pair has been designed with the purpose of better understanding of dynamic behavior of the friction force in the contact patch between t...
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