检索结果-内蒙古大学图书馆

Multivariable Fractional Order PI Autotuning Method for Heterogeneous Dynamic Systems

IFAC-PapersOnLine 2018年第4期51卷 865-870页

作者： Cajo, Ricardo Muresan, Cristina I. Ionescu, Clara M. De Keyser, Robin Plaza, Douglas Ghent University Faculty of Engineering and Architecture Research group on Dynamical Systems Control Technologiepark 914 ZwijnaardeB9052 Belgium Escuela Superior Politecnica del Litoral ESPOL Grupo de Investigación en Automatización y Control Industrial Campus Gustavo Galindo Km 30.5 Vía Perimetral Guayaquil09-01-5863 Ecuador Technical University of Cluj-Napoca Romania Department of Automation Memorandumului Street No.28 Cluj-Napoca Romania

In this paper the application of robust Fractional Order Proportional-Integral (FO-PI) autotuning control strategy is presented and applied to heterogeneous dynamic systems using decentralized control. The automatic tuning of controller gains is based on a single sine test, with user-defined robustness margins guaranteed. Its performance is compared against two other fractional order controllers based on PI gain-crossover autotuning method and Internal Model control (IMC). The closed loop control simulations applied on the heterogeneous dynamic systems indicate that the proposed method performs properly. © 2018

关键词： controllers Closed loop control systems Decentralized control Dynamical systems MIMO systems Model predictive control Robustness (control systems) Two term control systems Autotuner Fractional order pI Heterogeneous dynamics Imc controllers Multi input multi output

来源：评论

学校读者我要写书评

暂无评论

Fault Detection of the Mooring system in Floating Offshore Wind Turbines based on the Wave-excited Linear Model

引用

Journal of Physics: Conference Series 2020年第2期1618卷

作者： Yichao Liu Alessandro Fontanella Ping Wu Riccardo M.G. Ferrari Jan-Willem van Wingerden Delft Center for Systems and Control Delft University of Technology Delft 2628 CD The Netherlands. Mechanical Engineering Department Politecnico di Milano Milano Via La Masa 1 20156 Italy. Faculty of Mechanical Engineering & Automation Zhejiang Sci-Tech University Hangzhou 310018 China

Floating Offshore Wind Turbines (FOWTs) are more prone to suffer from faults and failures than bottom-fixed counterparts due to the severe wind and wave loads typical of deep water sites. In particular, mooring line faults may lead to unacceptably high operation and maintenance costs due to the limited accessibility of FOWTs. Detecting the mooring line faults is therefore critical, but the application of Fault Detection (FD) techniques has not been investigated yet. In this paper, an FD scheme based on a wave-excited linear model is developed to detect in a reliable way critical mooring line faults occurring at the fairlead and anchor ends. To reach the goal, a linear model of the FOWT is obtained by approximating the wave radiation and incident wave forces. Based on this model, an observer is built to predict the rigid rotor and platform dynamics. The FD scheme is thus implemented by comparing the Mahalanobis Distance of the observer prediction error against a probabilistic detection threshold. Numerical simulations in some selected fault scenarios show that the wave-excited linear model can predict the FOWT dynamics with good accuracy. Based on this, the FD scheme capabilities are demonstrated, showing that it is able to effectively detect two critical mooring line faults.

关键词：

来源：评论

学校读者我要写书评

暂无评论

RF chain reduction for MIMO systems: A hardware prototype

arXiv

引用

arXiv 2019年

作者： Gong, Tierui Shlezinger, Nir Ioushua, Shahar Stein Namer, Moshe Yang, Zhijia Eldar, Yonina C. State Key Lab of Robotics Key Lab of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Faculty of Mathematics and Computer Science Weizmann Institute of Science Rehovot Israel School of Electrical Engineering Tel Aviv University Tel Aviv Israel Faculty of Electrical Engineering Technion Haifa Israel

RF chain circuits play a major role in digital receiver architectures, allowing passband communication signals to be processed in baseband. When operating at high frequencies, these circuits tend to be costly. This increased cost imposes a major limitation on future multiple-input multiple-output (MIMO) communication technologies. A common approach to mitigate the increased cost is to utilize hybrid architectures, in which the received signal is combined in analog into a lower dimension, thus reducing the number of RF chains. In this work we present a hardware prototype implementing analog combining for RF chain reduction. The prototype consists of a specially designed configurable combining board as well as a dedicated experimental setup. Our hardware prototype allows to evaluate the effect of analog combining in MIMO systems using actual communication signals. The experimental study, which focuses on channel estimation accuracy in MIMO channels, demonstrates that using the proposed prototype, the achievable channel estimation performance is within a small gap in a statistical sense from that obtained using a costly receiver in which each antenna is connected to a dedicated RF chain. Furthermore, in the considered scenarios, this gap becomes negligible when the reduction rate, i.e., the ratio of the number of RF chains to the number of antennas, is above 62.5%. Copyright © 2019, The Authors. All rights reserved.

关键词： Channel estimation

来源：评论

学校读者我要写书评

暂无评论

An Adaptive Filter for IMU/Encoder Data Fusion for Acceleration Estimation in Robot Arms

An Adaptive Filter for IMU/Encoder Data Fusion for Accelerat...

引用

2018 International Conference on System Science and engineering, ICSSE 2018

作者： Cong Khoa, Nguyen Xuan Minh, Phan Faculty of Automation Technology Thai Nguyen University University of Information and Communication Technology Thai Nguyen Viet Nam Hanoi University of Science and Technology Hanoi Viet Nam Department of Automatic Control School of Electrical Engineering Hanoi University of Science and Technology Hanoi Viet Nam

ISBN: (纸本)9781538662854

This paper develops an adaptive filter for fusing the noisy and biased measurement data from MEMS-based inertial measurement units and encoders for estimation of acceleration in robot arms. A discrete-time second-order model is derived for designing an adaptive Kalman filter (AKF). The output of the AKF is an unbiased but noisy estimate of the acceleration. To cancel the noise, a recursive least square filter is designed to filter the output of the designed AKF. It is shown that the resulting filtered signal is unbiased and noise-cancelled. Experimental results demonstrating the effectiveness of the developed adaptive filter are presented. © 2018 IEEE.

关键词： Adaptive filters

来源：评论

学校读者我要写书评

暂无评论

Advanced hardware control for seven DOFs robotic arm-neuro arm 10

Advanced hardware control for seven DOFs robotic arm-neuro a...

引用

10th International Conference Machine and Industrial Design in Mechanical engineering, KOD 2018

作者： Cvetković, B. Nešić, V. Lazarević, M. Mandić, P. Marić, P. Dragović, M. University of Belgrade Faculty of Mechanical Engineering Kraljice Marije 16 Belgrade11000 Serbia IMP-Automation and Control Institute of Mihajlo Pupin Volgina 15 Belgrade Serbia Uno-lux Processing Poručnika Spasića i Mašere 14 Belgrade11147 Serbia

In this paper we will implement new hardware control for 7 DOFs (Degrees of freedom) advanced robotic arm research platform (NeuroArm) equipped with various sensors. New hardware platform consists of Nano Pi platform which is used as a PC platform for standard PLC (programmable logic controller's) unit and will replace old system that consists of 7 16-bit ATmega processors. The goal of new PLC which is based on Linux operating system (Debian distribution) that is patched by Xenomai real time system for reducing control response time and better entire system control. Robotic arm is powered by 7 DC motors which are controlled by two PWM4 (Pulse Width Modulation) modules. Position data is acquired from 1kΩ resistive sensors using RI8 (Resistive module) module and from optical quadrature encoders using one DI16 (Digital Input) module. Also other modules PWM4, RI8 and DI16 communicate with PikoAtlas CPU module by I2C bus. © 2018 Institute of Physics Publishing. All rights reserved.

关键词： Robotic arms

来源：评论

学校读者我要写书评

暂无评论

Preface

Lecture Notes in Networks and Systems

引用

Lecture Notes in Networks and Systems 2023年 764 LNNS卷 v-vi页

作者： Milrad, Marcelo Otero, Nuno Sánchez-Gómez, María Cruz Mena, Juan José Durães, Dalila Sciarrone, Filippo Alvarez-Gómez, Claudio Rodrigues, Manuel Vittorini, Pierpaolo Gennari, Rosella Di Mascio, Tania Temperini, Marco De la Prieta, Fernando Linnaeus University Växjö Sweden University of Greenwich London United Kingdom Department of Didactics Organization and Research Method University of Salamanca Salamanca Spain University of Minho Braga Portugal Mercatorum University Rome Italy Facultad de Ingeniería y Ciencias Aplicadas Universidad de los Andes Santiago Chile Department of Life Health and Environmental Sciences University of L’Aquila L’Aquila Italy Faculty of Computer Science Free University of Bozen-Bolzano Bolzano Italy Department of Information Engineering Computer Science and Mathematics University of L’Aquila L’Aquila Italy Dipartimento di Ingegneria Informatica Sapienza Universita’ di Roma Rome Italy Department of Computer Science and Automation Control University of Salamanca Salamanca Spain

来源：评论

学校读者我要写书评

暂无评论

The research of energy management strategy for HEV

The research of energy management strategy for HEV

引用

International Conference on Intelligent Green Building and Smart Grid

作者： Yeqin WANG Yuyan CHEN Jichu CHEN Faculty of Automation Huaiyin Institute of Technology Huaian China College of Electrical Engineering and Control Science Nanjing Tech University Nanjing China

The driving performance and fuel economy of hybrid electric vehicle(HEV) largely depend on energy management strategy. The principle of power system energy management for HEV is presented in this paper, and energy management strategies from the country and the abroad are reviewed, their advantages and disadvantages are also analyzed. The paper concludes the existing problems of those strategies, and looks forward to the development trends of energy management strategy. Aiming at the problem of the misbalance in practical and global optimization using traditional energy management strategies, a new energy management strategy for HEV based on Pontryagin's Minimum Principle (PMP) is developed, which research the intent of the driver and the operation state identification of HEV based on Markov theory, in full consideration of the people-vehicle-road influence on power management control system, and finally , the problem of global optimum in energy management in case of variation of real operating conditions is solved.

关键词： hybrid electric vehicle (HEV) energy management strategy Pontryagin's Minimum Principle (PMP) working conditions identification driving intention forecast

来源：评论

学校读者我要写书评

暂无评论

On optimum design of frame structures

arXiv

引用

arXiv 2019年

作者： Tyburec, Marek Zeman, Jan Kružík, Martin Henrion, Didier Departement of Mechanics Faculty of Civil Engineering Czech Technical University in Prague Thákurova 7 Prague 6166 29 Czech Republic Departement of Physics Faculty of Civil Engineering Czech Technical University in Prague Thákurova 7 Prague 6166 29 Czech Republic Institute of Information Theory and Automation Czech Academy of Sciences Pod vodárenskou věží 4 Prague 8182 08 Czech Republic LAAS-CNRS University of Toulouse 7 Avenue du Colonel Roche Toulouse31400 France Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Karlovo náměstí 13 Prague 2121 35 Czech Republic

Optimization of frame structures is formulated as a non-convex optimization problem, which is currently solved to local optimality. In this contribution, we investigate four optimization approaches: (i) general non-linear optimization, (ii) optimality criteria method, (iii) non-linear semidefinite programming, and (iv) polynomial optimization. We show that polynomial optimization solves the frame structure optimization to global optimality by building the (moment-sums-of-squares) hierarchy of convex linear semidefinite programming problems, and it also provides guaranteed lower and upper bounds on optimal design. Finally, we solve three sample optimization problems and conclude that the local optimization approaches may indeed converge to local optima, without any solution quality measure, or even to infeasible points. These issues are readily overcome by using polynomial optimization, which exhibits a finite convergence, at the prize of higher computational demands. Copyright © 2019, The Authors. All rights reserved.

关键词： Shape optimization

来源：评论

学校读者我要写书评

暂无评论

Preconditioning for the integration of a spatiotemporal pharmacodynamic system

引用

PAMM 2023年第1期22卷

作者： Jurjen Duintjer Tebbens Martin Lanzendörfer Ctirad Matonoha Štěpán Papáček Department of Computational Mathematics Institute of Computer Science of the Czech Academy of Sciences Pod Vodárenskou věží 271/2 Praha - Libeň 182 07 Czech Republic Department of Biophysics and Physical Chemistry Faculty of Pharmacy in Hradec Kralove Charles University Heyrovského 1203 Hradec Králové 500 05 Czech Republic Department of Computational Mathematics Institute of Computer Science of the Czech Academy of Sciences Pod Vodárenskou věží 271/2 Praha - Libeň 182 07 Czech Republic Department of Biophysics and Physical Chemistry Faculty of Pharmacy in Hradec Kralove Charles University Heyrovského 1203 Hradec Králové 500 05 Czech Republic Institute of Hydrogeology Engineering Geology and Applied Geophysics Faculty of Science Charles University Albertov 6 128 43 Praha 2 Czech Republic Department of Control Theory Institute of Information Theory and Automation of the Czech Academy of Sciences Pod Vodárenskou věží 4 Praha - Libeň 182 00 Czech Republic

We address efficient modeling of the intracellular action of a drug binding to the nuclear pregnane X receptor. The binded complex enters the cell nucleus and acts on DNA, resulting in enhanced production of an enzyme which metabolizes, among others, co-administered drugs. Pharmacodynamic modeling is traditionally based on a compartmental approach, which simplifies the complex processes in the human body through the definition of a small number of compartments representing organs, tissues, cells, cytoplasm or abstract units. Inside a compartment, the concentrations of all substances are assumed to be distributed homogeneously, i.e. there is no spatial dependence. They lead to a system of ODEs for the time-dependence of the concentrations of the active substances. We will present an extension of a model from the literature for the action of the tuberculose-drug Rifampicin. The extension consists of a first attempt to add spatial resolution for substances that are active in the cytoplasm. Spatial resolution can be benecifial to analyze important issues like, among others, local exceeding of toxic drug levels, delay of transport and drug-drug interactions. We address efficient solution of the linear systems arising when numerically integrating the resulting PDE's and consider some preconditioning techniques based on properties of the underlying biochemical network.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Preface

Advances in Intelligent Systems and Computing

引用

Advances in Intelligent Systems and Computing 2020年 1241 AISC卷 v-vi页

作者： Vittorini, Pierpaolo Di Mascio, Tania Tarantino, Laura Temperini, Marco Gennari, Rosella De la Prieta, Fernando Department of Life Health and Environmental Sciences University of L’Aquila L’Aquila Italy Department of Information Engineering Computer Science and Mathematics University of L’Aquila L’Aquila Italy Computer Science Faculty Free University of Bozen-Bolzano Bolzano Italy Department of Computer Control and Management Engineering Sapienza University of Rome Rome Italy Department of Computer Science and Automation Control University of Salamanca Salamanca Spain

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：