In this paper, the problem of system decomposition of complex linear dynamical systems, by exploiting the similarity property, is studied. System decompositions were sought in terms of similarity hierarchical structur...
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In this paper, the problem of system decomposition of complex linear dynamical systems, by exploiting the similarity property, is studied. System decompositions were sought in terms of similarity hierarchical structures. Three new theoretical results were proved. A method for constructing the transformation has been derived. The conditions for such decomposition of complex linear systems are given.
In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations ...
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In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations of these systems are derived. Finally, it is shown that controllability of the original systems can be determined by that of the subsystems, which are obtained through isomorphic decomposition. The corresponding sufficient and necessary conditions are given. Two new theoretical results have been proved.
In this paper, a nonsingular terminal sliding mode concept is introduced for the control of a class of nonlinear dynamical systems. This nonsingular terminal sliding mode control not only enables the £nite time c...
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In this paper, a nonsingular terminal sliding mode concept is introduced for the control of a class of nonlinear dynamical systems. This nonsingular terminal sliding mode control not only enables the £nite time convergence of the system equilibrium, but also eliminates the singularity problem associated with conventional terminal sliding mode control. Simulations are presented to show the effectiveness of the design.
In this paper, the control of liquid flow is studied. An elastic line that transports elastic liquid is investigated. The effect of control on a hydraulic impact at the outflow line is discussed. Mathematical model of...
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In this paper, the control of liquid flow is studied. An elastic line that transports elastic liquid is investigated. The effect of control on a hydraulic impact at the outflow line is discussed. Mathematical model of impact propagation is presented. The congruence of measured and computed results is demonstrated.
We develop a new software layer called the Automatic Parallel Detection Layer (APDL) for the automatic transformation from sequential to parallel code. The main interest, in this research, is the parallelism at loop l...
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We develop a new software layer called the Automatic Parallel Detection Layer (APDL) for the automatic transformation from sequential to parallel code. The main interest, in this research, is the parallelism at loop level, because significant parallelism in programs almost invariably occurs in loops. The proposed APDL has five processes for code transformation: the sequential source code parser, data dependence analysis of this code, partitioning, scheduling both task and data, and generating parallel source code. Many cases have been studied to evaluate the performance of the developed layer. The performance is evaluated depending on the execution time of: the sequential code, the parallel programmer code, and the code output from APDL for the same case study. Performance results show that APDL greatly improves the execution time with respect to sequential execution time, and saves on the high cost of a parallel programmer.
Analysis of complex systems such as hierarchically structured network systems that are employed in modelling and analysis various aspects and issues of control and management in telecommunications is investigated. The...
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A neuro controller for high precision manoeuvring of underwater vehicles require special attention to a number of factors including thruster and vehicle’s nonlinearities, couplings which exist between various degrees...
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A neuro controller for high precision manoeuvring of underwater vehicles require special attention to a number of factors including thruster and vehicle’s nonlinearities, couplings which exist between various degrees of freedom as well as effects of the sea currents. The neuro control system for underwater vehicle maneouvring described here is based on the conventional controller supported with the so called adaptive neural network.
Main topic of the poster is the communication between PLC Simatic S7 200 and SCADA system Intouch 7.0 via serial link RS 485. On side of the PLC is used freeport communication mode with our own protocol. The interface...
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Main topic of the poster is the communication between PLC Simatic S7 200 and SCADA system Intouch 7.0 via serial link RS 485. On side of the PLC is used freeport communication mode with our own protocol. The interface between PLC and Intouch is made by conversion program that use Dynamic Data Exchange (DDE). This makes possible with keeping protocol to communicate with other types of PLC&s too. In this manner is also possible to build a communication between several nodes.
In the following article the project of solution of distributed control system is described in which the operating system QNX in the connection with industrial bus CAN and industrial controllers PLC is used. Two ways ...
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In the following article the project of solution of distributed control system is described in which the operating system QNX in the connection with industrial bus CAN and industrial controllers PLC is used. Two ways of control system project are discussed there. The first one makes use of industrial computers of the PC type and industrial buses with intelligent sensors and actuators, the second project includes in this network also the industrial controllers PLC. With the interconnection of both possibilities we obtain the third solution which provides the advantages of both previous ones what is the high computing capacity of industrial computer and the capability of programmable controller to work in real time.
The article describes mathematical model of the skid-steered mobile robot (SSMR), which was designed at the DCMI. SSMR is an indoor/outdoor autonomous/remotely controlled vehicle intended for research purposes in the ...
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The article describes mathematical model of the skid-steered mobile robot (SSMR), which was designed at the DCMI. SSMR is an indoor/outdoor autonomous/remotely controlled vehicle intended for research purposes in the area of developing a combination of autonomous and remote control schemes for mobile robots with application of telepresence principles. Mathematical model was derived using the Euler-Newton method of free bodies dynamics. Simulation results verifying the correctness of the model are provided.
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