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State Space control Design: an Interactive Tool for control Education

IFAC Proceedings Volumes 2012年第11期45卷 78-83页

作者： Róbert Krasňanský Alena Kozáková Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovičova 3 812 19 Bratislava Slovak Republic

The paper presents a simple interactive software tool for computer aided state space control design developed in Matlab-Simulink for education in Master degree study programs Applied Mechatronics, Cybernetics and Robotics. Efficient task solving is supported by a Grafical User Interface providing a usef-friendly interactive environment. The core of the software tool are control algorithms programmed as separate functions. The developed interactive tool has a modular structure and can be further extended.

关键词： LQR Observer Pole placement State space control education

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Modelling of the blood pressure regulation in rats

Modelling of the blood pressure regulation in rats

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2012 5th International Conference on Biomedical engineering and informatics, BMEI 2012

作者： Sekaj, Ivan Zicha, Josef Behuliak, Michal Balis, Peter Bernatova, Iveta Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Bratislava Slovakia Institute of Physiology Academy of Sciences of the Czech Republic Prague Czech Republic Institute of Normal and Pathological Physiology NOREG Slovak Academy of Sciences Bratislava Slovakia

ISBN: (纸本)9781467311816

A mathematical model of blood pressure regulation in rats is presented. The three major regulatory systems - sympathetic nervous system, renin-angiotensin-aldosterone system and L-Arginine/nitric oxide system are considered. Time-responses of blood pressure after administration of selected drugs are identified and linear dynamic models of the cardiovascular system using genetic algorithms are calculated. © 2012 IEEE.

关键词： Blood pressure

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A novel hybrid spiral-dynamics bacterial-foraging algorithm for global optimization with application to control design

A novel hybrid spiral-dynamics bacterial-foraging algorithm ...

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UK Workshop on Computational Intelligence (UKCI)

作者： A. N. K. Nasir M. O. Tokhi N. M. Abd Ghani M. A. Ahmad Department of Automatic Control & Systems Engineering University of Sheffield Sheffield UK Faculty of Electrical & Electronics Engineering Universiti Malaysia Pahang (UMP) Pekan Pahang Malaysia

This paper presents a hybrid optimization algorithm referred to as Hybrid spiral dynamics bacterial foraging (HSDBF). The algorithm synergizes spiral adaptive simplified bacterial foraging algorithm (BFA) and spiral dynamics inspired optimization algorithm (SDA). The standard BFA has better exploitation strategy while SDA has superior exploration approach and stable convergence when approaching the optimum value. The hybrid algorithm preserves the strengths of BFA and SDA, thus producing better results. Moreover, it has simple structure and involves less computational burden. Several unimodal and multimodal benchmark functions are employed to test the algorithm in determining the global optimum point. Furthermore, the proposed method is applied to a proportional-derivative (PD) controller optimization for a flexible manipulator system (FMS). The results show that HSDBF outperforms BFA in all test functions and successfully optimizes the PD controller.

关键词： Microorganisms Heuristic algorithms Spirals Optimization Convergence Manipulators Trajectory

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High-Mix Low-Volume Flow Shop Manufacturing System Scheduling

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IFAC Proceedings Volumes 2012年第6期45卷 145-150页

作者： Juraj Svancara Zdenka Kralova Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkoviĉova 3 812 19 Bratislava Slovak Republic

The paper deals with the production scheduling optimization in High-Mix Low-Volume (HMLV) flow shop manufacturing system. Three new heuristic production scheduling algorithms balancing the machines assignment to the production orders are proposed. The goal of the algorithms is to find a production schedule that minimizes the total production time of the set of jobs - makespan. An example case study, where the proposed scheduling algorithms are verified and compared with basic solutions using the simulation model of the HMLV manufacturing system created in Witness simulation software, is presented.

关键词： Production scheduling HMLV manufacturing systems Flow shop Simulation

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Novel adaptive spiral dynamics algorithms for global optimization

Novel adaptive spiral dynamics algorithms for global optimiz...

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IEEE International Conference on Cybernetic Intelligent Systems, CIS

作者： A. N. K. Nasir M. O. Tokhi N. M. Abd Ghani R. M. T. Raja Ismail Department of Automatic Control & Systems Engineering University of Sheffield Sheffield UK Faculty of Electrical & Electronics Engineering Universiti Malaysia Pahang (UMP) Pekan Pahang Malaysia

This paper presents adaptive versions of spiral dynamics algorithm (SDA) referred to as adaptive SDA (ASDA). SDA is known as fast computing algorithm due to its simplicity in the structure and it has stable convergence response when approaching the optimum point in the search space. However, the performance of SDA is still poor due to incorporation of single radius value during the whole search process. In ASDA, the spiral radius is made dynamic by employing novel mathematical equations and incorporating non-mathematical fuzzy logic strategy establishing the relationship between fitness value and spiral radius. This results in better performance in terms of convergence speed, accuracy, and total computing time while retaining the simple structure of SDA. Several uni-modal and multi-modal benchmark functions are employed to test the algorithm in finding the global optimum point. The results show that ASDA outperforms SDA in all test functions considered.

关键词： Spirals Heuristic algorithms Equations Convergence Optimization Fuzzy logic Mathematical model

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Comparison of boiler plant model and real plant responses based on proportional Integral controller

Comparison of boiler plant model and real plant responses ba...

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IEEE Conference on Sustainable Utilization and Development in engineering and Technology (STUDENT)

作者： Abdulrahman A.A. Emhemed Rosbi Bin Mamat Dirman Hanafi Department of Automatic Control Engineering College of Electronics Technology Bani Walid Libya Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Faculty of Electrical Engineering Universiti Tun Hussein Onn Malaysia Batu Pahat Malaysia

System model is very useful to study the response of a system for different input variations and for the control design schemes in both real time application and in the simulation. The concept of a model refers to entities varying from mathematical descriptions of a process to a replica of an actual system. The model of a boiler plant is derived and compared to the real plant response. In this paper the proportional and Integral (PI) controller applied for controlling the real and model of a boiler plant. The boiler plant model is derived based on the boiler plant dynamics. The experimental results show that the model developed able to represent the real boiler plant dynamic which proves by the similarity of the PI controller responses for both.

关键词： Boilers Transfer functions Valves

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The effect of functional electrical stimulation (FES) on paraplegic muscle fatigue

The effect of functional electrical stimulation (FES) on par...

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International Colloquium on Signal Processing & Its Applications, CSPA

作者： R. Jailani M. O. Tokhi Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Selangor Darul Ehsan Malaysia Department of Automatic Control and System Engineering University of Sheffield UK

Stimulation trains of different combination of frequency and pulse-width can be used to generate the muscle force required to perform a functional task during functional electrical stimulation (FES). However, with repetitive activation, the muscle will fatigue and an increase in either the frequency or the pulse-width of stimulation will be required to enable the targeted muscle force to be maintained. This study compares isometric performance and paraplegic muscle fatigue using two different protocols: protocol 1 uses 5 different stimulation frequencies varying from 10Hz to 50Hz with other parameters fixed; and protocol 2 uses 5 different stimulation pulse-widths varying from 200μs to 400μs with other parameters fixed. This range is selected based on a suitable frequency and a pulse width for paraplegic. Muscle performance is assessed by measuring percent decline in peak force and maximum muscle force for different stimulation frequencies and pulse-widths. A simple rule is introduced to avoid spasm or injury to the leg during FES application. The results from this study show that higher frequency gives faster muscle fatigue and the selection of force required to perform a functional task is important for obtaining the optimum stimulation parameters. Stimulation pulse-width has no significant effect on the muscle fatigue but highly affects the maximum muscle force. The rule proposed is important and is found to be useful to avoid leg injury, spasm or uncomfortable feeling during FES application. This rule also can be used to choose optimum stimulation parameters.

关键词： Muscles Force Fatigue Frequency modulation Neuromuscular stimulation Protocols Torque

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Development of Hamstrings Muscle Model for Paraplegic with Functional electrical Stimulation

Development of Hamstrings Muscle Model for Paraplegic with F...

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International Conference on Intelligent Systems, Modelling and Simulation (ISMS)

作者： R. Jailani M.O. Tokhi Faculty of Electrical Engineering Universiti Teknologi MARA Shah Alam Selangor Darul Ehsan Malaysia Department of Automatic Control and System Engineering University of Sheffield UK

This paper presents the development of paraplegic hamstrings muscle model with Adaptive Neuro-Fuzzy Inference System (ANFIS). A series of experiments using Functional electrical Stimulation (FES) with different stimulation frequencies, pulse width and pulse duration to investigate the impact on muscle output torque are conducted. The data that is obtained is used to develop the paraplegic hamstrings muscle model. 588 training data and 220 testing data set are used in the development of hamstrings muscle model. The ANFIS hamstrings muscle model is found to be the most accurate muscle model representing paraplegic hamstrings muscle model. The established model is then used to predict the behaviour of the underlying system and will be used in the future for the design and evaluation of various control strategies.

关键词： Muscles Data models Mathematical model Computational modeling Testing Adaptation models Neuromuscular stimulation

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Iron loss and eddy-current loss analysis in a low-power BLDC motor with magnet segmentation

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Archives of electrical engineering 2012年第1期61卷 33-46页

作者： Mlot, Adrian Korkosz, Mariusz Lukaniszyn, Marian Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Luboszycka 7 45-036 Opole Poland Rzeszow University of Technology W. Pola 2 35-959 Rzeszów Poland

This paper considers a Brushless Direct Current (BLDC) machine prototype with six poles and 36 stator slots including a three phase double-layered distributed winding. Presented modifications of rotor construction are identified in order to achieve the best possible compromise of eddy-current losses and cogging torque characteristics. The permanent magnet (PM) eddy-current loss is relatively low compared with the iron loss;it may cause significant heating of the PMs due to the relatively poor heat dissipation from the rotor and it results in partial irreversible demagnetization. A reduction in both losses is achieved by magnet segmentation mounted on the rotor. Various numbers of magnet segmentation is analysed. The presented work concerns the computation of the no-load iron loss in the stator, rotor yoke and eddy-current loss in the magnets. It is shown that the construction of the rotor with segmented magnets can significantly reduce the PM loss (eddy-current loss). The eddy-current loss in PMs is caused by several machine features;the winding structure and large stator slot openings cause flux density variations that induce eddy-currents in the PMs. The effect of these changes on the BLDC motor design is examined in order to improve the machine performance. 3-D finite-element analysis (FEA) is used to investigate the electromagnetic behaviour of the BLDC motor.

关键词： Permanent magnets

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Easy Tuning of PID controllers for Specified Performance

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IFAC Proceedings Volumes 2012年第3期45卷 733-738页

作者： Š. Bucz A. Kozáková V. Veselý Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovičova 3 SK-812 19 Bratislava Slovak Republic

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.

关键词： PID controller performance assessment overshoot settling time phase margin gain crossover

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