This paper is concerned with the application of a heuristic approach in the design of a fault-tolerant control system for ship steering. It proposes an advanced reconfigurable control system (RCS) for ship course chan...
详细信息
The paper deals with an application of neural networks with orthogonal activation functions (OAFNN) in the sensorless field oriented control structure with induction motor (IM). The OAFNN has been trained to estimate ...
详细信息
The paper deals with an application of neural networks with orthogonal activation functions (OAFNN) in the sensorless field oriented control structure with induction motor (IM). The OAFNN has been trained to estimate rotor speed and has been used in the speed control structure as the speed virtual sensor. The Chebychev orthogonal polynomials of fourth order were applied as activation functions for each input ( i s2 , u * s2 ). The speed structure of servo drive with IM has been realized on the dSPACE DS1102 development system with 1,1kW IM.
Disturbance rejection performance is usually the most important aspect in designing controller in the process and the chemical industries. On the other hand, such tuned control loop may exhibit large overshoots on ref...
详细信息
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...
详细信息
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.
A control systems engineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detai...
详细信息
This paper extends some of the basic results in the area of Lyapunov (asymptotic) and finite time and practical stability to linear, discrete, time invariant time-delay systems, New definitions have been established f...
详细信息
The high practical significance of the I 1 T d -plant approximations has been shown by the perhaps most frequently used method for controller tuning by (Ziegler and Nichols, 1942), modified later for sampled data syst...
详细信息
The high practical significance of the I 1 T d -plant approximations has been shown by the perhaps most frequently used method for controller tuning by (Ziegler and Nichols, 1942), modified later for sampled data systems by (Takahashi et al ., 1971) and by many other authors. This paper extends previous works by developing plant approximations based on the single and double integrator models with dead time. These approximations are then used for tuning of the minimum time pole assignment P- (PD-) controllers designed for single (double) integrator with constrained input.
The aim of this paper is to present a new method for the nonlinear controller design. The underlying theory evolves from the introduced transfer function of nonlinear systems, that can be used in similar way as transf...
详细信息
The aim of this paper is to present a new method for the nonlinear controller design. The underlying theory evolves from the introduced transfer function of nonlinear systems, that can be used in similar way as transfer functions of classical linear systems. The presented algebra of transfer functions is the same as the linear one. Therefore, the controller design can follow the linear system synthesis. The paper shows, how to design a nonlinear PID controller using the direct method synthesis and also shows that the nonlinear state controller following the pole-placement method is equivalent to the exact linearization method. Since the presented method leads to results identical with the exact linearization method, it has been denoted as the exact velocity linearization method.
Disturbance rejection performance is usually the most important aspect in designing controller in the process and the chemical industries. On the other hand, such tuned control loop may exhibit large overshoots on ref...
详细信息
Disturbance rejection performance is usually the most important aspect in designing controller in the process and the chemical industries. On the other hand, such tuned control loop may exhibit large overshoots on reference tracking. The only way to decrease overshoot is to use two-degrees-of-freedom (2-DOF) controllers. Unfortunately, reducing the overshoot usually results in slower tracking response when using some of the most common 2-DOF controller structures. This paper suggests using additional first-order filter on the set-point of the PI controller in order to improve tracking performance. The calculation of compensator's parameters is straightforward and can be easily performed in practice. Several examples confirmed the efficiency of the proposed approach.
In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one o...
详细信息
In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.
暂无评论