In order to apply a model based control strategy such as flexible recipes control to an industrial batch process, a model of the process dynamics is needed. This paper presents the modelling procedure for two such mod...
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In order to apply a model based control strategy such as flexible recipes control to an industrial batch process, a model of the process dynamics is needed. This paper presents the modelling procedure for two such models: a semi-empirical and an artificial neural network model. Both models predict precipitation rates of TiO 2 particles in an industrial hydrolysis process. Model properties and their prediction accuracy is compared. The artificial neural network is trained using the augmented training data set approach. A simulator has been designed to study the application Of flexible recipe instructions.
Two algorithms are proposed for evaluating the rank of an arbitrary polynomial matrix. They rely upon constant matrix rank evaluations and therefore are more reliable than already existing elementary polynomial operat...
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Two algorithms are proposed for evaluating the rank of an arbitrary polynomial matrix. They rely upon constant matrix rank evaluations and therefore are more reliable than already existing elementary polynomial operations techniques. Some applications are mentioned, such as polynomial null-space extraction or conditions of existence of solutions to matrix polynomial equations arising in control problems. Deux algorithmes sont proposés pour évaluer le rang d'une matrice polynomiale quelconque. Ils sont basés sur des évaluations de rangs de matrices constantes et sont donc plus fiables que les techniques déjà existantes d'opérations polynomiales élémentaires. Quelques applications sont mentionnées, comme l'extraction du noyau polynomial ou des conditions d'existence de solutions aux équations polynomiales matricielles provenant de problèmes de commande.
The problem of deadlock in a large class of re-entrant flowline systems is analysed. Based on a Petri net (PN) model, circular blocking is rigorously defined and shown to be equivalent to part-path deadlock. The analy...
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The problem of deadlock in a large class of re-entrant flowline systems is analysed. Based on a Petri net (PN) model, circular blocking is rigorously defined and shown to be equivalent to part-path deadlock. The analysis is performed in terms of circular waits. Coupling the PN marking transition equation with the matrix rule-based controller equation yields a dynamical system representation, a framework in which algorithms of polynomial complexity can be developed for computing the structures of deadlock analysis. This allows efficient dispatching with deadlock avoidance using a generalised kanban scheme.
A method of PID controller autotuning based on relay feedback control is described. Special attention is paid to the process structure and parameters estimation in the phase of reaching the desired operating point. Th...
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A method of PID controller autotuning based on relay feedback control is described. Special attention is paid to the process structure and parameters estimation in the phase of reaching the desired operating point. This may increase the method's robustness and also speed up the tuning procedure. The algorithm's validity is illustrated by some simulation results and an experimental result on a laboratory pilot plant. Il est decrit la mèthode du régulateur d'autoadaptation PID basée au système asservi à relais. L'attention particulierè est consacrée à l'estimation de la structure et des paramètres du procès à la phase dans laquelle on met le proces dans le point de fonetionnement dont on augmente la robustesse et la vitesse de l'autoadaptation. Nous avons presenté certains résultats de la simulation à l'ordinateur ainsi qu'à l'installation pilote qui attestent la validité des algorithmes élaborés.
A fuzzy autopilot for ship path control is proposed. Nonlinear model of a ship and a steering subsystem is used. The autopilot uses heading signal and yaw rate signal to produce a command rudder angle. The autopilot d...
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A fuzzy autopilot for ship path control is proposed. Nonlinear model of a ship and a steering subsystem is used. The autopilot uses heading signal and yaw rate signal to produce a command rudder angle. The autopilot does not use lateral offset from the nominal track. Input variable fuzzyfication, fuzzy associative memory rules and output set defuzzyfication are described. The influence of the shallow water effect during larger maneuver is analyzed.
The contribution demonstrates the robot gripper, whose compressive force is automatically controlled to inevitable minimal value, also namely in dynamic modes, when besides gravity force also a rank of other forces an...
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The contribution demonstrates the robot gripper, whose compressive force is automatically controlled to inevitable minimal value, also namely in dynamic modes, when besides gravity force also a rank of other forces and torques affect to the manipulated object.
This paper presents modular design of P, I and PI controllers dedicated for systems with dominant 1st order dynamics in the control loop. It is shown that under presence of control signal constraints the traditionally...
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This paper presents modular design of P, I and PI controllers dedicated for systems with dominant 1st order dynamics in the control loop. It is shown that under presence of control signal constraints the traditionally used “linear” PI-controller guarantees a desired control quality only for a special distribution of the dynamical terms in the control loop - for the dominant 1st order dynamics concentrated in the feedback path (sensor or filter dynamics). For the more frequent situation with the dominant 1st order plant placed in the feedforward path, a new integrating “anti-windup” controller is derived. It is shown that the controller derived represents two different dynamical classes of controllers characteristic with none or one possible train of saturated control signal pulses in their response to a step change of the reference signal.
The present paper describes the attempt and experience of the authors in developing and establishing advanced controlengineering education environment comprising all aspects in an integral approach due to the presenc...
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The present paper describes the attempt and experience of the authors in developing and establishing advanced controlengineering education environment comprising all aspects in an integral approach due to the presence of economical constraints. The main issues include upgrading of the theoretical level of teaching with state-of-the-art facilities and hands-on experiments, complexity and flexibility of the laboratory rigs with industrial orientation, optimal choice of laboratory experiments and equipment to satisfy some basic financial limitations, intra-and inter-university integration for better utilisation of the laboratories, etc. All issues are taken in a formalised task of optimal decision making. The concrete implementation of above questions is described.
The paper deals with the decomposition of block-oriented nonlinear dynamic systems having discontinuous asymmetric nonlinearities and with their identification using the Wiener model. Multiple application of a simple ...
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The paper deals with the decomposition of block-oriented nonlinear dynamic systems having discontinuous asymmetric nonlinearities and with their identification using the Wiener model. Multiple application of a simple decomposition technique provides a special form of Wiener model with the minimum number of parameters. Putting some parameters of the proposed model to zero, models for the block-oriented nonlinear dynamic systems with pure preload nonlinearities, dead zone or two-segment piecewise-linear asymmetric nonlinearities are obtained. To demonstrate the feasibility of the identification method, more illustrative examples are included.
This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed...
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This paper presents the kinematic study of robotic biped locomotion systems. The main purpose is to determine the kinematic characteristics and the system performance during walking. For that objective, the prescribed motion of the biped is completely characterised in terms of five locomotion variables: step length, hip height, maximum hip ripple, maximum foot clearance and link lengths. In this work, we propose three methods to quantitatively measure the performance of the walking robot: perturbation analysis, lowpass frequency response and locomobility measure. These performance measures are discussed and compared in determining the robustness and effectiveness of the resulting locomotion.
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