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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Alexey Ovcharov Alexey Vedyakov Madina Sinetova Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

The paper introduces a new state observer for the non-linear model of a voltage-fed induction motor (IM) with unknown rotor resistance and load torque. The only measurements available are the stator current and the control voltage. Compared to the recently introduced observer for IM, which is based on the Dynamic Regressor Extension and Mixing Adaptive Observer (DREMBAO) approach, the proposed observer estimates rotor speed and magnetic flux simultaneously, eliminating the need for a two-stage sequential estimation process. Additionally, the proposed solution considers viscous friction in the motor model, which is not taken into account in the aforementioned approach or other similar ones. The problem is solved using the Generalized Parameter Estimation-Based Observer (GPEBO) approach, which transforms the observer problem into a parameter estimation task. Simulations are also presented to support the theoretical claims and illustrate the performance of the solution.

关键词： Adaptation models Induction motors Voltage measurement Friction Linear regression Rotors Transforms Observers Voltage control Load modeling

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On Finite-Time Average Consensus for Three-Agent System

On Finite-Time Average Consensus for Three-Agent System

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International Russian Automation Conference (RusAutoCon)

作者： Daria Galkina Victor Zhdanov Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9798350349818

ISBN: (纸本)9798350349825

This paper addresses the problem of finite-time average consensus design for a system of three agents. Although this issue has been previously resolved for arbitrary order, this study offers new estimates for settling time. The primary objective is to evaluate the applicability of the proposed approach for more complex scenarios, including an arbitrary number of agents and agents with higher-order dynamics. By providing new insights and estimates, this research aims to enhance the understanding and implementation of finite-time average consensus protocols, potentially leading to more efficient and effective strategies in multi-agent systems across various applications, such as robotics, networked control systems, cooperative control and observer design.

关键词： Automation Networked control systems Observers Stability analysis Consensus protocol Robots Multi-agent systems

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Optimal control for Discrete-Time systems Under Bounded Disturbances

Optimal Control for Discrete-Time Systems Under Bounded Dist...

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American control Conference (ACC)

作者： Egor Dogadin Alexey Peregudin Dmitriy Shirokih Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly observable sets. We provide exact solutions for state-feedback control and filtering problems, aligning with existing methods while offering improved computational efficiency. Moreover, our main contribution is the optimal solution to the output-feedback control problem for discrete-time systems which was not known before. Numerical simulations demonstrate the superiority of this result over previous sub-optimal ones.

关键词： Discrete-time systems Filtering Optimal control Numerical simulation Computational efficiency

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Edge IIoT in Manufacturing

Edge IIoT in Manufacturing

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International Russian Smart Industry Conference (SmartIndustryCon)

作者： Boris Remizov Sergey Tretyakov Yuriy Andreev Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russian Federation

There have been many studies on the integration of edge computing technology into the Internet of Things and its integration into the operation of various processes that require greater adaptability in dealing with information and better utilization of available resources. Indeed, in recent years there has been an active exploration of new ways to utilize this technology. However, most research has focused on the development of new architectural solutions and in the area of integration with various smart systems such as smart home or smart health care, with little attention to the application of this technology in industrial production. However, it is recognized that this technology is a new step in improving IT/OT convergence, which makes this technology highly relevant for industrial applications. This study explores the principles of edge within the enterprise digital transformation and proposes a model in which edge technology is integrated into the operation of an automated warehouse management system in manufacturing. The study shows that that technology can be used to filter previously unused data in order to better identify possible defects in the system by obtaining additional data without the need to manually upload it.

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Experimental Study of Trajectory control Algorithms Under Incomplete Information on Parameters and State Variables of a Nonlinear Model of Mobile Robot Motion

Experimental Study of Trajectory Control Algorithms Under In...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Dmitrii N. Zakharov Denis M. Kurovskii Artem M. Kurovskii Andrei Yu. Zhivitskii Oleg I. Borisov Kasem Fakhro Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

In this paper, an experimental study of robust trajectory control algorithms under incomplete information about the parameters and state variables of a nonlinear motion model of a mobile robot is carried out. In this study, we have synthesized and tested on a real holonomic mobile robot a set trajectory control algorithm with measured adjustable variables, set trajectory control algorithm in the absence of measurements of adjustable variables and measured robot coordinates. In addition, an algorithm for controlling the motion of a mobile robot along a given trajectory in the absence of measurements of adjustable variables and robot coordinates was tested.

关键词： Coordinate measuring machines Navigation Robot kinematics Simulation Wheels Observers Trajectory Steady-state Mobile robots Tuning

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Research and Simulation of Step-Up Converter of Battery Power Supply for DC Drive System 22

Research and Simulation of Step-Up Converter of Battery Powe...

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22nd International Symposium on Power Electronics, Ee 2023

作者： Arbuzina, Arina Arkharova, Margarita Politsinsky, Alexander Demidova, Galina Garg, Akhil Poliakov, Nikolai Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)9798350343175

Algorithms of evaluation battery state of charge (SoC) and power consumption should be implemented to electrical drive systems to control parameters of a battery. In the course of the work, the characteristic of discharge of the battery was obtained, the control system for a semiconductor step-up voltage converter for the battery management system (BMS) was developed, and the accuracy of the model was evaluated. A simulation model of the «PWM converter-DC drive» system with the battery was developed. Simulation results were compared with experimental data and conclusions were drawn about the possibility of determining the SoC of the battery. © 2023 IEEE.

关键词： Battery management systems

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The Development of the Cutting Tools and Toolholders Parameters Unified Database

The Development of the Cutting Tools and Toolholders Paramet...

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Basova, Tatiana V. Andreev, Yuri S. Basova, Maria V. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia Baltic State Technical University «voenmeh» Named after D.F. Ustinov Faculty of Arms and Weapons Systems St. Petersburg Russia

ISBN: (纸本)9798350345551

This paper deals with the consideration of the cutting tools and toolholders information data processing issues caused by the different representation of these tools by their manufacturers and users. This problem complicates the interactions between various software systems, thereby increasing the time required for technological production preparation. As a prospective solution to these problems, the cutting tools and toolholders parameters unified database (DB) has been developed. The proposed DB includes the necessary information for performing the key tasks in the technological production preparation regarding cutting tools and toolholders. The developed DB is based on the international standard ISO 13399 and the GTC (Generic Tool Catalog) format, as well as additional tool description parameters required to satisfy the production needs. Therefore, this research aims to improve the processes of technological production preparation and ensure the products manufacturing efficiency. © 2023 IEEE.

关键词： Standardization

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Design of a Computer Vision Algorithm for Surface Vessel Position Detection in a Laboratory Pool

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IFAC-PapersOnLine 2023年第2期56卷 4364-4367页

作者： Vladimir Sivtsov Alexander Ramos Sergei Shavetov Andrei Zhivitskii Oleg I. Borisov Anton A. Pyrkin Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia

The growing availability of cameras and advancements in computers hardware that led to increase in computer performance make systems based on computer vision attractive because of its ease of setup and use but at the same time low economic expenses. There are many methods for object detection and recognition, image segmentation that are already in use in many practical applications such as face recognition, industrial production etc. Many of these use cases do not require the knowledge of the exact position of the object as detection methods usually provide axis-aligned bounding box. In order to get more precise borders of the object image segmentation methods could be used, but in some applications such as control systems based on computer vision it is necessary to not only know the exact position of the object, but also its direction. In this study the objective is to find the linear and angular direction of surface vessel using computer vision approach. The proposed methodology is capable of obtaining the center coordinates of the surface vessel as well as the direction the surface vessel is heading. Out findings indicate that this could be done based on just image processing and some transformations without the use of deep learning approaches thus avoiding the need to collect, annotate and clean data etc. The approach considered in this study is based on filtering, edge detection, dilation, contour tracing and Hough Transform.

关键词： surface vessel computer vision segmentation swimming pool Hough Transform

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Automated Ultrasonic Testing of Carbon-Carbon Composite Materials 7

Automated Ultrasonic Testing of Carbon-Carbon Composite Mate...

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7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Pavlukhin, Evgeniy A. Kinzhagulov, Igor Y. Fedorov, Alexey V. Omarov, Magomed A. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia Inst. of Science 'Engineering and Design Center for Support of the Operation of Space Technology ST Petersburg Russia

ISBN: (纸本)9798350340945

The quality of products made of carbon-carbon composite materials (CCCM) is influenced by many factors, including the parameters of the technological process and the technical level of equipment for the manufacture of materials and structures. One of the most important moments in the process of creating products from CCCM is the formation of reinforcing components, matrix and their structural bonds. The efficiency of the system of structural bonds depends on the homogeneity (heterogeneity) of the material structure. The required mechanical and thermal properties of CCCM are ensured by the uniformity (continuity) of the structure, the change of which affects the properties of the material as a whole. In the event of discontinuity, an uneven distribution of mechanical and thermal fields can occur, which will jeopardize the performance of the entire structure, so non-destructive testing (NDT) of CCCM is an important task. The ultrasonic shadow method of control was chosen as the NDT method. This method makes it possible to detect structural inhomogeneities in the material of the test object - accumulations of pores and microcracks (at the microlevel), cracks, zones of low density, local heterogeneity of the structure (at the macrolevel). This article discusses the automation and ultrasonic testing of products from CCCM. © 2023 IEEE.

关键词： Nondestructive examination

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Study of the Applicability of the Method of Optical Triangulation for Evaluation of the Geometric Parameters and Cleanliness of the Surface of Products of Complex Shapes 7

Study of the Applicability of the Method of Optical Triangul...

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7th International Conference on Information, control, and Communication Technologies, ICCT 2023

作者： Konyashov, Vyacheslav V. Sergeev, Alexey S. Kolganov, Oleg A. Fedorov, Alexey V. Konyashova, Kseniya A. Bychenok, Vladimir V. Itmo University Faculty of Control Systems and Robotics ST Petersburg Russia Scientific and Technical Center 'Etalon' ST Petersburg Russia Institution of Science 'IKCSEKT' ST Petersburg Russia

ISBN: (纸本)9798350340945

The results of experimental studies of the applicability of the method of optical laser triangulation for constructing the profile of conical and cylindrical products with a ribbed surface, made by milling, are reflected. An algorithm for constructing a geometric profile of products of complex shape based on a system of triangulation sensors is proposed. The results of experimental approbation of the proposed algorithm on the stand for automated control of the geometry of complex-profile parts using a laser triangulation 2-D scanner are presented. The sensitivity of a laser triangulation 2-D scanner to the roughness parameters during milling the surface of products is evaluated. The accuracy characteristics of the triangulation method for determining the surface roughness parameters for different orientations of laser radiation with respect to the test object are estimated. © 2023 IEEE.

关键词： Nondestructive examination

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