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International Conference on Methods and Models in automation and Robotics (MMAR)

作者： Tomasz Herzog Krzysztof Bartecki Faculty of Electrical Engineering Automatic Control and Computer Science Opole University of Technology Opole Poland Rockwell Automation Power Control Business Katowice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

The article presents the current approach in artificial intelligence methods used in predictive maintenance for electrical motors. The study focuses on presenting data classification methods for fault detection and isolation using data from condition monitoring systems. We discuss the advantages and disadvantages of using machine learning methods like perceptron and Support Vector Machine (SVM) for fault classification problems. Our conclusion shows great interest in machine learning methods combined with condition monitoring systems. Our future research will focus on comparing SVM, perceptron networks, and other methods, such as K-nearest neighbors, with their possibility for implementation in embedded firmware systems.

关键词： Support vector machines Condition monitoring Accuracy Fault detection Artificial neural networks Machine learning Prediction algorithms

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Mobile Robot Fault Tolerant control. Introducing ARTEMIC

Mobile Robot Fault Tolerant Control. Introducing ARTEMIC

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2010 2nd International Conference on Education Technology and computer(第二届IEEE教育技术与计算机国际会议 ICETC 2010)

作者： Cristian Axenie Daniela Cernega Automation and Industrial Informatics Department Computer Science Faculty from "Dunarea de Jos" Univ Control Systems and Applied Informatics Computer Science Faculty from "Dunarea de Jos" Stiintei Stre

Real-time applications should timely deliver synchronized data-sets, minimize latency in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. Specific design, development and implementation details will be provided in this paper.

关键词： Mobile Robotics Fault Tolerant control Sliding Mode EKF Real-Time Linux Distributed control

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Real Time control Design for Mobile Robot Fault Tolerant control. Introducing the ARTEMIC Powered Mobile Robot.

Real Time Control Design for Mobile Robot Fault Tolerant Con...

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2010 IEEE/ASME International Conference on Mechatronic and Embedded System and Applications(2010 IEEE 机电一体化和嵌入式系统与应用国际会议)

作者： Cristian Axenie Razvan Solea Automation and Industrial Informatics Department Computer Science Faculty from ”Dunarea de Jos” Univ Control Systems and Applied Informatics Computer Science Faculty from ”Dunarea de Jos” University St

Real-time applications should timely deliver synchronized data-sets, minimize latency and jitter in their response and meet their performance specifications in the presence of disturbances and faults. The fault tolerant behavior in mobile robots refers to the possibility to autonomously detect and identify faults as well as the capability to continue operating after a fault occurred. This paper introduces a real-time distributed control application with fault tolerance capabilities for differential wheeled mobile robots, named ARTEMIC. The paper focuses on design details and performance analysis at the system operation level. Some stress tests are executed during normal operation to validate the proposal. Specific design, development and implementation details will be provided in this paper.

关键词： Mobile Robotics Fault Tolerant control Sliding Mode EKF Real-Time Linux Distributed control

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Tool support for the development of IEC 62390 compliant fieldbus profiles

Tool support for the development of IEC 62390 compliant fiel...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Roman Frenzel Martin Wollschlaeger Thomas Hadlich Christian Diedrich Industrial Communications Institute of Applied Computer Science Faculty of Computer Science Technical University of Dresden Dresden Germany Integrated Automation Institute for Control Systems Faculty of Electronic and Computer Science Engineering Otto-von-Guericke University of Magdeburg Germany

Industrial communication systems standardize communication protocols and services. Interoperability within automation and control systems need additional application definitions. This is usually organized with fieldbus profile specifications. Profiles become part of the overall development process of the device manufacturer. Unfortunately, today's profile descriptions are very informal and have nearly no support for the development process. This paper presents a semi-formal profile specification approach, based on IEC 62390 and using a mixed UML and MS Word process. Result of both specifications is an XML representation which can be integrated in the device development process. This method is developed for the PROFIBUS User Organisation for PROFIBUS and PROFINET device profiles.

关键词： Unified modeling language Guidelines IEC standards XML Documentation Safety Formal specifications

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Collaborative learning technologies for project work 1

Collaborative learning technologies for project work

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1st International Conference on Technology Enhanced Learning in Higher Education, TELE 2021

作者： Galkin, Alexander Blyumin, Semen Saraev, Pavel Pimenov, Vladimir Lipetsk State Technical University Faculty of Automation and Computer Science Lipetsk Russia Lipetsk State Technical University Department of Applied Mathematics Lipetsk Russia Lipetsk State Technical University Department of Automated Control Systems Lipetsk Russia Novolipetsk Steel Corporation Lipetsk Russia

ISBN: (纸本)9781665443968

The paper presents an approach to learning based on the implementation of projects under the joint supervision and control of the educational organization and industrial partner. When students carry out projects, collaborative learning technologies are implemented. Periodic joint consultations of students by specialists of different profiles of educational organization and industrial partner help to bring the training closer to the real production process, and upon the completion of the project to get a ready-to-use product. Working in this mode allows students using modern technologies to work on the project, in particular, flexible methodologies of agile development. It helps not to formulate a completely ready technical task for the project, but to adjust it in the process of implementation. Tasks are formulated for a limited time interval of 1-2 weeks, after which the results are evaluated and tasks for the next stage are formed. The paper provides examples of works by students of Lipetsk State Technical University, performed in this format. © 2021 IEEE.

关键词： Students

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Finite-time robust performance improvement for non-linear systems in the presence of input non-linearity and external disturbance

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IET control Theory and Applications 2023年第6期17卷 672-682页

作者： Wang, Haoping Ghaffari, Valiollah Mobayen, Saleh Bartoszewicz, Andrzej Fekih, Afef Assawinchaichote, Wudhichai School of Automation Nanjing University of Science and Technology Nanjing China Department of Electrical Engineering Persian Gulf University Bushehr Iran Graduate School of Intelligent Data Science National Yunlin University of Science and Technology Yunlin Douliou Taiwan Institute of Automatic Control Lodz University of Technology Lodz Poland Department of Electrical and Computer Engineering University of Louisiana at Lafayette LafayetteLA United States Department of Electronic and Telecommunication Engineering Faculty of Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

The main focus of this research is on improving the performance of dynamic systems with actuator non-linearities and time-varying disturbances. To this end, using the concept of finite-time stability, a novel observer is presented to estimate the disturbances in systems with input non-linearities. Then, introducing an innovative sliding manifold, a robust observer-based technique is derived to guarantee the finite-time stability of the sliding surface. Hence, the closed-loop system would be stable in the presence of hard non-linearities and time-varying disturbances. The performance of the proposed approach was assessed in using a simulation study of two numerical examples. The obtained results and comparison with a conventional method confirmed the benefits of the suggested approach. © 2022 The Authors. IET control Theory & Applications published by John Wiley & Sons Ltd on behalf of The Institution of Engineering and Technology.

关键词： Closed loop systems

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An Initial Rotor Position Estimation Method for Switched Reluctance Motor without Using Machine Parameter

An Initial Rotor Position Estimation Method for Switched Rel...

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International Conference on Electrical Machines and Systems 2007(ICEMS2007)(第十届国际电机与系统会议)

作者： K. Tungpimolrut S. Kachapornkul P.Somsiri P. Jitkreeyarn Tadashi Fukao Akira Chiba Industrial Control and Automation Laboratory Section National Electronics and Computer Technology C Department of Electrical Engineering Faculty of Science and Technology Tokyo University of Science

In this paper a method to estimate the initial rotor position of the switched reluctance motor (SRM) at the stand still condition is proposed. The proposed method can be implemented by the simple microcontroller based system, and it is not necessary to know the magnetization curves. The impulse gate drive signal is applied and the winding current is detected and its approximate value is used for calculating the rotor position. The compensation method to reduce the estimation error thorough one cycle is also mentioned. The proposed method is implemented with the 6-stator-pole and 4- rotor-pole, 1.5 kW 3-phase switched reluctance motor.

关键词： Switched reluctance motor initial rotor position estimation

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Autotuning Autopilots for Micro-ROVs

Autotuning Autopilots for Micro-ROVs

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Mediterranean Conference on control and automation (MED)

作者： N. Miskovic Z. Vukic M. Barisic B. Tovornik Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering University of Zagreb Zagreb Croatia Faculty of Electrical Engineering and Computer Science Institute of Automation University of Maribor Maribor Slovenia

Underwater vehicles are highly nonlinear and complex systems, that makes designing autopilots extremely difficult. This paper presents autotuning as a method for tuning parameters of a micro-ROV autopilot. The main benefit of this procedure is that the model of the process does not have to be known. Autotuning is often used for industrial processes but not on marine vessels. This procedure, which is performed in closed-loop, is completely automated and enables the operator to retune an autopilot whenever ROV performance is degraded (due to different operating points, tether influence, currents, etc.). In this article we use already known different autotuning recommendations (primarily designed for type 0 processes) with some modifications which we recommend for micro-ROVs. We also give results of using different types of PID controllers, whose parameters are being tuned. A real life demonstration on a VideoRay Pro II micro-ROV is provided

关键词： Automatic control Underwater vehicles Payloads control systems Remotely operated vehicles Three-term control Nonlinear control systems Employee welfare control engineering computing Nonlinear systems

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Comparison of the Effectiveness of Various Structures of Regulators for controlling an Object of the Sixth Order

Comparison of the Effectiveness of Various Structures of Reg...

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2019 International Multi-Conference on Engineering, computer and Information sciences, SIBIRCON 2019

作者： Zhmud, Vadim Dimitrov, Lubomir Nosek, Jaroslav Roth, Hubert Novosibirsk State Technical University Dept. of Automation Novosibirsk Russia Technical University of Sofia Sofia Bulgaria Technical University of Liberec Faculty of Mechatronics Computer Science and Interdisciplinary Research Liberec Czech Republic University of Siegen Department of Automatic Control Engineering Siegen Germany Germany

ISBN: (纸本)9781728144016

Object control requires the calculation of a regulator. One of the most effective methods for calculating the regulator is the method of numerical optimization of the regulator. This paper discusses the solution of the problem of controlling a linear object of the sixth order, the parameters of which are such that this high order significantly and negatively affects the possibilities of successfully managing this object. Using the traditional approach to the design problem of the controller (regulator) allows us to formally solve the problem;however, the result of this solution is not satisfactory. The use of additional derivation does not give any noticeable improvement. A solution to this problem is proposed by using pseudo-local feedback, moreover, this connection is supposedly most effective if it covers one of two identical links in the object model. This allows for a smoother attenuation of the frequency response of the object in the region where the action of these two links begins to affect. For pseudo-local communication, an additional PID controller is used, the coefficients of which are also determined by the method of numerical optimization. The optimization result allows us to conclude that the presence of an integral element in this controller is optional. The calculation result of such a composite controller meets the most stringent requirements for the quality of control, since in such a system the speed is increased at least twice, the oscillations, which were about 10% in amplitude, are completely eliminated, the robustness of the system is ensured, which is verified by changing all the controller coefficients by 5% up and down, and also by changing the time constant of the element of the pseudolocal loop by 10% up and down, changes in the transition process of the system in this case remain are acceptable. © 2019 IEEE.

关键词： Feedback

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Event-Triggered Sliding Mode control Strategies for Positioning Systems: An Experimental Assessment

Event-Triggered Sliding Mode Control Strategies for Position...

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International Workshop on Advanced Motion control (AMC)

作者： Andrej Sarjaš Martin Steinberger Dušan Gleich Martin Horn Faculty of Electrical Engineering and Computer Science University of Maribor Maribor Slovenia Graz University of Technology Institute of Automation and Control Graz Austria

ISBN: (数字)9781728131894

ISBN: (纸本)9781728131900

The paper presents experimental assessments of different event-triggered sliding mode control strategies. The main purpose of the event-triggered control approach is to reduce the system utilization and relax the scheduling of the tasks on real-time systems. Event triggering is a real-time implementation technique, where the execution of the controller is not fixed to a preselected sampling time. The stability and performance of the controlled system need to be preserved with regard to the sporadic nature of the controller update. Sliding mode controllers are employed in the context of event-triggering to achieve robustness with respect to matched perturbations. Three different sliding mode event-triggered strategies are evaluated on the real-time positioning system. All the obtained experimental results are compared to a time-triggered version. The results confirm that event-triggering sliding mode control is well suited and reduce the system use drastically.

关键词： Tracking Computational modeling Real-time systems Stability analysis Robustness Task analysis Sliding mode control

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