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Friction compensation methods in position and speed control systems

Friction compensation methods in position and speed control ...

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： D. Stajic N. Peric J. Deur Faculty of Electrical Engineering and Computing Department or Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

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.

关键词： Friction Velocity control Force control Servosystems Acceleration Accelerometers Gears Feedback computer simulation Laboratories

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Tool for remote control of mobile robots with visualization by means of virtual reality

Tool for remote control of mobile robots with visualization ...

引用

International Conference on Telecommunications (ConTEL)

作者： D. Brscic Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

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.

关键词： Robot control Mobile robots Visualization Virtual reality Communication system control User interfaces HTML Java Mobile communication Virtual environment

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Rudder servo-system fault diagnosis using neural network fault modeling

Rudder servo-system fault diagnosis using neural network fau...

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OCEANS

作者： Z. Vukic D. Pavlekovic H. Ozbolt Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

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.

关键词： Fault diagnosis Neural networks Fault detection control systems Automatic control Actuators control system synthesis Redundancy control engineering computing computer networks

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Processor architecture model for fuzzy control

Processor architecture model for fuzzy control

引用

IEEE International Symposium on Intelligent control (ISIC)

作者： D. Basch M. Zagar Department of Control and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

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.

关键词： Fuzzy control computer architecture Process control Application software Microprocessors Fuzzy logic Fuzzy sets control engineering computing Associative memory Packaging

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Comparison of the self-tuning generalized predictive controller and pole placement controller

Comparison of the self-tuning generalized predictive control...

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Mediterranean Electrotechnical Conference (MELECON)

作者： I. Santro N. Peric I. Petrovic Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

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.

关键词： State feedback Automatic control Predictive models Optimal control Costing Cost function control engineering computing Laboratories Testing Robust control

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Predictive gain scheduling autopilot for ships

Predictive gain scheduling autopilot for ships

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Mediterranean Electrotechnical Conference (MELECON)

作者： Z. Vukic L. Kuljaca D. Milinovic Department of Control Engineering and Computer Engineering in Automation Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia

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.

关键词： Marine vehicles Limit-cycles Gears Servomechanisms System testing Spirals Mathematical model Performance gain Regulators

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Model structure selection for nonlinear system identification using feedforward neural networks

Model structure selection for nonlinear system identificatio...

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International Joint Conference on Neural Networks (IJCNN)

作者： I. Petrovic M. Baotic N. Peric Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation University of Zagreb Zagreb Croatia

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.

关键词： Nonlinear systems Neural networks Feedforward neural networks Nonlinear dynamical systems control engineering computing computer networks Predictive models Automatic control Nonlinear control systems automation

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Evolving fuzzy-model-based on c-regression clustering

Evolving fuzzy-model-based on c-regression clustering

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2014 IEEE Conference on Evolving and Adaptive Intelligent Systems, EAIS 2014

作者： Škrjanc, Igor Dovžan, Dejan Gomide, Fernando Laboratory of Modelling Simulation and Control Faculty of Electrical Engineering University of Ljubljana Tržaška 25 LjubljanaSI-1000 Slovenia Department of Computer Engineering and Automation DCA School of Electrical and Computer Engineering FEEC University of Campinas UNICAMP Av. Albert Einstein 400 Campinas SP13083-852 Brazil

ISBN: (纸本)9781479933471

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 using a fuzzy c-regression clustering method and the approach also involves the evolving properties. The method is given in a recursive form. The proposed approach is shown with two simple examples of nonlinear system approximation and nonlinear dynamical system modelling. © 2014 IEEE.

关键词： Nonlinear dynamical systems

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RETRACTED ARTICLE: Material inner defect detection by a vibration spectrum analysis

RETRACTED ARTICLE: Material inner defect detection by a vibr...

引用

作者： Krejcar, Ondrej Frischer, Robert Dept. of Measurement and Control Center for Applied Cybernetics Faculty of Electrical Engineering and Computer Science Ostrava Czech Republic Dept. of Automation and Computing in Metallurgy VSB Technical University of Ostrava Ostrava Czech Republic

ISBN: (纸本)9781424474806

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, which is placed on the measured object The analog signal is digitized by special I/O device dSAPCE CP-1104 and then processed offline with FFT (Fast Fourier Transform). The power spectrum is then examined by developed evaluating procedures and individual results are displayed in bar graph. When we take a look on results, there is an evidently correlation between spectrum and examining object (inner defects). © 2010 IEEE.

关键词： Spectrum analysis

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Experimental investigations of the rubber-asphalt sliding pair dynamics

Experimental investigations of the rubber-asphalt sliding pa...

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作者： Božić, Ante Petrović, Ivan Perić, Nedjeljko Matuško, Jadranko Poclain-Hydraulics Industrie Direction Technique B.P.N. 106 60411 Verberie Cedex France University of Zagreb Faculty of Electrical Engineering and Computing Department for Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia

ISBN: (纸本)0791836290

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 the car tire and the road. Its design is described and some experimental results are given. These results confirm that it is essential to use a dynamic friction model in order to describe friction force in contact between the car tire and the road. Moreover, they indicate that the existing dynamic friction models might be physically incorrect regarding the change of friction coefficient for an asperity bristle passing through the contact surface. Copyright © 2002 by ASME.

关键词： Tribology

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