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Considerations Concerning the Speed control of electrical Drive Systems with Stepper Motors

IFAC Proceedings Volumes 1997年第27期30卷 455-460页

作者： Gheorghe Bãluṭă Ştefan Resmeriṭă Gheorghe Bäluṭă “Gh. Asachi” Technical University of Iasi Faculty of Electrical Engineering Electric Drives and Power Electronics Department Str. Horia No. 7-9 6600 Iasi Romania tel.032/112770 Ştefan Resmeriṭà “Gh. Asachi” Technical University of Iasi Faculty of Automatic Control and Computer Engineering Department of Automatic Control and Industrial Informatics Str. Horia No. 7-9 6600 Iasi Romania tel. 032/116502 tuiasi.ro

This paper presents a method for Stepper Motor (SM) speed control by means of a minor loop. The compatibility of the SM with the digital electronics allowed a PC to be used for implementing the control algorithm, the SM control being achieved by two hardware interface levels. The SM command is realized with two specialized circuits: L297 (SM controller) and L298N (driver). The control signals for this level are generated through a parallel port 18255 and a programmable timer 18253. Some other circuits complete the microprocessor interface. The software has the following tasks: speed measurement and control algorithm achievement of a PI type. To tune this controller the system characteristics are measured, when the system is unstable, having a relay instead of the PI part. There are treated aspects on choosing the sample period, the position transducer, and the type of speed measurement.

关键词： control applications control closed-loop Stepping motors Numerical algorithms Computer controlled systems

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On the existence of an optimal synthesis for a class of linear discrete-time systems with quadratic costs and a fixed target point

On the existence of an optimal synthesis for a class of line...

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Southeastern Symposium on System Theory

作者： Guoqing Tang Zidong Wang Department of Mathematics North Carolina Agriculture and Technical State University Greensboro NC USA Automatic Control Laboratory Faculty of Electrical Engineering Ruhr Universitaet Bochum Bochum Germany

ISBN: (纸本)0818678739

We use the dynamic programming and approximation techniques to prove the existence of an optimal synthesis for a class of linear discrete time systems with quadratic costs and a fixed target point, in which the optimal control law is given in the feedback form of time and state. Our result establishes an analogy in synthesizing fixed target point linear quadratic regulator problems between linear continuous time systems and this class of linear discrete time systems.

关键词： control system synthesis Cost function Regulators Mathematics automatic control Laboratories Dynamic programming Optimal control State feedback State-space methods

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Parameter Estimation of US Macroeconomic Alternative Models

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IFAC Proceedings Volumes 1997年第21期30卷 169-174页

作者： Jan Štecha Kateřina Satoriová Osvald Vašíček Jan Štecha Department of Automatic Control Faculty of Electrical Engineering Czech Technical University of Prague Charles Square 13 121 35 Prague 2 Kateřina Satoriová Department of applied Mathematics Faculty of Economics and Administration Masaryk University Zelný trh 2/3 65790 Brno Kateřina Satoriová Department of Economics Management and Academic Sciences Faculty of Electrical Engineering Czech Technical University of Prague Zikova 2 160 00 Prague 6

Simple model of US macroeconomy is considered in this paper. Extended Kalman filter is used for state and parameter estimation of this simple macroeconomic model. Smoothing procedure is also used to obtain estimates conditioned by whole set of data. Alternative models of parameter development are used and their probability is evaluated based on the given data. Some interesting results are obtained.

关键词： Macroeconomic models Kalman filter Smoothing Alternative models Bayesian approach

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Analysis of deadlocks and circular waits using a matrix model for discrete event systems

Analysis of deadlocks and circular waits using a matrix mode...

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IEEE Conference on Decision and control

作者： F.L. Lewis S. Bogdan A. Gurel O. Pastravanu Automation and Robotics Research Institute University of Texas Arlington Worth TX USA Faculty of Electrical Engineering and Computer University of Zagreb Zagreb Croatia Department Automatic Control and Ind. Inf Polytechnic Institute Iasi Romania

A new matrix rule-based model of discrete-part discrete event systems is given that, together with the well-known Petri net marking transition equation, yields a complete matrix-based dynamical description of these systems. In this application to deadlock analysis, the exact relations between circular blockings and deadlocks are given for a large class of reentrant flow lines. Explicit matrix equations are given for online dynamic deadlock analysis in terms of circular blockings, and certain 'critical siphons' and 'critical subsystems'. This allows efficient dispatching with deadlock avoidance using a generalized kanban scheme. For the class of flow lines considered, the existence of matrix formulae shows that deadlock analysis is not NP-complete, but of polynomial complexity.

关键词： System recovery Discrete event systems Equations Dispatching Robotics and automation Petri nets Manufacturing Bills of materials Assembly Lifting equipment

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Teaching Discrete Event control of Manufacturing Systems

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IFAC Proceedings Volumes 1997年第12期30卷 261-266页

作者： O.C. Pastravanu A. Gürel F.L. Lewis Dept. of Automatic Control and Industrial Informatics Technical University of Iasi Str. Horia 7-9 6600 Iasi Romania Dept. of Electrical and Electronic Engineering Eastern Mediterranean University P.O. Box 95 Gazi Magosa Mersin 10 Turkish Republic of Northern Cyprus Automation and Robotics Research Institute The University of Texas at Arlington 7300 Jack Newell Blvd. S Fort Worth Texas 76118-7115 USA

controller design for Flexible Manufacturing Systems (FMS) is addressed within a systems theory-basea framework, which allows the separation of the workcell (comprised of machines and resources to be controlled), and the controller (consisting of the decision-making scheduler). This point of view is particularly profitable for teaching FMS design to control engineering students, who are familiar with the feedback control principles. The design algorithm uses standard manufacturing engineering tools to produce a rule-based controller that is described mathematically in terms of matrix equations, yielding the Petri net and max/plus representations of the closed-loop FMS. This matrix approach is exploited to develop a MATLAB software which implements new functions for idempotent calculus in the semiring (R∪{-∞},max,+), and offers a large flexibility in changing the operating conditions and design specifications.

关键词： flexible manufacturing systems discrete-event systems Petri-net models max/plus models MATLAB simulation control education

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Design of a multivariable state-space adaptive controller, and its application to a turbo-generator pilot plant

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control engineering PRACTICE 1996年第5期4卷 699-704页

作者： Nazaruddin, YY Unbehauen, H Automatic Control Laboratory Faculty of Electrical Engineering Ruhr-University D-44780 Bochum Germany

An application of a multivariable state-space adaptive controller to a turbogenerator set is considered in this paper. The turbo-generator, consisting of an air pressure turbine and a synchronous generator, is a typical electromechanical system, which exhibits highly nonlinear behaviour and non-negligible couplings between electrical and mechanical control loops. Especially if the plant is not connected to the rigid 50 Hz grid, the control task for varying loads at different operating points is quite difficult. Great fluctuations of the central pressure pump cause the turbo-generator to work in a noisy environment as well. The parameters of the state-space model are identified directly, using the recursive prediction error algorithm, which also estimates the system states. Based on the estimated parameters and states, the adaptive controller is determined through state feedback. The optimal control strategy is commissioned for designing the state controller. The results of real-time control experiments on the turbogenerator demonstrate the features and applicability of the designed multivariable state-space adaptive controller.

关键词： adaptive control state-space methods recursive estimation optimal control real-time computer systems

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Dual control for an Unstable Mechanical Plant

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IEEE control Systems 1996年第4期16.0卷 31-37页

作者： Filatov, N.M. Keuchel, U. Unbehauen, H. Automatic Control Laboratory Faculty of Electrical Engineering Ruhr-University D-44780 Bochum Germany

The problem of applying direct dual control for positioning of a laboratory pilot-plant for the roll angle control of a vertical takeoff airplane by means of two propellers is described in the article. The bicriterial approach is applied for the synthesis of dual controllers, where two criteria are used which correspond to the two goals of dual control: control of the system output and exciting the system for speeding up the parameter estimation. The control law is derived after compromised optimization of two cost functions. The basic theory needed for synthesis of a direct dual control for linear single-input, single-output plants is discussed. After describing the experimental setup, the results of adaptive control of a mechanical laboratory pilot-plant are presented. It is pointed out that adaptive control is necessary and is the most suitable approach for this kind of plant. The new direct dual control algorithm is compared with indirect and direct adaptive control strategies based on the standard CE assumption.

关键词： Adaptive control control system synthesis Programmable control Optimal control Laboratories Stochastic processes Adaptive systems Dynamic programming Minimization methods Employment

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Modeling of dynamic systems

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automatica 1996年第6期32卷 946-947页

作者： J. Štecha Czech Technical University Faculty of Electrical Engineering Department of Automatic Control Charles Square 13 12135 Prague Czech Republic

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Development of transient stability controller system (TSC) based on on-line stability calculation

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electrical engineering IN JAPAN 1996年第4期117卷 61-79页

作者： Ota, H Inoue, T Ito, H Fukushima, N Omata, K Morita, K Kokai, Y Chubu Electric Power Co. Toshiba Corporation Hitachi Ltd. [?]Graduated in 1955 from the Department of Electrical Engineering of the Faculty of Engineering University of Tokyo and joined Chubu Electric Power Co. in the same year. He is engaged mainly in developing technology for construction planning as well as protection stabilization and automatic control of power systems. He is currently a Director and Vice President of the company. He received an OHM Technology Award in 1971 and an Achievement Award from the I.E.E. Japan in 1992.

A new transient stability controller system (TSC) based on on-line transient stability calculation has been developed. The TSC system prevents the power system from wide-area blackout by shedding generators optimally when a serious fault occurs. This system consists of a central processing unit (TSC-P), and four local units for fault detection (TSC-C), and seventeen units for generator shedding(TSC-T). The TSC-P selects optimal generators to be shed for stabilization based on on-line transient stability calculation for contingencies at 500 kV lines and buses every five minutes. The results are transmitted to the TSC-Cs periodically. Should any fault occur, only one TSC-C will detect the fault occurrence and send control signals to the TSC-Ts which actually generate shedding signals. To realize the TSC system, essential are fast stability evaluation methods for a large number of contingencies and effective selection methods of optimal generators to be shed for stabilization. This paper presents total algorithms applied in the TSC-P, the results of algorithm verification tests using a prototype system combined with a large-scale analog simulator, and the characteristics of the actual system.

关键词： power system stabilization generation shedding on-line stability calculation screening parallel calculation

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Internal model control of a robot using new neural networks

Internal model control of a robot using new neural networks

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IEEE International Conference on Systems, Man and Cybernetics

作者： S. Yildirim M.F. Sukkar Robotics Research Laboratory Mechanical Engineering Department Faculty of Engineering University of Erciyes Kayseri Turkey Automatic Control and Ind. Electronics Departmentartment Faculty of Electrical and Electronics Engineering University of Aleppo Aleppo Syria

The use of neural networks for control of a robot manipulator is presented in this paper. The control system consists of a neural model of the robot, a neural controller and a conventional PID controller. The control structure uses internal model control (IMC). The Alopex method is employed as a learning algorithm to train the networks. The standard backpropagation (BP) algorithm is also utilised for comparison with the Alopex learning algorithm (ALA). The proposed network is a recurrent hybrid network which is suitable for identification and control of robot manipulators. Compared to neural networks with pure nonlinear hidden processing elements, e.g., the diagonal neural network, the proposed recurrent hybrid network converges faster than taught to identify linear and nonlinear dynamics systems. Simulation results are presented to evaluate the performance of the IMC for the control of a SCARA-type robot manipulator.

关键词： Robot control Neural networks automatic control Robotics and automation Manipulator dynamics Adaptive control Uncertainty Robust control Nonlinear systems Feedforward neural networks

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