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9th International Conference on Electrical and Electronics engineering, ELECO 2015

作者： Karaman, Kamil Bekaroǧlu, Yusuf Talha Söylemez, Mehmet Turan Uçak, Kemal Günel, Gülay Öke Istanbul Technical University Faculty of Electrical-Electronics Department of Control and Automation Engineering Ayazaga Campus Istanbul34469 Turkey

ISBN: (纸本)9786050107371

In this paper, the real time tracking performance of the fuzzy PID controller has been evaluated on nonlinear 3-DOF helicopter system. Quanser 3-DOF helicopter system has been utilized as experimental setup. Three separate fuzzy PID controller have been employed so as to control three state of the system. The dynamics of the system has been altered via counterweight in order to examine the performances of the both controller for parametric uncertainty in system parameter. The results reveal that the fuzzy PID controller leads to a good tracking performance and has better parametric uncertainty rejection capability than LQR. © 2015 Chamber of Electrical Engineers of Turkey.

关键词： controllers

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Object recognition and grasp detection in complex scenarios for home service robot

Object recognition and grasp detection in complex scenarios ...

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2024 China automation Congress, CAC 2024

作者： Xu, Shengjun Bai, Liang Zhong, Huangwei Hu, Yuji Sun, Xiangcai Lyu, Hongqiang School of Information and Control Engineering Xi'an University of Architecture and Technology Xi’an China School of Automation Science and Engineering Faculty of Electronic and Information Engineering Xi’an Jiaotong University Xi’an China

ISBN: (纸本)9798350368604

With the development of artificial intelligence, home service robots have been widely applied in daily life. As one of the fundamental functions of service robots, object grasping helps improve the level of unmanned and intelligent household. However, traditional robots still face challenges in flexibility and accuracy in complex home environments. In this paper, an object recognition and grasp detection system in complex scenarios for home service robots is proposed. The system consists of four modules: image acquisition, human-machine interaction software, RGB-D image processing, and robot control. The image acquisition module captures RGB and depth images of the work area and sends them to the software. The RGB-D image processing module begins with object recognition to obtain object categories and bounding box with the help of YOLOv8. The target point cloud is produced by combining the target subimage and corresponding depth information, followed by depth completion and plane expansion. Then the processed point cloud is fed into a Graspnet pose estimation network to calculate the 6D grasping pose for service robot. And finally, the robot control module is invoked to carry out the corresponding target grasping action. To evaluate the performance, an experimental platform for home service robot is built to grasp various daily necessities. The results tell that the average accuracy for object recognition reaches up to 98.3%, the success rate for single-target grasping is 94.4%, and the success rate for multi-target grasping can achieve 80%. © 2024 IEEE.

关键词： Image acquisition

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Design and Development of Electric Motor Torque Meter Using Microcontroller 5

Design and Development of Electric Motor Torque Meter Using ...

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5th Research, Invention, and Innovation Congress: Innovative Electricals and Electronics, RI2C 2024

作者： Meesuk, Peerawat Nak-Udom, Natthaphong Phimyotha, Kittiphong Bansomdejchaopraya Rajabhat University Program of Electrical Engineering and Automation Control System Faculty of Engineering and Industrial Technology Bangkok10600 Thailand Bansomdejchaopraya Rajabhat University Program of Electromechanic Manufacturing Engineering Faculty of Engineering and Industrial Technology Bangkok10600 Thailand

ISBN: (纸本)9798331505998

This article presents the development of electric motor torque meter using microcontroller together with dynamometer process and application of light process to find out revolutions per minute (RPM) which torque is a variable that affects the effectiveness of electrical machine. A torque meter is, therefore, a tool that has an important role to work with mechanical part. The torque meter and RPM was tested and found that there is an error of torque measure at 13.74 percent and found that the torque has higher errors when it exceeds 2 N-m and there is an error of RPM at 5.36 percent. © 2024 IEEE.

关键词： Torque meters

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MATLAB case-based reasoning GUI application for control engineering education

MATLAB case-based reasoning GUI application for control engi...

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2012 International Conference on Information Technology Based Higher Education and Training, ITHET 2012

作者： Yesil, Engin Ozturk, Cihan Cosardemir, Berk Urbas, Leon Istanbul Technical University Faculty of Electrical and Electronics Engineering Control Engineering Department Maslak TR-34469 Istanbul Turkey Department of Distributed Control Systems Engineering Institute of Automation Dresden University of Technology 01062 Dresden Germany

ISBN: (纸本)9781467323345

This paper represents using Case-Based Reasoning (CBR) in order to support undergraduate control engineering students for learning nonlinear systems and control applications. CBR is an experience-based problem solving methodology;thus, it is used for helping control engineering students to design conventional PID controllers for nonlinear systems. For this purpose, GUNT pH neutralization process is used as the experimental setup and a GUI is designed for cased-based reasoning in MATLAB. It is observed that undergraduate students can learn and increase their experience on nonlinear systems using the proposed new CBR-GUI. © 2012 IEEE.

关键词： Nonlinear systems

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Multi-winding bidirectional flyback converter 14

Multi-winding bidirectional flyback converter

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14th Brazilian Power Electronics Conference, COBEP 2017

作者： De Campos, Arceu Santos Cordeiro Gomes, Adjeferson Custodio De Morais, Aniel Silva Federal University of Uberlandia-UFU Electrical Engineering Faculty-FEELT Control and Automation Engineering Electrical Machines Laboratory and Energy Processing-LAMEP Uberlandia-MG Brazil

ISBN: (纸本)9781509062485

Smart DC micro/nanogrids have become the subject of much attention in recent years due to the growing interest in adding renewable energy sources and electric vehicles to residential and small buildings. The multi-bus hybrid microgrid has the potential to feed different loads with more appropriate voltage. This paper presents a new topology of bidirectional Flyback multiple winding converter, which can be used in microgrid systems. The proposed converter can interconnect several DC voltage buses that provide power in all directions. The control technique allows the safe converter' switching and proper power flux control. Operation stages and simulation results of a four winding converter are presented. © 2017 IEEE.

关键词： DC-DC converters

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An Online Modeling Method for Formation Drillability Based on OS-Nadaboost-ELM Algorithm in Deep Drilling Process

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IFAC-PapersOnLine 2017年第1期50卷 12886-12891页

作者： Gan, Chao Cao, Weihua Wu, Min Chen, Xin Hu, Yule Wen, Guojun Gao, Hui Ning, Fulong Ding, Huafeng School of Automation China University of Geosciences Wuhan430074 China Hubei key Laboratory of Adavanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Faculty of Engineering China University of Geosciences Wuhan430074 China School of Mechanical Engineering & Electronic Information China University of Geosciences Wuhan430074 China

To achieve safety, high quality, and efficiency in deep drilling, it is necessary to get formation drillability around the borehole during drilling-trajectory planning and intelligent drilling control. Since the drilling data have the characteristics of low value density and noise in the process of deep drilling, it is difficult to model formation drillability in deep drilling. In this paper, a new online modeling method for formation drillability based on online sequential nadaboost extreme learning machine (OS-Nadaboost-ELM) algorithm has been proposed. Firstly, the well logging parameters are chosen as the inputs of the model, whose output is formation drillability. Then, several ELM models are established and the outputs of these models are as weak learners. Then the weak learners are combined by Nadaboost algorithm in order to get a strong learner. Finally, the recursive least squares algorithm is used to adjust the model. The numerical test results show that, in both prediction accuracy and training efficiency aspects, the proposed method is better than other prediction methods such as multiple regression, gray method, back-propagation neural networks, Nadaboost extreme learning machine and online sequential extreme learning machine. Thus the prediction model serves as the online geological model to develop intelligent drilling systems. © 2017

关键词： E-learning

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Tuning the position of a fuzzy cognitive map attractor using backpropagation through time

Tuning the position of a fuzzy cognitive map attractor using...

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7th International Conference on Integrated Modeling and Analysis in Applied control and automation, IMAACA 2013, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2013

作者： Gregor, Michal Groumpos, Peter P. Department of Control and Information Systems Faculty of Electrical Engineering University of Žilina Slovakia Laboratory for Automation and Robotics Department of Electrical and Computer Engineering University of Patras Greece

ISBN: (纸本)9781629934884

The paper proposes a new learning method for fuzzy cognitive maps, which makes it possible to encode an attractor into the map. The method is based on the principle of backpropagation through time known from the theory of artificial neural networks. Simulation results are presented to show how well the method performs. It is shown that the results are superior to those achieved using Hebbian learning approaches such as nonlinear Hebbian learning. Some lines for possible future research and development are given.

关键词： Fuzzy Cognitive Maps

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PID2018 Benchmark Challenge: learning feedforward control

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IFAC-PapersOnLine 2018年第4期51卷 663-668页

作者： Zhao, Yang Dehghan, Sina Ates, Abdullah Yuan, Jie Zhou, Fengyu Li, Yan Chen, YangQuan School of Control Science and Engineering Center for Robotics Shandong University JinanShandong250061 China University of California Merced MercedCA95340 United States School of Automation Southeast University Nanjing210096 China Engineering Faculty Computer Engineering Department Inonu University Malatya44280 Turkey

The design and application of learning feedforward controllers (LFFC) for the one-staged refrigeration cycle model described in the PID2018 Benchmark Challenge is presented, and its effectiveness is evaluated. The control system consists of two components: 1) a preset PID component and 2) a learning feedforward component which is a function approximator that is adapted on the basis of the feedback signal. A B-spline network based LFFC and a low-pass filter based LFFC are designed to track the desired outlet temperature of evaporator secondary flux and the superheating degree of refrigerant at evaporator outlet. Encouraging simulation results are included. Qualitative and quantitative comparison results evaluations show that, with little effort, a high-performance control system can be obtained with this approach. Our initial simple attempt of low-pass filter based LFFC and B-spline network based LFFC give J=0.4902 and J=0.6536 relative to the decentralized PID controller, respectively. Besides, the initial attempt of a combination controller of our optimized PI controller and low-pass filter LFFC gives J=0.6947 relative to the multi-variable PID controller. © 2018

关键词： controllers Benchmarking Electric control equipment Evaporators Feedforward control Interpolation Learning systems Low pass filters Proportional control systems Refrigeration Three term control systems Combination controllers Conditional integrations Decentralized PID controller Feed forward controllers High performance control systems PID 2018 Benchmark Challenge Quantitative comparison Vapour compression refrigeration systems

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control of an Overhead Crane with the controlled Lagrangian Method

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IFAC Proceedings Volumes 2010年第14期43卷 131-136页

作者： Daniel Poljak Dominik Schindele Felix Antritter Harald Aschemann Claus Hillermeier Chair of Automation and Control Engineering University of the Bundeswehr Munich Germany Chair of Mechatronics University of Rostock Germany

A nonlinear controller structure for an overhead crane is designed and implemented on a crane plant. The energy based stabilizing controller part is derived by the method of controlled Lagrangians. In that framework, kinetic and potential shaping is performed and so-called general matching conditions are employed. control parameters well suited for the practical implementation are found by optimization using the linearization of the closed loop system. Nonlinear damping effects are counteracted in the overall controller structure by feedforward compensation and a reduced nonlinear disturbance observer.

关键词： energy based control underactuated mechanical systems controlled Lagrangians

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Design and implementation of fuzzy supervisory PI controllers using fuzzy c-means clustering combined with fuzzy gain scheduling for a binary distillation column

Design and implementation of fuzzy supervisory PI controller...

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IEEE Region 10 Conference (TENCON 2005)

作者： Somsung, Kannawat Pratishthananda, Suvalai Department of Process Control and Automation Nakornthai Strip Mill Plc. Chonburi Industrial Estate 20230 Thailand Department of Electrical Engineering Faculty of Engineering Chulalongkorn University Bangkok 10330 Thailand

ISBN: (纸本)9780780393110

In this paper, fuzzy supervisory PI controllers are developed and implemented on a pilot plant binary distillation column. Fuzzy c-means clustering technique is used in selecting membership functions and fuzzy rules are determined using fuzzy gain scheduling technique. Thus, the need of heuristic method for designing fuzzy membership functions and rules from expert knowledge is omitted. Then, the fuzzy supervisors adapt the parameters of the PI controllers on line. The task of the controllers is to perform dual composition control of the top and bottom products when the disturbances enter the column in the form of changes in feed flow rate. The results show that the fuzzy supervisory PI controllers achieve much better performance than the fixed PI controllers.

关键词： Two term control systems

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