The presented method allows achieving maximum overshoot and specified settling time of the closed-loop step response. It provides a simple way to control linear stable SISO systems even if the mathematical model is un...
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ISBN:
(纸本)9783902823182
The presented method allows achieving maximum overshoot and specified settling time of the closed-loop step response. It provides a simple way to control linear stable SISO systems even if the mathematical model is unknown. Tuning rule parameters are based on one suitably chosen point of the plant frequency response obtained by sine-wave signal with specified excitation frequency, and the required phase margin. The main result provided is construction of empirical charts used to convert time-domain performance specifications (maximum overshoot and settling time) into frequency domain performance measure (phase margin). The method is applicable for systematic shaping of the closed-loop response of the plant. The new approach has been verified on a set of benchmark examples and on a real plant as well.
This paper describes a distributed control strategy for a hybrid electric vehicle, in order to reduce the fuel consumption, and to maintain a reasonable state of charge (SOC), at the end of the drive cycle. The vehicl...
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This paper describes a distributed control strategy for a hybrid electric vehicle, in order to reduce the fuel consumption, and to maintain a reasonable state of charge (SOC), at the end of the drive cycle. The vehicle is like a system built from control nodes, every one of them having the same priority. The control laws are based on the dc-bus signaling, such way that every source of power (control node) is entering or leaving the network (dc-bus) depending on the voltage thresholds. The algorithm was tested using Matlab Simulink and ADVISOR interface. The results include statistical comparisons of the standard drive cycles using default model and the modified control strategy.
This paper presented the simulation results of the three phase electrical systems supplied by four wires with power quality problems, to which the parallel 3-leg APF （active power filters） are connected. The purpose...
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This paper presented the simulation results of the three phase electrical systems supplied by four wires with power quality problems, to which the parallel 3-leg APF （active power filters） are connected. The purpose of this study is to analyze the results obtained in these conditions in order to observe the limits of the 3-leg active power filters and to form a foundation for the future studies of the 4-leg active power filters. For a complete analysis, the APF will be controlled by four control methods： synchronous reference system control, indirect control, instantaneous p-q theory control, and positive sequence control. The analysis will watch the power quality indicators： THD （total harmonic distortion factor）, PF （power factor）, Iunb （unbalance factor）.
This paper describes the calibration procedure of a CCD digital camera based on the perspective projection method. The idea of this method is to calibrate the camera in order to extract precise three dimensional infor...
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This paper describes the calibration procedure of a CCD digital camera based on the perspective projection method. The idea of this method is to calibrate the camera in order to extract precise three dimensional information from the images so that they can be used for the computer vision and similar applications which take the images acquired from the camera as an input. The image capturing process reduces the dimensions of data from three to two. The camera calibration procedure determines which light source is associated with each pixel on the resulting image. Since the camera used in the process is a complex CCD camera, errors resulting from the misaligned lenses and deformations in their structures result in more complex distortions in the acquired image. In order to associate the points in the cameras image space with the locations in a 3D world space the camera projection matrix consisting of the estimated intrinsic and extrinsic parametars is calculated. The calibration process is comprised of capturing calibration images and processing them in order to get the intrinsic and extrinsic camera parameters. The results of the calibration are tested using the test images captured with the same camera. The calibration process was implemented using a MATLAB software package.
In this paper we introduce a modification of histogramic in - motion mapping technique for mobile robots. This modification is based on the premise that precise sonar model is not required for accurate map building. W...
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In this paper we introduce a modification of histogramic in - motion mapping technique for mobile robots. This modification is based on the premise that precise sonar model is not required for accurate map building. We use uniform random distribution approach to replace the probabilistic model of sonar sensor. Problem of localization of the mobile robot is also discussed as it is very important for the precise mapping of the environment. For this purpose we used odometry measurements processed by Extended Kalman Filter for the robot localization. It is shown that this method gives precise maps of an environment in Player/Stage simulator, and also with real world scenarios.
The paper deals with one of frequently encountered tasks in process industry - water level control. Proportional Integral Derivative (PID) control is often used for this purpose. Since control parameters of PID contro...
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The paper deals with one of frequently encountered tasks in process industry - water level control. Proportional Integral Derivative (PID) control is often used for this purpose. Since control parameters of PID controller are fixed and tank system is inherently nonlinear, PID controller should not be used on wider level range. Therefore, this paper analyzes the effectiveness of water level control using fuzzy controller. The fuzzy controller is implemented based on mathematical model of tank and using MATLAB. The controller is implemented on Friendly ARM - embedded computer. Arduino board is used as an acquisition board for collecting sensor data from tank system Festo Didactic DD 3100 and as a PWM signal generator for water pump control. Experimental results confirm that the fuzzy control system has good adaptability in comparison with PID and provided satisfying results.
The High-Level Architecture (HLA) is the de-facto standard in simulation interoperability. This paper presents a possible way for HLA to integrate with a service-oriented architecture (SOA) in the context of a smart b...
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This paper discusses the optimal motion planning issue of hyper dynamic manipulators. New optimal motion generation scheme based genetic algorithm is proposed. We provide a comparative study of two techniques: motion ...
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In this paper is presented a comparative analysis between two power conditioners connected to a four-wire micro-grid. The first one was developed on a two levels voltage structure and the second one on a three-level v...
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In this paper is presented a comparative analysis between two power conditioners connected to a four-wire micro-grid. The first one was developed on a two levels voltage structure and the second one on a three-level voltage NPC structure (Neutral Point Clamped), both controlled by the same strategy. The main objective of the proposed strategy is to limit the disturbance produced by different loads. Another goal is to act as an interface between renewable energy sources and the micro-grid. In this study, about 25% of the power requested by the load comes from the renewable energy sources. The investigated systems have been implemented in Matlab / Simulink, in order to analyze the micro-grid harmonic level, the power factor and the voltage unbalance at the point of common coupling.
This paper examines the capabilities of fuzzy logic based controllers in the process of active suspension of a heavy vehicle seat vibrations. The hydraulic cylinder is used as an active element, while the damper and t...
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This paper examines the capabilities of fuzzy logic based controllers in the process of active suspension of a heavy vehicle seat vibrations. The hydraulic cylinder is used as an active element, while the damper and the air spring are used as passive elements for reducing vibrations. MATLAB and Simulink are used as tools for developing the simulation model of the driver seat. The mathematical model was created according to the physical setup of the vehicle seat at the testing laboratory. Description of the seat, including its mechanical characteristics and mathematical model, is given in the paper. control system description and implementation on the experimental setup using dSPACE module, is also explained. The SEAT value is used for the validation of control quality. The obtained simulations show that the developed suspension controllers provide superior passenger comfort for different types of road.
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