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15th World Congress of the International Federation of Automatic control, 2002

作者： Fransson, Carl-Magnus Lennartson, Bengt Wik, Torsten Holmström, Kenneth Saunders, Michael Gutman, Per-Olof Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Sweden Center for Mathematical Modeling Department of Mathematics and Physics Mälardalen University Västerås Sweden Systems Optimization Laboratory Department of Management Science and Engineering Stanford University StanfordCA United States Faculty of Agricultural Engineering Technion Haifa Israel

ISBN: (纸本)9783902661746

A procedure for global optimization of PID type controller parameters for SISO plants with model uncertainty is presented. Robustness to the uncertainties is guaranteed by the use of Horowitz bounds, which are used as constraints when low frequency performance is optimized. The basic idea of both the optimization and the parameter tuning is to formulate separate criteria for low, mid and high frequency closed loop properties. The trade-off between stability margins, high frequency robustness and low frequency performance is then elucidated and, hence, the final choice of parameters is facilitated. The optimization problems are non-convex and ill-conditioned and we use a combination of new global and standard local optimization algorithms available in the TOMLAB optimization environment to solve the problem. The method does not rely on a good initial guess and converges fast and robustly. It is applied to a controller structure comparison for a plant with an uncertain mechanical resonance. For a given control activity and stability margin as well as identical tuning parameters it is shown that a PID controller achieves slightly improved low frequency performance compared to an H∞ controller based on loop-shaping. The reason for this somewhat surprising result is the roll-off in the H∞ controller, which adds additional high frequency robustness compared to the PID controller. Computationally, a factor of 10-20 has been gained compared to an earlier, less general, version of the procedure. Copyright © 2002 IFAC.

关键词： controllers

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Decomposition of complex linear systems via hierarchical similarity structure

Decomposition of complex linear systems via hierarchical sim...

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IEEE International Conference on Electronics, Circuits and Systems (ICECS)

作者： Y.-W. Jing G.M. Dimirovski J. Zhao M.J. Stankovski Institute of Control Science School of Information Science & Engineering Northeastern University Shenyang Liaoning China Institute of Automation & Systems Engineering Faculty of Electrical Engineering Ss Cyril and Methodius University Skopje Macedonia Department of Computer Engineering Faculty of Engineering Dogus University Istanbul Turkey

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.

关键词： Linear systems control systems Systems engineering and theory Design engineering Interconnected systems Robots Automatic control Information science automation Modems

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INPUT RECONSTRUCTION BY MEANS OF SYSTEM INVERSION: APPLICATION TO FAULT DETECTION AND ISOLATION

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IFAC Proceedings Volumes 2002年第1期35卷 13-18页

作者： F. Szigeti J. Bokor A. Edelmayer Department of Control Engineering Faculty of Engineering University of Los Andes Mérida A.p. 11 La Hechicera Venezuela Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Budapest Kende u. 13–17 H-1111 Hungary

This paper attempts to look at the fundamental problem of fault detection and isolation (FDI) in nonlinear systems. Using the idea of input reconstruction by means of dynamic inversion the authors first discuss the properties of input (or fault) observability in linear systems. The extension of the results to nonlinear systems as well as the mathematical conditions of the calculation of the inverse system, which provides the inverse in finite algorithmic steps, are given. The applicability of the inversion process to fault reconstruction in nonlinear systems is demonstrated.

关键词： Fault detection and isolation Input observability Input reconstruction Inverse system Linear and non-linear systems

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An interval arithmetic approach for discrete time non-smooth uncertain systems with application to an anti-locking system

An interval arithmetic approach for discrete time non-smooth...

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American control Conference (ACC)

作者： J. Heeks E.P. Hofer B. Tibken K. Thorwart Department of Measurement Control and Microtechnology University of Ulm (EBS) Ulm Germany Chair of Automation Control Engineering University of Wuppertal Wuppertal Germany R.O.S.E. Informatik Heidenheim Germany

In this paper, a global optimization technique using interval analysis applied to the simulation of an anti-locking control system with possible sensor tolerances is presented. The anti-locking system and the vehicle are described as an uncertain discrete time system with nonsmooth nonlinearities. Sensor tolerances can be modeled in a natural way by means of interval arithmetics which helps to achieve reliable results in the simulation. However, a simulation approach using merely natural interval extensions leads to overestimations rendering the result useless. Therefore, we employ a global optimization algorithm which allows the inclusion of the actual dynamic system behavior with a predefined and guaranteed overestimation limit. All algorithms are implemented in MATLAB.

关键词： Arithmetic Uncertain systems Wheels Mathematical model Force measurement Road vehicles Velocity measurement Analytical models Discrete time systems Vehicle dynamics

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MILESTONE REPORT COORDINATING COMMITTEE ON COMPUTER control

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IFAC Proceedings Volumes 2002年第1期35卷 217-225页

作者： Henk B. Verbruggen Jaehyun Park Wolfgang Halang George Irwin Janusz Zalewski Faculty of Information Technology and systems Delft University of Technology Delft the Netherlands Department of Automation Engineering Inha University Inchon Korea Faculty of Electrical Engineering Fern Universität Hagen Germany Intelligent Control and Systems Group School of Electrical and Electronic Engineering Queen's University Belfast UK Department of Electrical and Computing Engineering University of Central Florida Orlando USA

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Improved mathematical model of L-lysine fermentation process based on manure

Improved mathematical model of L-lysine fermentation process...

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International Conference on Information Technology Interfaces

作者： T. Georgiev A. Ratkov J. Kristeva V. Ivanova A. Dimitrova A. Manchev B. Ratkov Faculty of Automatics Chair Continuous Processes Control Division of Bioelectrical Engineering Technical University of Sofia Bulgaria Institute of Microbiology-Sofia Bulgarian Academy of Sciences Bulgaria

Fed-batch fermentation process using L-lysine producing strain is carried out as an integrated approach for solving an ecological problem. This article deals with applying an approach for modelling and optimisation of the process. Based on previous results, a new set of generalised stoichiometric equations is obtained. The derived stoichiometric equations are investigated by time series models based on experimental data. The important characteristic of this process (specific growth rate) is described by a non-linear dynamic model. Applied fermentation process for aerobic treatment of manure and at the same time for L-lysine production is described by non-linear dynamic model. Two-stage procedure is used for identification of the obtained model. Adequacy of the proposed model is obtained by simulation research.

关键词： Mathematical model Production Aerodynamics Biomass Data processing Amino acids Capacitive sensors Biological system modeling Nonlinear equations Measurement units

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Overshoot controlled servo system synthesis using bode plot and its application to PM brushless DC motor drive

Overshoot controlled servo system synthesis using bode plot ...

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International Workshop on Advanced Motion control (AMC)

作者： P. Crnosija Z. Ban R. Krishnan Faculty of Electrical Engineering and Computing Department of Control and Comp. Eng. in Automation University of Zagreb Zagreb Croatia The Bradley Department of Electrical and Computer Engineering Virginia Polytechnic Institute and State University Blacksburg VA USA

The design of current and speed controllers remains to a large extent a mystery to many engineers in the motor drives field. An attempt is made in this paper to simplify the design of the current and speed controllers using Bode plots. This paper outlines the theoretical background behind the techniques of symmetric optimum and dominant time constant compensation methods. The techniques are compared and contrasted using the overshoot and phase margin criteria. An application of these techniques to controller design for permanent magnet brushless DC motor (PMBDCM) drive system is made and verified with simulation. In order to apply these techniques to PMBDCM drive for the design of the current and speed controllers, the model of the motor drive is given for the benefit of the reader. The current and speed controller synthesis of a PMBDCM drive is achieved with the presented technique. Simulation results demonstrate for reference (current or speed) changes, symmetric optimum and dominant time compensation methods perform similarly. But for a load torque disturbance, the adverse effect on the speed is compensated faster only with the symmetric optimum method.

关键词： control system synthesis Servomechanisms Automatic control Brushless DC motors Frequency domain analysis Motor drives control systems DC motors Network synthesis Electric variables control

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Testing of genetic-PI based controller for IPMSM drive

Testing of genetic-PI based controller for IPMSM drive

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IEEE International Conference on Industrial Technology (ICIT)

作者： M.A. Rahman M.A. Hoque C.B. Butt M.N. Uddin M.A. Abido Faculty of Engineering & Applied Science Memorial University of NewFoundland Saint John's NEW Canada Modeling Automation and Control Engineering Laboratory Department of Electrical Engineering Lakehead University Thunder Bay ONT Canada Electrical Engineering Department King Fahd University of petroleum and Minerals Dhahran Saudi Arabia

This paper presents a laboratory testing of genetic algorithm (GA) based self-tuned PI controller for the speed control of interior permanent magnet synchronous motor (IPMSM). A radial basis artificial neural network function is used for on-line tuning of the PI controller. GA has been used in this work in order to obtain the optimized values of the PI constants for precise speed control. An performance index has been developed using GA, whose minimum value ensures zero steady-state error, minimum speed deviation and minimum settling time of the IPMSM drive. The initial values of the radial basis function network (RBFN) are obtained through off-line learning. Training data for off-line learning are generated by simulating the IPMSM drive under various operating conditions and uncertainties. For on-line implementation, the PI constants are tuned by updating the parameters of the RBFN maintaining the genetic performance index at its minimum value. In real time implementation, the proposed controller has been realized using a digital signal processor (DSP) board DS1102 for a 1hp laboratory IPMSM. The control algorithm is written in C++, compiled and then down loaded to the DSP board. The agreement between the simulation and test results confirms the effectiveness of the proposed controller for the vector control of the IPMSM.

关键词： Laboratories Velocity control Performance analysis Digital signal processing Automatic testing Genetic algorithms Permanent magnet motors Artificial neural networks Tuning Steady-state

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Formation of the ordered array of Al magic clusters on Si(111)7×7

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Physical Review B 2002年第16期66卷 165401-165401页

作者： V. G. Kotlyar A. V. Zotov A. A. Saranin T. V. Kasyanova M. A. Cherevik I. V. Pisarenko V. G. Lifshits Institute of Automation and Control Processes 690041 Vladivostok Russia Department of Electronics Vladivostok State University of Economics and Service 690600 Vladivostok Russia Faculty of Physics and Engineering Far Eastern State University 690000 Vladivostok Russia

Deposition of Al onto the Si(111)7×7 surface held at temperatures ranging from 475 to 600 °C has been found to result in the formation of a superlattice of the identical-size nanoclusters (magic clusters). The Al magic clusters appear to have the structure similar to that reported recently for the magic clusters of Ga and In on Si(111): each cluster contains six metal atoms linked by three Si atoms. The present results reveal that at the early stages of deposition all the group III metals demonstrate a distinct tendency for the formation of the magic clusters on Si surfaces.

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GLOBAL controlLER OPTIMIZATION USING HOROWITZ BOUNDS

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IFAC Proceedings Volumes 2002年第1期35卷 247-252页

作者： Carl-Magnus Fransson Bengt Lennartson Torsten Wik Kenneth Holmström Michael Saunders Per-Olof Gutman Control and Automation Laboratory Department of Signals and Systems Chalmers University of Technology Sweden Center for Mathematical Modeling Department of Mathematics and Physics Mälardalen University Västerås Sweden Systems Optimization Laboratory Department of Management Science and Engineering Stanford University Stanford CA USA Faculty of Agricultural Engineering Technion Haifa Israel

A procedure for global optimization of PID type controller parameters for SISO plants with model uncertainty is presented. Robustness to the uncertainties is guaranteed by the use of Horowitz bounds, which are used as constraints when low frequency performance is optimized. The basic idea of both the optimization and the parameter tuning is to formulate separate criteria for low, mid and high frequency closed loop properties. The trade-off between stability margins, high frequency robustness and low frequency performance is then elucidated and, hence, the final choice of parameters is facilitated. The optimization problems are non-convex and ill-conditioned and we use a combination of new global and standard local optimization algorithms available in the TOMLAB optimization environment to solve the problem. The method does not rely on a good initial guess and converges fast and robustly. It is applied to a controller structure comparison for a plant with an uncertain mechanical resonance. For a given control activity and stability margin as well as identical tuning parameters it is shown that a PID controller achieves slightly improved low frequency performance compared to an ℋ ∞ controller based on loop-shaping. The reason for this somewhat surprising result is the roll-off in the ℋ ∞ controller, which adds additional high frequency robustness compared to the PID controller. Computationally, a factor of 10–20 has been gained compared to an earlier, less general, version of the procedure.

关键词： ℋ ∞ PID global optimization Horowitz bounds performance robustness

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